Transplanter dual-rail seedling separating apparatus and operation method therefor

Abstract

A transplanter dual-rail seedling separating apparatus, comprising a seedling separating frame (3) and a seedling supplementing frame (7). An annular conveyor belt (1) is provided on the seedling separating frame (3), and multiple seedling holding mechanisms (2) are placed on the annular conveyor belt (1); a detection mechanism is further provided on the seedling separating frame (3), the detection mechanism being disposed directly above the movement path of the seedling holding mechanisms (2), and the detection mechanism being used for detecting whether a seedling holding mechanism (2) located directly below the detection mechanism is lacking a seedling. A U-shaped conveyor belt (9) is provided on the seedling supplementing frame (7), the U-shaped conveyor belt (9) having an input end and an output end, and the input end and the output end of the U-shaped conveyor belt (9) being connected to the annular conveyor belt (1) by means of a first blocking and pushing mechanism and a second blocking and pushing mechanism, respectively, the first blocking and pushing mechanism and the second blocking and pushing mechanism being symmetrically disposed; one side of the U-shaped conveyor belt (9) is provided with a manual supplementing station, used to manually add a seedling to a seedling holding mechanism which lacks a seedling. The present apparatus can effectively prevent the transplanter from missing planting.

Description

A double-track seedling separating device for transplanters and its operation method Technical Field

[0001] This invention relates to the field of transplanter technology, and in particular to a double-track seedling separating device for a transplanter and its operating method. Background Technology

[0002] Seedling transplanting is a common agricultural practice that effectively avoids natural factors such as low temperatures and frost, reduces pests and diseases, and significantly improves crop survival rate and quality. Fully automatic transplanters can improve transplanting efficiency and quality, reduce labor intensity and production costs, and represent the future direction of vegetable transplanting.

[0003] During fully automated transplanting, seedling gaps or omissions may occur due to seedling growth conditions, failed seedling removal and placement, or damaged seedlings. These omissions lead to uneven crop growth, reduced yields, wasted land resources, increased labor costs later on, and negatively impact the mechanized management of the crop in its later stages. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a double-track seedling transplanter and its operation method.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a double-track seedling separation device for transplanting machine, including a seedling separation frame and a seedling replenishment frame. The seedling separation frame is provided with a ring conveyor belt, which is racetrack shaped. Multiple seedling holding mechanisms are placed on the ring conveyor belt. The seedling separation frame is also provided with a detection mechanism, which is located directly above the movement path of the seedling holding mechanism. The detection mechanism is used to detect whether there are missing seedlings in the seedling holding mechanism located directly below the detection mechanism.

[0006] The seedling holding mechanism includes seedling cups for storing seedlings, with a seedling outlet at the lower end of the seedling cup. The seedling outlet is located outside the circular conveyor belt. A cover is provided at the seedling outlet of the seedling cup, and a flap mechanism is provided on the seedling cup to drive the cover to open or close the seedling outlet.

[0007] The seedling rack is equipped with a U-shaped conveyor belt, which has an input end and an output end. The input end and the output end of the U-shaped conveyor belt are connected to the circular conveyor belt through a first blocking and pushing mechanism and a second blocking and pushing mechanism, respectively. The first blocking and pushing mechanism and the second blocking and pushing mechanism are symmetrically arranged. The first blocking and pushing mechanism is used to block the seedling filling mechanism with missing seedlings on the circular conveyor belt and push and transfer the seedling filling mechanism with missing seedlings to the U-shaped conveyor belt. There is a manual feeding position on one side of the U-shaped conveyor belt, which is used to manually feed seedlings to the seedling filling mechanism with missing seedlings. The second blocking and pushing mechanism is used to block the seedling filling mechanism with missing seedlings on the circular conveyor belt and push and transfer the seedling filling mechanism with missing seedlings to the circular conveyor belt.

[0008] As a preferred embodiment, the detection mechanism includes an installation truss mounted on the seedling rack, a fixed support mounted on the installation truss, and a detection camera mounted at the lower end of the fixed support. The detection camera is connected to a controller and can take pictures of the seedling holding mechanism located below it, so that the controller can identify whether there are missing seedlings in the seedling holding mechanism.

[0009] As a preferred embodiment, the seedling holding mechanism includes a seedling cup fixing plate, two wheel axles disposed at the lower end of the seedling cup fixing plate, and wheels fixedly disposed at the lower end of the wheel axles. The seedling cup fixing plate is provided with an installation slot for installing seedling cups.

[0010] As a preferred embodiment, the covering part includes two cover plates hinged at the seedling outlet, and the flipping mechanism includes a cover-opening motor and a connecting rod assembly disposed inside the seedling cup. The seedling cup is provided with a partition for dividing the inner cavity of the seedling cup into a receiving cavity and a connecting rod cavity. The receiving cavity is used to receive seedlings, and the connecting rod assembly is located in the connecting rod cavity. The connecting rod assembly includes a crank disposed on the output shaft of the cover-opening motor, and connecting rods are hinged on the cover plate. Both connecting rods are hinged to the crank.

