Seedling tray successive feeding device of unmanned rice transplanter

Abstract

The utility model discloses a successive seedling tray feeding device of an unmanned rice transplanter, belongs to the technical field of agricultural machinery, and aims to solve the problems of a seedling feeding mechanism of the conventional unmanned rice transplanter. Comprising a lifting mechanism and a translation mechanism. The translation mechanism is arranged at the bottom of the main frame, the two lifting mechanisms are arranged on the left side and the right side of the main frame respectively, each lifting mechanism comprises 2n horizontally-arranged bearing beams and two closed lifting chains, the 2n bearing beams are evenly fixed to the peripheries of the two lifting chains, one pair of bearing beams with the same height in the two sets of lifting mechanisms is a set, and the two sets of bearing beams are arranged in parallel. A front seedling tray storage bin and a rear seedling tray storage bin are formed between each group of supporting beams located at the seedling tray storage positions, seedling trays are loaded in the seedling tray storage bins, and the lifting mechanism is responsible for sequentially placing the seedling trays on each layer on the two translation guide rails, so that the seedling trays can be stored, the stored seedling trays can be sequentially supplied to the seedling skin dumping mechanism, the automatic seedling releasing operation is realized, the labor intensity of workers is reduced, and the working efficiency is improved. The whole process is high in automation degree and high in efficiency, and seedling skin cannot be damaged.

Description

Technical Field

[0001] This utility model belongs to the field of rice transplanter technology, and in particular relates to a seedling tray sequential supply device for an unmanned rice transplanter. Background Technology

[0002] A rice transplanter is an agricultural machine that plants rice seedlings into paddy fields. Mechanized rice planting not only greatly reduces the labor intensity of farmers but also lowers the overall cost of rice cultivation. The supply mechanism is a crucial component of unmanned rice transplanters, as it removes seedling trays one by one from the seedling tray storage rack and supplies them to the seedling dispensing mechanism.

[0003] The utility model patent with announcement number CN106717373B discloses a chain-type automatic seedling delivery device and method. It uses a gear transmission group and a combination of sprockets and chains for power transmission. The transmission ratio needs to be strictly controlled, otherwise the position of the robotic arm delivering the seedling will not match the position of the hanging cup.

[0004] The utility model patent with publication number CN105366259A discloses an automatic seedling tray transport vehicle based on double chain drive. It uses a lifting device to move the seedling trays up and down, but it needs to grab the seedling trays, which may damage the seedling trays.

[0005] The utility model patent with announcement number CN114303529B discloses a high-precision automatic seedling metering device and method. It requires that the positions of the metering holes and seedling holes in each row be relatively accurate, and it can only perform single metering at a time, resulting in low work efficiency.

[0006] The utility model patent with publication number CN118892008A discloses a seedling transplanter with variable row spacing for potted blanket-shaped seedlings. It requires adjustment of the seedling throwing position in conjunction with the seedling feeding mechanism. The adjustable range is 15-30cm, but the error is relatively large. Utility Model Content

[0007] The purpose of this invention is to provide a sequential seedling tray supply device for an unmanned rice transplanter, thereby solving the problems existing in the seedling supply mechanism of the current unmanned rice transplanter. The technical solution adopted by this invention is as follows:

[0008] A seedling tray sequential feeding device for an unmanned rice transplanter includes a lifting mechanism and a translation mechanism;

[0009] The translation mechanism includes two translation guide rails and a closed translation chain. The second drive mechanism drives the translation chain to rotate intermittently. Translation push blocks are set on the translation chain. The two translation guide rails are arranged parallel to each other. The main frame is fixed above the vehicle body, and the translation mechanism is set at the bottom of the main frame.

[0010] The lifting mechanism includes 2n horizontally arranged support beams and two closed lifting chains. The 2n support beams are evenly fixed on the outer periphery of the two lifting chains. The first drive mechanism drives the two lifting chains to rotate synchronously and intermittently. When the lifting chains are stationary, n support beam positions are formed on the descending side of the lifting chains and n support beam positions are formed on the ascending side. The 2n support beams are located one-to-one on the 2n support beam positions. The two sets of lifting mechanisms are arranged on the left and right sides of the main frame, and the descending side of the lifting chains of the two sets of lifting mechanisms is arranged opposite to each other.

[0011] The lowest support beam on the lowering side of the lifting chain is defined as the seedling tray release position, and the remaining support beam positions on the lowering side are seedling tray storage positions. The support beams in the seedling tray release position are lower than the upper surface of the translation guide rail, and the support beams in the seedling tray storage positions are all higher than the upper surface of the translation guide rail. A pair of support beams that are at the same height in the two sets of lifting mechanisms constitute a group. Each group of support beams in the seedling tray storage positions forms two seedling tray storage compartments, one in front and one behind. The seedling tray storage compartments are loaded with seedling trays. Two guide grooves are arranged parallel to each other on the bottom left and right of the seedling tray. When the support beam in the seedling tray storage position descends to the seedling tray release position, the two guide grooves of the seedling tray slide in a one-to-one correspondence with the two translation guide rails. When the second drive mechanism is working, the translation push block pushes the seedling trays on the translation guide rail forward.

