A device for recovering seedling disks

Abstract

A seedling disc recycling device belongs to the technical field of agricultural machinery, and aims to solve the problems of complex structure, large weight and low carrying capacity of the existing unmanned transplanter. The recycling device comprises a recycling drive shaft rotatably arranged at the rear end of a main frame body, a recycling drive motor connected with the recycling drive shaft, a recycling frame arranged at the front end of the main frame body, two first transmission assemblies, a recycling driving sprocket of each of the two first transmission assemblies is sleeved with the left and right ends of the recycling drive shaft, a recycling driven sprocket is arranged at the lower end of the front side of the recycling frame, a recycling idler is arranged at the upper end of the front side of the recycling frame, the recycling driving sprocket is connected with the corresponding recycling driven sprocket and recycling idler through a recycling chain, a grabbing and releasing device is connected with the recycling chain, the grabbing and releasing device is used for grabbing the seedling disc in the air of the turning plate mechanism, and the seedling disc is released after being driven by the recycling drive device to move above the arbitrary empty disc storage area. The recycling device has simpler structure, lower manufacturing cost and reduced overall weight of the equipment.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural machinery technology, and in particular relates to a seedling skin tray recycling device. 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 reduces the total cost of rice planting.

[0003] However, in terms of seedling supply during the operation of rice transplanters, a person (seedling standter) still needs to stand on the transplanter to manually supply seedlings during operation. The seedlings are manually removed from the seedling storage rack and placed on the seedling tray, thus failing to achieve true unmanned operation. Therefore, there is an urgent need for an automatic, continuous seedling supply unmanned rice transplanter to solve the above problems.

[0004] The invention patent with publication number CN120130220A discloses an unmanned automatic seedling-retrieving rice transplanter and an intelligent control method, which can realize unmanned automatic seedling replenishment and empty seedling tray retrieval of the rice transplanter, greatly improving the degree of automation and operation efficiency. However, when the seedling tray is lifted and retrieved by the winch, the lifting beam needs to be made relatively heavy to ensure that the lifting beam is lifted while the rope is taut and descends, so that the lifting beam accurately reaches the predetermined position. In particular, the seedling tray retrieval mechanism has a complex structure, high manufacturing cost, and large weight, which reduces the carrying capacity of the rice transplanter. Utility Model Content

[0005] The purpose of this invention is to provide a seedling tray recycling device to solve the problems of complex structure, heavy weight, and low carrying capacity of existing unmanned rice transplanters. The technical solution adopted by this invention is as follows:

[0006] A seedling tray recycling device is used to recycle the seedling tray after the unmanned automatic rice transplanter has replenished the seedling tray. The top of the main frame of the rice transplanter forms two empty tray storage areas at the front and back. The front side of the main frame is provided with a flipping mechanism for unloading the seedling tray onto the seedling box.

[0007] The recycling device includes a recycling drive device and a grabbing and releasing device. The recycling drive device includes a first drive assembly and a first transmission assembly. The first transmission assembly is provided on both the left and right sides of the main frame. The first drive assembly includes a recycling drive shaft rotatably mounted on the top of the rear end of the main frame. The recycling drive motor is fixed to the main frame through a worm gear reducer. The output shaft of the recycling drive motor is connected to the recycling drive shaft through the transmission shaft of the worm gear reducer. The first transmission assembly includes a recycling frame, a recycling chain, a recycling drive sprocket, a recycling driven sprocket, and a recycling idler wheel. The recycling frame is located at the front end of the main frame. The recycling drive sprockets of the two first transmission assemblies are respectively sleeved on the left and right ends of the recycling drive shaft. A recycling driven sprocket is provided at the lower front end of the recycling frame, and a recycling idler wheel is provided at the upper front end of the recycling frame. The recycling drive sprocket is connected to the corresponding recycling driven sprocket and recycling idler wheel through the recycling chain. The grabbing and releasing device is connected to the recycling chain and is used to grab the seedling tray above the flipping mechanism and release the seedling tray after it is moved above any empty tray storage area by the drive of the recycling drive device.

[0008] Furthermore, a recovery tension wheel is provided at the upper rear of the recovery rack. The recovery tension wheel meshes with the recovery chain. The recovery drive sprocket, the recovery driven sprocket, and the recovery idler sprocket are located inside the closed recovery chain loop, while the recovery tension wheel is located outside the closed recovery chain loop.

[0009] Furthermore, the recovery chain forms a horizontal chain segment between the corresponding recovery drive sprocket and the recovery idler sprocket, and a vertical chain segment between the corresponding recovery driven sprocket and the recovery idler sprocket. The gripping and releasing device moves along the horizontal and vertical chain segments.

[0010] Furthermore, the recycling drive device also includes horizontal adjustment sprockets. Adjustment frames are provided at the top of both the left and right sides of the empty disc storage area. Two adjustment shafts are vertically slidably mounted on the two adjustment frames and fixed by nuts. Two horizontal adjustment sprockets are respectively sleeved on the two adjustment shafts and mesh with the two recycling chains.

