CN107172935B - Full-automatic plug seedling transplanter - Google Patents
Full-automatic plug seedling transplanter Download PDFInfo
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- CN107172935B CN107172935B CN201710535794.5A CN201710535794A CN107172935B CN 107172935 B CN107172935 B CN 107172935B CN 201710535794 A CN201710535794 A CN 201710535794A CN 107172935 B CN107172935 B CN 107172935B
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- China
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- transplanter
- seedling tray
- seedling
- bracket
- conveying mechanism
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Transplanting Machines (AREA)
Abstract
The embodiment of the invention discloses a full-automatic plug seedling transplanter which comprises a transplanter body, wherein the transplanter body comprises a damping device and a moving device, and the damping device and the moving device are used for driving the transplanter to move stably; the seedling tray conveying mechanism is used for conveying the seedling trays for placing the potted seedlings on the transplanting machine to a first preset position; a seedling plant conveying mechanism for conveying the seedling plants on the transplanter to a second preset position; a punch for performing a punching operation at a second predetermined location; and the PLC control module is used for controlling the operation of the transplanter body, the seedling tray conveying mechanism and the seedling plant conveying mechanism based on the punching operation of the puncher at the second preset position. The transplanter in the scheme has the characteristics of compact structure, high operation efficiency, low manufacturing cost and convenience in use.
Description
Technical Field
The invention relates to the technical field of automatic transplanting of agricultural machinery, in particular to a full-automatic plug seedling transplanter.
Background
In recent years, with the rapid development of greenhouse vegetable and flower production, the development of seedling raising technology and the rise of labor cost promote the development of domestic transplanting machines. The plug seedling transplanting technology in developed countries starts earlier, the development of the transplanting technology and equipment is fast, and some vegetable and flower companies or seedling raising bases introduce greenhouse plug seedling transplanting machines with advanced performance from abroad, but in practical application, the problems of high price, complex operation, poor adaptability (suitable for large greenhouses and not suitable for greenhouses generally planted in China) and the like exist. The research time for the plug seedling technology in China is short and lags behind the technology system mature abroad, at present, the research on greenhouse transplanting machinery for greenhouse transplanting and automatic transplanting mechanical arms for transplanting plug seedlings into flowerpots is more, but the research on full-automatic plug seedling transplanting machinery which is suitable for field operation and does not need manual seedling taking and throwing is less, and only a few agricultural scientific research institutes have conducted exploratory research on the full-automatic plug seedling transplanting machinery. The semi-automatic transplanter mainly needs to manually fetch and feed seedlings, is large in size, clumsy in operation and low in efficiency, is powered by a diesel engine machine, is seriously polluted and is not suitable for transplanting operation of facility agriculture.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a fully automatic plug seedling transplanter, which at least partially solves the problems in the prior art.
The embodiment of the invention provides a full-automatic plug seedling transplanter, which comprises:
the transplanter comprises a transplanter body, wherein the transplanter body comprises a damping device and a moving device which are used for driving the transplanter to move stably;
the seedling tray conveying mechanism is used for conveying the seedling trays for placing the potted seedlings on the transplanting machine to a first preset position;
a seedling plant conveying mechanism for conveying the seedling plants on the transplanter to a second preset position;
a punch for performing a punching operation at a second predetermined location;
and the PLC control module is used for controlling the operation of the transplanter body, the seedling tray conveying mechanism and the seedling plant conveying mechanism based on the punching operation of the puncher at the second preset position.
As a specific implementation mode of the embodiment of the invention, most of the transplanter body is made of hard light aluminum alloy and adopts a frame structure, and the transplanter body is provided with a shock absorber for ensuring the operation stability of the transplanter.
As a specific implementation mode of the embodiment of the invention, the seedling tray conveying mechanism comprises two parts, namely a tower frame and a conveying belt, wherein the tower frame is driven by a cylinder, 2 trays of potted seedlings can be placed on each layer, the tower frame can be adjusted to 3-5 layers according to different requirements, the layers of the tower frame can stretch and retract, the conveying belt adopts a synchronous belt, and the driving mode is motor driving.
