An electric control pneumatic seedling taking device for a plug seedling transplanting machine

Abstract

The utility model discloses a kind of hole tray seedling transplanting machine with electric control pneumatic seedling taking device, belong to agricultural machinery technical field, to solve the problem of low degree of automation, poor efficiency, great labor intensity caused by the existing hole tray seedling transplanting machine relies on manual seedling taking and seedling throwing.This device includes transplanting machine main body, and is equipped on its seedling sending mechanism, seedling taking mechanism, seedling cup group and electric control system;Seedling sending mechanism realizes seedling tray accurate conveying by chain seedling sending group and drive assembly;Seedling taking mechanism completes seedling grabbing and delivery by the aid of translation assembly, opening and closing assembly and pneumatic gripper;Seedling cup group is in rectangular array around seedling sending mechanism and is moved by chain drive;Electric control system controls the collaborative operation of each component by PLC, sensor and man-machine interface control interface.This utility model adopts electric control pneumatic seedling design, realizes seedling tray conveying, seedling grabbing, accurate seedling throwing whole-process automation, improves transplanting efficiency, reduces labor intensity, reduces seedling damage rate, applicable to large-scale hole tray seedling transplanting operation.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and more specifically, to an electrically controlled pneumatic seedling taking device for a plug seedling transplanter. Background Technology

[0002] In modern agricultural transplanting operations, plug seedlings are widely used due to their high seedling efficiency and good seedling uniformity. However, existing plug seedling transplanters still have significant drawbacks in the seedling loading and unloading process: most machines rely on manual operation, meaning operators must manually remove the plug seedlings from the seedling tray holes and then place them one by one into the seedling cups of the transplanter. This method has the following problems: 1. Low level of automation: The actions of picking up and placing seedlings rely on manual judgment and operation, and cannot be automatically linked with other aspects of the transplanter (such as planting and covering with soil).

[0003] 2. Low efficiency: Manual operation has limited speed and low degree of automation, resulting in low efficiency in seedling picking and placement, making it difficult to meet the efficiency requirements of large-scale planting.

[0004] 3. High labor intensity: Operators need to repeat bending, grabbing, and throwing actions for a long time, which can easily cause muscle fatigue and has high labor costs.

[0005] Therefore, developing a seedling-picking device that can automate seedling picking and placement with precise and efficient operation is key to solving the technical bottlenecks of existing transplanters. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of manual seedling picking and placing in existing plug seedling transplanters, and to provide an electro-pneumatic seedling picking device for plug seedling transplanters. Through the coordinated design of "mechanical transmission + electric control + pneumatic", the device achieves full automation of the seedling tray conveying, seedling grabbing and precise seedling placement, thereby improving transplanting efficiency, reducing labor intensity and minimizing seedling damage.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows: An electro-pneumatic seedling picking device for a plug seedling transplanter includes a transplanter body for transplanting seedlings, and also includes a seedling delivery mechanism, a seedling picking mechanism, a seedling cup assembly and an electronic control system; The seedling delivery mechanism is mounted on the main body of the transplanter and is used to carry and accurately deliver seedling trays. The seedling delivery mechanism includes a seedling delivery frame, a chain seedling delivery group, and a drive component. The seedling delivery frame is fixed on the main body of the transplanter and has a chain seedling delivery group inside for delivering seedling trays. The drive component is located on the outside of the seedling delivery frame for driving the chain seedling delivery group. The seedling-grabbing mechanism is located above the seedling-delivering mechanism and is fixedly connected to the main body of the transplanter via several sets of uprights. It is used to grab seedlings from the seedling tray. The seedling-grabbing mechanism includes a top seat, a gripper assembly, a translation component, and an opening and closing component. The top seat is parallel to the upper side of the seedling-delivering mechanism and is fixedly connected to the main body of the transplanter via several sets of uprights. A translation component is provided on its lower side. At the bottom of the translation component, there is a gripper assembly consisting of several grippers. The gripper assembly is linked to the translation component via the opening and closing component. The seedling cup set is used to hold the seedlings transported by the seedling receiving mechanism; the seedling cup set consists of several seedling cups, which are arranged in a rectangular array around the outside of the seedling delivery mechanism. The seedling cup set is driven by a chain to move around the outside of the seedling delivery mechanism. The electrical control system is used to control the operation of various electrical components; the electrical control system includes a power supply, a control cabinet, a PLC, sensors, and a human-machine interface; the power supply and the control cabinet are both located on the main body of the transplanter, the control cabinet is equipped with a PLC and a human-machine interface, the sensors are used to monitor the position of the seedling cups and seedling trays and are electrically connected to the control cabinet, and all electrical control components are electrically connected to the control cabinet.

