An unmanned automatic rice transplanter

Abstract

An unmanned automatic rice transplanter, belonging to the field of agricultural machinery technology, aims to solve the problems of complex flipping mechanisms and seedling box follow-up structures in existing unmanned automatic rice transplanters. It includes several inclined plates arranged sequentially, with seedling box plates corresponding to the lower ends of the inclined plates. The top of each seedling box plate has a first elongated hole extending obliquely along its length. Long bolts are located at the lower ends of the inclined plates, with the lower ends of the bolts passing through the first elongated holes. The middle portions of the inclined plates are hinged to a synchronous crossbeam, and the tops of the inclined plates are hinged to long connecting lugs. The lines connecting any two inclined plates to the hinge points of the long connecting lugs and the synchronous crossbeam form parallelograms. The lower ends of the inclined plates can reciprocate synchronously with the lateral movement of the seedling box. A seedling feeder can continuously deliver seedling skin to the seedling box, enabling automatic replenishment of seedling skin at any time and position during the lateral movement of the seedling box. The structure is simple and has a fast response time.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural machinery technology, and in particular relates to an unmanned automatic rice transplanter. Background Technology

[0002] A rice transplanter is an agricultural machine that plants rice seedlings into paddy fields. Mechanized rice planting not only greatly reduces the labor intensity of farmers, but also reduces the total cost of rice cultivation.

[0003] However, existing rice transplanters generally require a person (seed standter) to stand on the machine and manually feed the seedlings during operation. This involves manually removing the seedlings from the storage rack and placing them on the seedling box, failing to achieve true unmanned operation. Chinese invention patent CN120130220A discloses an unmanned automatic seedling-picking rice transplanter and its intelligent control method, enabling automatic and continuous seedling feeding and picking. However, the seedling box is composed of several seedling box plates arranged and spliced ​​together, with a corresponding seedling claw at the bottom of each plate. During transplanting, because the seedling claw's installation position is fixed, the seedling box needs to constantly move back and forth laterally to ensure the claw evenly picks up the seedlings from the corresponding seedling box plate. The seedling peel unloading mechanism in this patent cannot move synchronously with the seedling box; it can only accurately unload the seedling peel onto the seedling box when the box returns to the middle position, affecting the continuity of the transplanting operation.

[0004] Therefore, the invention patent with publication number CN120858710A improved this problem by using a follower motor to drive the upper follower frame to move horizontally synchronously with the seedling box. With this setting, the seedling tray that slides onto the flipping mechanism can be tilted at any time, so that the seedling skin on the seedling tray can be unloaded onto the seedling box, allowing the transplanting operation to be carried out continuously. However, this patent has a complex structure, a complex control method, and high manufacturing cost. Utility Model Content

[0005] The purpose of this invention is to provide an unmanned automatic rice transplanter to solve the problems of complex flipping mechanism and seedling box follow-up structure, complex control method, and high manufacturing cost in existing unmanned automatic rice transplanters. The technical solution adopted by this invention is as follows:

[0006] An unmanned automatic rice transplanter includes:

[0007] The seedling box is installed on the rear side of the vehicle body. The bottom of the seedling box is equipped with a transplanting mechanism. The seedling box is used for seedling separation and transplanting operations.

[0008] The seedling skin supply device is used to store several layers of seedling skin and transport them layer by layer to the seedling supply transition device.

[0009] The seedling storage rack is installed on top of the vehicle body and serves as the mounting carrier for the seedling skin supply device;

[0010] The seedling supply transition device is used to connect and transition between the seedling skin supply device and the seedling box. The upper end of the seedling supply transition device is connected to the conveying end of the seedling skin supply device, and the lower end of the seedling supply transition device swings back and forth synchronously with the lateral movement of the seedling box.

[0011] Furthermore, the seedling supply transition device includes a transition frame and several inclined plates. The inclined plates have upward-extending retaining flanges on both sides. The inclined plates are arranged in sequence. The seedling box includes several seedling box plates arranged and assembled. Each seedling box plate receives the lower end of a number of inclined plates. The top of the seedling box plate has a first long hole extending obliquely along the seedling box plate. The lower end of the inclined plate has a long bolt. The lower ends of the long bolts pass through the first long holes and are connected to a number of limiting nuts. The middle parts of the inclined plates are respectively hinged to the synchronous crossbeam. The tops of the inclined plates are respectively hinged to the long connecting lugs. The hinge points of any two inclined plates with the long connecting lugs and the synchronous crossbeam form a parallelogram. The long connecting lugs are connected to the transition frame. The transition frame is connected to the rear end of the seedling storage frame.

