Unmanned automatic seedling taking transplanter

Abstract

The utility model discloses an unmanned automatic seedling taking transplanter, belongs to the technical field of agricultural machinery, and aims to solve the problems of low intelligent and automatic degree and complicated operation of a seedling taking device of an existing transplanter. Comprising a successive seedling supply mechanism, a seedling skin dumping mechanism and a seedling tray recovery mechanism. Seedling trays are loaded on each seedling tray storage bin, a plurality of seedling skins are arranged on the seedling trays, the successive seedling supply mechanism is responsible for successively placing each layer of seedling trays on the two translation guide rails, the translation mechanism is responsible for pushing the seedling trays on the translation guide rails to the turning plate frame, and the seedling skin dumping mechanism is responsible for dumping the plurality of seedling skins on the seedling trays to a seedling box. According to the unmanned automatic seedling taking machine, the complete process of unmanned automatic seedling taking can be achieved, the weight of the whole machine is light, loads borne by all the mechanisms are small, operation is stable and reliable, and the automation degree and the intelligent degree are high.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of agricultural machinery, especially relates to an unmanned automatic seedling taking and transplanting machine. BACKGROUND

[0002] The seedling transplanting machine is an agricultural machine for planting rice seedlings in a rice field, and the mechanized planting of rice can greatly reduce the labor intensity of farmers and the total cost of rice planting.

[0003] However, during the operation of the seedling transplanting machine, the seedlings are usually manually supplied, and the seedling supplier needs to stand on the seedling transplanting machine, take the seedlings from the seedling storage rack, and place them on the seedling box plate, so that the unmanned operation is not realized. Therefore, an unmanned seedling transplanting machine capable of automatically and continuously supplying seedlings is needed to solve the above problems. The seedling taking device and the seedling transplanting machine of the unmanned seedling transplanting machine capable of automatically and continuously supplying seedlings disclosed in the Chinese utility model patent with the publication number CN118476359A realize the automatic and continuous supply of seedlings by the unmanned seedling transplanting machine, but the seedling storage racks of the unmanned seedling transplanting machine are arranged at the two ends of the vehicle body, the seedling taking mechanism is arranged at the middle position of the seedling storage racks, and the seedling taking and delivering process is realized by rotating and lifting. The overall structure is large, the weight is large, the stress load capacity of the seedling taking mechanism is poor, and the center of gravity is easy to deviate when the seedling taking mechanism is installed on the seedling transplanting machine.

[0004] The Chinese utility model patent with the publication number CN113243174A discloses a seedling transplanting machine capable of automatically supplying seedlings, and a scissor-type lifting mechanism is arranged on the vehicle body, and a transmission box is arranged below the vehicle body. The structure greatly changes the seedling transplanting machine as a whole, occupies a large space of the seedling transplanting machine, and is relatively complex. The accuracy of the mechanism is required to be high when the mechanism operates.

[0005] The Chinese utility model patent with the publication number CN119452840A discloses a small-sized high-speed seedling transplanting machine for rice planting, and mainly solves the problem that the seedling transplanting machine cannot adjust the number of seedlings taken during the seedling transplanting process. The problem of supplementing seedlings after the seedlings are used up is not solved.

[0006] Moreover, the seedling taking of the existing seedling transplanting machine still depends on the operation of the driver in the vehicle body, and the real intelligentization is not realized. The operation process is complicated, and the driving is affected. UTILITY MODEL CONTENTS

[0007] The utility model aims at providing an unmanned automatic seedling taking and transplanting machine to solve the problems of low intelligentization and automation and complicated operation of the seedling taking device of the existing seedling transplanting machine. The technical scheme adopted by the utility model is as follows.

[0008] An unmanned automatic seedling taking and transplanting machine comprises a vehicle body, a main frame, a seedling supplying mechanism, a seedling skin dumping mechanism and a seedling tray recycling mechanism. The main frame is fixed above the vehicle body, and a seedling box is arranged at the front of the vehicle body.

[0009] The seedling tray is provided with a magnetic material block on each of the left and right sides, and two guide grooves are arranged in parallel on the bottom of the seedling tray.

[0010] The seedling feeding mechanism comprises two groups of lifting mechanisms, each of which comprises 2n horizontally arranged supporting beams and two closed lifting chains, the 2n supporting beams being uniformly fixed to the outer periphery of the two lifting chains, a first driving mechanism driving the two lifting chains to rotate synchronously and intermittently, n supporting beam positions being formed on the descending side of the lifting chain when the lifting chain is stationary, the 2n supporting beams being correspondingly arranged in the 2n supporting beam positions, the two groups of lifting mechanisms being arranged on the left and right sides of the main frame, and the descending sides of the lifting chains of the two groups of lifting mechanisms being oppositely arranged.

[0011] The translation mechanism comprises two translation guide rails and a closed translation chain, a second driving mechanism driving the translation chain to rotate intermittently, a translation push block being arranged on the translation chain, the two translation guide rails being arranged in parallel on the left and right sides, a supporting beam position at the lowermost end of the descending side of the lifting chain being defined as a seedling tray releasing position, the remaining supporting beam positions on the descending side being defined as seedling tray storage positions, the supporting beam at the seedling tray releasing position being lower than the upper end surface of the translation guide rail, the supporting beams at the seedling tray storage positions all being higher than the upper end surface of the translation guide rail, a pair of supporting beams being kept at the same height in each of the two groups of lifting mechanisms, two seedling tray storage bins being formed between the supporting beams at the seedling tray storage positions in each group, the seedling tray storage bins being loaded with seedling trays, the two guide grooves of the seedling tray slidingly engaging with the two translation guide rails when the supporting beams at the seedling tray storage positions are lowered to the seedling tray releasing position, and the translation push block pushing the seedling trays on the translation guide rail forward when the second driving mechanism is working.

[0012] The seedling skin unloading mechanism comprises a support seat and a flap frame, the support seat being connected to the bottom front side of the main frame, a third driving mechanism driving the flap frame to reciprocatingly and intermittently swing between an upper side position and a front side position of the support seat, the flap frame being in a horizontal state when the flap frame is at the upper side position, the flap frame being aligned with the upper end surface of the translation guide rail, the front end of the flap frame being lower than the rear end when the flap frame is at the front side position, and the flap frame being in an inclined state.

[0013] The seedling tray recycling mechanism comprises a recycling frame body and a mounting seat, the recycling frame body being fixed to the upper end of the main frame, a fourth driving mechanism driving the mounting seat to move forward and backward on the recycling frame body, a lifting shaft being rotatably arranged on the mounting seat, a lifting motor being connected to the mounting seat, an output shaft of the lifting motor being connected to the lifting shaft, the lifting motor being a worm gear motor, two winches being sleeved on the lifting shaft, a rope being wound on the winches, a movable end of the rope being connected to a lifting beam, the lifting beam being arranged on the left and right sides, the lifting beam being provided with a sliding seat at each end, and an electromagnet being arranged on the lower side of the sliding seat.