[0012] Furthermore, there are eight supporting beams. When the lifting chain is stationary, four supporting beam positions are formed on the descending side of the lifting chain and four supporting beam positions are formed on the ascending side. The eight supporting beams are positioned one-to-one in the eight supporting beam positions.

[0013] Furthermore, the first drive mechanism includes two sets of transmission components, a lifting drive shaft and a lifting driven shaft. The lifting drive shaft and the lifting driven shaft are rotatably mounted on the top and bottom of the main frame, respectively. The transmission components include a lifting drive sprocket and a lifting driven sprocket. The lifting drive sprocket is sleeved on the lifting drive shaft, and the lifting driven sprocket is sleeved on the lifting driven shaft. The lifting drive sprocket and the lifting driven sprocket are connected by a lifting chain. The lifting drive motor is connected to the main frame, and the output shaft of the lifting drive motor is connected to the lifting drive shaft.

[0014] Furthermore, the lifting drive motor is a worm gear motor.

[0015] Furthermore, the transmission assembly also includes 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 engaged with the lifting drive shaft, and the lower end of the third support rod is rotatably engaged with the lifting driven shaft. The tension sprocket is rotatably mounted on the upper end of the third support rod, and the lower end of the second support rod is hinged to the third support rod. A first adjusting nut is provided at the bottom of the first support rod, and a second adjusting nut is provided at the top of the second support rod. The threads of the first adjusting nut and the second adjusting nut have opposite directions. The two ends of the double-ended screw are respectively threaded into the first adjusting nut and the second adjusting nut. The lifting drive sprocket, the lifting driven sprocket, and the tension sprocket are connected by a lifting chain.

[0016] Furthermore, the lifting mechanism also includes two vertically arranged first slide rails, both of which are located on the side where the lifting chain descends. The first slide rails are connected to the main frame, and the front and rear ends of the support beam are equipped with first rollers. When the lifting chain drives the support beam to descend, the first rollers at both ends of the support beam roll in cooperation with the two first slide rails.

[0017] Furthermore, the second drive mechanism includes a translation frame, a translation drive sprocket, and a translation driven sprocket. A first wheel shaft is rotatably disposed at the front end of the translation frame, and a second wheel shaft is disposed at the rear end of the translation frame. The translation frame is fixed to the bottom of the main frame. The translation drive sprocket is sleeved on the first wheel shaft, and the translation driven sprocket is rotatably disposed on the second wheel shaft. A first translation motor is connected to the translation frame, and the output shaft of the first translation motor is connected to the first wheel shaft. The translation drive sprocket and the translation driven sprocket are connected by a translation chain.

[0018] Furthermore, the translation frame includes a left half frame and a right half frame. The translation drive sprocket and the translation driven sprocket are both located between the left half frame and the right half frame. A support bar is provided between the translation drive sprocket and the translation driven sprocket. The support bar is connected to the left half frame and the right half frame respectively. The translation chain on the upper side slides on the support bar.

[0019] Furthermore, the rear ends of the left and right halves of the frame are provided with elongated holes that extend from left to right. 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 are respectively fitted onto the two ends of the second wheel axle. The threaded ends of the swivel bolts are set backward, and the threaded ends of the two swivel bolts are respectively engaged with the translation frame to tighten.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] Each seedling tray storage compartment is equipped with a seedling tray, on which several seedling skins are arranged. The lifting mechanism of this invention is responsible for placing the seedling trays of each layer onto two translational guide rails in turn. The translational mechanism of this invention is responsible for pushing the seedling trays on the translational guide rails onto the flip-plate frame. The seedling skin unloading mechanism is responsible for unloading several seedling skins from the seedling trays onto the seedling box to realize the seedling release operation. The seedling tray recycling mechanism is responsible for recycling the empty seedling trays and placing them into the seedling tray storage compartment at the top seedling tray storage position. This invention can store seedling trays and can supply the stored seedling trays to the seedling skin unloading mechanism in turn to realize automatic seedling release operation. The whole process is highly automated, efficient, and does not damage the seedling skins. Attached Figure Description

[0022] Figure 1 This is an isometric view of the present invention mounted on an unmanned rice transplanter;

[0023] Figure 2 This is an isometric view of the present invention mounted on an unmanned rice transplanter from another perspective;

[0024] Figure 3 for Figure 2 Enlarged view of point A;