[0012] Furthermore, a secondary bridge frame and a main bridge frame are arranged vertically between the seedling box and the vehicle body. The rear ends of the secondary bridge frame and the rear ends of the main bridge frame are respectively hinged to the seedling box frame, and the front ends of the secondary bridge frame and the main bridge frame are respectively hinged to the vehicle body. The seedling box frame, the secondary bridge frame, and the main bridge frame form a four-bar linkage mechanism. The swing cylinder is hinged to the rear side of the vehicle body, and the piston rod of the swing cylinder is connected to the main bridge frame. A transverse movement mechanism is provided on the seedling box frame, and several seedling box plates are connected to the output end of the transverse movement mechanism to realize reciprocating transverse movement.

[0013] Both ends of the transition frame are provided with vertical connecting ears, and two sets of second sliders are respectively fixed on the two vertical connecting ears. The rear ends of the seedling storage frame are provided with second columns on both sides. The second columns are provided with second sliding grooves along their length. The two sets of second sliders are respectively slidably engaged with the two second sliding grooves. The upper end of the trapezoidal frame is respectively hinged to the two vertical connecting ears, and the lower end of the trapezoidal frame is hinged to the main bridge frame. When the seedling box swings upward, the main bridge frame pushes the seedling supply transition device to slide upward along the second sliding groove through the trapezoidal frame. When the seedling box swings downward, the main bridge frame pulls the seedling supply transition device to slide downward along the second sliding groove through the trapezoidal frame.

[0014] Furthermore, a second elongated hole is vertically opened on the vertical connecting lug, and fisheye bearings are provided on both sides of the top of the trapezoidal frame. The two adjusting shafts are rotatably engaged with the two fisheye bearings, and the two adjusting shafts pass through the two second elongated holes and are fixed by nuts.

[0015] Furthermore, the seedling skin supply device includes a lifting device and a horizontal conveying device. The horizontal conveying device includes a clutch-type drive assembly and several vertically spaced conveying seedling trays arranged in the seedling storage rack. Each conveying seedling tray has a pre-set layer of seedling skin. Several conveying seedling trays are connected in sequence by flexible connecting ropes. The top conveying seedling tray is lifted and lowered by the lifting device. The clutch-type drive assembly is located on one side of the seedling storage rack. During the descent of several conveying seedling trays, the clutch-type drive assembly approaches or moves away from several conveying seedling trays one by one through a clutch electric cylinder, so that the output shaft of the clutch-type drive assembly engages or disengages with the conveying drive shaft of several conveying seedling trays one by one.

[0016] Furthermore, several first columns are provided on both sides of the seedling rack, and a first groove is provided on the first column along its length. Several first sliders are provided on both sides of the conveyor seedling tray, and the several first sliders slide in a one-to-one correspondence with the several first grooves.

[0017] Furthermore, the conveyor-type seedling tray includes a seedling tray frame, a first slider connected to the seedling tray frame, and several conveyor belt assemblies arranged left and right on the seedling tray frame. The conveyor belt assembly includes an active roller and a passive roller. The active conveyor shaft is rotatably located at the rear end of the seedling tray frame, the active roller is sleeved on the active conveyor shaft, and the passive roller is rotatably located at the front end of the seedling tray frame. The corresponding active roller and passive roller are connected by a conveyor belt, and each conveyor belt has a row of seedling skins pre-set on it.

[0018] Furthermore, the clutch-type drive assembly includes a clutch frame, a base, and a clutch gear sleeve. The clutch frame is installed at the bottom of the seedling storage rack. The base and the guide rod assembly on the clutch frame are in sliding engagement. The clutch electric cylinder is installed on the clutch frame. The push rod of the clutch electric cylinder is connected to the base. The clutch motor is installed on the base through a clutch reducer. The output shaft of the clutch motor is connected to the clutch gear sleeve through the clutch reducer. A clutch gear is sleeved on the conveying drive shaft. During the descent of several conveying seedling trays, the clutch gear sleeve is coaxial with several clutch gears one by one. The extension and retraction of the push rod of the clutch electric cylinder drives the clutch gear sleeve to engage or disengage with the coaxial clutch gears.

[0019] Furthermore, the clutch sleeve is connected to the adapter shaft, and the adapter shaft is connected to the output shaft of the clutch reducer via a bellows coupling.