[0014] Further, the number of support beams is eight, and when the lifting chain is stationary, four support beam positions are formed on the descending side of the lifting chain and four support beam positions are formed on the ascending side of the lifting chain, and the eight support beams are one-to-one corresponding to the eight support beam positions, the first driving mechanism includes two groups of transmission assemblies, a lifting driving shaft and a lifting driven shaft, the lifting driving shaft and the lifting driven shaft are respectively rotatably arranged at the top and the bottom of the main frame, the transmission assembly includes a lifting driving sprocket and a lifting driven sprocket, the lifting driving sprocket is sleeved on the lifting driving shaft, the lifting driven sprocket is sleeved on the lifting driven shaft, the lifting driving sprocket and the lifting driven sprocket are connected through the lifting chain, the lifting driving motor is connected with the main frame, the output shaft of the lifting driving motor is connected with the lifting driving shaft, and the lifting driving motor is a worm gear motor;

[0015] The lifting mechanism further comprises two vertically arranged first sliding rails, both of which are arranged on the descending side of the lifting chain, the first sliding rail is connected with the main frame, and the front and rear ends of the support beam are each provided with a first roller, when the lifting chain drives the support beam to descend, the first rollers at the two ends of the support beam are one-to-one corresponding and rollingly matched with the two first sliding rails.

[0016] Further, the transmission assembly further comprises a tension sprocket, a first support rod, a second support rod and a third support rod, the upper end of the first support rod is rotatably connected with the lifting driving shaft, the lower end of the third support rod is rotatably connected with the lifting driven shaft, the tension sprocket is rotatably arranged at the upper end of the third support rod, the lower end of the second support rod is hingedly connected with the third support rod, the bottom of the first support rod is provided with a first adjusting nut, the top of the second support rod is provided with a second adjusting nut, the screw threads of the first adjusting nut and the second adjusting nut are opposite in direction, the two ends of the stud bolt are respectively threadedly connected with the first adjusting nut and the second adjusting nut, and the lifting driving sprocket, the lifting driven sprocket and the tension sprocket are connected through the lifting chain.

[0017] Further, the second driving mechanism comprises a translation frame body, a translation driving sprocket and a translation driven sprocket, a first wheel shaft is rotatably arranged at the front end of the translation frame body, a second wheel shaft is arranged at the rear end of the translation frame body, the translation frame body is fixed to the bottom of the main frame, the translation driving sprocket is sleeved on the first wheel shaft, the translation driven sprocket is rotatably arranged on the second wheel shaft, a first translation motor is connected with the translation frame body, an output shaft of the first translation motor is connected with the first wheel shaft, and the translation driving sprocket and the translation driven sprocket are connected through a translation chain.

[0018] Further, the translation frame body comprises a left half frame body and a right half frame body, the translation driving sprocket and the translation driven sprocket are arranged between the left half frame body and the right half frame body, a support strip is arranged between the translation driving sprocket and the translation driven sprocket, and the support strip is connected with the left half frame body and the right half frame body respectively, and the upper translation chain slides on the support strip.

[0019] The rear end of the left and right half frame bodies is provided with a left-right through long hole extending in the front-rear direction, the second wheel shaft passes through the long hole, the second wheel shaft and the long hole are in sliding fit, the fish eyes of the two loose bolts are respectively sleeved on the two ends of the second wheel shaft, the threaded ends of the two loose bolts are arranged rearward, and the threaded ends of the two loose bolts are respectively matched with the translation frame body to be pulled tight.

[0020] Further, the third driving mechanism comprises a driving arm group and a driven arm group, the upper end of the driving arm group is hinged to the rear part of the flap frame, the upper end of the driven arm group is hinged to the front part of the flap frame, the lower end of the driving arm group is connected with a flip driving shaft, the flip driving shaft is in rotary fit with the support seat, a flip driving motor is connected with the support seat, the output shaft of the flip driving motor is connected with the flip driving shaft, the lower end of the driven arm group is hinged to the support seat through a flip driven shaft, and the support seat, the driving arm group, the flap frame and the driven arm group constitute a four-bar linkage mechanism, the output shaft of the flip driving motor rotates reciprocatingly and intermittently, and drives the flap frame to reciprocatingly swing between the upper side position and the front side position of the support seat.

[0021] The flap frame is provided with two nylon short rails, when the flap frame is in the upper side horizontal position, the two nylon short rails are aligned with the two translation rails one by one in the front-rear direction, and when the translation mechanism pushes the seedling tray on the translation rail to the flap frame, the two nylon short rails are in sliding fit with the two guide grooves of the seedling tray one by one.

[0022] Further, the front side of the seedling tray is provided with a plurality of limiting blocks, the front side of the upper end surface of the flap frame is provided with a plurality of stop blocks, when the seedling tray slides to the front end of the flap frame, the plurality of limiting blocks and the plurality of stop blocks abut against each other to limit.

[0023] The front side and the rear side of the flap frame are provided with a plurality of V-shaped positioning blocks, V-shaped positioning grooves are formed in the V-shaped positioning blocks, the front side of the main frame is provided with a plurality of first positioning rods, a first positioning ring group is sleeved on the first positioning rod, when the flap frame is in the upper side position, the plurality of first positioning ring groups and the V-shaped positioning grooves of the plurality of V-shaped positioning blocks on the rear side of the flap frame are correspondingly clamped and limited.

[0024] The top of the seedling box is provided with a plurality of second positioning rods, a second positioning ring group is sleeved on the second positioning rod, when the flap frame is in the front side position, the plurality of second positioning ring groups and the V-shaped positioning grooves of the plurality of V-shaped positioning blocks on the front side of the flap frame are correspondingly clamped and limited.

[0025] Further, the connection assembly is hung on the bottom front side of the main frame through a plurality of long screws and fastening nuts, the connection assembly is provided with a plurality of light shaft fixing seats, the support seat is provided with a plurality of front-rear arranged adjusting light shafts, and the plurality of adjusting light shafts and the plurality of light shaft fixing seats are connected one by one.

[0026] Further, the fourth driving mechanism comprises a transmission screw rod and two guide light shafts, the transmission screw rod is arranged front and back, the transmission screw rod is rotationally matched with the recycling frame body, the second translation motor is fixed on the recycling frame body, the output shaft of the second translation motor is connected with the transmission screw rod, the guide light shaft is parallel with the transmission screw rod, the guide light shaft is fixed on the recycling frame body, the mounting seat is threadedly matched with the transmission screw rod, and the mounting seat is slidingly matched with the guide light shaft.

[0027] Further, the left and right sides of the seedling skin dumping mechanism are vertically provided with second sliding rails, the second sliding rails are connected with the main frame and the recycling frame body respectively, the outer side of the sliding seat is provided with second rollers, the mounting seat slides to the front end of the guide light shaft, and when the rope is retracted and released, the two second rollers are rolling matched with the two second sliding rails one by one.