[0008] Furthermore, the seedling delivery frame consists of two sets of seedling delivery machine frames and a connecting frame. The two sets of seedling delivery machine frames are connected by the connecting frame and fixed to the main body of the transplanter.

[0009] Furthermore, the chain-driven seedling feeding assembly includes a small sprocket, a drive shaft, a chain, a connecting frame, a large sprocket, and a bearing seat; the seedling feeding frame has two sets of small sprockets and two sets of large sprockets on each of its front and rear sides, and both sets of small sprockets and large sprockets are connected by a drive shaft, the two ends of which are rotatably connected to the seedling feeding frame through bearing seats; the small sprockets and large sprockets are connected by chain drive, and the chains on both sides are connected by multiple sets of seedling tray limiting rods; one end of the drive shaft on the small sprocket is provided with a drive assembly; The seedling delivery frame is equipped with a seedling tray guide rod, which is located in the middle of the inner side of multiple sets of seedling tray limiting rods.

[0010] Furthermore, the drive assembly includes a seedling feeding cylinder, a seedling feeding arm, a ratchet, and a locking assembly; the ratchet is located at one end of the drive shaft, and a seedling feeding arm is located on the outer side of the ratchet. The middle part of the seedling feeding arm is rotatably connected to the seedling feeding frame. A seedling feeding cylinder is located on the lower side of the ratchet. The output end of the seedling feeding cylinder is hinged to the lower end of the seedling feeding arm, and its tail end is hinged to the seedling feeding frame. A pawl is located at the upper end of the seedling feeding arm, and the pawl is engaged with the ratchet. A locking assembly is located on the seedling feeding arm.

[0011] Furthermore, the locking assembly includes a locking rod, a spring, a fixed sleeve, a limiting pin, and a ratchet; the lower end of the locking rod engages with a ratchet, and a fixed sleeve is fitted on it; the locking rod and the fixed sleeve are adjustablely connected by a spring; the fixed sleeve is fixedly connected to the seedling feeding arm; a limiting pin is provided through the inside of the locking rod; rectangular slots are provided on both sides of the fixed sleeve; the two ends of the limiting pin are engaged in the slots and slidably connected thereto.

[0012] Furthermore, the translation component includes a push-pull cylinder, a support plate, a connecting plate, a lower crossbeam, and an upper crossbeam; the lower side of the top seat is provided with parallel upper and lower crossbeams, both ends of which are fixedly connected to the support plate, the outer side of the support plate is connected to the connecting plate, the upper side of the top seat is provided with a push-pull cylinder, and the output end of the push-pull cylinder is fixedly connected to the connecting plate.

[0013] Furthermore, the gripper assembly consists of multiple pneumatic grippers, which are tunably connected by connecting rods. The bottom of the lower crossbeam is provided with a slide rail, and the grippers are slidably connected to the slide rail via sliders. Each clamp is equipped with a seedling baffle to support and block the seedlings when they are being picked up.

[0014] Furthermore, the opening and closing assembly includes a push-pull slide groove, an opening and closing push-pull arm, a seedling lifting slide groove, and a guide slide groove; the top seat has an inclined push-pull slide groove inside, the upper crossbeam has a guide slide groove inside, the guide slide groove has a slidable opening and closing push-pull arm inside, the upper front end of the opening and closing push-pull arm is slidably connected to the push-pull slide groove via a push-pull hanging rod, the opening and closing push-pull arm has an arc-shaped seedling lifting slide groove inside, the seedling lifting slide groove has a slidable slide rod inserted inside, and the middle part of the slide rod is connected to a set of grippers at the outermost edge via a connecting rod.