[0020] Furthermore, the lifting device includes a winch shaft rotatably mounted on one side of the seedling rack, with several winch wheels sleeved on the winch shaft and traction ropes wound around the winch wheels. Several pins are provided at the top of the seedling rack, and the ends of several traction ropes pass around several pins one by one and are respectively connected to the top layer of the conveyor seedling tray.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] 1. The cooperation between the seedling supply transition device and the seedling box allows the lower ends of several inclined plates to swing back and forth synchronously when the long bolt moves horizontally with the corresponding seedling box plate. This enables the conveyor belt assembly to transport seedling skins to the seedling box at any time through the seedling supply transition device. It can automatically replenish seedling skins at any time and position during the reciprocating horizontal movement of the seedling box. While ensuring precise synchronous movement, the structure becomes simpler and the response time is faster.

[0023] 2. The second slider and the second chute work together to enable the seedling supply transition device to have a lifting function. When the seedling supply transition device is raised, it can provide the space required for the seedling box to be raised.

[0024] 3. The conveyor-type seedling tray has both the function of carrying seedling skin and the function of conveying seedling skin. Compared with the existing unmanned rice transplanter, it has a simpler structure and lower manufacturing cost. It greatly improves the cumbersome method of adding seedling trays separately in the past, shortens the seedling supply time, and avoids a series of problems in the transportation of seedling trays.

[0025] 4. The bellows coupling has the function of adjusting the shaft centerline, which to a certain extent allows the output shaft of the clutch reducer to be non-axial with the corresponding clutch gear, while still allowing the clutch sleeve to mesh with the corresponding clutch gear.

[0026] 5. The lifting structure, which combines a winch wheel and a traction rope, reduces the precision requirements in the manufacturing of the lifting device, makes installation and debugging more convenient, and allows for faster transport of seedlings.

[0027] 6. Only one clutch-type drive component is needed to drive the operation of several conveyor seedling trays one by one, which is simple in structure and low in manufacturing cost. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of this utility model;

[0029] Figure 2 This is a schematic diagram of the lifting mechanism of the seedling box and the seedling supply transition device;

[0030] Figure 3 This is a schematic diagram of the seedling storage rack;

[0031] Figure 4 This is a schematic diagram of the seedling supply device installed on the seedling storage rack;

[0032] Figure 5 yes Figure 1 Enlarged view of point A;

[0033] Figure 6 yes Figure 3 Enlarged view of point B;

[0034] Figure 7 yes Figure 4Enlarged view of point C;

[0035] Figure 8 yes Figure 4 Enlarged view of point D;

[0036] Figure 9 This is a structural diagram of the lifting device;

[0037] Figure 10 This is a schematic diagram of a conveyor-type seedling tray;

[0038] Figure 11 yes Figure 10 A structural diagram with all conveyor belts and multiple pallets removed;

[0039] Figure 12 This is a schematic diagram of the clutch-type drive assembly;

[0040] Figure 13 This is a schematic diagram of the clutch-type drive assembly from another perspective.

[0041] Figure 14 This is a schematic diagram of the seedling supply transition device;

[0042] Figure 15 This is a schematic diagram of the seedling supply transition device from another perspective;

[0043] Figure 16 This is a schematic diagram of the second slider.

[0044] In the diagram, 1. Vehicle body, 11. Swing cylinder, 12. Sub-bridge, 13. Main bridge, 2. Seedling box, 21. Seedling box frame, 22. Seedling box plate, 23. First long hole, 3. Seedling supply transition device, 31. Inclined plate, 32. Material retaining flange, 33. Long connecting ear, 34. Vertical connecting ear, 35. Second long hole, 36. Second slider, 37. Long bolt, 38. Trapezoidal frame, 39. Union bolt, 310. Transition frame, 311. Synchronous crossbeam, 312. Connecting rod, 4. Seedling storage rack, 41. First column, 42. Second column, 43. Support frame, 44. Second slide groove, 45. Pin, 46. First slide groove, 5. Lifting device, 51. Winding rope wheel, 52. Winding rope shaft, 53. Winding rope drive motor, 54. 55. Worm gear reducer; 6. Traction rope; 7. Conveyor seedling tray; 8. Seedling tray frame; 9. First slider; 10. Conveyor belt; 11. Pallet; 12. Conveyor drive shaft; 13. Drive roller; 14. Clutch gear; 15. Driven roller; 16. Clutch drive assembly; 17. Clutch frame; 18. Machine base; 19. Clutch reducer; 20. Clutch motor; 10. Bellows coupling; 11. Adapter shaft; 12. Clutch gear sleeve; 13. Guide rod assembly; 14. Clutch electric cylinder. Detailed Implementation

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Example: Figures 1 to 16 As shown, an unmanned automatic rice transplanter includes:

[0049] Seedling box 2 is installed on the rear side of vehicle body 1. The bottom of seedling box 2 is equipped with a seedling transplanting mechanism. Seedling box 2 is used for seedling separation and transplanting operations.