[0028] Compared with the prior art, the beneficial effects of the utility model are that:

[0029] Each seedling tray storage bin is loaded with seedling trays, and a plurality of seedling skins are arranged on the seedling trays, the successive seedling supplying mechanism is responsible for sequentially placing each layer of seedling trays on the two translation rails, the translation mechanism is responsible for pushing the seedling trays on the translation rails to the turnover frame, the seedling skin dumping mechanism is responsible for dumping the plurality of seedling skins on the seedling trays to the seedling box, the seedling tray recycling mechanism is responsible for recycling the empty seedling trays and placing the empty seedling trays in the empty seedling tray storage bin, the utility model can realize the complete process of unmanned automatic seedling taking, the whole machine is light in weight, each mechanism is small in load, stable and reliable in operation, and high in automation and intelligence. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is the axonometric view of the utility model;

[0031] Figure 2 It is another perspective axonometric view of the utility model;

[0032] Figure 3 It is the enlarged view of A of Figure 2 ; It is the enlarged view of B of ; It is the enlarged view of C of

[0033] ; It is the enlarged view of D of Figure 4 ; It is the top view axonometric view of the seedling tray;

[0034] Figure 5 It is the bottom view axonometric view of the seedling tray;

[0035] Figure 6 It is the schematic view of loading seedling trays of the successive seedling placing mechanism;

[0036] Figure 7 It is the axonometric view of the lifting mechanism;

[0037] Figure 8 It is the axonometric view of the first driving mechanism;

[0038] Figure 9Another perspective view of the first drive mechanism;

[0039] Figure 10 Schematic view of the translation mechanism pushing the seedling tray forward;

[0040] Figure 11 Schematic view of the structure of the translation mechanism;

[0041] Figure 12 is a Figure 11 enlarged view of B of

[0042] Figure 13 is a Figure 11 enlarged view of C of

[0043] Figure 14 is a

[0044] Figure 15 is a

[0045] Figure 16 is a

[0046] Figure 17 is a

[0047] Figure 18 is another perspective view of the seedling dumping mechanism;

[0048] Figure 19 is a

[0049] Figure 20 is a Figure 19 bottom view of

[0050] Figure 21 is a

[0051] Figure 22 is another perspective view of the seedling tray recycling mechanism;

[0052] Figure 23 is a

[0053] Figure 24 is a

[0054] Figure 25 is a

[0055] In the figure, 1. vehicle body, 2. seedling box, 21. pressure sensor, 22. second positioning ring group, 3. seedling dumping mechanism, 31. support seat, 32. driven arm group, 33. flap frame, 34. V-shaped positioning block, 35. stop block, 36. nylon short track, 37. V-shaped positioning groove, 38. adjusting light shaft, 39. driving arm group, 310. turnover driving shaft, 311. turnover driving motor, 312. turnover driven shaft, 313. first travel switch, 314. second travel switch, 4. seedling tray, 41. tray rack, 42. magnetic material block, 43. limit block, 44. tray panel, 45. guide groove, 5. seedling tray recycling mechanism, 51. lifting pivot, 52. recycling frame body, 53. second translation motor, 54. transmission screw, 55. guide light shaft, 56. lifting beam, 57. mounting seat, 58. lifting motor, 59. second sliding rail, 510. second roller, 511. sliding seat, 512. winch, 513. electromagnet, 6. main frame, 61. connecting assembly, 62. long screw, 63. first positioning ring group, 64. light shaft fixing seat, 7. lifting mechanism, 71. first sliding rail, 72. lifting driving motor, 73. lifting driving shaft, 74. bearing seat, 75. first roller, 76. supporting beam, 77. lifting chain, 78. lifting driven shaft, 79, lifting driving sprocket, 710. tension sprocket, 711. lifting driven sprocket, 712. third support rod, 713. second support rod, 714. second adjusting nut, 715. double-headed screw, 716. first adjusting nut, 717, first support rod, 718, first proximity switch, 8. translation mechanism, 81. second proximity switch, 82. loose bolt, 83. translation driven sprocket, 84. translation push block, 85. translation chain, 86. translation driving sprocket, 87. first translation motor, 88. translation frame body, 89. translation guide rail, 810. supporting strip. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the utility model more clear and obvious, the following will describe the utility model through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary, and not to limit the scope of the utility model. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0057] The connection mentioned in the utility model is divided into fixed connection and detachable connection, the fixed connection is namely the non-detachable connection including but not limited to the edge folding connection, rivet connection, bonding connection and welding connection and the like conventional fixed connection mode, the detachable connection includes but is not limited to the bolt connection, buckle connection, pin connection and hinge connection and the like conventional detachable mode, when the specific connection mode is not limited, at least one connection mode is found in the existing connection mode to realize the function, and the person skilled in the art can select by himself according to the requirement. For example: the fixed connection selects the welding connection, and the detachable connection selects the bolt connection.

[0058] The utility model will be further explained in detail in combination with the drawings, and the following examples are the explanation of the utility model, and the utility model is not limited to the following examples.

[0059] Embodiment: as Figures 1-25 Illustrated, an unmanned automatic seedling taking and transplanting machine, including car body 1, main frame 6, gradually supply seedling mechanism, seedling skin dumping mechanism 3 and seedling tray recycling mechanism 5, main frame 6 is fixed at the top of car body 1, and the front of car body 1 is equipped with seedling box 2;

[0060] The left and right sides of seedling tray 4 are respectively equipped with magnetic material blocks 42, and the bottom of seedling tray 4 is provided with two guide grooves 45 in parallel left and right;

[0061] The seedling tray 4 includes a tray panel 44 and a tray frame 41, the tray panel 44 is arranged on the tray frame 41, and the frame of the tray frame 41 surrounds the edge of the tray panel 44, wherein the frame on the front side is lower than the tray panel 44 to allow the seedling skin to slide out, and the frames on the left and right sides and the rear side are higher than the tray panel 44 to form an edge limiting the seedling skin, the magnetic material blocks 42 are arranged on the frames on both sides of the tray frame 41, and a plurality of limiting blocks 43 are arranged on the lower end surface of the tray panel 44;

[0062] The gradually supply seedling mechanism includes two groups of lifting mechanisms 7, the lifting mechanism 7 includes 2n horizontally arranged supporting beams 76 and two closed lifting chains 77, the 2n supporting beams 76 are uniformly fixed on the outer periphery of the two lifting chains 77, a first driving mechanism drives the two lifting chains 77 to rotate synchronously and intermittently, when the lifting chain 77 is stationary, n beam positions are formed on the descending side of the lifting chain 77, and n beam positions are formed on the ascending side, the 2n supporting beams 76 are correspondingly arranged in the 2n beam positions, the two groups of lifting mechanisms 7 are arranged on the left and right sides of the main frame 6, and the descending sides of the lifting chains 77 of the two groups of lifting mechanisms 7 are oppositely arranged;