[0025] Figure 4 A top-view axonometric drawing of the seedling tray;

[0026] Figure 5 Axonometric drawing of the seedling tray viewed from below;

[0027] Figure 6 A schematic diagram of loading seedling trays onto the lifting mechanism;

[0028] Figure 7 This is an isometric drawing of the lifting mechanism;

[0029] Figure 8 This is an isometric view of the first drive mechanism;

[0030] Figure 9 Another isometric view of the first drive mechanism;

[0031] Figure 10 A schematic diagram of the translation mechanism pushing the seedling tray forward;

[0032] Figure 11 This is a schematic diagram of the translation mechanism;

[0033] Figure 12 for Figure 11 Enlarged view of point B;

[0034] Figure 13 for Figure 11 Enlarged view of point C;

[0035] Figure 14Axonometric drawing of the connection between the seedling unloading mechanism and the main frame;

[0036] Figure 15 Side view showing the connection between the seedling unloading mechanism and the main frame;

[0037] Figure 16 This is a schematic diagram showing the connection between the flip-up frame and the main frame;

[0038] Figure 17 This is an isometric drawing of the seedling unloading mechanism;

[0039] Figure 18 Another perspective is the isometric view of the seedling unloading mechanism;

[0040] Figure 19 This is a side view of the seedling unloading mechanism;

[0041] Figure 20 for Figure 19 A bottom view;

[0042] Figure 21 Axonometric drawing of the seedling tray recycling mechanism;

[0043] Figure 22 Another perspective is the isometric view of the seedling tray recycling mechanism;

[0044] Figure 23 A structural diagram of the seedling tray recycling mechanism without the recycling frame;

[0045] Figure 24 A schematic diagram illustrating the coordination between the lifting beam and the second slide rail;

[0046] Figure 25 A schematic diagram illustrating the connection for lifting the motor-driven lifting beam.

[0047] In the diagram, 1. Vehicle body, 2. Seedling box, 21. Pressure sensor, 22. Second positioning ring assembly, 3. Seedling skin unloading mechanism, 31. Support base, 32. Driven arm assembly, 33. Flip plate frame, 34. V-shaped positioning block, 35. Stop block, 36. Nylon short track, 37. V-shaped positioning groove, 38. Adjusting optical axis, 39. Drive arm assembly, 310. Tilting drive shaft, 311. Tilting drive motor, 312. Tilting driven shaft, 313. First limit switch, 314. 4. Second limit switch; 5. Seedling tray; 6. Tray frame; 7. Magnetic material block; 8. Limiting rod; 9. Tray panel; 10. Guide groove; 2. Limiting block; 11. Seedling tray recycling mechanism; 22. Lifting shaft; 33. Recycling frame; 44. Second translation motor; 55. Transmission screw; 6. Guide optical shaft; 76. Lifting beam; 8. Mounting base; 9. Lifting motor; 10. Second slide rail; 11. Second roller; 12. Slide block; 13. Winch. 513. Electromagnet; 6. Main frame; 61. Connecting assembly; 62. Long screw; 63. First positioning ring group; 64. Optical axis fixing seat; 7. Lifting mechanism; 71. First slide rail; 72. Lifting drive motor; 73. Lifting drive shaft; 74. Bearing seat; 75. First roller; 76. Support beam; 77. Lifting chain; 78. Lifting driven shaft; 79. Lifting drive sprocket; 710. Tensioning sprocket; 711. Lifting driven sprocket; 712. Third support. 713. Second support rod, 714. Second adjusting nut, 715. Double-ended screw, 716. First adjusting nut, 717. First support rod, 718. First proximity switch, 8. Translation mechanism, 81. Second proximity switch, 82. Union bolt, 83. Translation driven sprocket, 84. Translation push block, 85. Translation chain, 86. Translation drive sprocket, 87. First translation motor, 88. Translation frame, 89. Translation guide rail, 810. Support bar. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the present utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0049] The connections mentioned in this utility model are divided into fixed connections and detachable connections. Fixed connections, also known as non-detachable connections, include but are not limited to conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include but are not limited to conventional disassembly methods such as bolt connections, snap-fit ​​connections, pin connections, and hinge connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can be found to achieve this function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for a fixed connection, and a bolted connection can be chosen for a detachable connection.

[0050] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0051] Example: Figures 1 to 25 As shown, the unmanned rice transplanter includes a vehicle body 1, a main frame 6, a seedling feeding mechanism and a seedling tray recycling mechanism 5. The main frame 6 is fixed above the vehicle body 1, and a seedling box 2 is provided in front of the vehicle body 1.