[0050] A seedling skin supply device is used to store several layers of seedling skin and transport the several layers of seedling skin to the seedling supply transition device 3 one by one.

[0051] The seedling storage rack 4 is installed on top of the vehicle body 1 and serves as the mounting carrier for the seedling skin supply device;

[0052] The seedling supply transition device 3 is used to connect and transition between the seedling skin supply device and the seedling box 2. The upper end of the seedling supply transition device 3 is connected to the conveying end of the seedling skin supply device, and the lower end of the seedling supply transition device 3 swings back and forth synchronously with the lateral movement of the seedling box 2.

[0053] The seedling rack 4 is a rectangular frame component, and the seedling rack 4 is connected to the vehicle body 1 through the rack base.

[0054] The seedling transition device 3 includes a transition frame 310 and several inclined plates 31. The inclined plates 31 have upwardly extending retaining flanges 32 on both sides to prevent deviation during the seedling's downward movement. The inclined plates 31 are arranged sequentially from left to right. The seedling box 2 includes several seedling box panels 22 arranged and assembled. Each seedling box panel 22 corresponds to the lower end of one of the inclined plates 31. The top of each seedling box panel 22 has a first elongated hole 23 extending obliquely along it. The lower end of each inclined plate 31 has a long bolt 37. The lower ends of the long bolts 37 pass through the first elongated holes 23 and are connected to the first elongated holes 23. The dry limit nuts are connected accordingly. The middle part of several inclined plates 31 is hinged to the synchronous crossbeam 311 respectively. The top of several inclined plates 31 is hinged to the long connecting ear 33 respectively. The hinge points of any two inclined plates 31, the long connecting ear 33 and the synchronous crossbeam 311 form a parallelogram. When the long bolt 37 moves synchronously with the corresponding seedling box plate 22, the lower end of several inclined plates 31 can swing synchronously back and forth. This enables the conveyor belt assembly to transport the seedling skin to the seedling box 2 at any time through the seedling supply transition device 3. The long connecting ear 33 is connected to the transition frame 310. The transition frame 310 is connected to the rear end of the seedling storage frame.

[0055] The combination of the seedling supply transition device and the seedling box enables automatic replenishment of seedling skin at any time and position during the reciprocating lateral movement of the seedling box 2. While ensuring precise synchronous movement, the structure becomes simpler and the response time is faster.

[0056] The long bolt 37 is a pan head long bolt 37, which reduces the obstruction and scratching of the seedling skin by the cap of the long bolt 37.

[0057] A secondary bridge frame 12 and a main bridge frame 13 are arranged vertically between the seedling box 2 and the vehicle body 1. The rear ends of the secondary bridge frame 12 and the main bridge frame 13 are respectively hinged to the seedling box frame 21, and the front ends of the secondary bridge frame 12 and the main bridge frame 13 are respectively hinged to the vehicle body 1. The seedling box frame 21, the secondary bridge frame 12 and the main bridge frame 13 form a four-bar linkage mechanism. The swing cylinder 11 is hinged to the rear side of the vehicle body 1. The piston rod of the swing cylinder 11 is connected to the main bridge frame 13. By extending and retracting the piston rod of the swing cylinder 11, the seedling box 2 can be raised and lowered. When the rice transplanter leaves the field, the seedling box 2 is raised to avoid collision with obstacles on the road surface during the journey. The seedling box frame 21 is equipped with a transverse movement mechanism. Several seedling box plates 22 are connected to the output end of the transverse movement mechanism to realize reciprocating transverse movement.

[0058] Both ends of the transition frame 310 are provided with vertical connecting ears 34. Two sets of second sliders 36 are respectively fixed on the two vertical connecting ears 34. The rear ends of the seedling storage frame 4 are provided with second columns 42 on both sides. The second columns 42 have second sliding grooves 44 along their length. The two sets of second sliders 36 slide in corresponding engagement with the two second sliding grooves 44. The upper end of the trapezoidal frame 38 is hinged to the two vertical connecting ears 34 respectively. The lower end of the trapezoidal frame 38 is hinged to the main bridge frame 13. When the seedling box 2 swings upward, the main bridge frame 13 pushes the seedling supply transition device 3 to slide upward along the second sliding groove 44 through the trapezoidal frame 38. When the seedling box 2 swings downward, the main bridge frame 13 pulls the seedling supply transition device 3 to slide downward along the second sliding groove 44 through the trapezoidal frame 38. Through the cooperation of the second sliders 36 and the second sliding grooves 44, the seedling supply transition device 3 has a lifting function. When the seedling supply transition device 3 is raised, it can provide the space required for the seedling box 2 to be raised.