[0063] The translation mechanism 8 comprises two translation guide rails 89 and a closed translation chain 85, the second driving mechanism drives the translation chain 85 to rotate intermittently, the translation chain 85 is provided with a translation push block 84, the two translation guide rails 89 are arranged in parallel left and right, the position of the lowest end of the descending side of the lifting chain 77 is defined as the seedling plate releasing position, the positions of the remaining supporting beams 76 on the descending side are seedling plate storage positions, the supporting beam 76 at the seedling plate releasing position is lower than the upper end surface of the translation guide rail 89, the supporting beams 76 at the seedling plate storage positions are all higher than the upper end surface of the translation guide rail 89, one pair of supporting beams 76 that keep the same height in the two groups of lifting mechanisms 7 form a group, the seedling plate storage positions of each group of supporting beams 76 form two seedling plate storage bins in front and back, the seedling plate storage bins load the seedling plates 4, when the supporting beams 76 at the seedling plate storage positions descend to the seedling plate releasing position, the two guide grooves 45 of the seedling plate 4 slide and match with the two translation guide rails 89 one by one, when the second driving mechanism works, the translation push block 84 pushes the seedling plate 4 on the translation guide rail 89 forward;

[0064] The seedling skin unloading mechanism 3 comprises a supporting seat 31 and a flap frame 33, the supporting seat 31 is connected with the bottom front side of the main frame 6, the third driving mechanism drives the flap frame 33 to reciprocate and swing intermittently between the upper side position and the front side position of the supporting seat 31, when the flap frame 33 is at the upper side position, the flap frame 33 is in a horizontal state, the flap frame 33 is aligned with the upper end surface of the translation guide rail 89, when the flap frame 33 is at the front side position, the front end of the flap frame 33 is lower than the rear end, and the flap frame 33 is in an inclined state;

[0065] The seedling plate recycling mechanism 5 comprises a recycling frame body 52 and a mounting seat 57, the recycling frame body 52 is fixed to the upper end of the main frame 6, the fourth driving mechanism drives the mounting seat 57 to move forward and backward on the recycling frame body 52, a lifting rotating shaft 51 is rotationally arranged on the mounting seat 57, a lifting motor 58 is connected with the mounting seat 57, the output shaft of the lifting motor 58 is connected with the lifting rotating shaft 51, the lifting motor 58 is a worm gear motor, two winches 512 are sleeved on the lifting rotating shaft 51, a rope is wound on the winch 512, the movable end of the rope is connected with a lifting beam 56, the lifting beam 56 is arranged left and right, the two ends of the lifting beam 56 are each provided with a sliding seat 511, and the lower side of the sliding seat 511 is provided with an electromagnet 513.

[0066] Each seedling plate storage bin is loaded with the seedling plate 4, and a plurality of seedling skins are arranged on the seedling plate 4, the seedling feeding mechanism is responsible for placing each layer of seedling plate on the two translation guide rails 89 in turn, the translation mechanism 8 is responsible for pushing the seedling plate 4 on the translation guide rail 89 to the flap frame 33, the seedling skin unloading mechanism 3 is responsible for unloading the plurality of seedling skins on the seedling plate 4 to the seedling box 2, and the seedling feeding operation is realized, and the seedling plate recycling mechanism 5 is responsible for recycling the empty seedling plate in the seedling plate storage bin at the uppermost end. The complete process of unmanned automatic seedling taking can be realized by the utility model, the whole machine is light in weight, each mechanism is small in load, stable and reliable in operation, and high in degree of automation and intelligence.

[0067] The number of supporting beams 76 on each lifting mechanism 7 is eight, and when the lifting chain 77 is at rest, four supporting beam positions are formed on the descending side of the lifting chain 77, and four supporting beam positions are formed on the ascending side. Eight supporting beams 76 are correspondingly arranged in the eight supporting beam positions. The first driving mechanism includes two sets of transmission assemblies, a lifting driving shaft 73, and a lifting driven shaft 78. The lifting driving shaft 73 and the lifting driven shaft 78 are respectively arranged at the top and the bottom of the main frame 6. The transmission assembly includes a lifting driving sprocket 79 and a lifting driven sprocket 711. The lifting driving sprocket 79 is sleeved on the lifting driving shaft 73, and the lifting driven sprocket 711 is sleeved on the lifting driven shaft 78. The lifting driving sprocket 79 and the lifting driven sprocket 711 are connected through the lifting chain 77. The lifting driving motor 72 is connected to the main frame 6. The output shaft of the lifting driving motor 72 is connected to the lifting driving shaft 73. The lifting driving motor 72 is a worm gear motor. When the lifting driving motor 72 stops driving the lifting chain 77, it can be self-locked to prevent the lifting chain 77 from rotating. The front and rear parts of the supporting beam 76 are fixed on the corresponding two lifting chains 77. The lifting chain 77 is a bent plate chain, or the lifting chain 77 is uniformly and intermittently provided with eight bent plate links. The supporting beam 76 is connected to the bent plate link.

[0068] The lifting mechanism 7 further includes two vertically arranged first sliding rails 71. The two first sliding rails 71 are arranged on the descending side of the lifting chain 77. The first sliding rail 71 is connected to the main frame 6. The front and rear ends of the supporting beam 76 are provided with first rollers 75. When the lifting chain 77 drives the supporting beam 76 to descend, the first rollers 75 at the two ends of the supporting beam 76 are correspondingly and rollingly matched with the two first sliding rails 71. The supporting beam 76 that passes through the lifting driving sprocket 79 is provided with a first sliding rail 71 and moves vertically downward along the first sliding rail 71. When the supporting beam 76 is at the lower end of the first sliding rail 71, the first rollers 75 at the two ends of the supporting beam 76 can respectively disengage from the corresponding first sliding rail 71 and pass through the lifting driven sprocket 711 to ascend from the other side. The two first sliding rails 71 guide the supporting beam 76 and accurately place the seedling tray 4 on the translation mechanism 8.

[0069] The transmission assembly further comprises a tensioning sprocket 710, a first supporting rod 717, a second supporting rod 713 and a third supporting rod 712, the upper end of the first supporting rod 717 is rotationally connected with the lifting driving shaft 73, the lower end of the third supporting rod 712 is rotationally connected with the lifting driven shaft 78, the tensioning sprocket 710 is rotationally arranged at the upper end of the third supporting rod 712, the lower end of the second supporting rod 713 is hingedly connected with the third supporting rod 712, the bottom of the first supporting rod 717 is provided with a first adjusting nut 716, the top of the second supporting rod 713 is provided with a second adjusting nut 714, the screw thread directions of the first adjusting nut 716 and the second adjusting nut 714 are opposite, the two ends of the stud bolt 715 are respectively threadedly connected with the first adjusting nut 716 and the second adjusting nut 714, the lifting driving sprocket 79, the lifting driven sprocket 711 and the tensioning sprocket 710 are connected through the lifting chain 77, and the lifting driving sprocket 79, the lifting driven sprocket 711 and the tensioning sprocket 710 are all located at the inner periphery of the lifting chain 77, by screwing the stud bolt 715, the relative distance between the first supporting rod 717 and the second supporting rod 713 can be adjusted, and then the relative position of the tensioning sprocket 710 can be adjusted, so as to adjust the tensioning degree of the lifting chain 77.