[0052] The seedling tray 4 is provided with several limiting rods 43, which divide the seedling tray 4 into several storage units for placing seedling skin. The limiting rods 43 can limit the seedling skin and also increase the strength of the seedling tray 4. Magnetic material blocks 42 are provided on the left and right sides of the seedling tray 4 respectively, and two guide grooves 45 are provided on the bottom of the seedling tray 4 in parallel.

[0053] The seedling tray 4 includes a tray panel 44 and a tray frame 41. The tray panel 44 is disposed on the tray frame 41. The frame of the tray frame 41 surrounds the edge of the tray panel 44. The frame located on the front side is lower than the tray panel 44 so that the seedling skin can slide out. The frame on the left, right and rear sides is higher than the tray panel 44 so as to form a limiting edge for the seedling skin. A limiting rod 43 is disposed on the tray panel 44. Magnetic material blocks 42 are disposed on the frames on both sides of the tray frame 41. Several limiting blocks 46 are respectively disposed on the lower end surface of the tray panel 44.

[0054] A seedling tray sequential supply device for an unmanned rice transplanter includes two sets of lifting mechanisms 7 and translation mechanisms 8.

[0055] The lifting mechanism 7 includes 2n horizontally arranged support beams 76 and two closed lifting chains 77. The 2n support beams 76 are evenly fixed on the outer periphery of the two lifting chains 77. The first drive mechanism drives the two lifting chains 77 to rotate synchronously and intermittently. When the lifting chains 77 are stationary, n support beam positions are formed on the descending side of the lifting chains 77 and n support beam positions are formed on the ascending side. The 2n support beams 76 are located one-to-one on the 2n support beam positions. The two sets of lifting mechanisms 7 are arranged on the left and right sides of the main frame 6, and the descending side of the lifting chains 77 of the two sets of lifting mechanisms 7 are arranged opposite each other.

[0056] The translation mechanism 8 includes two translation guide rails 89 and a closed translation chain 85. A second drive mechanism drives the translation chain 85 to rotate intermittently. A translation push block 84 is provided on the translation chain 85. The two translation guide rails 89 are arranged parallel to each other. The lowest support beam position on the lowering side of the lifting chain 77 is defined as the seedling tray release position, and the remaining support beam positions on the lowering side are seedling tray storage positions. The support beam 76 in the seedling tray release position is lower than the upper surface of the translation guide rail 89, and the support beams 76 in the seedling tray storage positions are all higher than the upper surface of the guide rail 89. On the upper end face of the guide rail 89, a pair of support beams 76 that are at the same height in the two sets of lifting mechanisms 7 form a group. Each set of support beams 76 in the seedling tray storage position forms two seedling tray storage chambers, one in front and one behind. The seedling tray storage chambers are loaded with seedling trays 4. When the support beams 76 in the seedling tray storage position descend to the seedling tray release position, the two guide grooves 45 of the seedling tray 4 slide in a one-to-one correspondence with the two translation guide rails 89. When the second drive mechanism is working, the translation push block 84 pushes the seedling trays 4 on the translation guide rail 89 forward.

[0057] The seedling unloading mechanism 3 includes a support base 31 and a flip frame 33. The support base 31 is connected to the bottom front side of the main frame 6. The third drive mechanism drives the flip frame 33 to swing back and forth intermittently between the upper side position and the front side position of the support base 31. When the flip frame 33 is in the upper side position, the flip frame 33 is in a horizontal state and the upper end face of the flip frame 33 is aligned with the translation guide rail 89. When the flip frame 33 is in the front side position, the front end of the flip frame 33 is lower than the rear end, and the flip frame 33 is in an inclined state.

[0058] The seedling tray recycling mechanism 5 includes a recycling frame 52 and a mounting base 57. The recycling frame 52 is fixed to the upper end of the main frame 6. The fourth drive mechanism drives the mounting base 57 to move back and forth on the recycling frame 52. The lifting shaft 51 is rotatably mounted on the mounting base 57. The lifting motor 58 is connected to the mounting base 57. The output shaft of the lifting motor 58 is connected to the lifting shaft 51. The lifting motor 58 is a worm gear motor. Two winches 512 are sleeved on the lifting shaft 51. Ropes are wound on the winches 512. The movable end of the rope is connected to the lifting beam 56. The lifting beam 56 is set on the left and right. Both ends of the lifting beam 56 are provided with slides 511. An electromagnet 513 is provided on the lower side of the slides 511.