[0011] Furthermore, the recycling rack is provided with two first elongated oval holes arranged in the front and back and two second elongated oval holes arranged in the top and bottom. The main frame is provided with two first round holes. The two first elongated oval holes and the two first round holes are connected to each other by bolts. The recycling tension wheel is rotatably mounted on the bolt shaft through a bearing. The bolt shaft passes through the second elongated oval hole and is fixed.

[0012] Furthermore, the seedling tray includes a tray panel, on which two dividing strips are provided. The two dividing strips divide the tray panel into three storage units for placing seedlings. Connecting and fixing blocks are provided on the dividing strips, and the connecting and fixing blocks are magnetic material components.

[0013] The grasping and releasing device includes a chain connecting rod. The left and right ends of the chain connecting rod are respectively connected to two recycling chains through chain joints. The upper ends of two rotating rods are rotatably connected to the chain connecting rod. The two rotating rods are connected through a synchronization rod. The lower ends of the rotating rods are connected to the middle of the magnetic fixing rod. Electromagnets are provided at both ends of the lower side of the magnetic fixing rod. The grasping and releasing device moves along the vertical chain segment and the horizontal chain segment. When the grasping and releasing device is at the lower end of the vertical chain segment, the four electromagnets abut against the four connecting fixing blocks of the two seedling trays on the flipping mechanism. When the grasping and releasing device moves along the horizontal chain segment, the seedling tray lifted by the grasping and releasing device moves above the two empty tray storage areas.

[0014] Furthermore, the chain connecting rod is equipped with two limiting V-shaped frames, which correspond one-to-one with the two rotating rods. The limiting V-shaped frames are at right angles, and the rotating rods are positioned between the right angles of the corresponding limiting V-shaped frames. When the gripping and releasing device is on the vertical chain segment, the front side of the limiting V-shaped frame is vertically set, restricting the corresponding rotating rod from flipping forward. When the gripping and releasing device is on the horizontal chain segment, the rear side of the limiting V-shaped frame is vertically set, restricting the corresponding rotating rod from flipping backward.

[0015] Furthermore, the electromagnet is vertically slidably mounted on the lower side of the magnet fixing rod, and a buffer spring is provided between the electromagnet and the magnet fixing rod.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] The idler wheel's function is to cause the recovery chain to turn, allowing the gripping and releasing device to move reliably vertically and horizontally along the recovery chain, resulting in higher control precision. Compared to existing seedling tray recovery mechanisms, this invention has a simpler structure, lower manufacturing cost, and, because the gripping and releasing device is driven downwards by the chain, it does not need to be heavy, thus reducing the overall weight of the equipment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the recycling rack structure;

[0020] Figure 3 for Figure 1 Enlarged view of point B;

[0021] Figure 4 This is a partial schematic diagram of the gripping and releasing device;

[0022] Figure 5 An isometric view of an unmanned automatic rice transplanter;

[0023] Figure 6Another perspective isometric view of an unmanned automatic rice transplanter;

[0024] Figure 7 The main view of the main frame;

[0025] Figure 8 This is a schematic diagram of the structure of the seedling tray;

[0026] Figure 9 A schematic diagram of a rope mechanism pulling several seedling trays;

[0027] Figure 10 This is a schematic diagram of the rope winch mechanism;

[0028] Figure 11 A schematic diagram of the rope winch mechanism excluding the seedling tray support rod;

[0029] Figure 12 This is a schematic diagram showing the connection between the flap structure and the fixed support frame.

[0030] Figure 13 This is an isometric view of the flap structure;

[0031] Figure 14 for Figure 13 Enlarged view of point A;

[0032] Figure 15 Another perspective isometric view of the flap structure;

[0033] Figure 16 A schematic diagram showing the connection of the follower motor driving the upper follower frame to move laterally.

[0034] Figure 17 A schematic diagram of the seedling tray pushing device;

[0035] Figure 18 This is a structural diagram of the push component.

[0036] In the diagram, 1. Vehicle body; 11. Seedling box; 12. First displacement sensor; 2. Seedling tray; 21. Storage unit; 22. Divider strip; 23. Limiting edge; 24. Limiting block; 25. Connecting fixing block; 26. Notch; 3. Grabbing and releasing device; 31. Chain connecting rod; 32. Limiting V-shaped frame; 33. Rotating rod; 34. Magnet fixing rod; 35. Electromagnet; 36. Synchronizing rod; 4. Main frame; 41. Seedling tray storage area; 42. Empty tray storage area; 43. Support rod stacking area; 44. Lifting slide assembly; 5. Recycling drive device; 51. Recycling drive... 52. Drive motor; 53. Retrieval drive shaft; 54. Retrieval drive sprocket; 55. Retrieval chain; 56. Retrieval idler wheel; 57. Retrieval tension wheel; 58. Retrieval driven sprocket; 59. Horizontal adjustment sprocket; 510. Adjustment frame; 511. First oblong hole; 512. Second oblong hole; 513. Sixth position sensor; 514. Seventh position sensor; 515. Ninth position sensor; 516. Eighth position sensor; 6. Rope winding mechanism; 61. Rope connecting frame; 62. Rope shaft; 63. Rope wheel; 64. Rope drive motor; 6 5. Seedling tray support rod; 6. First position sensor; 7. Flipping mechanism; 71. Vertical adjustment connecting frame; 72. Horizontal adjustment support rod; 73. Flipping base; 74. Drive arm assembly; 75. Driven arm assembly; 76. Upper follower frame; 77. Long screw; 78. Pipe clamp; 79. Third position sensor; 710. Trigger rod; 711. Fourth displacement sensor; 712. Fifth position sensor; 713. Second optical axis; 714. First optical axis; 715. Idler shaft; 716. Flipping rotation drive shaft; 717. Follower motor; 718. Seedling tray 719. Centering plate; 720. Flip plate drive motor; 721. Limiting post; 722. Lead screw nut; 723. Follower lead screw; 724. Optical axis connecting rod assembly; 725. Second displacement sensor; 8. Fixed support frame; 9. Seedling tray pushing device; 91. Pushing drive motor; 92. Pushing drive shaft; 93. First position sensor; 94. Pushing assembly; 95. Second position sensor; 96. Pushing chain; 97. Support bar; 98. Pushing column; 99. Pushing driven shaft; 910. Pushing tension idler wheel; 911. Union bolt; 912. Second position sensor. Detailed Implementation