[0070] The second driving mechanism comprises a translation frame 88, a translation driving sprocket 86 and a translation driven sprocket 83, the first wheel shaft is rotationally arranged at the front end of the translation frame 88, the second wheel shaft is arranged at the rear end of the translation frame 88, the translation frame 88 is fixed at the bottom of the main frame 6, the translation driving sprocket 86 is sleeved on the first wheel shaft, the translation driven sprocket 83 is rotationally arranged on the second wheel shaft, the first translation motor 87 is connected with the translation frame 88, the output shaft of the first translation motor 87 is connected with the first wheel shaft, and the translation driving sprocket 86 and the translation driven sprocket 83 are connected through the translation chain 85.

[0071] The translation frame 88 comprises a left half frame and a right half frame, the translation driving sprocket 86 and the translation driven sprocket 83 are arranged between the left half frame and the right half frame, a supporting strip 810 is arranged between the translation driving sprocket 86 and the translation driven sprocket 83, the supporting strip 810 is connected with the left half frame and the right half frame respectively, and the upper translation chain 85 slides on the supporting strip 810, so that the translation driving sprocket 86 is prevented from excessively falling under the gravity;

[0072] The rear end of the left and right half frame bodies is provided with a left-right through long hole extending in the front-rear direction, the second wheel shaft passes through the long hole, the second wheel shaft and the long hole are in sliding fit, the fish eyes of the two loose bolts 82 are respectively sleeved on the two ends of the second wheel shaft, the threaded end of the loose bolt 82 is arranged rearward, the threaded ends of the two loose bolts 82 are respectively matched with the translation frame body 88 to be tensioned, the mode given in the embodiment is that a connecting lug is arranged on the translation frame body 88, the connecting lug is located at the rear side of the loose bolt 82, the threaded end of the loose bolt 82 passes through the connecting lug and is connected with a tension nut, by screwing the tension nut, the relative position of the two loose bolts 82 and the translation frame body 88 can be adjusted, the relative position of the translation driven sprocket 83 and the translation driving sprocket 86 can be adjusted, and the tensioning degree of the translation chain 85 can be changed.

[0073] The third driving mechanism comprises a driving arm group 39 and a driven arm group 32, the upper end of the driving arm group 39 is hinged to the rear part of the flap frame 33, the upper end of the driven arm group 32 is hinged to the front part of the flap frame 33, the lower end of the driving arm group 39 is connected with a flip driving shaft 310, the flip driving shaft 310 is in rotary fit with the support seat 31, a flip driving motor 311 is connected with the support seat 31, the output shaft of the flip driving motor 311 is connected with the flip driving shaft 310, the lower end of the driven arm group 32 is hinged to the support seat 31 through a flip driven shaft 312, the support seat 31, the driving arm group 39, the flap frame 33 and the driven arm group 32 constitute a four-bar linkage mechanism, the output shaft of the flip driving motor 311 reciprocates intermittently, driving the flap frame 33 to reciprocate between the upper side position and the front side position of the support seat 31;

[0074] The flap frame 33 is provided with two nylon short tracks 36, when the flap frame 33 is in the upper side horizontal position, the two nylon short tracks 36 are aligned with the two translation guide rails 89 one by one in front and back, when the translation mechanism 8 pushes the seedling tray 4 on the translation guide rail 89 to the flap frame 33, the two nylon short tracks 36 are in sliding fit with the two guide grooves 45 of the seedling tray 4 one by one.

[0075] The front side of the seedling tray 4 is provided with a plurality of limiting blocks 43, the upper end surface of the front side of the flap frame 33 is provided with a plurality of stop blocks 35, when the seedling tray 4 slides to the front end of the flap frame 33, the plurality of limiting blocks 43 and the plurality of stop blocks 35 are one by one corresponding and abutting to limit, preventing the seedling tray 4 from sliding out of the flap frame 33;

[0076] The front side and the rear side of the flap frame 33 are both provided with a plurality of V-shaped positioning blocks 34, the V-shaped positioning blocks 34 are provided with V-shaped positioning grooves 37, the front side of the main frame 6 is provided with a plurality of first positioning rods, the first positioning rods are sleeved with a first positioning ring group 63, when the flap frame 33 is in the upper side position, the plurality of first positioning ring groups 63 and the V-shaped positioning grooves 37 of the plurality of V-shaped positioning blocks 34 on the rear side of the flap frame 33 are one by one corresponding and clamped to limit;

[0077] The top of the seedling box 2 is provided with a plurality of second positioning rods, a second positioning ring set 22 is sleeved on the second positioning rods, when the flap frame 33 is in the front side position, the plurality of second positioning ring sets 22 are clamped and limited in the V-shaped positioning grooves 37 of the plurality of V-shaped positioning blocks 34 on the front side of the flap frame 33 one by one, and the upper side position and the front side position of the flap frame 33 are accurately positioned.

[0078] The connecting assembly 61 is hung on the bottom front side of the main frame 6 through a plurality of long screw rods 62 and fastening nuts, a plurality of light axis fixing seats 64 are arranged on the connecting assembly 61, a plurality of front and rear adjusting light axes 38 are arranged on the supporting seat 31, and the plurality of adjusting light axes 38 are connected with the plurality of light axis fixing seats 64 one by one. The long screw rod 62 is provided with four groups of fastening nut assemblies, the fastening nut assembly comprises a fastening nut, a spring washer and a flat washer, two fastening nut assemblies at the upper end clamp and fasten the main frame 6, and two fastening nut assemblies at the lower end clamp and fasten the connecting assembly. By adjusting the relative positions of the fastening nut assembly and the long screw rod 62, the vertical distance between the seedling skin dumping mechanism 3 and the main frame 6 can be adjusted, and by changing the relative positions of the adjusting light axis 38 and the plurality of light axis fixing seats 64, the horizontal distance between the seedling skin dumping mechanism 3 and the main frame 6 can be adjusted.

[0079] The fourth driving mechanism comprises a transmission screw rod 54 and two guide light axes 55, the transmission screw rod 54 is arranged front and back, the transmission screw rod 54 is rotationally connected with the recovery frame body 52, the second translation motor 53 is fixed on the recovery frame body 52, the output shaft of the second translation motor 53 is connected with the transmission screw rod 54, the guide light axis 55 is parallel to the transmission screw rod 54, the guide light axis 55 is fixed on the recovery frame body 52, the mounting seat 57 is threadedly connected with the transmission screw rod 54, and the mounting seat 57 is slidably connected with the guide light axis 55;

[0080] Second sliding rails 59 are vertically arranged on the left side and the right side of the seedling skin dumping mechanism 3, the second sliding rails 59 are respectively connected with the main frame 6 and the recovery frame body 52, the outer side of the sliding seat 511 is provided with second rollers 510, when the mounting seat 57 slides to the front end of the guide light axis 55 and the rope is retracted and released, the two second rollers 510 are in one-to-one rolling connection with the two second sliding rails 59, and when the two second rollers 510 slide away from the two second sliding rails 59 respectively, the mounting seat 57 can slide backward along the guide light axis 55.