[0059] Each seedling tray storage compartment is equipped with a seedling tray 4, on which several seedling skins are arranged. The lifting mechanism 7 of this invention is responsible for placing the seedling trays 4 of each layer onto two translation guide rails 89 one by one. The translation mechanism 8 of this invention is responsible for pushing the seedling trays 4 on the translation guide rails 89 onto the flip-plate frame 33. The seedling skin unloading mechanism 3 is responsible for unloading several seedling skins from the seedling trays 4 onto the seedling box 2 to realize the seedling release operation. The seedling tray recycling mechanism 5 is responsible for recycling the empty seedling trays and placing them into the seedling tray storage compartment at the top seedling tray storage position. This invention can store the seedling trays 4 and supply the stored seedling trays 4 one by one to the seedling release mechanism, that is, to the seedling skin unloading mechanism 3, to realize the automatic seedling release operation. The whole process has a high degree of automation, high efficiency, and will not damage the seedling skins.

[0060] Each lifting mechanism 7 has eight supporting beams 76. When the lifting chain 77 is stationary, four supporting beam positions are formed on the descending side and four supporting beam positions are formed on the ascending side of the lifting chain 77. The eight supporting beams 76 are located one-to-one in the eight supporting beam positions. The first drive mechanism includes two sets of transmission components, a lifting drive shaft 73 and a lifting driven shaft 78. The lifting drive shaft 73 and the lifting driven shaft 78 are respectively rotatably mounted on the top and bottom of the main frame 6. The transmission components include a lifting drive sprocket 79 and a lifting driven sprocket 711. The lifting drive sprocket 79 is sleeved on the lifting drive shaft 73, and the lifting driven sprocket 711 is sleeved on the main frame 6. The lifting drive sprocket 79 and the lifting driven sprocket 711 are connected to the lifting driven shaft 78 via the lifting chain 77. The lifting drive motor 72 is connected to the main frame 6. The output shaft of the lifting drive motor 72 is connected to the lifting drive shaft 73. The lifting drive motor 72 is a worm gear motor. When the lifting drive motor 72 stops driving the lifting chain 77, it can self-lock to prevent the lifting chain 77 from rotating. The front and rear parts of the support beam 76 are fixed to the corresponding two lifting chains 77 respectively. The lifting chain 77 is a bent plate chain, or the lifting chain 77 is provided with at least eight bent plate chain links at even intervals. The support beam 76 is connected to the bent plate chain links.

[0061] The lifting mechanism 7 also includes two vertically arranged first slide rails 71. Both first slide rails 71 are located on the side where the lifting chain 77 descends. The first slide rails 71 are connected to the main frame 6. The front and rear ends of the support beam 76 are provided with first rollers 75. When the lifting chain 77 drives the support beam 76 to descend, the first rollers 75 at both ends of the support beam 76 roll and cooperate with the two first slide rails 71 one by one. The support beam 76, which passes around the lifting drive sprocket 79, opens to cooperate with the first slide rails 71 and moves vertically downward along the first slide rails 71. When the support beam 76 is at the lower end of the first slide rail 71, the first rollers 75 at both ends of the support beam 76 can disengage from the corresponding first slide rails 71 and pass around the lifting driven sprocket 711 to rise from the other side. The two first slide rails 71 guide the support beam 76, so that the seedling tray 4 can be accurately placed on the translation mechanism 8.

[0062] 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. A first adjusting nut 716 is provided at the bottom of the first support rod 717, and a second adjusting nut 714 is provided at the top of the second support rod 713. The first adjusting nut 716 and the second adjusting nut 714 are connected together. The threads of 714 are rotated in opposite directions. The two ends of the double-ended screw 715 are respectively threaded into 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. The lifting drive sprocket 79, the lifting driven sprocket 711 and the tensioning sprocket 710 are all located on the inner circumference of the lifting chain 77. By turning the double-ended screw 715, the relative distance between the first support rod 717 and the second support rod 713 can be adjusted, thereby adjusting the relative position of the tensioning sprocket 710 to adjust the tension of the lifting chain 77.

[0063] 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.

[0064] 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 disposed 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 to prevent the translation drive sprocket 86 from falling excessively due to gravity.

[0065] The left and right halves of the frame are provided with elongated holes extending from left to right at their rear ends. The length of the elongated holes extends forward and backward. The second axle passes through the elongated holes and slides into them. The fisheyes of two swivel bolts 82 are respectively fitted onto the two ends of the second axle. The threaded ends of the swivel bolts 82 are positioned rearward. The threaded ends of the two swivel bolts 82 are respectively engaged with the translation frame 88 to tighten. In this embodiment, a connecting lug is provided on the translation frame 88. The connecting lug is located behind the swivel bolts 82. The threaded end of the swivel bolts 82 passes through the connecting lug and is connected to the tension nut. By tightening the tension nut, the relative positions of the two swivel bolts 82 and the translation frame 88 can be adjusted. The relative positions of the translation driven sprocket 83 and the translation driving sprocket 86 can also be adjusted to change the tension of the translation chain 85.