[0059] The seedling storage rack 4 has a support frame 43 at its front bottom. When the seedling supply transition device 3 slides down to the working position, the support frame 43 abuts against and supports the synchronous crossbeam 311. The function of the support frame 43 is to limit and support the seedling supply transition device 3.

[0060] The second slider 36 is equipped with several rollers, which roll along the bottom surface of the second sliding groove 44. The rollers on the second slider 36 cooperate with the second sliding groove to reduce sliding friction and make sliding more flexible.

[0061] The long connecting lug 33 is fixed on the connecting rod 312. The two ends of the connecting rod 312 are connected to two vertical connecting lugs 34 respectively. The connecting rod 312 is arranged parallel to the transition frame 310. Several swivel bolts 39 support the connecting rod 312 and the transition frame 310.

[0062] The vertical connecting lug 34 has a second elongated hole 35. Both sides of the top of the trapezoidal frame 38 are equipped with fisheye bearings. Two adjusting shafts are rotatably engaged with the two fisheye bearings, and the two adjusting shafts pass through the two second elongated holes 35 and are secured with nuts. The connection position between the trapezoidal frame 38 and the vertical connecting lug 34 is adjustable through the engagement of the adjusting shafts with the second elongated holes 35.

[0063] The seedling skin supply device includes a lifting device 5 and a horizontal conveying device. The horizontal conveying device includes a clutch-type drive assembly 7 and several vertically spaced conveying seedling trays 6 arranged in the seedling storage rack 4. Each conveying seedling tray 6 has a pre-set layer of seedling skin. Several conveying seedling trays 6 are connected in sequence by flexible connecting ropes. The top conveying seedling tray 6 is lifted and lowered by the lifting device 5. The clutch-type drive assembly 7 is located on one side of the seedling storage rack 4. During the descent of several conveying seedling trays 6, the clutch-type drive assembly 7 approaches or moves away from several conveying seedling trays 6 one by one through the clutch electric cylinder 79, so that the output shaft of the clutch-type drive assembly 7 engages or disengages with the conveying drive shaft 65 of several conveying seedling trays 6 one by one. With this configuration, only one clutch-type drive assembly 7 is needed to drive the operation of several conveying seedling trays 6 one by one. The structure is simple and the manufacturing cost is low.

[0064] The seedling rack 4 has several first columns 41 on both the left and right sides. The first columns 41 have first grooves 46 along their length. The conveyor seedling tray 6 has several first sliders 62 on both the left and right sides. The first sliders 62 correspond to the first grooves 46 and slide in a one-to-one manner to provide sliding guidance for the conveyor seedling tray 6, so that the conveyor seedling tray 6 can be stably raised and lowered in a horizontal posture and vertical path.

[0065] Specifically, the conveyor-type seedling tray 6 includes a seedling tray frame 61, a first slider 62 connected to the seedling tray frame 61, and several conveyor belt assemblies arranged left and right on the seedling tray frame 61. The conveyor belt assembly includes an active roller 66 and a passive roller 68. The active conveyor shaft 65 is rotatably located at the rear end of the seedling tray frame 61, the active roller 66 is sleeved on the active conveyor shaft 65, and the passive roller 68 is rotatably located at the front end of the seedling tray frame 61. The corresponding active roller 66 and passive roller 68 are connected by a conveyor belt 63. Each conveyor belt 63 has a row of seedling skins pre-set on it, and all the pre-set seedling skins on each conveyor-type seedling tray 6 are one layer. The conveyor-type seedling tray 6 has both the function of carrying seedling skins and the function of conveying seedling skins. Compared with the existing unmanned rice transplanter, it has a simpler structure and lower manufacturing cost, which greatly improves the cumbersome method of adding seedling trays separately in the past, shortens the seedling supply time, and avoids a series of problems in the transportation process of seedling trays.