[0081] The working method of the unmanned automatic seedling taking and transplanting machine is described in detail as follows:

[0082] Step one, a first proximity switch 718 is arranged at the bottom of the first sliding rail 71, and a second proximity switch 81 is arranged at the front end of the translation frame body 88, the first proximity switch 718 is triggered when the supporting beam 76 is in the seedling disc releasing position, and the seedling disc 4 triggers the second proximity switch 81 when the seedling disc 4 is placed at the front part of the translation guide rail 89.

[0083] Step two, set the first travel switch 313 and the second travel switch 314 on the turnover frame 33, when the turnover frame 33 is in the upper position of the support seat 31, the main frame 6 triggers the first travel switch 313, when the translation mechanism 8 pushes the seedling tray 4 to the turnover frame 33, the seedling tray 4 triggers the second travel switch 314; in order to avoid the translation mechanism 8 from pushing the seedling tray 4 to the position, the second travel switch 314 can be set in the middle of the turnover frame 33, when the turnover frame 33 is turned over, the seedling tray 4 can be completely slid onto the turnover frame 33;

[0084] Step three, set a plurality of pressure sensors 21 on the seedling box 2, the plurality of pressure sensors 21 are used to monitor the consumption of the seedling skin on the seedling box 2;

[0085] Step four, set the third travel switch at the top end of the second slide rail 59 and set the fourth travel switch at the bottom end of the second slide rail 59, when the second roller 510 slides away from the second slide rail 59, the sliding seat 511 triggers the third travel switch, when the second roller 510 slides down and makes the electromagnet 513 close to the corresponding magnetic material block 42 of the seedling tray 4 on the turnover frame 33, the sliding seat 511 triggers the fourth travel switch;

[0086] Step five, mark the rear seedling tray storage bin as No. 1 tray bin and mark the front seedling tray storage bin as No. 2 tray bin, set the first photoelectric switch and the second photoelectric switch on the top of the main frame 6, the first photoelectric switch is triggered when the seedling tray 4 is loaded in the No. 1 tray bin, and the second photoelectric switch is triggered when the seedling tray 4 is loaded in the No. 2 tray bin;

[0087] Step six, set the code disc on the recycling frame body 52, the code disc shaft is connected with the transmission screw rod 54, mark the zero position of the code disc when the second roller 510 is matched with the second slide rail 59, and the stroke of the rear movement of the mounting seat 57 is obtained through the code disc;

[0088] Step seven, set the tension sensor between the rope and the lifting beam 56;

[0089] Step eight, the first travel switch 313, the second travel switch 314, the third travel switch, the fourth travel switch, the first photoelectric switch, the second photoelectric switch, the code disc, the tension sensor, the electromagnet 513, the plurality of pressure sensors 21, the first proximity switch 718, the second proximity switch, the lifting drive motor 72, the first translation motor 87, the turnover drive motor 311, the second translation motor 53 and the lifting motor 58 are respectively electrically connected with the PLC;

[0090] Step 9: Mark the support beam 76 in the seedling tray release position as support beam 1, and mark the support beam 76 in the seedling tray storage position from bottom to top as support beam 2, support beam 3 and support beam 4, and mark the support beam 76 on the rising side of the lifting chain 77 from top to bottom as support beam 5, support beam 6, support beam 77 and support beam 8. Load seedling trays 4 on each seedling tray storage compartment, and arrange several seedling skins on seedling trays 4.

[0091] Step 10: When the second proximity switch does not detect the seedling tray 4 on the translation guide rail 89, the PLC controls the two lifting drive motors 72 to run synchronously, so that several support beams 76 move synchronously to the next support beam position, that is, the second support beam moves to the seedling tray release position, and the fifth support beam moves to the uppermost seedling tray storage position. When the first proximity switch 718 detects that the second support beam has descended to the seedling tray release position, and the second proximity switch detects that the seedling tray 4 has been placed on the translation guide rail 89, the PLC controls the two lifting drive motors 72 to stop.

[0092] Step 11: When the main frame 6 triggers the first limit switch 313 and the second limit switch 314 is not triggered, and the seedling tray 4 triggers the second proximity switch, the PLC controls the first translation motor 87 to run, and the translation push block 84 pushes the two seedling trays 4 on the translation guide rail 89 to slide forward.

[0093] Step 12: The seedling tray 4 located on the front side slides onto the flip frame 33 and triggers the second limit switch 314, and the PLC controls the first translation motor 87 to stop.

[0094] Step 13: When the seedling skin on the seedling box 2 is used up, and several pressure sensors 21 are not triggered, and the seedling tray 4 triggers the second limit switch 314, the PLC controls the flip drive motor 311 to run. The flip drive motor 311 drives the flip frame 33 to swing forward and flip to the front position, unloading several seedling skins on the seedling tray 4 onto the seedling box 2, thus completing the seedling placement operation.

[0095] Step 14: Several seedling skins trigger the corresponding pressure sensors 21 respectively, and the PLC controls the flip drive motor 311 to rotate in the opposite direction. The flip drive motor 311 drives the flip frame 33 to swing upward to the upper position.

[0096] Step 15: When the main frame 6 triggers the first limit switch 313 again, the PLC controls the flip drive motor 311 to stop and controls the lifting motor 58 to run. The lifting shaft 51 rotates, driving the winch 512 to release the rope, causing the lifting beam 56 to descend. When the slide 511 triggers the fourth limit switch, the electromagnet 513 approaches the magnetic material block 42 corresponding to the seedling tray 4 on the flip frame 33. The PLC controls the lifting motor 58 to stop and controls the electromagnet 513 to be energized to attract the corresponding magnetic material block 42.

[0097] Step sixteen, after the lifting beam 56 lifts the seedling tray 4 on the turnover frame 33 through the electromagnet 513, the tension sensor changes the tension, and the tension sensor sends a signal to the PLC to control the lifting motor 58 to reverse rotation, the lifting shaft 51 rotates to drive the winch 512 to wind the rope, so that the lifting beam 56 lifts the empty seedling tray 4, and the seedling tray 4 is separated from the second travel switch 314, and the second travel switch 314 sends a signal to control the first translation motor 87 to operate, and the translation push block 84 pushes another seedling tray 4 on the translation guide rail 89 to the turnover frame 33;

[0098] Step seventeen, when the sliding seat 511 moves up to trigger the third travel switch, the second roller 510 is separated from the corresponding second sliding rail 59, the third travel switch sends a signal to the PLC to control the lifting motor 58 to stop, and controls the second translation motor 53 to operate, the transmission screw rod 54 rotates to drive the mounting seat 57 to slide backward, if the first tray bin and the second tray bin are not loaded with seedling trays 4, the fourth driving mechanism is controlled by the PLC to move the empty seedling tray 4 to above the first tray bin, if the first tray bin is loaded with 4 and the second tray bin is not loaded with seedling trays 4, the fourth driving mechanism is controlled by the PLC to move the empty seedling tray 4 to above the second tray bin, after the empty seedling tray 4 is moved to the data position through the encoder, the second translation motor 53 is controlled by the PLC to stop, and the two electromagnets 513 are controlled by the PLC to stop at the same time;

[0099] The empty seedling tray 4 falls into the first tray bin or the second tray bin, the tension sensor changes the tension, and the tension sensor sends a signal to the PLC to control the second translation motor 53 to operate in reverse, so that the mounting seat 57 slides forward, and when the second roller 510 cooperates with the corresponding second sliding rail 59 again, the encoder returns to zero position, and the second translation motor 53 is controlled by the PLC to stop;

[0100] Step eighteen, the seedling tray recycling mechanism 5 loads two empty seedling trays 4 into the first bin and the second bin respectively, and the two seedling trays 4 trigger the first photoelectric switch and the second photoelectric switch respectively, so that the PLC controls the two lifting drive motors 72 to operate again synchronously, and the next seedling taking process is recycled.