As a specific implementation manner of the embodiment of the invention, the transplanter further comprises a seedling tray bracket for placing the seedling tray bracket with the seedling tray on the tower after the seedling tray is placed in the seedling tray bracket, and the bracket lock catch on the seedling tray bracket fixes the bracket by means of gravity so as to facilitate the synchronization of the conveyor belts.
As a specific implementation mode of the embodiment of the invention, the seedling tray limiting blocks are installed by an adsorption method, the air cylinder drives the tower frame to place the seedling tray brackets into the conveying belt, the bracket lock catches release the seedling tray brackets, the seedling tray brackets together with the seedling trays synchronously move to a specified position below the seedling conveying mechanism along with the conveying belt under the action of the seedling tray limiting blocks, and the empty seedling trays fall into the containing baskets on the transplanter along with the conveying belt.
As a specific implementation manner of the embodiment of the invention, the seedling conveying mechanism comprises a 3-dimensional conveying platform and an end effector, wherein a three-level pneumatic push rod of the three-dimensional conveying platform drives a slide block to move between a seedling tray and a seedling throwing device along a slide rail, a small push cylinder on the transplanter is used for driving an end effector group to move up and down, the end effector group is assembled and installed on a sleeve frame, a rack on the sleeve frame is driven by a motor to move left and right so as to complete mutual avoidance of the two end effector groups in the advancing process, and the end effector is conveyed to a designated position above a seedling throwing barrel.
As a specific implementation mode of the embodiment of the invention, the puncher is driven by the air cylinder, the hole is punched in an earth sleeving mode, the puncher can be electrically heated and can work on a film, and the two puncher can alternately punch holes.
As a specific implementation manner of the embodiment of the invention, the seedling throwing mechanism comprises a seedling throwing barrel and soil compactors, adjustable air flow is introduced into the seedling throwing barrel and used for protecting the seedling plants and controlling the falling speed of the seedling plants, a group of soil compactors are arranged in an inner eight mode and form an included angle of 20 degrees with the vertical direction, and the soil compactors are provided with shock absorbers, so that the seedling plants can be transplanted to achieve a better effect, and the survival rate is improved.
As a specific implementation manner of the embodiment of the invention, the transplanter further comprises a power source, wherein the power source comprises a storage battery and a direct-current air pump, and the storage battery drives the direct-current air pump to provide a pneumatic power source.
As a specific implementation manner of the embodiment of the invention, the transplanter further comprises an operating handle and a monitoring module, wherein the operating handle and a signal receiving module of the transplanter are in wireless signal transmission, and after the operating handle is in communication connection with a display terminal, the working condition of the transplanter can be monitored in real time through cameras arranged in front of and behind the transplanter on the display terminal.
The transplanter comprises a transplanter body, a seedling tray conveying mechanism, a seedling plant conveying mechanism, a punching mechanism, a PLC (programmable logic controller) control module, a power source, an operating handle and a monitoring module. Has the characteristics of compact structure, high operation efficiency, low manufacturing cost and convenient use.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a snow seedling transplanter provided according to an embodiment of the invention;
fig. 2 is a front view of a snow seedling transplanter provided in accordance with an embodiment of the present invention;
fig. 3 is a left side view of a snow seedling transplanter provided in accordance with an embodiment of the present invention;
fig. 4 is a top view of a snow seedling transplanter provided in accordance with an embodiment of the present invention.