[0037] 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.

[0038] 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.

[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 18 As shown, a seedling tray recycling device is used to recycle the seedling tray after the unmanned automatic rice transplanter has replenished the seedling tray. The top of the main frame 4 of the rice transplanter forms two empty tray storage areas 42, and the front side of the main frame 4 is provided with a flipping mechanism 7 for unloading the seedling tray 2 onto the seedling box 11.

[0041] The recycling device includes a recycling drive device 5 and a gripping and releasing device 3. The recycling drive device 5 includes a first drive assembly and a first transmission assembly. The first transmission assembly is provided on both the left and right sides of the main frame 4. The first drive assembly includes a recycling drive shaft 52 rotatably mounted on the top rear end of the main frame 4. A recycling drive motor 51 is fixed to the main frame 4 via a worm gear reducer. The output shaft of the recycling drive motor 51 is connected to the recycling drive shaft 52 via the transmission shaft of the worm gear reducer. The first transmission assembly includes a recycling frame 57, a recycling chain 54, a recycling drive sprocket 53, a recycling driven sprocket 58, and a recycling... The idler wheel 55 and the recycling frame 57 are located at the front end of the main frame 4. The recycling drive sprockets 53 of the two first transmission components are respectively sleeved on the left and right ends of the recycling drive shaft 52. The lower front end of the recycling frame 57 is provided with a recycling driven sprocket 58, and the upper front end of the recycling frame 57 is provided with a recycling idler wheel 55. The recycling drive sprocket 53 is connected to the corresponding recycling driven sprocket 58 and recycling idler wheel 55 through the recycling chain 54. The grabbing and releasing device 3 is connected to the recycling chain 54 and is used to grab the seedling tray 2 above the flipping mechanism 7. After being driven by the recycling drive device 5, it is moved to the top of any empty tray storage area 42 and then the seedling tray 2 is released.

[0042] The function of the idler wheel 55 is to cause the recovery chain 54 to turn, allowing the gripping and releasing device 3 to move reliably vertically and horizontally along the recovery chain 54, resulting in higher control precision. Compared with the seedling tray recovery mechanism of the automatic seedling transplanter with publication number CN120130220A, this utility model has a simpler structure, lower manufacturing cost, and when the gripping and releasing device 3 is driven to descend by the chain, it does not need to have a large weight, thus reducing the overall weight of the equipment.

[0043] The upper rear part of the recovery frame 57 is equipped with a recovery tension wheel 56, which meshes with the recovery chain 54. The recovery drive sprocket 53, the recovery driven sprocket 58, and the recovery idler sprocket 55 are located within the closed loop of the recovery chain 54, while the recovery tension wheel 56 is located outside the closed loop of the recovery chain 54. In addition to tensioning the recovery chain 54, the recovery tension wheel 56 can also change the position of the recovery chain 54 to avoid interference between the recovery chain 54 and other components.

[0044] The recycling chain 54 forms a horizontal chain segment between the corresponding recycling drive sprocket 53 and the recycling idler sprocket 55, and the recycling chain 54 forms a vertical chain segment between the corresponding recycling driven sprocket 58 and the recycling idler sprocket 55. The gripping and releasing device 3 moves along the horizontal chain segment and the vertical chain segment.

[0045] The recycling drive device 5 also includes a horizontal adjustment sprocket 59. Adjustment frames 510 are provided at the top of both the left and right sides of the empty disc storage area 42. Two adjustment shafts are vertically slidably mounted on the two adjustment frames 510 and fixed by nuts. The two horizontal adjustment sprockets 59 are respectively sleeved on the two adjustment shafts. The two horizontal adjustment sprockets 59 are meshed with the two recycling chains 54.

