Empty seedling tray recovery mechanism of unmanned rice transplanter

Abstract

The utility model discloses an empty seedling tray recycling mechanism of an unmanned rice transplanter, belongs to the technical field of agricultural machinery, and aims to solve the problem that empty seedling trays of the conventional unmanned rice transplanter still need to be manually recycled. Comprising a recovery frame body and a mounting base, the recovery frame body is fixed to the upper end of a main frame, a fourth driving mechanism drives the mounting base to move back and forth on the recovery frame body, a lifting rotating shaft is rotationally arranged on the mounting base, a lifting motor is connected with the mounting base, and an output shaft of the lifting motor is connected with the lifting rotating shaft; the lifting rotating shaft is sleeved with two winches, ropes are wound around the winches, the movable ends of the ropes are connected with lifting beams, the lifting beams are arranged on the left side and the right side, sliding bases are arranged at the two ends of each lifting beam, and electromagnets are arranged on the lower sides of the sliding bases. According to the seedling tray recycling device, seedling trays are recycled through magnetic attraction force, the seedling trays can be placed accurately and tidily during recycling, and manual intervention is not needed in the process. And in combination with corresponding unmanned rice transplanting, high automation and intellectualization in the whole process can be realized.

Description

Technical Field

[0001] This utility model belongs to the field of rice transplanter technology, and in particular relates to an empty seedling tray recycling mechanism for an unmanned rice transplanter. Background Technology

[0002] Rice is a major food crop in my country, ranking second in both planting area and yield. my country has a long history of rice cultivation. A rice transplanter is an agricultural machine that plants rice seedlings into paddy fields. Mechanized rice cultivation not only greatly reduces the labor intensity for farmers but also lowers the overall cost of rice production.

[0003] In rice transplanting, current positioning and navigation technology has enabled unmanned, automated operation of rice transplanters and automatic paddy field path planning. However, seedling supply during transplanting still requires a human operator (seedling standter) to manually feed the seedlings from the storage rack and place them on the seedling tray, thus failing to achieve true automation. Therefore, there is an urgent need for an unmanned rice transplanter with automatic empty tray retrieval to solve these problems.

[0004] The utility model patent with announcement number CN220140146U discloses an automatic rice transplanter for feeding and replenishing seedlings. When retrieving seedling trays, the machine moves empty seedling trays by rotating a roller that drives a magnet to rotate. This process requires continuous movement, but only a small number of seedling trays can be retrieved in one movement. After the seedling trays are transported to the track, they still need to be retrieved manually. Utility Model Content

[0005] The purpose of this invention is to provide an empty seedling tray recycling mechanism for unmanned rice transplanters, thereby solving the problem that existing unmanned rice transplanters still require manual recycling of empty seedling trays. The technical solution adopted by this invention is as follows:

[0006] An unmanned rice transplanter empty seedling tray recovery mechanism is disclosed. The unmanned rice transplanter includes a vehicle body, a main frame fixed above the vehicle body, and a seedling tray recovery mechanism including a recovery frame and a mounting base. The recovery frame is fixed to the upper end of the main frame. A fourth drive mechanism drives the mounting base to move back and forth on the recovery frame. A lifting shaft is rotatably mounted on the mounting base. A lifting motor is connected to the mounting base, and the output shaft of the lifting motor is connected to the lifting shaft. The lifting motor is a worm gear motor. Two winches are sleeved on the lifting shaft, and ropes are wound on the winches. The movable end of the rope is connected to a lifting beam. The lifting beam is arranged on the left and right sides, and each end of the lifting beam is provided with a sliding seat. An electromagnet is provided on the lower side of the sliding seat.

[0007] Furthermore, the fourth drive mechanism includes a transmission screw and two guide optical shafts. The transmission screw is arranged front and rear, and rotates with the recycling frame. The second translation motor is fixed on the recycling frame, and its output shaft is connected to the transmission screw. The guide optical shafts are parallel to the transmission screw and are fixed on the recycling frame. The mounting base is threaded with the transmission screw and slides with the guide optical shafts.