[0011] As a preferred embodiment, the first blocking and pushing mechanism and the second blocking and pushing mechanism have the same structure and size. The first blocking and pushing mechanism includes a blocking component, a first pushing component, a second pushing component, and a track changing component. The first pushing component is disposed on the blocking component. The blocking component has two states: blocking and passage. In the blocking state, the blocking component blocks the seedling holding mechanism, and the first pushing component is used to push the seedling holding mechanism toward the second pushing component. The second pushing component is used to push the seedling holding mechanism toward the track changing component. The track changing component is used to transfer the seedling holding mechanism to the U-shaped conveyor belt. When releasing the seedlings, the seedling holding mechanism can pass through the blocking component.

[0012] As a preferred embodiment, the blocking assembly includes two opposing blocking members. Each blocking member includes a vertical moving module, on which a blocking plate is hinged. The two blocking plates have opposing first arc-shaped grooves, which together form a first arc-shaped groove that mates with the wheel axle. The vertical moving module includes a sliding boss, a lead screw motor, a lead screw, and a sliding block. The lead screw is rotatably mounted on the sliding boss, and the lead screw motor drives the lead screw to rotate. The sliding block is slidably mounted on the sliding boss and threadedly connected to the lead screw. A connecting plate is hinged between the sliding block and the blocking plate. The first pushing assembly includes a miniature cylinder mounted on the blocking plate. The piston rod end of the miniature cylinder has an arc-shaped push block with a second arc-shaped groove, which together form a second arc-shaped groove that mates with the wheel axle.

[0013] As a preferred embodiment, the second pushing component includes a fixed base plate, a T-shaped plate slidably disposed on the fixed base plate, and a pushing cylinder for driving the T-shaped plate to move horizontally. The receiving plate is provided with the T-shaped plate, and the T-shaped plate is provided with a horizontal moving module perpendicular to the T-shaped plate. There are two horizontal moving modules, which are arranged parallel to the fixed base plate. The horizontal moving modules are provided with claws that cooperate with the wheel axle, and the claws are semi-circular.

[0014] As a preferred embodiment, the track-changing assembly includes a horizontal conveyor belt.

[0015] This application also provides a method for operating the above-mentioned double-track seedling separation device of a transplanter, including the following steps:

[0016] S1: Place multiple seedling holding mechanisms on a circular conveyor belt, and the detection mechanism detects whether there are missing seedlings in the seedling holding mechanism located directly below the detection mechanism;

[0017] S2: When the testing agency does not detect any missing seedlings, the circular conveyor belt continues to transport the seedling filling mechanism. When the testing agency detects missing seedlings, the first blocking and pushing transfer mechanism blocks the seedling filling mechanism with missing seedlings on the circular conveyor belt and pushes the seedling filling mechanism with missing seedlings to the U-shaped conveyor belt. Then, seedlings are manually added to the seedling filling mechanism with missing seedlings. After the seedlings are added, the second blocking and pushing mechanism blocks the seedling filling mechanism with added seedlings on the circular conveyor belt and pushes the seedling filling mechanism with added seedlings to the circular conveyor belt.

[0018] S3: After the circular conveyor belt transports the seedling holding mechanism to the appropriate position, the flipping mechanism opens the seedling outlet to complete the seedling placement on the planter.

[0019] The beneficial effects of this application are as follows: 1. This invention abandons the traditional chain-type hanging cup seedling separation mechanism and adopts a double-track flexible conveying mechanism, which has a wide range of applications and can effectively prevent seedling loss during the operation of fully automatic transplanting machines, thereby improving the quality and efficiency of transplanting operations.

[0020] 2. This application detects whether there are missing seedlings in the seedling holding mechanism. Then, the first blocking and pushing transfer mechanism blocks the seedling holding mechanism with missing seedlings on the circular conveyor belt and pushes it to the U-shaped conveyor belt. The second blocking and pushing mechanism blocks the seedling holding mechanism with replanted seedlings on the circular conveyor belt and pushes it to the circular conveyor belt. This allows for rapid track changing and seedling replanting of the seedling holding mechanism, effectively avoiding seedling loss. Attached Figure Description

[0021] Figure 1 is a first isometric view of Embodiment 1 of the present invention;

[0022] Figure 2 is a second isometric view of Embodiment 1 of the present invention;

[0023] Figure 3 is an isometric view of the seedling holding mechanism of Embodiment 1 of the present invention;

[0024] Figure 4 is an isometric view of the seedling cup of Embodiment 1 of the present invention;

[0025] Figure 5 is a cross-sectional view of the seedling cup of Embodiment 1 of the present invention;

[0026] Figure 6 is an isometric view of the blocking assembly of Embodiment 1 of the present invention;

[0027] Figure 7 is a front view of the blocking component in the open state according to Embodiment 1 of the present invention;

[0028] Figure 8 is an isometric view of the second push component of Embodiment 1 of the present invention;

[0029] Figure 9 is an isometric view of the track-changing assembly of Embodiment 2 of the present invention;

[0030] Figure 10 is an isometric view of the positioning mechanism of Embodiment 2 of the present invention.

