CN114586514B - Electric-driven dry land plug seedling transplanter - Google Patents
Electric-driven dry land plug seedling transplanter Download PDFInfo
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- CN114586514B CN114586514B CN202210361192.3A CN202210361192A CN114586514B CN 114586514 B CN114586514 B CN 114586514B CN 202210361192 A CN202210361192 A CN 202210361192A CN 114586514 B CN114586514 B CN 114586514B
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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
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
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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
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention belongs to the technical field of dry land pot seedling transplanting. The electric-driven dry land plug seedling transplanter integrates the functions of plug conveying, seedling taking by an end effector and seedling planting by duckbills, and has the characteristics of simple structure, low cost, high transplanting efficiency and labor saving. The technical scheme is as follows: an electric drive type dry land plug seedling transplanter is characterized in that: the seedling transplanting machine comprises a rack, a plug tray conveying mechanism, two groups of variable-interval seedling taking mechanisms, two groups of seedling receiving mechanisms, a plurality of groups of wheel-type driving mechanisms and an electric control box, wherein the plug tray conveying mechanism can be horizontally and movably positioned on the rack along the front-back direction to convey plug trays, the two groups of variable-interval seedling taking mechanisms are symmetrically arranged on the rack and are positioned above the plug tray conveying mechanism to grab plug tray seedlings, the two groups of seedling receiving mechanisms are symmetrically arranged on the left side and the right side of the plug tray conveying mechanism to receive and transplant the plug tray seedlings, the groups of wheel-type driving mechanisms are arranged at the bottom of the rack to drive the transplanting machine to integrally move, and the electric control box is arranged on the rack to control the mechanisms to work in a matched mode; two groups of seedling receiving structures can be horizontally positioned on the supporting shaft of the rack in a sliding manner along the left and right directions.
Description
Technical Field
The invention belongs to the technical field of dry land pot seedling transplanting, and particularly relates to an electric-driven dry land plug seedling transplanter.
Background
Plug seedling and mechanical seedling planting are the main ways for improving the agricultural planting productivity and are adopted by many countries. China transplanting machines are mostly oriented to paddy fields and dry lands. The paddy field is mainly the research of rice transplanting machines, and the dry land transplanting machines relate to crops with various aspects such as green Chinese onions, garlic, cabbages, broccoli and the like. In recent years, transplanting machines are greatly improved, but the transplanting machines are relatively heavy and have low automation degree, the transplanting machine needs to be pushed to advance manually and simultaneously continuously assists in seedling releasing in the advancing process, the transplanting survival rate is low, the continuous improvement of the transplanting efficiency is restricted, the price is relatively expensive, the whole machine driving mode is still mainly based on the traditional diesel engine power generation driving mode, and the structural complexity is increased.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide the electric-drive dry-land plug seedling transplanter which integrates the functions of plug conveying, end effector seedling taking and duckbill seedling planting into a whole, and the transplanter has the characteristics of simple structure, low cost, high transplanting efficiency and labor saving.
The technical scheme provided by the invention is as follows:
an electric-driven dry land plug seedling transplanter is characterized in that: the seedling transplanting machine comprises a rack, a plug tray conveying mechanism, two groups of variable-interval seedling taking mechanisms, two groups of seedling receiving mechanisms, a plurality of groups of wheel-type driving mechanisms and an electric control box, wherein the plug tray conveying mechanism can be horizontally and movably positioned on the rack along the front-back direction to convey plug trays, the two groups of variable-interval seedling taking mechanisms are symmetrically arranged on the rack and are positioned above the plug tray conveying mechanism to grab plug tray seedlings, the two groups of seedling receiving mechanisms are symmetrically arranged on the left side and the right side of the plug tray conveying mechanism to receive and transplant the plug tray seedlings, the groups of wheel-type driving mechanisms are arranged at the bottom of the rack to drive the transplanting machine to integrally move, and the electric control box is arranged on the rack to control the mechanisms to work in a matched mode; the two groups of seedling receiving structures can be horizontally positioned on a support shaft of the frame in a sliding manner along the left and right directions so as to adjust the transplanting row spacing of the plug seedlings; the two groups of variable-interval seedling taking mechanisms are in one-to-one correspondence with the two groups of seedling receiving mechanisms respectively.
The hole tray conveying mechanism comprises two bending pieces which are fixed on a rack through a locking assembly and are arranged on the left side and the right side of a hole tray at intervals to support the hole tray, a plurality of position sensor light reflecting plates which are arranged on the inner sides of the bending pieces to position the conveying position of the hole tray, two roller chains which are respectively arranged below the two bending pieces and are tensioned by a chain wheel, a hole tray conveying motor which drives the two roller chains to synchronously move, and a plurality of chain shafts of which two ends are respectively fixedly connected with the two roller chains; the upper part of the roller chain corresponds to the position of the hole disc, so that a chain shaft connected to the upper part of the roller chain is just clamped and embedded in a hole gap at the bottom of the hole disc; the chain shafts are arranged at equal intervals, and the interval between every two adjacent chain shafts is integral multiple of the center distance of the hole.