Reference numerals: 1. the device comprises wheels, 2, a main vehicle frame, 3, a main shock absorber, 4, a conveyor belt driving motor, 5, a motor-drive shaft transmission belt, 6, a drive shaft, 7, a synchronous belt, 8, a conveyor belt frame, 9, a storage basket, 10, a conveyor belt supporting frame, 11, a seedling throwing barrel, 12, a compactor mounting frame, 13, a compactor main shaft, 14, a compactor shock absorber, 15, a compacting roller, 16, a puncher support, 17, a puncher driving cylinder, 18, a puncher, 19, a puncher connecting frame, 20, a tower driving cylinder, 21, a multi-stage driving rod, 22, a tower sliding rod, 23, a U-shaped connector, 24, a three-stage pneumatic push rod, 25, a main sliding rail, 26, a main sliding block, 27, a cantilever, 28, an end executor group driving cylinder, 29, an end executor sleeve frame, 30, an end executor, 31, a seedling conveying mechanism support, 32, a lock catch and 33, a three-stage tower, 34. seedling tray, 35 seedling tray bracket.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to overcome the problems of the existing transplanting machines at home and abroad, referring to fig. 1-4, the invention provides a novel compact full-automatic plug seedling transplanting machine which has compact structure, high operation efficiency, low manufacturing cost and convenient use.
In order to achieve the technical purpose, the invention adopts the technical scheme that: a transplanter comprises a transplanter body, a seedling tray conveying mechanism, a seedling plant conveying mechanism, a punching mechanism, a PLC control module, a power source, an operating handle and a monitoring module.
A transplanter body: the large part of the vehicle body is made of hard light aluminum alloy, the frame type structure is stable and compact, and the shock absorber 3 is arranged to ensure the operation stability. The tire 1 is designed to be a wide rubber tire, has a large contact area with the ground and is suitable for on-film operation. The maximum steering angle of the wheels is 35 degrees, and the turning requirement under the common working environment can be met.
Seedling tray transport mechanism: the structure comprises two parts, a tower module and a conveyor belt module. The tower 33 is driven by the cylinder 20, 2 discs of potted seedlings 34 can be placed on each layer, the tower can be adjusted to 3-5 layers according to different requirements, and the tower can be telescopic from layer to layer, so that the space is utilized to the maximum extent, the long-time continuous supply of the seedlings for operation is ensured, and the inconvenience caused by the overlarge machine is avoided. The conveying belt 7 adopts a synchronous belt, the transmission ratio is accurate, and the driving mode is motor driving. The user places the seedling tray in the tray carrier, after which the tray carrier 35 with the tray is placed on the tower, and the carrier lock 32 holds the carrier by gravity. The synchronous conveyor belt is used for installing the seedling tray limiting blocks in an adsorption mode according to requirements, the air cylinder drives the tower to place the seedling tray brackets into the conveyor belt, the bracket latches release the seedling tray brackets, and the seedling tray brackets together with the seedling trays synchronously move to the designated position below the seedling plant conveying mechanism along with the conveyor belt under the action of the seedling tray limiting blocks. Empty seedling tray falls into along with the conveyer belt and accomodates basket 9, accomodates the pitch arc design of basket, makes the seedling tray put things in good order layer upon layer.
Seedling conveying mechanism: the seedling conveying mechanism comprises a 3-dimensional conveying platform and an end effector 30. And the three-stage pneumatic push rod 24 drives the slide block 26 to move between the seedling tray and the seedling thrower along the slide rail 25. And a small push stroke cylinder 28 drives the end effector group to move up and down. The end effector assembly is arranged on the sleeve frame 29, and the racks on the sleeve frame are driven by the motor to move left and right so as to complete the mutual avoidance of the two end effector groups in the advancing process and convey the end effectors to the designated positions above the seedling throwing barrel 11. The two groups of end effectors work alternately and circularly to ensure the continuity of seedling throwing work. The end effector is pneumatic in power mode, the grabbing needle is designed into a olecranon-shaped four-needle mode, grabbing is flexible and stable, damage to seedling plants is small, the end effector is designed in a modularized mode, combination can be carried out according to different requirements, and universality is high.