[0066] The third driving mechanism includes a driving arm assembly 39 and a driven arm assembly 32. The upper end of the driving arm assembly 39 is hinged to the rear of the flip frame 33, and the upper end of the driven arm assembly 32 is hinged to the front of the flip frame 33. The lower end of the driving arm assembly 39 is connected to the flip drive shaft 310. The flip drive shaft 310 is rotatably engaged with the support seat 31. The flip drive motor 311 is connected to the support seat 31, and the output shaft of the flip drive motor 311 is connected to the flip drive shaft 310. The lower end of the driven arm assembly 32 is hinged to the support seat 31 through the flip driven shaft 312. The support seat 31, the driving arm assembly 39, the flip frame 33, and the driven arm assembly 32 constitute a four-bar linkage. The output shaft of the flip drive motor 311 reciprocates intermittently, causing the flip frame 33 to swing back and forth between the upper and front positions of the support seat 31.

[0067] The flip frame 33 is provided with two short nylon tracks 36. When the flip frame 33 is in the upper horizontal position, the two short nylon tracks 36 are aligned with the two translation guides 89 one-to-one. When the translation mechanism 8 pushes the seedling tray 4 on the translation guide 89 onto the flip frame 33, the two short nylon tracks 36 and the two guide grooves 45 of the seedling tray 4 slide in a one-to-one correspondence.

[0068] The front side of the seedling tray 4 is provided with several limiting blocks 46, and the front side of the upper end of the flip frame 33 is provided with several blocking blocks 35. When the seedling tray 4 slides to the front end of the flip frame 33, the limiting blocks 46 and the blocking blocks 35 correspond to each other and limit the movement to prevent the seedling tray 4 from sliding out of the flip frame 33.

[0069] The front and rear sides of the flip frame 33 are provided with a number of V-shaped positioning blocks 34, and 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 number of first positioning rods, and the first positioning rods are fitted with first positioning ring groups 63. When the flip frame 33 is in the upper position, the number of first positioning ring groups 63 are engaged and limited one by one with the V-shaped positioning grooves 37 of the number of V-shaped positioning blocks 34 on the rear side of the flip frame 33.

[0070] The top of the seedling box 2 is provided with several second positioning rods, and a second positioning ring group 22 is sleeved on the second positioning rod. When the flip frame 33 is in the front position, the several second positioning ring groups 22 are engaged and limited one by one with the V-shaped positioning grooves 37 of the several V-shaped positioning blocks 34 on the front side of the flip frame 33, so as to accurately position the upper and front positions of the flip frame 33.

[0071] It also includes a connecting component 61, which is suspended at the bottom front of the main frame 6 by several long screws 62 and fastening nuts. The connecting component 61 is provided with several optical axis fixing seats 64, and the support base 31 is provided with several adjusting optical axes 38 arranged front and rear. The several adjusting optical axes 38 are connected to the several optical axis fixing seats 64 one by one. The long screws 62 are provided with four sets of fastening nut assemblies, which include fastening nuts, spring washers and flat washers. The two fastening nut assemblies at the upper end clamp and fasten the main frame 6, and the two fastening nut assemblies at the lower end clamp and fasten the connecting component. By adjusting the relative position of the fastening nut assemblies and the long screws 62, the vertical distance between the seedling peel unloading mechanism 3 and the main frame 6 can be adjusted. By changing the relative position of the adjusting optical axes 38 and the several optical axis fixing seats 64, the horizontal distance between the seedling peel unloading mechanism 3 and the main frame 6 can be adjusted.

[0072] The fourth drive mechanism includes a transmission screw 54 and two guide optical shafts 55. The transmission screw 54 is arranged front and rear and is rotatably engaged with the recycling frame 52. The second translation motor 53 is fixed on the recycling frame 52 and its output shaft is connected to the transmission screw 54. The guide optical shafts 55 are parallel to the transmission screw 54 and are fixed on the recycling frame 52. The mounting base 57 is threadedly engaged with the transmission screw 54 and is slidably engaged with the guide optical shafts 55.

[0073] The seedling unloading mechanism 3 has a second slide rail 59 vertically installed on both the left and right sides. The second slide rail 59 is connected to the main frame 6 and the recycling frame 52 respectively. The outer side of the slide seat 511 is provided with a second roller 510. When the mounting seat 57 slides to the front end of the guide optical shaft 55 and the rope is retracted or extended, the two second rollers 510 and the two second slide rails 59 roll in a one-to-one correspondence. When the two second rollers 510 slide upward and disengage from the two second slide rails 59 respectively, the mounting seat 57 can slide backward along the guide optical shaft 55.

[0074] The following details the entire workflow of the unmanned automatic rice transplanter when this invention is applied to it:

[0075] Step 1: Set a first proximity switch 718 at the bottom of the first slide rail 71 and a second proximity switch 81 at the front end of the translation frame 88. When the supporting beam 76 is in the seedling tray release position, the first proximity switch 718 is triggered. When the seedling tray 4 is placed at the front of the translation guide rail 89, the seedling tray 4 triggers the second proximity switch 81.