[0008] Furthermore, it also includes second slide rails that are vertically arranged on both the left and right sides. The second slide rails are connected to the main frame and the recovery frame respectively. The outer side of the slide is equipped with second rollers. When the mounting seat slides to the front end of the guide shaft and the rope is retracted or extended, the two second rollers and the two second slide rails roll in a one-to-one rolling cooperation.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0010] This invention utilizes magnetic attraction to recycle seedling trays. Compared to traditional mechanical connections, where the magnetic block doesn't require precise positioning when connecting to an empty tray (it connects precisely when nearby), and simply disconnects the power to detach from the tray, this invention enables automatic recycling of empty seedling trays. The trays can be neatly and accurately arranged during recycling, requiring no manual intervention. Combined with automated rice transplanting, it achieves a high degree of automation and intelligence throughout the entire process. Attached Figure Description

[0011] Figure 1 This is an isometric view of the present invention mounted on an unmanned rice transplanter;

[0012] Figure 2 This is an isometric view of the present invention mounted on an unmanned rice transplanter from another perspective;

[0013] Figure 3 for Figure 2 Enlarged view of point A;

[0014] Figure 4 A top-view axonometric drawing of the seedling tray;

[0015] Figure 5 Axonometric drawing of the seedling tray viewed from below;

[0016] Figure 6 A schematic diagram of the seedling tray loading mechanism;

[0017] Figure 7 This is an isometric drawing of the lifting mechanism;

[0018] Figure 8 This is an isometric view of the first drive mechanism;

[0019] Figure 9 Another isometric view of the first drive mechanism;

[0020] Figure 10 A schematic diagram of the translation mechanism pushing the seedling tray forward;

[0021] Figure 11 This is a schematic diagram of the translation mechanism;

[0022] Figure 12 for Figure 11 Enlarged view of point B;

[0023] Figure 13 for Figure 11 Enlarged view of point C;

[0024] Figure 14 Axonometric drawing of the connection between the seedling unloading mechanism and the main frame;

[0025] Figure 15 Side view showing the connection between the seedling unloading mechanism and the main frame;

[0026] Figure 16 This is a schematic diagram showing the connection between the flip-up frame and the main frame;

[0027] Figure 17 This is an isometric drawing of the seedling unloading mechanism;

[0028] Figure 18 Another perspective is the isometric view of the seedling unloading mechanism;

[0029] Figure 19 This is a side view of the seedling unloading mechanism;

[0030] Figure 20 for Figure 19 A bottom view;

[0031] Figure 21 This is an isometric view of the present invention;

[0032] Figure 22 This is an isometric view of the present invention from another perspective;

[0033] Figure 23 This is a schematic diagram of the structure of this utility model without the recycling frame;

[0034] Figure 24 A schematic diagram illustrating the coordination between the lifting beam and the second slide rail;

[0035] Figure 25 A schematic diagram illustrating the connection for lifting the motor-driven lifting beam.

[0036] 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

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention 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 invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0038] The connections mentioned in this invention 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 bolted connections, snap-fit ​​connections, pin connections, and hinged 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 fixed connections, and a bolted connection can be chosen for detachable connections.

[0039] 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.

[0040] 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 unloading mechanism 3. 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.

[0041] 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.

[0042] 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.

[0043] The sequential seedling supply mechanism includes two sets of lifting mechanisms 7. Each 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 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 sides of the lifting chains 77 of the two sets of lifting mechanisms 7 are arranged opposite each other.

[0044] 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.

[0045] 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.

[0046] An unmanned rice transplanter empty seedling tray recovery mechanism is provided, which is a seedling tray recovery mechanism 5. The seedling tray recovery mechanism 5 includes a recovery frame 52 and a mounting base 57. The recovery frame 52 is fixed to the upper end of the main frame 6. A fourth drive mechanism drives the mounting base 57 to move back and forth on the recovery frame 52. A lifting shaft 51 is rotatably mounted on the mounting base 57. A 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 arranged on the left and right. Both ends of the lifting beam 56 are provided with slide seats 511. An electromagnet 513 is provided on the lower side of the slide seats 511.