[0031] The diagram shows the following markings: 1. Circular conveyor belt; 2. Seedling holding mechanism; 201. Seedling cup; 202. Opening motor; 203. Seedling cup fixing plate; 204. Wheel; 205. Wheel axle; 206. Limiting groove; 207. Partition; 208. Cover plate; 209. Connecting rod; 210. Crank; 3. Seedling separating rack; 4. Image acquisition position sensor; 5. First pushing assembly; 6. Track changing assembly; 601. Reversing plate; 602. Limiting part; 603. Guide wheel; 604. Rectangular hole; 605. Positioning cylinder; 606. Connecting plate; 607. Synchronous belt module; 608. Fixing plate; 609. Sliding shaft; 610. Guide sleeve; 7. Seedling replenishment rack; 8. Second guide edge; 9. U-shaped conveyor belt; 10. Second pushing assembly; 1001. Fixed base plate; 1002. Linear guide, 1003, slider, 1004, receiving seat, 1005, screw, 1006, claw, 1007, sliding claw, 1008, hinge rod, 1009, miniature electric actuator, 1010, first coupling, 1011, screw motor, 1012, T-plate, 1013, pushing cylinder, 11, blocking component, 1101, lead screw motor, 1102, second coupling, 1103, lead screw, 1104, sliding groove boss, 1105, connecting plate, 1106, sliding block, 1107, blocking plate, 1108, miniature cylinder, 1109, cylinder fixing bracket, 1110, arc-shaped push block, 12, horizontal plate, 13, mounting truss, 14, fixed bracket, 15, detection camera, 16, seedling position sensor, 17, first guide edge. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] Please refer to Figures 1-8. Embodiment 1 of the present invention provides a double-track seedling separation device for a transplanter, including a seedling separation frame 3 and a seedling replenishment frame 7. The seedling separation frame 3 is provided with a ring conveyor belt 1, which is racetrack-shaped. Multiple seedling holding mechanisms 2 are placed on the ring conveyor belt 1. The seedling separation frame 3 is also provided with a detection mechanism, which is located directly above the moving path of the seedling holding mechanism 2. The detection mechanism is used to detect whether there are missing seedlings in the seedling holding mechanism 2 located directly below the detection mechanism. The seedling holding mechanism 2 includes a seedling cup 201 for storing seedlings. The seedling cup 201 has a seedling outlet at its lower end, which is located outside the ring conveyor belt 1. The seedling outlet of the seedling cup 201 is provided with a cover. The seedling cup 201 is provided with a flip-plate mechanism for driving the cover to open or close the seedling outlet. The seedling rack 7 is equipped with a U-shaped conveyor belt 9, which has an input end and an output end. The input end and the output end of the U-shaped conveyor belt 9 are connected to the ring conveyor belt 1 through a first blocking and pushing mechanism and a second blocking and pushing mechanism, respectively. The first blocking and pushing mechanism and the second blocking and pushing mechanism are symmetrically arranged. The first blocking and pushing mechanism is used to block the seedling filling mechanism 2 with missing seedlings on the ring conveyor belt 1 and push and transfer the seedling filling mechanism 2 with missing seedlings to the U-shaped conveyor belt 9. A manual feeding position is provided on one side of the U-shaped conveyor belt 9. The manual feeding position is used to manually feed seedlings to the seedling filling mechanism 2 with missing seedlings. The second blocking and pushing mechanism is used to block the seedling filling mechanism 2 with missing seedlings on the ring conveyor belt 1 and push and transfer the seedling filling mechanism 2 with missing seedlings to the ring conveyor belt 1.

[0034] When the seedling holding mechanism 2 is located on the U-shaped conveyor belt 9, the seedling outlet of the seedling cup 201 is located outside the U-shaped conveyor belt 9. The annular conveyor belt 1 includes a first conveyor belt and a first transmission motor mounted on the seedling rack 3 that can drive the first conveyor belt. The annular conveyor belt 1 can also be a commonly used annular conveyor belt. The U-shaped conveyor belt 9 is shaped and includes a second conveyor belt and a second transmission motor mounted on the seedling rack 7 that can drive the second conveyor belt. The U-shaped conveyor belt 9 can also be a commonly used U-shaped conveyor belt. Both the annular conveyor belt 1 and the U-shaped conveyor belt 9 can be the conveyor belts described in CN219278503U. The annular conveyor belt 1 has two straight sections and two semi-annular sections, with the two straight sections located between the input and output ends of the U-shaped conveyor belt 9.