[0046] By changing the vertical relative position of the adjusting shaft and the adjusting frame 510, the vertical pressing degree of the horizontal adjusting sprocket 59 on the recovery chain 54 can be changed, thereby bringing the recovery chain 54, which is located between the horizontal adjusting sprocket 59 and the recovery idler wheel 55, to a horizontal state, which facilitates the movement of the grabbing and releasing device 3.

[0047] The recycling rack 57 is provided with two first elongated holes 511 arranged in front and behind and a second elongated hole 512 arranged in the top and bottom. The main frame 4 is provided with two first round holes. The two first elongated holes 511 and the two first round holes are connected by bolts. The recycling tension wheel 56 is rotatably mounted on the bolt shaft through a bearing. The bolt shaft passes through the second elongated hole 512 and is fixed.

[0048] The front and rear positions of the recovery frame 57 relative to the main frame 4 can be adjusted through the first elongated hole 511, and the installation position of the recovery tension wheel 56 can be adjusted through the second elongated hole 512.

[0049] The seedling tray 2 includes a tray panel, on which two dividing strips 22 are provided. The two dividing strips 22 divide the tray panel into three storage units 21 for placing seedlings. Connecting and fixing blocks 25 are provided on the dividing strips 22. The connecting and fixing blocks 25 are magnetic material components.

[0050] The grasping and releasing device 3 includes a chain connecting rod 31. The left and right ends of the chain connecting rod 31 are respectively connected to two recycling chains 54 through chain joints. The upper ends of two rotating rods 33 are rotatably connected to the chain connecting rod 31. The two rotating rods 33 are connected through a synchronization rod 36. The lower end of the rotating rod 33 is connected to the middle of the magnet fixing rod 34. Electromagnets 35 are provided at both ends of the lower side of the magnet fixing rod 34. The grasping and releasing device 3 moves along the vertical chain segment and the horizontal chain segment. When the grasping and releasing device 3 is at the lower end of the vertical chain segment, the four electromagnets 35 abut against the four connecting fixing blocks 25 of the two seedling trays 2 on the flipping mechanism 7. When the grasping and releasing device 3 moves along the horizontal chain segment, the seedling trays 2 lifted by the grasping and releasing device 3 move above the two empty tray storage areas 42.

[0051] The chain connecting rod 31 is provided with two limiting V-shaped frames 32, which correspond one-to-one with two rotating rods 33. The limiting V-shaped frames 32 are at right angles, and the rotating rods 33 are located between the right angles of the corresponding limiting V-shaped frames 32. When the gripping and releasing device 3 is on the vertical chain segment, the front side of the limiting V-shaped frame 32 is set vertically, and the corresponding rotating rod 33 is restricted from flipping forward. When the gripping and releasing device 3 is on the horizontal chain segment, the rear side of the limiting V-shaped frame 32 is set vertically, and the corresponding rotating rod 33 is restricted from flipping backward.

[0052] The purpose of rotating rod 33 and chain connecting rod 31 is to keep rotating rod 33 vertically downward in both horizontal and vertical chain segments, so as to facilitate lifting seedling tray 2. The function of limiting V-shaped frame 32 is to prevent rotating rod 33 from swinging in both horizontal and vertical chain segments.

[0053] The electromagnet 35 is vertically slidably mounted on the lower side of the magnet fixing rod 34, and a buffer spring is provided between the electromagnet 35 and the magnet fixing rod 34.

[0054] The function of the buffer spring is to ensure a reliable connection between the electromagnet 35 and the corresponding connecting fixing block 25, and to prevent damage from impact.

[0055] For ease of understanding, the structure of the unmanned automatic rice transplanter and the connection and cooperation relationship of this utility model in the unmanned automatic rice transplanter are given below. The unmanned automatic rice transplanter includes a vehicle body 1, a fixed support frame 8 fixed on the vehicle body 1, a main frame 4 on the fixed support frame 8, a rope winch mechanism 6 on one side of the main frame 4, the main frame 4 forms two seedling storage areas 41 on the left and right, each seedling storage area 41 has a lifting slide group 44 on the left and right sides, each lifting slide group 44 has a number of seedling tray support rods 65 slidably arranged on each lifting slide group 44, the number of seedling tray support rods 65 on the four lifting slide groups 44 are of equal height, two seedling tray support rods 65 of equal height in the same seedling storage area 41 are a pair, each pair of seedling tray support rods 65 has two seedling trays 2 arranged in front and behind, two pairs of seedling tray support rods 65 of equal height in the two seedling storage areas 41 are a layer, and several layers of seedling tray support rods 65 are connected sequentially from top to bottom by flexible ropes, the rope winch mechanism 6 pulls the uppermost seedling tray support rod 65 up and down;

[0056] The front side of the fixed support frame 8 is provided with a flip plate mechanism 7. The flip plate mechanism 7 includes a flip plate base 73. The upper end face of the upper follower frame 76 is hinged with seedling tray centering plates 718 on the left and right sides respectively. The seedling tray centering plates 718 are connected to the upper follower frame 76 through return springs. The two return springs push the front end of the two seedling tray centering plates 718 closer and the rear end away respectively.