[0047] Each seedling tray storage chamber is equipped with a seedling tray 4, and several seedling skins are arranged on the seedling tray 4. The sequential seedling supply mechanism is responsible for placing each layer of seedling trays sequentially on two translation guide rails 89. The translation mechanism 8 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 on 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 in the seedling tray storage chamber at the top seedling tray storage position.

[0048] The seedling tray 4 pushed by the seedling unloading mechanism 3 and the translation mechanism 8 is flipped and unloaded onto the seedling box 2. Then it flips back to the upper position, and the lifting motor 58 starts, driving the lifting shaft 51 and the two winches 512 to rotate together. The winches release the rope, causing the lifting beam 56 to descend. When the two electromagnets 513 are close to the two magnetic material blocks 42 of the seedling tray 4 above the seedling unloading mechanism 3, the two electromagnets 513 are energized. The two electromagnets can attract the two magnetic material blocks 42, thereby picking up the empty seedling tray 4. The lifting motor 58 rotates in the opposite direction and lifts the empty seedling tray 4 to the recycling frame 52. The lifting motor 58 is then turned off. The fourth drive mechanism drives the mounting base 57 to move backward to above the seedling tray storage bin. The two electromagnets 513 are de-energized at the same time, and the empty seedling tray falls into the seedling tray storage bin, realizing the recycling of the empty seedling tray 4.

[0049] This invention utilizes magnetic attraction to recycle the seedling tray 4. Compared to traditional mechanical connections, where the magnetic block doesn't require precise positioning when connecting to an empty seedling tray (it connects precisely when nearby), this invention allows for automatic retrieval of the empty seedling tray 4 simply by disconnecting the power. The recycled trays can be neatly arranged without human intervention. Combined with automated rice transplanting, this process achieves a high degree of automation and intelligence throughout.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] The following details the entire workflow of the unmanned automatic rice transplanter when this invention is applied to it:

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] Step 7: Install a tension sensor between the rope and the lifting beam 56;

[0072] 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;

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] This invention, by setting up components such as tension sensors, limit switches, and photoelectric switches that can provide signals for movement, and by sending start / stop signals and forward / reverse signals to each motor through a PLC, can automatically feed, release, and retrieve seedling trays during the movement of the rice transplanter, without requiring any operation from the driver, and has a high degree of automation and intelligence.

[0085] 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. An unmanned transplanter empty seedling tray recovery mechanism, the unmanned transplanter comprising a vehicle body (1), a main frame (6) fixed above the vehicle body (1), characterized in that: 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 empty tray recovery mechanism of the unmanned transplanter according to claim 1, characterized in that: The fourth driving mechanism comprises a transmission screw rod (54) and two guide light shafts (55), the transmission screw rod (54) is arranged front and back, the transmission screw rod (54) is rotationally matched with the recycling frame body (52), the second translation motor (53) is fixed on the recycling frame body (52), the output shaft of the second translation motor (53) is connected with the transmission screw rod (54), the guide light shaft (55) is parallel to the transmission screw rod (54), the guide light shaft (55) is fixed on the recycling frame body (52), the mounting seat (57) is threadedly matched with the transmission screw rod (54), and the mounting seat (57) is slidably matched with the guide light shaft (55).

3. The empty tray recovery mechanism of the unmanned transplanter according to claim 1 or 2, characterized in that: Second sliding rails (59) are vertically arranged on the left and right sides, the second sliding rails (59) are respectively connected with the main frame (6) and the recycling frame body (52), second rollers (510) are arranged on the outer sides of the sliding seats (511), when the mounting seat (57) slides to the front end of the guide light shaft (55) and the ropes are retracted and extended, the two second rollers (510) are in one-to-one rolling cooperation with the two second sliding rails (59).

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