[0035] The circular conveyor belt 1 has a racetrack-shaped first conveying surface. The seedling rack 3 has racetrack-shaped first guide edges 17 on both sides of the first conveying surface. The U-shaped conveyor belt 9 has a U-shaped second conveying surface. The seedling rack 7 has U-shaped second guide edges 8 on both sides of the first conveying surface. The seedling rack 7 has symmetrical first notches on the inner second guide edge 8 for the seedling holding mechanism 2 to pass through. Of the two first notches, one is the input end of the U-shaped conveyor belt 9 and the other is the output end of the U-shaped conveyor belt 9. The seedling rack 3 has a second notch on the outer first guide edge 17 corresponding to the first notch for the seedling holding mechanism 2 to pass through.

[0036] As shown in Figure 1, the detection mechanism includes a mounting truss 13 mounted on the seedling rack 3, a fixed bracket 14 mounted on the mounting truss 13, and a detection camera 15 mounted at the lower end of the fixed bracket 14. A horizontal plate 12 is provided on the seedling rack 3 inside the circular conveyor belt 1. The mounting truss 13 is fixed to the upper end of the horizontal plate 12. The mounting truss 13 has a vertical part fixedly connected to the horizontal plate 12 and a horizontal part fixedly connected to the vertical part. The fixed bracket 14 is fixedly mounted at the lower end of the horizontal part.

[0037] Image acquisition position sensor 4 and seedling placement position sensor 16 are respectively installed on both sides of the circular conveyor belt 1 on the seedling rack 3. The image acquisition position sensor 4 is set close to the mounting truss 13.

[0038] The detection camera 15 is connected to the controller. The detection camera 15 can take pictures of the seedling filling mechanism 2 located below it so that the controller can identify whether there are missing seedlings in the seedling filling mechanism 2. The controller is electrically connected to the flipping mechanism, the image acquisition position sensor 4, the seedling placement position sensor 16, the ring conveyor belt 1, the U-shaped conveyor belt 9, the first blocking and pushing mechanism and the second blocking and pushing mechanism.

[0039] As shown in Figures 3-5, the seedling holding mechanism 2 includes a seedling cup fixing plate 203, two wheel axles 205 disposed at the lower end of the seedling cup fixing plate 203, and wheels 204 fixedly disposed at the lower end of the wheel axles 205. The seedling cup fixing plate 203 is provided with an installation slot for installing the seedling cup 201. The seedling cup fixing plate 203 is fixed at the mounting slot. The covering part includes two cover plates 208 hinged to the seedling outlet. The flipping mechanism includes a cover-opening motor 202 and a connecting rod assembly disposed inside the seedling cup 201. The seedling cup 201 is provided with a partition 207 for dividing the inner cavity of the seedling cup 201 into a receiving cavity and a connecting rod cavity. The receiving cavity is used to hold seedlings, and the connecting rod assembly is located in the connecting rod cavity. The partition 207, on the one hand, prevents seedlings from falling into the connecting rod assembly and causing damage to the seedlings, and on the other hand, prevents dust pollution from affecting the operation. The connecting rod assembly includes a crank 210 disposed on the output shaft of the cover-opening motor 202. Connecting rods 209 are hinged to the cover plate 208, and both connecting rods 209 are hinged to the crank 210. The cover-opening motor 202 drives the crank 210 to move, thereby driving the connecting rods 209 to move, thereby realizing the opening and closing action of the cover plate 208.

[0040] Specifically, the first blocking and pushing mechanism and the second blocking and pushing mechanism have the same structure and size. The first blocking and pushing mechanism includes a blocking component, a first pushing component 5, a second pushing component 10, and a track changing component 6. The first pushing component 5 is set on the blocking component. The blocking component has two states: blocking and passage. In the blocking state, the blocking component blocks the seedling holding mechanism 2, and the first pushing component 5 is used to push the seedling holding mechanism 2 toward the second pushing component 10. The second pushing component 10 is used to push the seedling holding mechanism 2 toward the track changing component 6. The track changing component 6 is used to transfer the seedling holding mechanism 2 to the U-shaped conveyor belt 9. When releasing the seedlings, the seedling holding mechanism 2 can pass through the blocking component. The track changing component 6 is installed between the corresponding first and second gaps.

[0041] The blocking component of the first blocking and pushing mechanism and the second pushing component 10 are located on the seedling rack 3. The blocking component of the first blocking and pushing mechanism is located behind the detection mechanism. The blocking component of the second blocking and pushing mechanism and the second pushing component 10 are located on the seedling rack 7. The track changing component 6 of the second blocking and pushing mechanism is used to transfer the seedling holding mechanism 2 on the U-shaped conveyor belt 9 to the ring conveyor belt 1.