[0015] Furthermore, both ends of the lower crossbeam are rotatably connected to the support plate, one end of the lower crossbeam is connected to a connecting plate, the outer end of the connecting plate is hinged to the output end of the seedling lifting cylinder, and the tail end of the seedling lifting cylinder is hinged to the support plate. The top seat is also equipped with a solenoid valve. All pneumatic components are connected to the solenoid valve through air pipes. The solenoid valve is connected to the air pump on the main body of the transplanter through air pipes.

[0016] Furthermore, both sides of the inner top wall of the top seat are longitudinally fixed with slide rails, and the upper crossbeam is slidably connected to the slide rails via a slider; the inner top wall of the upper crossbeam is transversely fixed with slide rails, and the opening and closing push-pull arm is slidably connected to the slide rails via slide rails.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This utility model achieves full automation of the seedling tray conveying, seedling grabbing, and precise seedling placement through the coordination of the electronic control system and pneumatic actuator, without the need for manual intervention. It can be seamlessly linked with subsequent stages of the transplanting machine, eliminating the "gap" problem.

[0018] 2. The gripper can grab 6-12 seedlings at the same time, shortening the seedling picking and planting cycle and improving seedling picking efficiency and sowing efficiency.

[0019] 3. No operator is required to bend over to pick up and place the seedlings. Only one person is needed to monitor the operation of a single device, which greatly reduces labor costs and avoids the risk of muscle strain.

[0020] 4. The gripping force of the pneumatic gripper can be precisely adjusted through the solenoid valve assembly. Combined with the support of the seedling baffle, it can effectively control the damage rate of seedlings and greatly improve the transplant survival rate of seedlings.

[0021] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0024] Figure 2 This is the right view of the present invention.

[0025] Figure 3 This is a partial structural schematic diagram of the present invention.

[0026] Figure 4 This is a partial structural front view of the present invention.

[0027] Figure 5 This is a schematic diagram of the seedling-taking mechanism in this utility model.

[0028] Figure 6 This is a schematic diagram of the seedling-taking mechanism from another angle in this utility model.

[0029] Figure 7 This is another angular structural diagram of the seedling-taking mechanism in this utility model.

[0030] Figure 8 This is a schematic diagram of the bottom structure of the seedling-taking mechanism in this utility model.

[0031] Figure 9 This is another schematic diagram of the bottom structure of the seedling-taking mechanism in this utility model.

[0032] Figure 10 This is another angled structural diagram of the bottom structure in this utility model.

[0033] Figure 11 This is a schematic diagram of the seedling delivery mechanism in this utility model.

[0034] Figure 12 This is a right view of another angle structure schematic diagram of this utility model.

[0035] Figure 13 This is a schematic diagram of the locking component in this utility model.

[0036] Figure 14 This is a schematic diagram of the seedling clamping state during the operation of this utility model.

[0037] Figure 15 This is a schematic diagram showing the seedlings being removed from the seedling tray during the operation of this utility model.

[0038] Figure 16 This is a schematic diagram showing the seedlings waiting to be placed into the seedling cup during the operation of this utility model.

[0039] Figure 17 This is a schematic diagram of the hand-clamped state in this utility model.

[0040] Figure 18 This is a schematic diagram of the initial state of the hand clamping device in this utility model.

[0041] Figure 19 This is a schematic diagram of the opening and closing state of the gripper in this utility model.

[0042] Figure 20 This is a schematic diagram of the closed state of the hand clamp in this utility model.