[0066] Several conveying positions are arranged in a left-right pattern on the seedling tray frame 61. Each conveying position is covered with a tray 64. The upper side of the conveyor belt 63 moves in contact with the tray 64. Several conveyor belt assemblies are installed one-to-one on several conveying positions. The conveying drive shaft 65 passes through the rear end of all conveying positions. The front end of the conveying position is fixed with a passive roller shaft by a swivel bolt. The passive roller 68 and the corresponding passive roller shaft are rotated and engaged by bearings. By adjusting the swivel bolt, the position of the passive roller 68 can be adjusted to make the conveyor belt 63 tensioned.

[0067] The first slider 62 is equipped with several rollers, and the second slider 36 has the same structure as the first slider 62. The first slider 62 rolls along the bottom surface of the first groove 46 via the rollers. The first slider 62, through the cooperation of its rollers with the first groove 46, reduces sliding friction and makes sliding more flexible.

[0068] Specifically, the clutch-type drive assembly 7 includes a clutch frame 71, a base 72, and a clutch gear sleeve 77. The clutch frame 71 is installed at the bottom of the seedling rack 4. The base 72 is slidably engaged with the guide rod assembly 78 on the clutch frame 71. The clutch electric cylinder 79 is installed on the clutch frame 71. The push rod of the clutch electric cylinder 79 is connected to the base 72. The clutch motor 74 is installed on the base 72 through the clutch reducer 73. The output shaft of the clutch motor 74 is connected to the clutch gear sleeve 77 through the clutch reducer 73. A clutch gear 67 is sleeved on the conveying drive shaft 65. The push rod of the clutch electric cylinder 79 and the output shaft of the clutch reducer 73 are both arranged in the same direction as the conveying drive shaft 65. During the descent of several conveying seedling trays 6, the clutch gear sleeve 77 is coaxial with several clutch gears 67 one by one. The extension and retraction of the push rod of the clutch electric cylinder 79 drives the clutch gear sleeve 77 to mesh or disengage with the coaxial clutch gears 67.

[0069] The clutch sleeve 77 is connected to the adapter shaft 76, and the adapter shaft 76 is connected to the output shaft of the clutch reducer 73 via a bellows coupling 75. The bellows coupling 75 has the function of adjusting the shaft centerline, which allows the output shaft of the clutch reducer 73 to be non-axial with the corresponding clutch gear 67 to a certain extent, while still allowing the clutch sleeve 77 to mesh with the corresponding clutch gear 67.

[0070] An empty tray receiving cavity is formed in the seedling rack 4 located below the clutch sleeve 77. The empty conveying seedling tray 6, which has completed the seedling skin conveying, continues to descend and is stacked in the empty tray receiving cavity.

[0071] The lifting device 5 includes a horizontally rotating winch shaft 52 mounted on one side of the seedling rack 4. A winch drive motor 53 is connected to the seedling rack 4. The output shaft of the winch drive motor 53 is connected to the winch shaft 52 via a worm gear reducer 54. Several winch wheels 51 are sleeved on the winch shaft 52, and traction ropes 55 are wound around the winch wheels 51. Several pins 45 are provided at the top of the seedling rack 4. The ends of the traction ropes 55 pass through the pins 45 one by one and are connected to the top-level conveyor seedling tray 6. The lifting structure combining the winch wheels 51 and the traction ropes 55 reduces the precision requirements in the manufacturing of the lifting device 5, makes installation and debugging more convenient, and allows for faster seedling conveying.

[0072] Two first uprights 41 are arranged on both sides of the seedling rack 4, front and back. Two first sliders 62 are arranged on both sides of the conveyor seedling tray 6, front and back. The four first sliders 62 are respectively slidably engaged with the four first slide grooves 46. There are five winches 51. A pin 45 is arranged at the center of the top of the seedling rack 4. A pin 45 is arranged at the top of each of the four first slide grooves 46. The traction rope 55 on one of the winches 51 passes around the pin 45 in the center of the seedling rack 4 and is connected to the center of the top conveyor seedling tray 6. The traction ropes 55 on the other four traction ropes pass around the pins 45 at the top of the four first slide grooves 46 and are connected to the four first sliders 62. The five traction ropes 55 respectively pull the center and four corners of the top conveyor seedling tray 6, and the applied traction force is more even.