[0042] Referring to Figures 6 and 7, the blocking assembly includes two opposing blocking members 11. Each blocking member 11 includes a vertically moving module, on which a blocking plate 1107 is hinged.

[0043] Two baffle plates 1107 are arranged opposite to each other, and the two baffle plates 1107 are provided with first arc-shaped grooves opposite to each other. The two first arc-shaped grooves form a first arc-shaped groove that cooperates with the wheel axle 205. The first arc-shaped groove is semi-circular. The vertical moving module includes a sliding boss 1104, a lead screw motor 1101, a lead screw 1103, and a sliding block 1106. The lead screw 1103 is rotatably mounted on the sliding boss 1104. The lead screw motor 1101 is used to drive the lead screw 1103 to rotate. The lead screw motor 1101 is connected to the lead screw 1103 through a second coupling 1102. The sliding block 1106 is slidably mounted on the sliding boss 1104 and threadedly connected to the lead screw 1103. Horizontal rods are provided on both sides of the sliding block 1106. The sliding boss 1104 is provided with an oblong hole for the horizontal rods to slide up and down. A U-shaped frame is provided on the sliding block 1106. A connecting plate 1105 is hinged between the sliding block 1106 and the blocking plate 1107 and is fixedly connected to two horizontal bars. There are two connecting plates 1105, which are located on both sides of the sliding block 1106. One end of the connecting plate 1105 is hinged to the horizontal bar on the same side, and the other end is hinged to the blocking plate 1107. The first pushing assembly 5 includes a miniature cylinder 1108 disposed on the blocking plate 1107. The miniature cylinder 1108 is mounted on the blocking plate 1107 through a cylinder fixing bracket 1109. The cylinder fixing bracket 1109 is U-shaped and has a mounting groove that mates with the miniature cylinder 1108. The cylinder fixing bracket 1109 is mounted on the blocking plate 1107 by bolts. The piston rod end of the miniature cylinder 1108 is provided with an arc-shaped push block 1110. The arc-shaped push block 1110 has a second arc-shaped groove. The two second arc-shaped grooves form a second arc-shaped groove that mates with the wheel axle 205.

[0044] As shown in Figure 8, the second pushing component 10 includes a fixed base plate 1001, a T-shaped plate 1012 slidably disposed on the fixed base plate 1001, and a pushing cylinder 1013 for driving the T-shaped plate 1012 to move horizontally. The fixed base plate 1001 is provided with two linear guide rails 1002, and a slider 1003 is slidably disposed on the linear guide rails 1002. A receiving plate 1004 is fixed on the slider 1003. The receiving plate 1004 is provided with a T-shaped plate, and two horizontal moving modules are provided on the T-shaped plate. The horizontal moving modules are arranged parallel to the fixed base plate 1001. The horizontal moving modules are provided with a claw 1006 that cooperates with the wheel axle 205. The claw 1006 is semi-circular.

[0045] The T-shaped plate has a horizontal end and a vertical end. The horizontal moving module is vertically fixed on the vertical end. The horizontal moving module includes a screw 1005, a screw motor 1011 for driving the screw 1005 to rotate, a receiving seat 1004 fixedly connected to the vertical end, and a 7-shaped seat slidably disposed on the receiving seat 1004. The screw 1005 is connected to the screw motor 1011 through a first coupling 1010. The 7-shaped seat includes a vertical connecting part and a horizontal positioning part. The vertical connecting part is slidably connected to the receiving seat 1004. The receiving seat 1004 is provided with a sliding groove that slidably engages with the vertical connecting part. The vertical connecting part is threadedly connected to the screw 1005. The vertical connecting part is provided with a threaded hole that engages with the screw 1005. The claw 1006 is fixed to the end of the horizontal positioning part.

[0046] The track-changing assembly 6 includes a horizontal conveyor belt and a third transmission motor for driving the horizontal conveyor belt. The track-changing assembly 6 also includes a conveyor belt bracket. The horizontal conveyor belt and the third transmission motor are both mounted on the conveyor belt bracket. The conveyor belt bracket is installed between the opposite first notch and second notch. The horizontal conveyor belt can be a commonly used existing conveyor belt.

[0047] A method for operating a transplanter using the aforementioned double-track seedling separation device includes the following steps:

[0048] S1: Place multiple seedling holding mechanisms 2 on the circular conveyor belt 1, and the detection mechanism detects whether there are any missing seedlings in the seedling holding mechanism 2 located directly below the detection mechanism;

[0049] S2: When the testing agency does not detect any missing seedlings, the circular conveyor belt 1 continues to transport the seedling filling mechanism 2. When the testing agency detects missing seedlings, the first blocking and pushing transfer mechanism blocks the missing seedling filling mechanism 2 on the circular conveyor belt 1 and pushes the missing seedling filling mechanism 2 to the U-shaped conveyor belt 9. Then, seedlings are manually added to the missing seedling filling mechanism 2. After the seedlings are added, the second blocking and pushing mechanism blocks the added seedling filling mechanism 2 on the circular conveyor belt 1 and pushes the added seedling filling mechanism 2 to the circular conveyor belt 1.