[0043] In the diagram: 1. Transplanter body; 2. Seedling feeding mechanism; 21. Seedling feeding frame; 22. Small sprocket; 23. Drive shaft; 24. Chain; 25. Connecting frame; 26. Seedling tray limit rod; 27. Seedling tray guide rod; 28. Large sprocket; 29. ​​Bearing seat; 210. Seedling feeding cylinder; 211. Seedling feeding lever arm; 212. Ratchet; 213. Locking assembly; 2131. Locking rod; 2132. Spring; 2133. Fixing sleeve; 2134. Limiting pin; 214. 3. Claw; 4. Seedling picking mechanism; 5. Top seat; 6. Push-pull cylinder; 7. Solenoid valve assembly; 8. Push-pull slide rail; 9. Handle; 10. Seedling baffle; 11. Support plate; 2. Connecting plate; 32. Lower crossbeam; 4. Upper crossbeam; 5. Opening and closing push-pull arm; 6. Seedling lifting slide rail; 7. Guide slide rail; 8. Seedling lifting cylinder; 9. Push-pull hanging rod; 10. Slide rail; 11. Sliding block; 12. Connecting plate; 13. Seedling cup assembly; 14. Upright pole. Detailed Implementation

[0044] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0045] Example 1: As Figures 1 to 20 As shown, this embodiment provides an electro-pneumatic seedling picking device for a seedling transplanter, including a transplanter body 1 for transplanting seedlings, and also a seedling delivery mechanism 2, a seedling picking mechanism 3, a seedling cup group 4 and an electronic control system.

[0046] The main body 1 of the transplanter serves as the basic supporting structure of the device, used to fix the seedling delivery mechanism 2, the seedling retrieval mechanism 3, and the power supply and control cabinet of the electrical control system, while also providing a track support for the seedling cup group 4 to move around.

[0047] The seedling delivery mechanism 2 is located in the middle of the main body 1 of the transplanter. It is used to carry the seedling trays and accurately transport them to the seedling collection station. It includes a seedling delivery frame, a chain 24 seedling delivery assembly, and a drive assembly. The seedling delivery frame consists of two sets of symmetrically arranged seedling delivery machine frames 21 and multiple sets of connecting frames 25. The connecting frames 25 connect the two sets of seedling delivery machine frames 21 laterally to form a stable rectangular frame, which is fixed to the main body 1 of the transplanter by bolts.

[0048] The seedling feeding assembly 24 is located inside the seedling feeding frame and includes a small sprocket 22, a drive shaft 23, a chain 24, seedling tray limiting rods 26, a large sprocket 28, and a bearing seat 29. A set of "small sprocket 22 + large sprocket 28" is provided on each of the front and rear sides of the seedling feeding frame. The small sprocket 22 and the large sprocket 28 on the same side are coaxially connected via the drive shaft 23. Both ends of the drive shaft 23 are rotatably connected to the seedling feeding frame 21 via the bearing seat 29. The small sprocket 22 and the large sprocket 28 are driven by the chain 24. Multiple sets of seedling tray limiting rods 26 are evenly fixed between the chains 24 on both sides to clamp the edges of the seedling trays. A seedling tray guide rod 27 is fixed in the middle of the inside of the seedling feeding frame to guide the conveying of the seedling trays and ensure accurate conveying direction.

[0049] The drive assembly is located on the outside of the seedling delivery frame and is connected to the drive shaft 23 of the small sprocket 22. It includes a seedling delivery cylinder 210, a seedling delivery lever arm 211, a ratchet 212, a locking assembly 213, and a pawl 214. The ratchet 212 is fixed to the end of the drive shaft 23. The middle part of the seedling delivery lever arm 211 is rotatably connected to the seedling delivery frame 21 through a pin. The upper end of the lever arm 211 is fixed with the pawl 214, which meshes with the ratchet 212. The output end of the seedling delivery cylinder 210 is hinged to the lower end of the seedling delivery lever arm 211, and the tail end is hinged to the seedling delivery frame 21. The extension and retraction of the cylinder drives the seedling delivery lever arm 211 to rotate around the pin, thereby driving the ratchet 212 and the drive shaft 23 to rotate.