[0073] The seedling rack 4 is equipped with a proximity switch. During the descent of several conveyor seedling trays 6, when any clutch gear 67 is coaxial with the clutch sleeve 77, the corresponding seedling tray rack 61 triggers the proximity switch. The proximity switch sends a signal to control the winch drive motor 53 to stop. At the same time, the clutch cylinder 79 drives the clutch motor 74 to approach the corresponding conveyor seedling tray 6, so that the clutch gear 67 and the clutch sleeve 77 mesh. The seedling box 2 is equipped with a touch switch. The touch switch identifies whether the seedling skin on the seedling box 2 needs to be replenished. When the touch switch is triggered for the first time, the clutch cylinder 79 directly drives the clutch sleeve 77 to mesh with the clutch gear 67 of the bottom conveyor seedling tray 6. Then the clutch motor 74 starts to work, and several conveyor belt assemblies of the bottom conveyor seedling tray 6 transport the pre-set seedling skin to the corresponding seedling box plate 22. Alternatively, sensors can be used to identify whether there are still seedling skins on the conveyor seedling tray 6 currently connected to the clutch sleeve 77. The number of rotations of the conveyor drive shaft 65 can also be measured by the encoder to indirectly measure whether the seedling skins on the conveyor seedling tray 6 have been completely delivered to the seedling supply transition device 3. After the preset seedling skins of one layer of conveyor seedling tray 6 have been completely delivered, when the touch switch is triggered again due to the lack of seedling skins, the winch drive motor 53 is started first. When the upper layer of conveyor seedling tray 6 is lowered to the position of triggering the proximity switch, the clutch cylinder 79 is activated again to start the delivery of a new layer of seedling skins.

[0074] 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 automatic rice transplanter, characterized in that, include: Seedling box (2), the seedling box (2) is installed on the rear side of the vehicle body (1), the bottom of the seedling box (2) is equipped with a seedling transplanting mechanism, the seedling box (2) is used for seedling separation and transplanting operations; The seedling skin supply device is used to store several layers of seedling skin and transport several layers of seedling skin to the seedling supply transition device (3) one by one. The seedling rack (4) is installed above the vehicle body (1) and is used as the mounting carrier for the seedling skin supply device; The seedling supply transition device (3) is used for the connection and transition between the seedling skin supply device and the seedling box (2). The upper end of the seedling supply transition device (3) is connected to the conveying end of the seedling skin supply device, and the lower end of the seedling supply transition device (3) swings back and forth synchronously with the lateral movement of the seedling box (2).

2. The unmanned automatic rice transplanter according to claim 1, characterized in that: The seedling supply transition device (3) includes a transition frame (310) and several inclined plates (31). The inclined plates (31) have upward-extending retaining flanges (32) on both sides. The inclined plates (31) are arranged sequentially. The seedling box (2) includes several seedling box plates (22) arranged and assembled. Each seedling box plate (22) corresponds to the lower end of one of the inclined plates (31). The top of the seedling box plate (22) has a first elongated hole (23) extending obliquely along the seedling box plate (22). The lower end of the inclined plate (31) has a long bolt (37). The lower ends of the long bolts (37) pass through several first long holes (23) and are connected to several limiting nuts. The middle parts of several inclined plates (31) are respectively hinged to the synchronous beam (311). The tops of several inclined plates (31) are respectively hinged to the long connecting ears (33). The hinge points of any two inclined plates (31), the long connecting ears (33) and the synchronous beam (311) form a parallelogram. The long connecting ears (33) are connected to the transition frame (310). The transition frame (310) is connected to the rear end of the seedling storage frame.

3. The unmanned automatic rice transplanter according to claim 2, characterized in that: Between the seedling box (2) and the vehicle body (1), there is an upper and lower auxiliary bridge frame (12) and a main bridge frame (13). The rear end of the auxiliary bridge frame (12) and the rear end of the main bridge frame (13) are respectively hinged to the seedling box frame (21). The front end of the auxiliary bridge frame (12) and the front end of the main bridge frame (13) are respectively hinged to the vehicle body (1). The seedling box frame (21), the auxiliary bridge frame (12) and the main bridge frame (13) form a four-bar linkage mechanism. The swing cylinder (11) is hinged to the rear side of the vehicle body (1). The piston rod of the swing cylinder (11) is connected to the main bridge frame (13). The seedling box frame (21) is provided with a transverse movement mechanism. Several seedling box plates (22) are connected to the output end of the transverse movement mechanism to realize reciprocating transverse movement. Both ends of the transition frame (310) are provided with vertical connecting ears (34), and two sets of second sliders (36) are respectively fixed on the two vertical connecting ears (34). The rear ends of the seedling storage frame (4) are provided with second columns (42), and the second columns (42) are provided with second sliding grooves (44) along the length. The two sets of second sliders (36) are respectively slidably engaged with the two second sliding grooves (44). The upper end of the trapezoidal frame (38) is respectively hinged to the two vertical connecting ears (34), and the lower end of the trapezoidal frame (38) is hinged to the main bridge frame (13). When the seedling box (2) swings upward, the main bridge frame (13) pushes the seedling supply transition device (3) to slide upward along the second sliding groove (44) through the trapezoidal frame (38). When the seedling box (2) swings downward, the main bridge frame (13) pulls the seedling supply transition device (3) to slide downward along the second sliding groove (44) through the trapezoidal frame (38).