[0057] The upper follower frame 76 swings back and forth between the upper and front positions of the flip plate base 73. When the upper follower frame 76 is in the upper position, it is horizontal. The bottom of the two seedling storage areas 41 is provided with a seedling tray pushing device 9. The seedling tray pushing device 9 is used to receive the seedling tray 2 lowered by the rope mechanism 6 and push it onto the upper follower frame 76. When the seedling tray pushing device 9 pushes the two seedling trays 2 onto the upper follower frame 76 at the same time, the two seedling tray centering plate 718 squeezes the two seedling trays 2 together in the center. When the upper follower frame 76 swings to the front position, it is tilted. The seedlings on the seedling trays 2 are unloaded onto the seedling box 11 in front of the vehicle body 1.

[0058] This invention shortens the length of the seedling trays in the prior art to half and sets up two parallel seedling tray storage areas 41 to store two sets of seedling trays 2. The two seedling trays 2, pushed to the upper follower frame 76 by the seedling tray centering plate 718, are brought together to achieve the required seedling length to match the seedling box 11. Lifting slide groups 44 are provided on both sides and in the middle of the main frame 4. In addition to their guiding function, the lifting slide groups 44 also bear the structural load, making the stability and structural stress of the main frame 4 more reasonable and increasing the service life of key components. The seedling trays 2 are more compact, made of nylon material, significantly reducing weight and making them easier to manufacture. The overall structure of this invention is simpler, and the total weight is reduced by more than 30% compared to existing structures.

[0059] A tilting base 73 has an idler shaft 715 rotatably mounted at its front and a tilting rotation drive shaft 716 rotatably mounted at its rear. A tilting drive motor 719 is fixed to the tilting base 73, and its output shaft is connected to the tilting rotation drive shaft 716. The lower end of the drive arm assembly 74 is connected to the tilting rotation drive shaft 716, and the upper end of the drive arm assembly 74 is hinged to the first optical axis 714. The lower end of the driven arm assembly 75 is hinged to the idler shaft 715, and the upper end of the driven arm assembly 75 is hinged to the first optical axis 714. The second optical axis 713 is hinged, and the first optical axis 714 and the second optical axis 713 are hinged together via an optical axis connecting rod assembly 723. A follower screw 722 is rotatably mounted on the optical axis connecting rod assembly 723, and a follower motor 717 is fixed on the optical axis connecting rod assembly 723. The output shaft of the follower motor 717 is connected to the follower screw 722, and a screw nut 721 is threaded onto the follower screw 722. The first optical axis 714, the second optical axis 713, the idler shaft 715, the flip plate rotation drive shaft 716, and the follower screw are also included. All 722 components are axially arranged to the left and right. The upper follower frame 76 is slidably engaged with the first optical axis 714 and the second optical axis 713 through sliding bearings and connected to the lead screw nut 721. A second displacement sensor 724 is provided between the optical axis connecting rod group 723 and the upper follower frame 76. A first displacement sensor 12 is provided on the back of the seedling box 11. The first displacement sensor 12 identifies the real-time lateral position of the seedling box 11. The second displacement sensor 724 controls the running state of the follower motor 717, so that the upper follower frame 76 moves synchronously with the seedling box 11. The second displacement sensor 724 is used to detect the relative position of the upper follower frame 76 and the optical axis connecting rod group 723 in real time. When the seedling box 11 moves to the middle position of the rice transplanter, the first displacement sensor 12 feeds back the position of the seedling box 11. The second displacement sensor 724 is in sync with the first displacement sensor 12, and the follower motor 717 starts to work, driving the upper follower frame 76 to move in basically the same direction as the seedling box 11, ensuring that the seedling skin can be accurately replenished onto the seedling box 11.

[0060] It also includes a vertical adjustment connecting frame 71, which is suspended on the top of the fixed support frame 8 by several long screws 77 and fastening nuts. Several horizontal adjustment support rods 72 are provided on the rear side of the flip base 73. The horizontal adjustment support rods 72 are fixed to the vertical adjustment connecting frame 71 by pipe clamps 78. By adjusting the relative position of the fastening nuts and long screws 77, the vertical height of the vertical adjustment connecting frame 71 can be adjusted. By tightening the position of the horizontal adjustment support rods 72 by pipe clamps 78, the horizontal position of the flip base 73 can be adjusted, thereby adjusting the horizontal and vertical positions of the upper follower frame 76, so that the upper follower frame 76 can be accurately installed in a suitable position.

[0061] The front end of the separator 22 is provided with a notch 26, and the front end of the upper follower frame 76 is provided with four limiting posts 720. The two limiting posts 720 on the left correspond one-to-one with the two notches 26 of the seedling tray 2 pushed on the left and cooperate to limit the movement. The two limiting posts 720 on the right correspond one-to-one with the two notches 26 of the seedling tray 2 pushed on the right and cooperate to limit the movement, so as to realize the automatic pushing of the seedling tray 2 and the automatic stopping when the pushing reaches the end.