[0050] The locking assembly 213 is mounted on the seedling feeding arm 211 and includes a locking rod 2131, a spring 2132, a fixing sleeve 2133, and a limiting pin 2134. The lower end of the locking rod 2131 engages with the ratchet 212, and the upper end is fitted with the fixing sleeve 2133. The fixing sleeve 2133 is fixed to the seedling feeding arm 211. The locking rod 2131 and the fixing sleeve 2133 are connected by the spring 2132. The limiting pin 2134 passes through the locking rod 2131 and is engaged in the rectangular slot of the fixing sleeve 2133 to prevent the locking rod 2131 from falling off. At the same time, it enables the locking rod 2131 to slide up and down, preventing the ratchet 212 from reversing.

[0051] It should be noted that after the seedling tray is placed on the seedling delivery mechanism 2 and starts running automatically, when the second seedling tray overlaps with the first seedling tray and moves to the seedling clamping position, a row of empty seedlings is generated. The ratchet 212 needs to pass through two teeth before the second tray of seedlings can reach the seedling clamping position.

[0052] Among them, a transition plate is provided at two teeth of the ratchet 212 to guide the locking rod 2131 through so that it can pass through the two teeth of the ratchet 212.

[0053] The seedling picking mechanism 3 is located directly above the seedling delivery mechanism 2 and is fixed to the main body 1 of the transplanter via 4 sets of uprights 5. It is used to pick up seedlings from the seedling tray and place them into the seedling cup group 4. It includes a top seat 31, a clamping hand 35, a translation component, and an opening and closing component.

[0054] The top seat 31 has a rectangular frame structure and is set parallel to the upper side of the seedling delivery mechanism 2. It is fixed to the main body 1 of the transplanter by the upright 5. An inclined push-pull slide 34 is opened inside, and the push-pull cylinder 32 and the solenoid valve group 33 are fixed on the upper side.

[0055] The translation assembly is used to drive the gripper 35 to move laterally, including a push-pull cylinder 32, a support plate 36, a connecting plate 37, a lower crossbeam 38, and an upper crossbeam 39; the upper crossbeam 39 and the lower crossbeam 38 are parallel on the lower side of the top seat 31, and both ends of the upper crossbeam 39 and the lower crossbeam 38 are fixed to the support plate 36; the outer side of the support plate 36 is fixed to the connecting plate 37, and the output end of the push-pull cylinder 32 is fixed to the connecting plate 37. The push-pull cylinder 32 drives the support plate 36, the upper crossbeam 39, and the lower crossbeam 38 to slide along the longitudinal slide rail 315 of the top seat 31.

[0056] The gripper 35 is used to grasp seedlings and consists of multiple pneumatic grippers 35. Each gripper 35 is connected in series by a connecting rod, and the distance between adjacent grippers 35 can be adjusted according to the spacing of the seedling tray holes. A transverse slide rail 315 is provided at the bottom of the lower crossbeam 38, and the grippers 35 are slidably connected to the slide rail 315 through a slider 316. Each set of grippers 35 is fixed with a seedling baffle 351, which can support and shield the grasped seedlings. In addition, each set of grippers 35 is fitted with a silicone anti-slip sleeve to prevent the seedlings from slipping when gripping.

[0057] The opening and closing assembly is used to control the opening, closing and rotation of the gripper 35, including a push-pull slide 34, an opening and closing push-pull arm 310, a seedling lifting slide 311 and a guide slide 312; the upper crossbeam 39 has a transverse guide slide 312 inside, and the opening and closing push-pull arm 310 is located in the guide slide 312 and can slide; the upper front end of the opening and closing push-pull arm 310 is slidably connected to the push-pull slide 34 of the top seat 31 through a push-pull hanging rod 314, and has an arc-shaped seedling lifting slide 311 inside, with a sliding rod inserted in the seedling lifting slide 311, and the sliding rod is connected to the outermost gripper 35 through a connecting rod; one end of the lower crossbeam 38 is hinged to the output end of the seedling lifting cylinder 313 through a connecting plate 317, and the tail end of the seedling lifting cylinder 313 is hinged to the support plate 36. The lower crossbeam 38 is rotated around the support plate 36 by the extension and retraction of the seedling lifting cylinder 313, thereby adjusting the height of the gripper 35; The pneumatic control solenoid valve group 33 is connected to the air pump, push-pull cylinder 32, seedling lifting cylinder 313 and pneumatic gripper 35 through air pipes, and is used to control the action of each pneumatic component.