4. The unmanned automatic rice transplanter according to claim 3, characterized in that: The vertical connecting ear (34) has a second long hole (35) vertically opened. The top two sides of the trapezoidal frame (38) are provided with fish eye bearings. The two adjusting shafts are rotated and cooperate with the two fish eye bearings, and the two adjusting shafts pass through the two second long holes (35) and are fixed by nuts.

5. An unmanned automatic rice transplanter according to any one of claims 1-4, characterized in that: The seedling supply device includes a lifting device (5) and a horizontal conveying device. The horizontal conveying device includes a clutch-type drive assembly (7) and several vertically spaced conveying seedling trays (6) arranged in the seedling storage rack (4). Each conveying seedling tray (6) is pre-loaded with a layer of seedling skin. Several conveying seedling trays (6) are connected in sequence by flexible connecting ropes. The top conveying seedling tray (6) is lifted and lowered by the lifting device (5). The clutch-type drive assembly (7) is located on one side of the seedling storage rack (4). During the descent of several conveying seedling trays (6), the clutch-type drive assembly (7) approaches or moves away from several conveying seedling trays (6) one by one through the clutch electric cylinder (79), so that the output shaft of the clutch-type drive assembly (7) engages or disengages with the conveying drive shaft (65) of several conveying seedling trays (6) one by one.

6. The unmanned automatic rice transplanter according to claim 5, characterized in that: The seedling rack (4) has several first columns (41) on both sides. The first columns (41) have first grooves (46) along their length. The conveyor seedling tray (6) has several first sliders (62) on both sides. The first sliders (62) correspond to the first grooves (46) and slide in a one-to-one manner.

7. The unmanned automatic rice transplanter according to claim 5, characterized in that: The conveyor-type seedling tray (6) includes a seedling tray frame (61), a first slider (62) connected to the seedling tray frame (61), and several conveyor belt assemblies arranged left and right on the seedling tray frame (61). The conveyor belt assembly includes an active roller (66) and a passive roller (68). The active conveyor shaft (65) is rotatably located at the rear end of the seedling tray frame (61), the active roller (66) is sleeved on the active conveyor shaft (65), and the passive roller (68) is rotatably located at the front end of the seedling tray frame (61). The corresponding active roller (66) and passive roller (68) are connected by a conveyor belt (63). Each conveyor belt (63) has a row of seedling skins pre-set on it.

8. The unmanned automatic rice transplanter according to claim 7, characterized in that: The clutch-type drive assembly (7) includes a clutch frame (71), a base (72), and a clutch gear sleeve (77). The clutch frame (71) is installed at the bottom of the seedling rack (4). The base (72) is slidably engaged with the guide rod assembly (78) on the clutch frame (71). The clutch electric cylinder (79) is installed on the clutch frame (71). The push rod of the clutch electric cylinder (79) is connected to the base (72). The clutch motor (74) is installed through the clutch reducer (73). On the base (72), the output shaft of the clutch motor (74) is connected to the clutch gear sleeve (77) through the clutch reducer (73). The conveying drive shaft (65) is fitted with a clutch gear (67). During the descent of several conveying seed trays (6), the clutch gear sleeve (77) is coaxial with several clutch gears (67) one by one. The push rod of the clutch electric cylinder (79) extends and retracts, causing the clutch gear sleeve (77) to mesh or separate from the coaxial clutch gears (67).

9. The unmanned automatic rice transplanter according to claim 8, characterized in that: The clutch sleeve (77) is connected to the adapter shaft (76), and the adapter shaft (76) is connected to the output shaft of the clutch reducer (73) through a bellows coupling (75).

10. The unmanned automatic rice transplanter according to claim 1, characterized in that: The lifting device (5) includes a winch shaft (52) rotatably mounted on one side of the seedling rack (4). Several winch wheels (51) are sleeved on the winch shaft (52). Traction ropes (55) are wound on the winch wheels (51). Several pins (45) are provided on the top of the seedling rack (4). The ends of several traction ropes (55) pass around several pins (45) one by one and are connected to the top layer of the conveyor seedling tray (6).

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