[0050] S3: After the circular conveyor belt 1 transports the seedling holding mechanism 2 to the appropriate position, the flipping mechanism opens the seedling outlet to complete the seedling placement on the planter.

[0051] First, all the seedling holding mechanisms 2 on the U-shaped conveyor belt 9 are filled with seedlings suitable for transplanting. Then, the existing seedling picking mechanism puts the seedlings from the seedling trays into multiple seedling holding mechanisms 2 that are equidistantly distributed on the circular conveyor belt 1. The circular conveyor belt 1 drives the seedling holding mechanisms 2 to move continuously. When the seedling holding mechanism 2 approaches the image acquisition position sensor 4, the image acquisition position sensor 4 monitors the position of the seedling holding mechanism 2 in real time and feeds the information back to the controller. The controller controls the camera 15 to acquire images of the passing seedling holding mechanisms 2. The controller identifies whether there are missing seedlings or high-quality seedlings in the seedling cup 201. If there are high-quality seedlings in the seedling cup 201, the lead screw motor 1101 starts, the sliding block 1106 moves upward, and drives the blocking plate 1107 to rotate around its hinge point with the slide boss 1104. When the blocking component is in the passage state, the seedling holding mechanism 2 moves normally with the circular conveyor belt 1. When the seedling holding mechanism 2 approaches the seedling placement point, the seedling position sensor 16 detects the position of the seedling holding mechanism 2 in real time and feeds the information back to the controller. The controller controls the opening motor 202 installed on the seedling cup 201 to start. The crank 211 rotates under the action of the opening motor 202, driving the connecting rod 209 to move and push open the cover plate 208. At this time, the seedlings in the seedling cup 201 fall into the planting device below due to gravity, completing the planting operation. If there are no seedlings or inferior seedlings in the seedling cup 201, the controller controls the lead screw motor 1101 to start, the sliding block 1106 moves down, driving the blocking plate 1107 to rotate around its hinge point with the slide boss 1104, and the blocking component is in the passage state. In the blocking state, the seedling holding mechanism 2 remains in the first arc groove formed by the two first arc grooves. Then, the micro cylinder 1108 is activated, driving the arc-shaped push block 1110 to move forward, pushing the seedling holding mechanism 2 backward to the corresponding position that the pushing mechanism 10 can push. Then, the pushing cylinder 1013 is activated, pushing the T-shaped plate 1012 and the slider 1003 to move forward in a straight line on the linear guide rail 1002. The claw 1006 moves forward and engages with the wheel axle 205 of the seedling holding mechanism 2. At this time, the screw motor 1011 is activated, transmitting power through the first coupling 1010 to push the claw 1006 to continue moving forward, and under the push of the horizontal moving module, pushes the seedling holding mechanism 2 onto the track changing assembly 6. After the seedling holding mechanism 2 is pushed onto the track changing assembly 6, the track changing assembly 6 drives the seedling holding mechanism 2 to move forward. The seedling mechanism 2 moves onto the U-shaped conveyor belt 9, where suitable seedlings are manually placed into the seedling cup 203. The U-shaped conveyor belt 9 then moves the seedling holding mechanism 2, which has seedlings on one side, to the normally closed blocking component on the other side. The same process is repeated by the second pushing component 10 and the track changing component 6, which pushes the seedling holding mechanism 2 onto the circular conveyor belt 1. When it approaches the seedling placement point, the seedling position sensor 16 detects the position of the seedling holding mechanism 2 in real time and feeds the information back to the controller. The controller then controls the opening motor 202 installed on the seedling cup 201 to start. The crank 211 rotates under the action of the opening motor 202, driving the connecting rod 209 to move and push open the cover plate 208. At this time, the seedlings in the seedling cup 201 fall into the planting device below due to gravity, completing the planting operation.

[0052] Of course, the present invention is not limited to the embodiments described above. Several other embodiments based on the design concept of the present invention are also provided below.

[0053] For example, in Embodiment 2, unlike the implementation described above, as shown in Figures 9 and 10, in this embodiment, the lower end of the wheel 204 is provided with a limiting groove 206, the track changing assembly 6 includes a reversing plate 601 and two drive assemblies provided at the lower end of the reversing plate 601, the upper end of the reversing plate 601 is provided with two limiting parts 602 facing each other, a through groove is formed between the two limiting parts 602 for the seedling holding mechanism 2 to pass through, the surfaces of the two limiting parts 602 facing each other are provided with a movable groove, a plurality of guide wheels 603 are rotatably provided in the movable groove, and the guide wheels 603 can be tangent to the wheel 204.