[0058] The seedling cup group 4 is used to receive the seedlings placed by the seedling taking mechanism 3. It consists of several seedling cup groups 4, which are arranged in a rectangular array around the outside of the seedling delivery mechanism 2. The seedling cup group 4 is driven by the chain 24 to move around along the track of the transplanter body 1. When the seedling cup moves to the bottom of the seedling taking mechanism 3, it receives the seedlings and continues to move to the planting position.

[0059] The electrical control system is used to control the coordinated operation of various components, including a power supply, control cabinet, PLC, sensors, and human-machine interface. The power supply provides power to the entire device. The control cabinet is fixed on the main body 1 of the transplanter and contains a PLC programmable logic controller. Externally, it has a human-machine interface such as a touch screen, which can set parameters such as transplanting speed and seedling spacing. The sensors include a seedling tray position sensor located at the seedling picking position of the seedling delivery mechanism 2 and a seedling cup position sensor located at the receiving position of the seedling cup group 4. Both are electrically connected to the PLC to monitor the real-time position of the seedling tray and seedling cup. Based on the sensor signals, the PLC controls the timing of the actions of the seedling delivery mechanism 2, the seedling picking mechanism 3, and the seedling cup group 4 through the solenoid valve group 33 and the drive component to achieve coordinated operation.

[0060] Example 2: This example provides the working principle of the electrically controlled pneumatic seedling taking device for the plug seedling transplanter: First, the specifications of the seedling trays and the transplanting speed are input through the human-machine interface. The PLC presets the action sequence of each component according to the parameters. In the initial state, the gripper 35 is in the open state, the push-pull cylinder 32 is in the retracted state, and the seedling lifting cylinder 313 is in the retracted state, with the gripper 35 in the seedling picking position. When the equipment is running, the sensor detects the number of seedling cups passing through, and when the preset value is reached, the program runs automatically.

[0061] The seedling tray is placed on the seedling delivery mechanism 2. The seedling delivery cylinder 210 extends, driving the seedling delivery lever 211 to push the pawl 214 forward. The ratchet 212 rotates in a circular motion. After traveling a fixed distance, the locking rod 2131 engages in the pre-set groove of the ratchet 212, locking the circular motion of the ratchet 212 and completing the seedling delivery action. The main function of the seedling tray guide rod 27 is to prevent the seedling tray from deviating during movement. When the ratchet 212 reaches the position with the transition plate, the transition plate lifts the locking plate. The ratchet 212 continues to rotate. After passing two teeth, the spring 2132 in the locking mechanism presses down, popping the locking rod 2131 out and engaging it in the pre-set groove to lock the circular motion of the ratchet 212, allowing the second tray of seedlings to reach the seedling clamping position.

[0062] After receiving the seedling tray arrival signal, the PLC controls the seedling lifting cylinder 313 to extend, driving the lower crossbeam 38 to rotate around the support plate 36, causing the gripper 35 to descend above the seedling tray hole; at the same time, the solenoid valve group 33 controls the pneumatic gripper 35 to close, grabbing the seedling, and the seedling baffle plate 351 supports the bottom of the seedling to prevent it from slipping; then the seedling lifting cylinder 313 retracts, driving the gripper 35 to rise, taking the seedling out of the seedling tray; the push-pull cylinder 32 extends to send the seedling above the seedling cup, and at the same time the gripper 35 opening and closing cylinder extends to open the gripper 35, waiting for the seedling to be placed. The controller receives the sensor and senses that the number of seedling cups has reached the preset value, and the controller sends a signal to the solenoid valve, the gripper 35 opens, and the seedling falls into the seedling cup.