[0101] The utility model discloses a tension sensor, travel switch, photoelectric switch and other components that can provide signals for actions, and the PLC sends start-stop signals and forward-reverse signals to each motor, so that the seedling supply, seedling release and seedling tray recycling can be automatically performed during the running of the rice transplanter without any operation of the driver, and the automation and intelligence are high.

[0102] The above examples are only illustrative of the utility model, and do not limit the protection scope, and the skilled in the art can also change the utility model locally, as long as the spirit and essence of the utility model are not exceeded, and the utility model is within the protection scope.

Claims

1. An unmanned automatic seedling transplanter, characterized in that: The device comprises a vehicle body (1), a main frame (6), a seedling feeding mechanism, a seedling skin dumping mechanism (3) and a seedling tray recycling mechanism (5), the main frame (6) is fixed on the top of the vehicle body (1), and a seedling box (2) is arranged at the front of the vehicle body (1); The left and right sides of the seedling tray (4) are respectively provided with magnetic material blocks (42), and the bottom of the seedling tray (4) is provided with two guide grooves (45) in parallel; The seedling feeding mechanism comprises two groups of lifting mechanisms (7), each lifting mechanism (7) comprises 2n horizontally arranged supporting beams (76) and two closed lifting chains (77), the 2n supporting beams (76) are uniformly fixed on the outer periphery of the two lifting chains (77), a first driving mechanism drives the two lifting chains (77) to synchronously and intermittently rotate, when the lifting chains (77) are static, n supporting beam positions are formed on the descending side of the lifting chains (77) and n supporting beam positions are formed on the ascending side, the 2n supporting beams (76) are one-to-one corresponding to the 2n supporting beam positions, the two groups of lifting mechanisms (7) are arranged on the left and right sides of the main frame (6), and the descending sides of the lifting chains (77) of the two groups of lifting mechanisms (7) are oppositely arranged; The translation mechanism (8) comprises two translation guide rails (89) and a closed translation chain (85), a second driving mechanism drives the translation chain (85) to intermittently rotate, the translation chain (85) is provided with a translation push block (84), the two translation guide rails (89) are arranged in parallel, the lowest supporting beam position on the descending side of the lifting chain (77) is defined as a seedling tray releasing position, the remaining supporting beam positions on the descending side are defined as seedling tray storage positions, the supporting beam (76) in the seedling tray releasing position is lower than the upper end surface of the translation guide rail (89), the supporting beams (76) in the seedling tray storage positions are all higher than the upper end surface of the translation guide rail (89), one pair of supporting beams (76) in the two groups of lifting mechanisms (7) are kept at the same height and form a group, two seedling tray storage bins are formed between the supporting beams (76) in each group in the seedling tray storage positions, the seedling tray storage bins load the seedling trays (4), when the supporting beams (76) in the seedling tray storage positions descend to the seedling tray releasing position, the two guide grooves (45) of the seedling tray (4) slide and cooperate with the two translation guide rails (89) one-to-one, when the second driving mechanism works, the translation push block (84) pushes the seedling tray (4) on the translation guide rail (89) forward; The seedling skin dumping mechanism (3) comprises a support seat (31) and a flap frame (33), the support seat (31) is connected to the bottom and front side of the main frame (6), a third driving mechanism drives the flap frame (33) to reciprocatingly and intermittently swing between an upper side position and a front side position of the support seat (31), when the flap frame (33) is in the upper side position, the flap frame (33) is in a horizontal state, the flap frame (33) is aligned with the upper end surface of the translation guide rail (89), when the flap frame (33) is in the front side position, the front end of the flap frame (33) is lower than the rear end, and the flap frame (33) is in an inclined state. The seedling tray recycling mechanism (5) comprises a recycling frame body (52) and a mounting seat (57), the recycling frame body (52) is fixed at the upper end of the main frame (6), the fourth driving mechanism drives the mounting seat (57) to move back and forth on the recycling frame body (52), the lifting rotating shaft (51) is rotationally arranged on the mounting seat (57), the lifting motor (58) is connected with the mounting seat (57), the output shaft of the lifting motor (58) is connected with the lifting rotating shaft (51), the lifting motor (58) is a worm gear motor, two winches (512) are sleeved on the lifting rotating shaft (51), the winches (512) are wound with ropes, the movable ends of the ropes are connected with lifting beams (56), the lifting beams (56) are arranged left and right, the two ends of the lifting beams (56) are provided with sliding seats (511), and electromagnets (513) are arranged on the lower sides of the sliding seats (511).

2. The unmanned automatic seedling taking and transplanting machine according to claim 1, characterized in that: The number of the supporting beams (76) is eight, four supporting beam positions are formed on the descending side of the lifting chain (77) and four supporting beam positions are formed on the ascending side of the lifting chain (77) when the lifting chain (77) is static, the eight supporting beams (76) are arranged in one-to-one correspondence in the eight supporting beam positions, the first driving mechanism comprises two groups of transmission assemblies, a lifting driving shaft (73) and a lifting driven shaft (78), the lifting driving shaft (73) and the lifting driven shaft (78) are rotationally arranged at the top and the bottom of the main frame (6) respectively, the transmission assembly comprises a lifting driving sprocket (79) and a lifting driven sprocket (711), the lifting driving sprocket (79) is sleeved on the lifting driving shaft (73), the lifting driven sprocket (711) is sleeved on the lifting driven shaft (78), the lifting driving sprocket (79) and the lifting driven sprocket (711) are connected through the lifting chain (77), the lifting driving motor (72) is connected with the main frame (6), the output shaft of the lifting driving motor (72) is connected with the lifting driving shaft (73), and the lifting driving motor (72) is a worm gear motor; The lifting mechanism (7) further comprises two first vertical sliding rails (71), the two first sliding rails (71) are arranged on the descending side of the lifting chain (77), the first sliding rail (71) is connected with the main frame (6), the front and rear ends of the supporting beam (76) are provided with first rollers (75), when the supporting beam (76) is lowered by the lifting chain (77), the first rollers (75) at the two ends of the supporting beam (76) are in one-to-one correspondence with the two first sliding rails (71) in rolling connection.