[0054] The drive assembly includes a chain and a drive motor. The output shaft of the drive motor is equipped with a main sprocket that cooperates with the chain. The lower end of the reversing plate 601 is rotatably equipped with a driven sprocket that cooperates with the chain. The chain includes multiple chain links, one of which is equipped with a positioning mechanism. The positioning mechanism includes a connecting plate 606 fixed on the chain link, a vertical plate arranged on the connecting plate 606 and forming a 7 shape with the connecting plate 606, and a timing belt module arranged on the vertical plate. The timing belt module is a commonly used timing belt module. The timing belt module has a timing belt, a fixing plate 608 on the timing belt, and a guide sleeve 610 on the vertical plate. A sliding shaft 609 that passes through the connecting plate 606 is slidably arranged in the guide sleeve 610. The end of the sliding shaft 609 is equipped with a positioning cylinder 605 that cooperates with the limiting groove 206. The timing belt module can also be a lifting cylinder. The fixing plate 608 is arranged at the end of the piston rod of the lifting cylinder. The reversing plate 601 is equipped with a rectangular hole 604 for the positioning cylinder 605 to pass through.

[0055] When the seedling holding mechanism 2 is pushed into the through slot, the drive component drives the positioning mechanism to move. When it moves to the lower end of the seedling holding mechanism 2, the synchronous belt module drives the sliding shaft 609 to rise, so that the positioning cylinder 605 is inserted into the limiting groove 206. The drive component continues to drive the positioning mechanism to move. When it moves to the end of the rectangular hole 604, the seedling holding mechanism 2 stops at the end of the rectangular hole 604, so that the positioning cylinder 605 is disengaged from the limiting groove 206. Then the above operation is repeated, and the next changing track seedling holding mechanism 2 collides it with another conveyor belt to complete the changing track operation.

[0056] For example, in Embodiment 3, unlike the embodiments described above, as shown in Figure 8, a miniature electric actuator 1009 is provided at the upper end of the horizontal positioning part, and two arc-shaped grooves are symmetrically provided at the upper end of the claw 1006. A slide rod is slidably mounted in the arc-shaped groove, and a sliding claw 1007 is provided at the upper end of the slide rod. Two arc-shaped slide rails can also be symmetrically provided at the upper end of the claw 1006, and a slide table is provided on the arc-shaped slide rail. The sliding claw 1007 is mounted on the slide table. Two hinge rods 1008 are hinged to the end of the miniature electric actuator 1009, and the hinge rods on the same side are hinged to the sliding claw 1007 on the same side. The miniature electric actuator 1009 pushes the sliding claw 1007 to move, thereby limiting the wheel axle 205 and ensuring the stability of the push.