The punching mechanism: the puncher 18 is driven by the air cylinder 17, adopts an earth-covering mode to punch, and avoids the defect that the seedling growth condition is poor due to hardened soil around holes caused by soil squeezing type punching under the condition of high soil humidity. The punch is electrically heated and is therefore suitable for working on the membrane. The two hole punches are alternatively punched.
A seedling throwing mechanism: the mechanism comprises a seedling throwing barrel and a soil compactor. The seedling throwing barrel is internally communicated with an adjustable airflow to protect the seedling and control the falling speed of the seedling. A set of soil compactor is eight to lay in being, has 20 degrees contained angles with vertical direction, and the compactor is equipped with bumper shock absorber 14 to make the seedling plant transplant and reach preferred effect, improve its survival rate.
PLC control module and power supply: the motion of the vehicle body and the work of all the mechanisms are controlled by a PLC module. The power source of the transplanter is a storage battery, the transplanter is clean and pollution-free, and the pneumatic power source is a direct-flow air pump.
Operating handle and monitoring module: the operating handle and the transplanter are transmitted by wireless signals, and a user can control various operation works of the transplanter within a distance range of about 200 meters. After the operating handle is connected with the mobile phone, the working condition of the transplanter can be monitored in real time through the cameras arranged at the front and the back of the transplanter.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The utility model provides a full-automatic plug seedling transplanter which characterized in that includes:
the transplanter comprises a transplanter body, wherein the transplanter body comprises a damping device and a moving device which are used for driving the transplanter to move stably;
a seedling tray conveying mechanism for conveying the seedling tray for placing the potted seedlings on the transplanter to a first preset position, the seedling tray conveying mechanism comprises a tower frame and a conveying belt, the tower frame is telescopic from layer to layer, the conveying belt adopts a synchronous belt, the driving mode is motor driving, a seedling tray is placed in a seedling tray bracket, then the seedling tray bracket with the seedling tray is placed on the tower frame, a bracket lock catch on the seedling tray bracket fixes the seedling tray bracket by means of gravity, the synchronous conveying belt is used for installing a seedling tray limiting block by an adsorption method, a cylinder drives the tower frame to place the seedling tray bracket into the conveying belt, the bracket lock catch releases the seedling tray bracket, the seedling tray bracket with the seedling tray synchronously moves to a specified position below the seedling tray conveying mechanism along with the conveying belt under the action of the seedling tray limiting block, an empty seedling tray falls into a containing basket along with the conveying belt, and the containing basket is designed to be arc-line, so that;
the seedling conveying mechanism comprises a three-dimensional conveying platform and an end effector, a three-level pneumatic push rod of the three-dimensional conveying platform drives a sliding block to move between a seedling tray and a seedling throwing device along a sliding rail, a small pushing cylinder on the transplanter drives the end effector to move up and down, the end effector is assembled and installed on a sleeve frame, a rack on the sleeve frame is driven by a motor to move left and right so as to complete mutual avoidance of the two groups of end effectors in the advancing process, and the end effector is conveyed to a designated position above a seedling throwing barrel;
a punch for performing a punching operation at a second predetermined location;
and the PLC control module is used for controlling the operation of the transplanter body, the seedling tray conveying mechanism and the seedling plant conveying mechanism based on the punching operation of the puncher at the second preset position.
2. The transplanter according to claim 1, wherein:
the large part of the transplanter body is made of hard light aluminum alloy and adopts a frame structure, and the transplanter body is provided with a shock absorber for ensuring the operation stability of the transplanter.
3. The transplanter according to claim 1, wherein:
the transplanter also comprises a seedling tray bracket for placing the seedling tray bracket with the seedling tray on a tower after the seedling tray is placed in the seedling tray bracket, and a bracket lock catch on the seedling tray bracket fixes the seedling tray bracket by means of gravity so as to facilitate synchronization of the conveyor belts.