[0076] Step 2: Install a first limit switch 313 and a second limit switch 314 on the flip frame 33. When the flip frame 33 is in the position above the support base 31, the main frame 6 triggers the first limit switch 313. When the translation mechanism 8 pushes the seedling tray 4 onto the flip frame 33, the seedling tray 4 triggers the second limit switch 314. To prevent the translation mechanism 8 from pushing the seedling tray 4 out of place, the second limit switch 314 can be set in the middle of the flip frame 33. When the flip frame 33 flips forward, the seedling tray 4 can slide completely onto the flip frame 33.

[0077] Step 3: Install several pressure sensors 21 on the seedling box 2. The pressure sensors 21 are used to monitor the consumption of seedling skin on the seedling box 2.

[0078] Step 4: Set a third limit switch at the top of the second slide rail 59 and a fourth limit switch at the bottom of the second slide rail 59. When the second roller 510 slides up and disengages from the second slide rail 59, the slide block 511 triggers the third limit switch. When the second roller 510 slides down and the electromagnet 513 approaches the magnetic material block 42 corresponding to the seedling tray 4 on the flip frame 33, the slide block 511 triggers the fourth limit switch.

[0079] Step 5: Mark the rear seedling tray storage compartment at the topmost seedling tray storage position as tray compartment 1 and the front seedling tray storage compartment as tray compartment 2. Set a first photoelectric switch and a second photoelectric switch on the top of the main frame 6. The first photoelectric switch is triggered when seedling tray 4 is loaded in tray compartment 1, and the second photoelectric switch is triggered when seedling tray 4 is loaded in tray compartment 2.

[0080] Step 6: Set up a code disk on the recycling frame 52. The code disk shaft is connected to the transmission screw 54. Mark the zero position of the code disk when the second roller 510 is engaged with the second slide rail 59. Obtain the stroke of the mounting base 57 moving backward through the code disk.

[0081] Step 7: Install a tension sensor between the rope and the lifting beam 56;

[0082] Step 8: The first limit switch 313, the second limit switch 314, the third limit switch, the fourth limit switch, the first photoelectric switch, the second photoelectric switch, the encoder, the tension sensor, the electromagnet 513, several pressure sensors 21, the first proximity switch 718, the second proximity switch, the lifting drive motor 72, the first translation motor 87, the flip drive motor 311, the second translation motor 53, and the lifting motor 58 are respectively electrically connected to the PLC;

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] Step 16: After the lifting beam 56 lifts the seedling tray 4 on the flip frame 33 by the electromagnet 513, the tension sensor changes. The tension sensor sends a signal to control the lifting motor 58 to rotate in the opposite direction through the PLC. The lifting shaft 51 rotates and drives the winch 512 to wind the rope, so that the seedling tray 4 on the lifting beam 56 is lifted. At the same time, the seedling tray 4 is disengaged from the second limit switch 314. The second limit switch 314 sends a signal to control the first translation motor 87 to run. The translation push block 84 pushes the other seedling tray 4 on the translation guide rail 89 onto the flip frame 33.

[0091] Step 17: When the slide block 511 moves upward and triggers the third limit switch, the second roller 510 disengages from the corresponding second slide rail 59. The third limit switch sends a signal to control the lifting motor 58 to stop via PLC and to control the second translation motor 53 to run. The transmission screw 54 rotates, causing the mounting base 57 to slide backward. If neither the first nor the second tray is loaded with seedling tray 4, the PLC controls the fourth drive mechanism to move the empty seedling tray 4 above the first tray. If the first tray is loaded with 4 and the second tray is not loaded with seedling tray 4, the PLC controls the fourth drive mechanism to move the empty seedling tray 4 above the second tray. After obtaining the data of the empty seedling tray 4 being moved into place via the encoder, the PLC controls the second translation motor 53 to stop and controls the two electromagnets 513 to be de-energized simultaneously.

[0092] When the empty seedling tray 4 falls into the first or second tray compartment, the tension sensor changes and sends a signal to control the second translation motor 53 to rotate in the opposite direction via the PLC, causing the mounting base 57 to slide forward. When the second roller 510 re-engages with the corresponding second slide rail 59, the encoder returns to the zero position, and the PLC controls the second translation motor 53 to stop.

[0093] Step 18: The seedling tray recycling mechanism 5 loads two empty seedling trays 4 into the first and second compartments respectively. The two seedling trays 4 trigger the first and second photoelectric switches respectively, which allows the PLC to control the two lifting drive motors 72 to run synchronously again and repeat the seedling retrieval process.