[0062] The rope-winding mechanism 6 includes a rope-winding connecting frame 61, a rope-winding shaft 62 rotatably mounted on the rope-winding connecting frame 61, and the rope-winding shaft 62 is axially arranged front and rear. The rope-winding connecting frame 61 is connected to the main frame 4, and the rope-winding drive motor 64 is connected to the rope-winding connecting frame 61. The output shaft of the rope-winding drive motor 64 is connected to the rope-winding shaft 62 through a worm gear reducer. Eight rope-winding wheels 63 are sleeved on the rope-winding shaft 62, and ropes are wound on the rope-winding wheels 63. The lower ends of the ropes on the front four rope-winding wheels 63 are connected to the front ends of the four seedling tray support rods 65 at the top layer, and the lower ends of the ropes on the rear four rope-winding wheels 63 are connected to the rear ends of the four seedling tray support rods 65 at the top layer. The bottom of the main frame 4 forms a support rod stacking area 43, and the seedling tray support rods 65 that are lowered onto the seedling tray pushing device 9 fall into the support rod stacking area 43.

[0063] The seedling tray 2 is lowered by the rope mechanism 6. Compared with the lifting mechanism of the automatic seedling transplanter with publication number CN120130220A, it has a simple structure, light weight, is easy to process, manufacture and install, and has low cost.

[0064] The seedling tray pushing device 9 includes a second drive assembly and four sets of pushing assemblies 94. Two sets of pushing assemblies 94 are installed at the bottom of each of the two seedling storage areas 41. Each pushing assembly 94 includes a pushing drive sprocket 95 and a pushing tension idler wheel 910. The second drive assembly includes a pushing drive shaft 92 rotatably mounted at the rear end of each of the two seedling storage areas 41. A pushing drive motor 91 is fixed to the main frame 4, and the output shaft of the pushing drive motor 91 is connected to the pushing drive shaft 92. Each pushing drive sprocket 95 is sleeved on the pushing drive shaft 92, and the pushing tension idler wheel 910 is rotatably sleeved on the pushing driven shaft 99. Both ends of the pushing driven shaft 99 are connected to the main frame via live bolts 911. The front threaded connection of 4, the push drive sprocket 95 and the corresponding push tension idler 910 are both connected by the push chain 96, the push chain 96 is provided with two push posts 98, the limiting edge 23 of the seedling tray plate is provided with a limiting block 24, the two seedling trays 2 that abut against each other form a middle gap through the limiting block 24, when the seedling tray push device 9 receives a layer of seedling tray 2 lowered by the rope mechanism 6, each push post 98 abuts against the limiting edge 23 of the corresponding seedling tray 2, a support bar 97 is provided between the push drive sprocket 95 and the push tension idler 910, the upper side of the push chain 96 slides on the corresponding support bar 97, and the upper edge of the push chain 96 is the bearing plane.

[0065] The seedling tray is pushed directly by the push chain 96. Compared with the translation mechanism of the automatic seedling picker and transplanter with publication number CN120130220A, it has a simple structure, light weight, is easy to process, manufacture and install, and has low cost.

[0066] For ease of understanding, the working method of this utility model and the unmanned automatic rice transplanter is given below, including the following steps:

[0067] Step 1: Install a first position sensor 66 on the top of the support rod stacking area 43, so that the probe of the first position sensor 66 is oriented toward the lifting path of several seedling tray support rods 65 on any set of lifting slide groups 44.

[0068] Step 2: A second position sensor 93 is provided at the front of any push component 94;

[0069] Step 3: A third position sensor 79 is set on the flip plate base 73, and a trigger rod 710 is set on the drive arm assembly 74. When the upper follower frame 76 is in the upper position, the trigger rod 710 triggers the third position sensor 79. A fourth position sensor 711 and a fifth position sensor 712 are set at the front end of the upper follower frame 76. The probe of the fourth position sensor 711 is set upward. When the notches 26 of the two seedling trays 2 cooperate with the four limiting posts 720, the seedling trays 2 trigger the fourth position sensor 711. The probe of the fifth position sensor 712 is set forward. When the flip plate mechanism 7 swings forward to the front position, the seedling box 11 triggers the fifth position sensor 712.

[0070] Step 4: Install a sixth position sensor 513 on the top of the recycling rack 57 and a seventh position sensor 514 on the bottom of the recycling rack 57. Make the probe of the seventh position sensor 514 face the lower end of the movement path of the gripping and releasing device 3 on the vertical chain segment, and make the probe of the sixth position sensor 513 face the upper end of the movement path of the gripping and releasing device 3 on the vertical chain segment. Mark the position of the sixth position sensor as the zero point position of the gripping and releasing device 3.

[0071] Step 5: Install an eighth position sensor 516 at the rear end of the empty tray storage area 42 located at the rear side, and install a ninth position sensor 515 at the rear end of the empty tray storage area 42 located at the front side. The heights of the eighth position sensor 516 and the ninth position sensor 515 are set according to the height of the seedling tray 2 when the gripping and releasing device 3 moves along the horizontal chain segment.

[0072] Step 6: Install several pressure sensors on the upper part of the seedling box 11. When there is seedling skin on the upper part of the seedling box 11, the seedling skin triggers several pressure sensors.