[0057] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A double-track seedling separating device for a transplanter, characterized in that, It includes a seedling divider (3) and a seedling replenishment rack (7). The seedling divider (3) is equipped with a ring conveyor belt (1), which is in the shape of a racetrack. Multiple seedling holding mechanisms (2) are placed on the ring conveyor belt (1). The seedling divider (3) is also equipped with a detection mechanism, which is located directly above the moving path of the seedling holding mechanism (2). The detection mechanism is used to detect whether there are missing seedlings in the seedling holding mechanism (2) located directly below the detection mechanism. The seedling holding mechanism (2) includes a seedling cup (201) for storing seedlings. The seedling cup (201) has a seedling outlet at the lower end. The seedling outlet is located outside the circular conveyor belt (1). The seedling cup (201) has a cover at the seedling outlet. The seedling cup (201) has a flip plate mechanism for driving the cover to open or close the seedling outlet. The seedling rack (7) is equipped with a U-shaped conveyor belt (9). The U-shaped conveyor belt (9) has an input end and an output end. The input end and the output end of the U-shaped conveyor belt (9) are connected to the ring conveyor belt (1) through the first blocking and pushing mechanism and the second blocking and pushing mechanism, respectively. The first blocking and pushing mechanism and the second blocking and pushing mechanism are symmetrically arranged. The first blocking and pushing mechanism is used to block the seedling filling mechanism (2) with missing seedlings on the ring conveyor belt (1) and push and transfer the seedling filling mechanism (2) with missing seedlings to the U-shaped conveyor belt (9). A manual feeding position is provided on one side of the U-shaped conveyor belt (9). The manual feeding position is used to manually feed seedlings to the seedling filling mechanism (2) with missing seedlings. The second blocking and pushing mechanism is used to block the seedling filling mechanism (2) after the seedlings are replenished on the ring conveyor belt (1) and push and transfer the seedling filling mechanism (2) after the seedlings are replenished to the ring conveyor belt (1). The seedling holding mechanism (2) includes a seedling cup fixing plate (203), two wheel axles (205) set at the lower end of the seedling cup fixing plate (203) and a wheel (204) fixedly set at the lower end of the wheel axle (205). The seedling cup fixing plate (203) is provided with an installation slot for installing the seedling cup (201). The first blocking and pushing mechanism and the second blocking and pushing mechanism have the same structure and size. The first blocking and pushing mechanism includes a blocking component, a first pushing component (5), a second pushing component (10), and a track changing component (6). The first pushing component (5) is set on the blocking component. The blocking component has two states: blocking and passage. In the blocking state, the blocking component blocks the seedling holding mechanism (2), and the first pushing component (5) is used to push the seedling holding mechanism (2) toward the second pushing component (10). The second pushing component (10) is used to push the seedling holding mechanism (2) toward the track changing component (6). The track changing component (6) is used to transfer the seedling holding mechanism (2) to the U-shaped conveyor belt (9). When releasing seedlings, the seedling holding mechanism (2) can pass through the blocking component. The blocking assembly includes two opposing blocking members (11). Each blocking member (11) includes a vertical moving module. A blocking plate (1107) is hinged to the vertical moving module. The two blocking plates (1107) are provided with opposing first arc-shaped grooves, which form a first arc-shaped groove that mates with the wheel axle (205). The vertical moving module includes a sliding boss (1104), a lead screw motor (1101), a lead screw (1103), and a sliding block (1106). The lead screw (1103) is rotatably mounted on the sliding boss (1104). The lead screw motor (1101) is used to drive... The moving lead screw (1103) rotates, and the sliding block (1106) is slidably disposed on the slide groove boss (1104) and threadedly connected to the lead screw (1103). A connecting plate (1105) is hinged between the sliding block (1106) and the baffle plate (1107). The first pushing assembly (5) includes a miniature cylinder (1108) disposed on the baffle plate (1107). The piston rod end of the miniature cylinder (1108) is provided with an arc-shaped push block (1110). The arc-shaped push block (1110) has a second arc-shaped groove. The two second arc-shaped grooves form a second arc-shaped groove that cooperates with the wheel axle (205). The second pushing component (10) includes a fixed base plate (1001), a T-shaped plate (1012) slidably disposed on the fixed base plate (1001), and a pushing cylinder (1013) for driving the T-shaped plate (1012) to move horizontally. The receiving plate (1004) is provided with the T-shaped plate, and the T-shaped plate is provided with a horizontal moving module perpendicular to the T-shaped plate. There are two horizontal moving modules, which are arranged parallel to the fixed base plate (1001). The horizontal moving module is provided with a claw (1006) that cooperates with the wheel axle (205). The claw (1006) is semi-circular.

2. The double-track seedling separating device for a transplanter according to claim 1, characterized in that: The detection mechanism includes an installation truss (13) set on the seedling rack (3), a fixed bracket (14) set on the installation truss (13), and a detection camera (15) set at the lower end of the fixed bracket (14). The detection camera (15) is connected to the controller and can take pictures of the seedling holding mechanism (2) located below it so that the controller can identify whether there are missing seedlings in the seedling holding mechanism (2).

3. A double-track seedling separating device for a transplanter according to claim 1, characterized in that: The covering part includes two cover plates (208) hinged at the seedling outlet. The flipping mechanism includes a cover opening motor (202) and a connecting rod assembly disposed inside the seedling cup (201). The seedling cup (201) is provided with a partition (207) for dividing the inner cavity of the seedling cup (201) into a receiving cavity and a connecting rod cavity. The receiving cavity is used to receive seedlings. The connecting rod assembly is located in the connecting rod cavity. The connecting rod assembly includes a crank (210) disposed on the output shaft of the cover opening motor (202). A connecting rod (209) is hinged on the cover plate (208). Both connecting rods (209) are hinged to the crank (210).

4. A double-track seedling separating device for a transplanter according to claim 1, characterized in that: The track-changing assembly (6) includes a horizontal conveyor belt.

5. A method for operating a double-track seedling transplanter using the double-track seedling transplanter device as described in any one of claims 1-4, characterized in that, Includes the following steps: S1: Place multiple seedling holding mechanisms (2) on the circular conveyor belt (1), and the detection mechanism detects whether there are missing seedlings in the seedling holding mechanism (2) located directly below the detection mechanism; S2: When the detection agency does not detect missing seedlings, the circular conveyor belt (1) continues to transport the seedling filling mechanism (2). When the detection agency detects missing seedlings, the first blocking and pushing transfer mechanism blocks the missing seedling filling mechanism (2) on the circular conveyor belt (1) and pushes the missing seedling filling mechanism (2) to the U-shaped conveyor belt (9). Then, seedlings are manually added to the missing seedling filling mechanism (2). After adding seedlings, the second blocking and pushing mechanism blocks the added seedling filling mechanism (2) on the circular conveyor belt (1) and pushes the added seedling filling mechanism (2) to the circular conveyor belt (1). S3: The circular conveyor belt (1) transports the seedling holding mechanism (2) to a suitable position, and the flipping mechanism opens the seedling outlet to complete the seedling placement of the planter.

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