[0063] After the seedlings are placed, the push-pull cylinder 32 retracts, causing the clamping hand 35 to return to the seedling picking position; the seedling delivery mechanism 2 continues to deliver the next row of seedling tray holes to the seedling picking position, and the seedling cup group 4 moves the seedling cups containing seedlings to the planting position, entering the next operation cycle.

[0064] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. Any obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. An electro-pneumatic seedling picking device for a seedling transplanter, comprising a transplanter body (1) for transplanting seedlings, characterized in that, Also includes: The seedling delivery mechanism (2) is set on the main body (1) of the transplanter and is used to carry and accurately deliver seedling trays. The seedling delivery mechanism (2) includes a seedling delivery frame, a chain (24) seedling delivery group and a drive component. The seedling delivery frame is fixed on the main body (1) of the transplanter and has a chain (24) seedling delivery group for delivering seedling trays inside. The outer side of the seedling delivery frame is provided with a drive component for driving the chain (24) seedling delivery group. The seedling picking mechanism (3) is located on the upper side of the seedling delivery mechanism (2) and is fixedly connected to the main body of the transplanter (1) through several sets of uprights (5). It is used to pick up seedlings on the seedling tray. The seedling picking mechanism (3) includes a top seat (31), a set of grippers (35), a translation component and an opening and closing component. The top seat (31) is located parallel to the upper side of the seedling delivery mechanism (2) and is fixedly connected to the main body of the transplanter (1) through several sets of uprights (5). A translation component is provided on its lower side. The bottom of the translation component is provided with a set of grippers (35) consisting of several grippers (35). The set of grippers (35) is linked to the translation component through the opening and closing component. The seedling cup group (4) is used to hold the seedlings transported by the seedling receiving mechanism (3); the seedling cup group (4) is composed of several seedling cup groups (4), which are arranged in a rectangular array around the outside of the seedling delivery mechanism (2). The seedling cup group (4) is driven by the chain (24) to move around the outside of the seedling delivery mechanism (2). The electrical control system is used to control the operation of each electrical component; the electrical control system includes a power supply, a control cabinet, a PLC, sensors and a human-machine interface; the power supply and the control cabinet are both located on the main body (1) of the transplanter, the control cabinet is equipped with a PLC and a human-machine interface is also provided on it, the sensors are used to monitor the position of the seedling cups and seedling trays, and are electrically connected to the control cabinet, and each electrical control component is electrically connected to the control cabinet.

2. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 1, characterized in that: The seedling delivery frame consists of two sets of seedling delivery machine frames (21) and a connecting frame (25). The two sets of seedling delivery machine frames (21) are connected by the connecting frame (25) and fixed on the main body (1) of the transplanter.

3. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 2, characterized in that: The chain (24) seedling delivery assembly includes a small sprocket (22), a drive shaft (23), a chain (24), a connecting frame (25), a large sprocket (28), and a bearing seat (29). The seedling delivery frame has two sets of small sprockets (22) and large sprockets (28) on each of its front and rear sides. The two sets of small sprockets (22) and large sprockets (28) are connected by a drive shaft (23). The two ends of the drive shaft (23) are rotatably connected to the seedling delivery frame through the bearing seat (29). The small sprockets (22) and large sprockets (28) are connected by a chain (24). The chains (24) on both sides are connected by multiple sets of seedling tray limiting rods (26). A drive assembly is provided at one end of the drive shaft (23) on the small sprocket (22). The seedling delivery frame is equipped with a seedling tray guide rod (27) inside, and the seedling tray guide rod (27) is located in the middle of the inner side of multiple sets of seedling tray limiting rods (26).

4. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 3, characterized in that: The drive assembly includes a seedling feeding cylinder (210), a seedling feeding lever (211), a ratchet (212), and a locking assembly (213). The ratchet (212) is located at one end of the drive shaft (23), and the seedling feeding lever (211) is located on the outer side of the ratchet (212). The middle part of the seedling feeding lever (211) is rotatably connected to the seedling feeding frame. The seedling feeding cylinder (210) is located on the lower side of the ratchet (212). The output end of the seedling feeding cylinder (210) is hinged to the lower end of the seedling feeding lever (211), and its tail end is hinged to the seedling feeding frame. The upper end of the seedling feeding lever (211) is provided with a pawl (214), which is engaged with the ratchet (212). The seedling feeding lever (211) is provided with a locking assembly (213).

5. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 4, characterized in that: The locking assembly (213) includes a locking rod (2131), a spring (2132), a fixed sleeve (2133), a limiting pin (2134), and a pawl (214). The lower end of the locking rod (2131) engages with a ratchet (212), and a fixed sleeve (2133) is fitted on it. The locking rod (2131) and the fixed sleeve (2133) are adjustablely connected by the spring (2132). The fixed sleeve (2133) is fixedly connected to the seedling feeding arm (211). A limiting pin (2134) is provided through the inside of the locking rod (2131). Rectangular slots are opened on both sides of the fixed sleeve (2133). The two ends of the limiting pin are inserted into the slots and slidably connected to them.

6. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 1, characterized in that: The translation component includes a push-pull cylinder (32), a support plate (36), a connecting plate (37), a lower crossbeam (38), and an upper crossbeam (39). The top seat (31) has parallel upper crossbeam (39) and lower crossbeam (38) on its lower side. Both ends of the upper crossbeam (39) and lower crossbeam (38) are fixedly connected to the support plate (36). The support plate (36) is connected to the outer side of the connecting plate (37). The top seat (31) has a push-pull cylinder (32) on its upper side. The output end of the push-pull cylinder (32) is fixedly connected to the connecting plate (37).

7. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 6, characterized in that: The clamp (35) assembly consists of multiple pneumatic clamps (35), and each clamp (35) is adjustablely connected by a connecting rod. The bottom of the lower crossbeam (38) is provided with a slide rail (315), and the clamp (35) is slidably connected to the slide rail (315) by a slider (316). Each set of grippers (35) is equipped with a seedling baffle (351) to support and block the seedlings when they are being picked up.

8. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 7, characterized in that: The opening and closing assembly includes a push-pull slide groove (34), an opening and closing push-pull arm (310), a seedling lifting slide groove (311), and a guide slide groove (312). The top seat (31) has an inclined push-pull slide groove (34) inside, and the upper crossbeam (39) has a guide slide groove (312) inside. The guide slide groove (312) has a slidable opening and closing push-pull arm (310) inside. The upper front end of the opening and closing push-pull arm (310) is slidably connected to the push-pull slide groove (34) through a push-pull hanging rod (314). The opening and closing push-pull arm (310) has an arc-shaped seedling lifting slide groove (311) inside. A slidable slide rod is inserted inside the seedling lifting slide groove (311). The middle part of the slide rod is connected to a set of grippers (35) at the outermost edge through a connecting rod.

9. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 8, characterized in that: The lower crossbeam (38) is rotatably connected to the support plate (36) at both ends. One end of the lower crossbeam (38) is connected to a connecting plate (317). The outer end of the connecting plate (317) is hinged to the output end of the seedling lifting cylinder (313). The tail end of the seedling lifting cylinder (313) is hinged to the support plate (36). The top seat (31) is also equipped with a solenoid valve. Each pneumatic component is connected to the solenoid valve through an air pipe. The solenoid valve is connected to the air pump on the main body (1) of the transplanter through an air pipe.

10. The electrically controlled pneumatic seedling-retrieving device for a plug seedling transplanter according to claim 8, characterized in that: The top seat (31) has a slide rail (315) fixed longitudinally on both sides of the inner top wall. The upper crossbeam (39) is slidably connected to the slide rail (315) through a slider (316). The upper crossbeam (39) has a slide rail (315) fixed transversely on the inner top wall. The opening and closing push-pull arm (310) is slidably connected to the slide rail (315) through the slide rail (315).

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