[0073] Step 7: Connect the first position sensor 66, the second position sensor 93, the third position sensor 79, the fourth position sensor 711, the fifth position sensor 712, the sixth position sensor 513, the seventh position sensor 514, the eighth position sensor 516, the ninth position sensor 515, several pressure sensors, the first displacement sensor 12, the second displacement sensor 724, the flip-plate drive motor 719, the follow-up motor 717, the recovery drive motor 51, the rope winding drive motor 64, and the push drive motor 91 to the PLC of the rice transplanter central control system respectively.

[0074] Step 8: When the second position sensor 93 does not detect a seedling tray, the PLC controls the winch drive motor 64 to run, causing several seedling tray support rods 65 to descend synchronously. When the first position sensor 66 is triggered by the corresponding seedling tray support rod 65, the winch drive motor 64 is turned off.

[0075] Step 9: When the trigger lever 710 triggers the third position sensor 79 and the fourth position sensor 711 is not triggered, and the seedling tray 2 triggers the second position sensor 93, the PLC controls the push drive motor 91 to run, pushing the four seedling trays 2 that fall on the four push components 94 to move forward synchronously.

[0076] Step 10: When the two seedling trays 2 on the front side slide onto the upper follower frame 76 and trigger the fourth position sensor 711, the PLC controls the push drive motor 91 to stop and simultaneously controls the flip drive motor 719 to run, causing the upper follower frame 76 to swing forward.

[0077] Step 11: When the upper follower frame 76 swings to the front position, the seedling box 11 triggers the fifth position sensor 712. The upper follower frame 76 remains tilted for three seconds, and the seedling tray on the seedling skin tray 2 is unloaded onto the seedling box 11 to complete the replenishment of the seedling skin.

[0078] Step 12: The PLC controls the flip-plate drive motor 719 to rotate in the opposite direction. When the upper follower frame 76 swings to the upper position, the trigger rod 710 triggers the third position sensor 79 again, the flip-plate drive motor 719 stops, and the retraction drive motor 51 runs at the same time.

[0079] Step 13: The recovery drive motor 51 first drives the gripping and releasing device 3 to descend from the zero point position to the bottom of the vertical chain segment. The gripping and releasing device 3 triggers the seventh position sensor 514 and shuts down the recovery drive motor 51. The four electromagnets 35 are energized and attract the connecting fixing blocks 25 corresponding to the two seedling trays 2 on the flipping mechanism 7. The recovery drive motor 51 then rotates in the opposite direction and drives the gripping and releasing device 3 to move along the vertical chain segment and the horizontal chain segment in sequence. When the seedling tray 2 triggers the eighth position sensor 516 or the ninth position sensor 515, the four electromagnets 35 are simultaneously de-energized, and the two empty seedling trays 2 fall into the empty tray storage area 42, completing the recovery of the empty seedling trays 2.

[0080] Step Fourteen: Repeat steps one through thirteen until all seedling skin replenishment and empty seedling skin trays 2 are completed. When the empty tray recycling device recycles empty seedling skin trays 2 multiple times, in step thirteen, the empty seedling skin tray 2 alternately triggers the first position sensor 66 and the second position sensor 93. When the seedling skin tray 2 triggers the eighth position sensor 516, the seedling skin tray 2 is placed in the empty tray storage area 42 located at the rear. When the seedling skin tray 2 triggers the ninth position sensor 515, the seedling skin tray 2 is placed in the empty tray storage area 42 located at the front.

[0081] Several seedling trays are arranged on each seedling tray 2. The rope mechanism 6 is responsible for placing the seedling trays 2 on the seedling tray support rods 65 one by one onto the seedling tray pushing device 9. The seedling tray pushing device 9 is responsible for pushing the seedling trays 2 onto the flip-plate follow-up frame 76. The flip-plate mechanism 7 is responsible for unloading the seedling trays 2 onto the seedling box 11 to realize the seedling placement operation. The empty tray recycling device is responsible for recycling the empty seedling trays and placing them in the empty tray storage area 42. This utility model can realize a complete process of unmanned automatic seedling retrieval. The whole machine is lightweight, the load on each mechanism is small, the operation is stable and reliable, and the degree of automation and intelligence is high. Through the cooperation of various sensors and PLC, execution actions can be issued for each process. The seedling trays can be replenished and the seedling trays 2 can be recycled automatically during the movement of the rice transplanter, without the need for any operation by the driver. The degree of automation and intelligence is high.