[0094] The above embodiments are merely illustrative examples of the present utility model and do not limit its scope of protection. Those skilled in the art can make partial changes to it, as long as they do not exceed the spirit and essence of the present utility model, they are all within the scope of protection of the present utility model.

Claims

1. A seedling tray sequential supply device for an unmanned rice transplanter, characterized in that: The lifting mechanism (7) and the translation mechanism (8) are included. The translation mechanism (8) includes 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 main frame (6) is fixed above the vehicle body (1), and the translation mechanism (8) is arranged at the bottom of the main frame (6). 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), the first driving mechanism drives the two lifting chains (77) to rotate synchronously and intermittently, when the lifting chain (77) is at rest, n supporting beam positions are formed on the descending side of the lifting chain (77), and n supporting beam positions are formed on the ascending side, the 2n supporting beams (76) are correspondingly arranged in 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 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 seedling tray storage positions, the supporting beam (76) at the seedling tray releasing position is lower than the upper end surface of the translation guide rail (89), the supporting beams (76) at the seedling tray storage positions are all higher than the upper end surface of the translation guide rail (89), a pair of supporting beams (76) maintaining the same height in the two groups of lifting mechanisms (7) form a group, two seedling tray storage bins are formed between the supporting beams (76) at the seedling tray storage positions in each group, the seedling tray storage bins load seedling trays (4), the bottom of the seedling tray (4) is provided with two guide grooves (45) in parallel left and right, when the supporting beams (76) at the seedling tray storage positions descend to the seedling tray releasing position, the two guide grooves (45) of the seedling tray (4) are in sliding cooperation with the two translation guide rails (89) in one-to-one correspondence, and the seedling tray (4) on the translation guide rail (89) is pushed forward by the translation push block (84) when the second driving mechanism works.

2. The device according to claim 1, wherein: The number of the supporting beams (76) is eight, 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, and the eight supporting beams (76) are correspondingly arranged in the eight supporting beam positions.

3. The device according to claim 1, wherein: The first driving mechanism includes 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 rotatably arranged at the top and the bottom of the main frame (6) respectively, 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), 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), a lifting driving motor (72) is connected with the main frame (6), and an output shaft of the lifting driving motor (72) is connected with the lifting driving shaft (73).

4. The device according to claim 3, wherein: The lifting driving motor (72) is a worm gear motor.

5. The device according to claim 3, wherein: 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 in rotary connection with the lifting driving shaft (73), the lower end of the third supporting rod (712) is in rotary connection with the lifting driven shaft (78), the tensioning sprocket (710) is rotatably 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 threads of the first adjusting nut (716) and the second adjusting nut (714) are opposite in rotation direction, the two ends of a stud bolt (715) are in corresponding screw thread connection with the first adjusting nut (716) and the second adjusting nut (714) respectively, the lifting driving sprocket (79), the lifting driven sprocket (711) and the tensioning sprocket (710) are connected by a lifting chain (77).

6. The device according to claim 1, wherein: The lifting mechanism (7) further comprises two vertically arranged first sliding rails (71), the two first sliding rails (71) are arranged on the side where the lifting chain (77) descends, the first sliding rail (71) is connected with the main frame (6), the front and rear ends of the supporting beam (76) are both provided with first rollers (75), when the supporting beam (76) is driven by the lifting chain (77) to descend, the first rollers (75) at the two ends of the supporting beam (76) are in one-to-one corresponding rolling connection with the two first sliding rails (71).

7. The device according to any one of claims 1 to 6, wherein: The second driving mechanism comprises a translation frame body (88), a translation driving sprocket (86) and a translation driven sprocket (83), a first wheel shaft is rotatably arranged at the front end of the translation frame body (88), a second wheel shaft is arranged at the rear end of the translation frame body (88), the translation frame body (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 rotatably arranged on the second wheel shaft, a first translation motor (87) is connected with the translation frame body (88), the output shaft of the first translation motor (87) is connected with the first wheel shaft, the translation driving sprocket (86) and the translation driven sprocket (83) are connected by a translation chain (85).

8. The device according to claim 7, wherein: The translation frame body (88) comprises a left half frame body and a right half frame body, the translation driving sprocket (86) and the translation driven sprocket (83) are arranged between the left half frame body and the right half frame body, 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 body and the right half frame body respectively, and the upper translation chain (85) slides on the supporting strip (810).

9. The device according to claim 8, wherein: The rear end of the left half frame body and the right half frame body is provided with a left-right through long hole, the long hole extends forward and backward, 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 two loose bolts (82) are respectively matched in the two ends of the second wheel shaft, the threaded end of the loose bolt (82) is arranged backward, and the threaded ends of the two loose bolts (82) are matched with the translation frame body (88) and are pulled tight.

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