4. The transplanter according to claim 1, wherein:
the hole puncher is driven by the cylinder, adopts the cover earthwork mode to punch, and the hole puncher can the electric heat, can the operation on the membrane, and two hole puncher punch in turn.
5. The transplanter according to claim 1, wherein:
the transplanter also comprises a power source, wherein the power source comprises a storage battery and a direct-current air pump, and the storage battery drives the direct-current air pump to provide a pneumatic power source.
6. The transplanter according to claim 1, wherein:
the transplanter also comprises an operating handle and a monitoring module, wherein wireless signal transmission is adopted between the operating handle and the signal receiving module of the transplanter, and after the operating handle is in communication connection with a display terminal, the working condition of the transplanter can be monitored in real time through cameras arranged in the front and at the back of the transplanter on the display terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710535794.5A CN107172935B (en) | 2017-07-03 | 2017-07-03 | Full-automatic plug seedling transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710535794.5A CN107172935B (en) | 2017-07-03 | 2017-07-03 | Full-automatic plug seedling transplanter |
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| Publication Number | Publication Date |
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| CN107172935A CN107172935A (en) | 2017-09-19 |
| CN107172935B true CN107172935B (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710535794.5A Expired - Fee Related CN107172935B (en) | 2017-07-03 | 2017-07-03 | Full-automatic plug seedling transplanter |
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| CN107750552B (en) * | 2017-11-15 | 2023-12-29 | 河南科技大学 | Orderly planting system and planting method for garden patterns |
| CN108243669A (en) * | 2017-12-29 | 2018-07-06 | 芜湖飞高农业有限公司 | A kind of watermelon seedling grafting device |
| CN108076756A (en) * | 2018-02-12 | 2018-05-29 | 西安鸣士机电开发有限公司 | Seedling cultivation machine goes up seedling disk device automatically |
| CN108934333B (en) * | 2018-07-24 | 2021-06-11 | 东北农业大学 | Rice seedling transplanting device |
| WO2020140483A1 (en) * | 2019-01-04 | 2020-07-09 | 丰疆智能科技股份有限公司 | High-speed seedling transplanting machine, high-speed seedling feeding method and high-speed seedling transplanting method |
| CN110366916A (en) * | 2019-04-04 | 2019-10-25 | 丰疆智能科技股份有限公司 | Intensive rice shoot loading attachment and its manufacturing method |
| CN110419307B (en) * | 2019-08-29 | 2020-11-10 | 马鞍山市安工大智能装备技术研究院有限公司 | Automatic seedling transplanting machine for plug seedlings |
| CN111758345A (en) * | 2020-06-30 | 2020-10-13 | 舒城县文禾种植专业合作社 | Push rod type seedling feeding device for high-speed rice transplanter |
| CN115053666B (en) * | 2022-07-04 | 2023-08-18 | 西北农林科技大学 | Automatic seeder suitable for paper bowl |
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| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| CN101305656A (en) * | 2008-07-05 | 2008-11-19 | 郭瑞鸿 | Block seedling transplanter |
| JP2009261297A (en) * | 2008-04-24 | 2009-11-12 | Kubota Corp | Transplanter |
| CN104509253A (en) * | 2013-09-26 | 2015-04-15 | 现代农装科技股份有限公司 | Transplanting machine, seedling tray conveying device thereof, and seedling tray conveying method |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
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2017
- 2017-07-03 CN CN201710535794.5A patent/CN107172935B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| JP2009261297A (en) * | 2008-04-24 | 2009-11-12 | Kubota Corp | Transplanter |
| CN101305656A (en) * | 2008-07-05 | 2008-11-19 | 郭瑞鸿 | Block seedling transplanter |
| CN104509253A (en) * | 2013-09-26 | 2015-04-15 | 现代农装科技股份有限公司 | Transplanting machine, seedling tray conveying device thereof, and seedling tray conveying method |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
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| CN107172935A (en) | 2017-09-19 |
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