[0082] 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 recycling device for recycling seedling trays after seedling replenishment by an unmanned automatic rice transplanter, characterized in that: The top of the main frame (4) of the rice transplanter forms two empty tray storage areas (42) at the front and back. The front side of the main frame (4) is provided with a flip plate mechanism (7) for unloading the seedling skin on the seedling skin tray (2) onto the seedling box (11). The recycling device includes a recycling drive device (5) and a gripping and releasing device (3). The recycling drive device (5) includes a first drive assembly and a first transmission assembly. The first transmission assembly is provided on both the left and right sides of the main frame (4). The first drive assembly includes a recycling drive shaft (52) rotatably mounted on the top of the rear end of the main frame (4). The recycling drive motor (51) is fixed to the main frame (4) through a worm gear reducer. The output shaft of the recycling drive motor (51) is connected to the recycling drive shaft (52) through the transmission shaft of the worm gear reducer. The first transmission assembly includes a recycling frame (57), a recycling chain (54), a recycling drive sprocket (53), a recycling driven sprocket (58), and a recycling idler wheel (55). The recycling rack (57) is located at the front end of the main frame (4). The recycling drive sprockets (53) of the two first transmission components are respectively sleeved on the left and right ends of the recycling drive shaft (52). The recycling driven sprocket (58) is provided at the lower front end of the recycling rack (57), and the recycling idler wheel (55) is provided at the upper front end of the recycling rack (57). The recycling drive sprocket (53) is connected to the corresponding recycling driven sprocket (58) and recycling idler wheel (55) through the recycling chain (54). The grabbing and releasing device (3) is connected to the recycling chain (54) and is used to grab the seedling tray (2) above the flipping mechanism (7). After being driven by the recycling drive device (5), the seedling tray (2) is released above any empty tray storage area (42).

2. The seedling skin tray recycling device according to claim 1, characterized in that: The upper rear part of the recycling rack (57) is provided with a recycling tension wheel (56). The recycling tension wheel (56) meshes with the recycling chain (54). The recycling drive sprocket (53), the recycling driven sprocket (58), and the recycling idler wheel (55) are inside the closed recycling chain (54) loop, while the recycling tension wheel (56) is outside the closed recycling chain (54) loop.

3. The seedling skin tray recycling device according to claim 2, characterized in that: The recovery chain (54) forms a horizontal chain segment between the corresponding recovery drive sprocket (53) and the recovery idler sprocket (55), and the recovery chain (54) forms a vertical chain segment between the corresponding recovery driven sprocket (58) and the recovery idler sprocket (55). The gripping and releasing device (3) moves along the horizontal chain segment and the vertical chain segment.

4. The seedling skin tray recycling device according to claim 3, characterized in that: The recycling drive device (5) also includes a horizontal adjustment sprocket (59). Adjustment frames (510) are provided at the top of the left and right sides of the empty disc storage area (42). Two adjustment shafts are vertically slidably mounted on the two adjustment frames (510) and fixed by nuts. The two horizontal adjustment sprockets (59) are respectively sleeved on the two adjustment shafts. The two horizontal adjustment sprockets (59) are meshed with the two recycling chains (54).

5. The seedling skin tray recycling device according to claim 4, characterized in that: The recycling rack (57) is provided with two first elongated holes (511) arranged in front and behind and a second elongated hole (512) arranged in the top and bottom. The main frame (4) is provided with two first round holes. The two first elongated holes (511) and the two first round holes are connected by bolts. The recycling tension wheel (56) is rotatably mounted on the bolt shaft through a bearing. The bolt shaft passes through the second elongated hole (512) and is fixed.

6. A seedling skin tray recycling device according to any one of claims 3-5, characterized in that: The seedling tray (2) includes a tray panel, on which two dividing strips (22) are provided. The two dividing strips (22) divide the tray panel into three storage units (21) for placing seedlings. A connecting fixing block (25) is provided on the dividing strip (22). The connecting fixing block (25) is a magnetic material component. The grabbing and releasing device (3) includes a chain connecting rod (31). The left and right ends of the chain connecting rod (31) are respectively connected to two recycling chains (54) through chain joints. The upper ends of two rotating rods (33) are rotatably connected to the chain connecting rod (31). The two rotating rods (33) are connected through a synchronizing rod (36). The lower end of the rotating rod (33) is connected to the middle of the magnet fixing rod (34). Electromagnetic electrodes are provided on the left and right ends of the lower side of the magnet fixing rod (34). Iron (35), the gripping and releasing device (3) moves along the vertical chain segment and the horizontal chain segment. When the gripping and releasing device (3) is at the lower end of the vertical chain segment, the four electromagnets (35) correspond one-to-one with the four connecting fixing blocks (25) of the two seedling trays (2) on the flipping mechanism (7). When the gripping and releasing device (3) moves along the horizontal chain segment, the seedling tray (2) lifted by the gripping and releasing device (3) moves above the two empty tray storage areas (42).

7. The seedling skin tray recycling device according to claim 6, characterized in that: Two limiting V-shaped frames (32) are provided on the chain connecting rod (31). The two limiting V-shaped frames (32) correspond one-to-one with the two rotating rods (33). The limiting V-shaped frames (32) are at right angles. The rotating rods (33) are located between the right angles of the corresponding limiting V-shaped frames (32). When the gripping and releasing device (3) is on the vertical chain segment, the front side of the limiting V-shaped frame (32) is set vertically and restricts the corresponding rotating rod (33) from flipping forward. When the gripping and releasing device (3) is on the horizontal chain segment, the rear side of the limiting V-shaped frame (32) is set vertically and restricts the corresponding rotating rod (33) from flipping backward.

8. A seedling skin tray recycling device according to claim 6, characterized in that: The electromagnet (35) is vertically slidably disposed on the lower side of the magnet fixing rod (34), and a buffer spring is provided between the electromagnet (35) and the magnet fixing rod (34).

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