3. The unmanned automatic seedling taking and transplanting machine according to claim 2, characterized in that: The transmission assembly further includes a tension sprocket (710), a first support rod (717), a second support rod (713), and a third support rod (712). The upper end of the first support rod (717) is rotatably engaged with the lifting drive shaft (73), and the lower end of the third support rod (712) is rotatably engaged with the lifting driven shaft (78). The tension sprocket (710) is rotatably mounted on the upper end of the third support rod (712), and the lower end of the second support rod (713) is hinged to the third support rod (712). The bottom of the second support rod (717) is provided with a first adjusting nut (716), and the top of the second support rod (713) is provided with a second adjusting nut (714). The threads of the first adjusting nut (716) and the second adjusting nut (714) are opposite. The two ends of the double-ended screw (715) are respectively threaded to the first adjusting nut (716) and the second adjusting nut (714). The lifting drive sprocket (79), the lifting driven sprocket (711) and the tensioning sprocket (710) are connected by the lifting chain (77).

4. The unmanned automatic seedling taking and transplanting machine according to claim 1, characterized in that: The second drive mechanism includes a translation frame (88), a translation drive sprocket (86), and a translation driven sprocket (83). A first wheel shaft is rotatably disposed at the front end of the translation frame (88), and a second wheel shaft is disposed at the rear end of the translation frame (88). The translation frame (88) is fixed to the bottom of the main frame (6). The translation drive sprocket (86) is sleeved on the first wheel shaft, and the translation driven sprocket (83) is rotatably disposed on the second wheel shaft. A first translation motor (87) is connected to the translation frame (88), and the output shaft of the first translation motor (87) is connected to the first wheel shaft. The translation drive sprocket (86) and the translation driven sprocket (83) are connected by a translation chain (85).

5. The unmanned automatic seedling taking and transplanting machine according to claim 4, characterized in that: The translation frame (88) includes a left half frame and a right half frame. The translation drive sprocket (86) and the translation driven sprocket (83) are both located between the left half frame and the right half frame. A support bar (810) is provided between the translation drive sprocket (86) and the translation driven sprocket (83). The support bar (810) is connected to the left half frame and the right half frame respectively. The translation chain (85) on the upper side slides on the support bar (810). The left and right halves of the frame are provided with elongated holes that extend from left to right at their rear ends. The length of the elongated holes extends forward and backward. The second wheel axle passes through the elongated holes and slides into the elongated holes. The fisheyes of the two swivel bolts (82) are respectively fitted onto the two ends of the second wheel axle. The threaded ends of the swivel bolts (82) are set backward. The threaded ends of the two swivel bolts (82) are respectively engaged with the translation frame (88) to tighten.

6. The unmanned automatic seedling taking and transplanting machine according to claim 1, characterized in that: The third driving mechanism comprises a driving arm group (39) and a driven arm group (32), the upper end of the driving arm group (39) is hinged to the rear part of the flap frame (33), the upper end of the driven arm group (32) is hinged to the front part of the flap frame (33), the lower end of the driving arm group (39) is connected with a turnover driving shaft (310), the turnover driving shaft (310) is rotationally matched with the support base (31), a turnover driving motor (311) is connected with the support base (31), the output shaft of the turnover driving motor (311) is connected with the turnover driving shaft (310), the lower end of the driven arm group (32) is hinged to the support base (31) through a turnover driven shaft (312), the support base (31), the driving arm group (39), the flap frame (33) and the driven arm group (32) form a four-bar linkage mechanism, the output shaft of the turnover driving motor (311) rotates reciprocatingly and intermittently, thereby driving the flap frame (33) to swing reciprocatingly between the upper side position and the front side position of the support base (31); The flap frame (33) is provided with two nylon short rails (36), when the flap frame (33) is in the upper side horizontal position, the two nylon short rails (36) are aligned with the two translation rails (89) one by one in front and back, when the translation mechanism (8) pushes the seedling tray (4) on the translation rail (89) to the flap frame (33), the two nylon short rails (36) are slidably matched with the two guide grooves (45) of the seedling tray (4) one by one.

7. The unmanned automatic seedling taking and transplanting machine according to claim 6, characterized in that: The front side of the seedling tray (4) is provided with a plurality of limiting blocks (43), the upper end surface of the front side of the flap frame (33) is provided with a plurality of stop blocks (35), when the seedling tray (4) slides to the front end of the flap frame (33), the plurality of limiting blocks (43) and the plurality of stop blocks (35) are correspondingly abutted and limited; the front side and the rear side of the flap frame (33) are provided with a plurality of V-shaped positioning blocks (34), the V-shaped positioning blocks (34) are provided with V-shaped positioning grooves (37), the front side of the main frame (6) is provided with a plurality of first positioning rods, the first positioning rods are provided with first positioning ring groups (63), when the flap frame (33) is in the upper side position, the plurality of first positioning ring groups (63) and the V-shaped positioning grooves (37) of the plurality of V-shaped positioning blocks (34) on the rear side of the flap frame (33) are correspondingly clamped and limited; The top of the seedling box (2) is provided with a plurality of second positioning rods, the second positioning rods are provided with second positioning ring groups (22), when the flap frame (33) is in the front side position, the plurality of second positioning ring groups (22) and the V-shaped positioning grooves (37) of the plurality of V-shaped positioning blocks (34) on the front side of the flap frame (33) are correspondingly clamped and limited.

8. The unmanned automatic seedling taking and transplanting machine according to claim 7, characterized in that: Further comprising a connecting assembly (61), the connecting assembly (61) is hoisted on the bottom front side of the main frame (6) through a plurality of long screws (62) and fastening nuts, the connecting assembly (61) is provided with a plurality of light shaft fixing bases (64), the support base (31) is provided with a plurality of front and rear adjusting light shafts (38), the plurality of adjusting light shafts (38) and the plurality of light shaft fixing bases (64) are correspondingly connected.

9. The unmanned automatic seedling taking and transplanting machine according to any one of claims 1 to 8, characterized in that: The fourth driving mechanism comprises transmission screw rods (54) and two guide light shafts (55), the transmission screw rods (54) are arranged front and back, the transmission screw rods (54) are rotationally matched with the recovery frame body (52), the second translation motor (53) is fixed on the recovery frame body (52), the output shaft of the second translation motor (53) is connected with the transmission screw rods (54), the guide light shafts (55) are parallel with the transmission screw rods (54), the guide light shafts (55) are fixed on the recovery frame body (52), the mounting seat (57) is threadedly matched with the transmission screw rods (54), and the mounting seat (57) is slidingly matched with the guide light shafts (55).

10. The unmanned automatic seedling taking and transplanting machine according to claim 9, wherein: The left and right sides of the seedling skin dumping mechanism (3) are vertically provided with second sliding rails (59), the second sliding rails (59) are connected with the main frame (6) and the recovery frame body (52) respectively, the outer side of the sliding seat (511) is provided with second rollers (510), the mounting seat (57) slides to the front end of the guide light shaft (55), and when the rope is retracted and released, the two second rollers (510) are rollingly matched with the two second sliding rails (59) one by one.

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