The locking assembly comprises a supporting plate fixed on the rack, a horizontal pin shaft with one end fixedly connected with the bending piece and the other end horizontally movably positioned on the supporting plate along the left-right direction so as to adjust the position of the bending piece, and a handle which is vertically movably installed on the supporting plate in a threaded manner and is connected with the horizontal pin shaft in a propping manner at the bottom.
A pressing wheel positioned above the edge of the plug tray is arranged on the inner side of the bending piece so as to prevent the plug tray from moving vertically in the seedling picking process; the bottom of the plug tray is provided with a supporting plate fixed on the frame to prevent the plug tray from being stressed and recessed in the seedling taking process.
The variable-spacing seedling taking mechanism comprises a linear module horizontally fixed on the rack along the left-right direction, a guide shaft fixed on the rack and arranged in parallel with the linear module, a mute guide rail horizontally arranged along the front-back direction, one end of the mute guide rail is fixed on a sliding block of the linear module, the other end of the mute guide rail is connected to the guide shaft in a sliding manner, a plurality of large cylinders arranged in parallel and vertically arranged on the mute guide rail, a plurality of end effectors arranged at the tail ends of push rods of the large cylinders in a one-to-one correspondence manner so as to grab plug seedlings, and an expansion cylinder driving the end effectors to be mutually expanded or folded; two adjacent end effectors are connected through a nylon rope; in each large cylinder, the large cylinder at the foremost side is fixed on the mute guide rail, the rest large cylinders are all slidably positioned on the mute guide rail, and the large cylinder at the rearmost side is fixedly connected with the tail end of the push rod of the expansion cylinder.
Each group of end effectors comprises an air cylinder mounting plate fixed at the tail end of the large air cylinder push rod, a small air cylinder vertically fixed on the air cylinder mounting plate, a steel needle mounting plate fixed at the tail end of the small air cylinder push rod, an upper guide plate and a lower guide plate which are fixed on the air cylinder mounting plate and positioned below the steel needle mounting plate, and four seedling taking steel needles, one ends of which are fixed on the steel needle mounting plate, and the other ends of which vertically and downwards penetrate through the upper guide plate and the lower guide plate in sequence; and the lower guide plate is provided with an adjusting angle piece which is connected with the outer side of the seedling taking steel needle in an abutting mode so as to enable each seedling taking steel needle to incline towards the direction of mutual folding.
A wedge-shaped block positioned between the upper layer guide plate and the lower layer guide plate is arranged on the seedling taking steel needle; the contraction end of the wedge-shaped block faces downwards and can be inserted into the lower guide plate along with the seedling taking steel needle.
Each group of seedling receiving mechanisms comprises a seedling receiving plate which can be horizontally positioned on the supporting shaft in a sliding manner along the left-right direction, a plurality of planting cups which are fixed on the seedling receiving plate in parallel along the front-back direction and the bottoms of which are hinged with cup covers, a belt wheel conveyor which is arranged on the seedling receiving plate and is positioned below the planting cups, a cup cover opening plate which is driven by the belt wheel conveyor to move back and forth and corresponds to the positions of the cup covers of the planting cups so as to control the opening and closing of the planting cups, an outer frame which is arranged below the cup cover opening plate and is vertically positioned on the frame in a sliding manner, an adjustable stroke cylinder which is vertically fixed on the seedling receiving plate and the tail end of a push rod of the adjustable stroke cylinder is fixedly connected with the outer frame, an optical shaft which is horizontally arranged along the front-back direction and is axially positioned on the outer frame through a linear bearing, a seedling receiving hopper which is fixed on the optical shaft and is positioned below the planting cups, a buffer spring which is sleeved on the optical shaft and two ends of the optical shaft respectively abut against the inner side of the outer frame and the seedling receiving hopper, and a duckbilled seedling planting assembly which is fixed below the seedling receiving hopper for planting seedlings; the planting cups are the same in number with the end effectors and are in one-to-one correspondence; the distance between two adjacent planting cups is the same as the distance between two adjacent end effectors after being unfolded.
The duckbilled subassembly of planting seedlings includes and connects seedling fill fixed connection's the seedling fixed plate of planting, articulate on the seedling fixed plate and first profile modeling duckbill and the second profile modeling duckbill that the symmetry set up, one end is fixed at first profile modeling duckbill and the articulated epaxial first company board of seedling fixed plate, one end is fixed at second profile modeling duckbill and the articulated epaxial second of seedling fixed plate even board, link the mutually articulated stub axle of the board other end and the second with the first link board other end and vertical fixing on the seedling fixed plate and its push rod end and stub axle fixed connection's the cylinder of planting seedlings.
Every wheeled actuating mechanism of group all includes the motor mount of fixing in the frame bottom, vertical fix on the motor mount and set the last rotation motor of angle sensor, fix at last the terminal rubber wheel fixed plate of rotation motor, can fix a position the rubber wheel on the rubber wheel fixed plate and fix on the rubber wheel fixed plate and rotate the motor under through the band pulley subassembly drive rubber wheel is rotatory around horizontal axis rotation.
The invention has the beneficial effects that:
1. in the hole tray conveying mechanism, the chain shaft at the upper part of the roller chain is clamped in the gap between two adjacent hole holes, and when the hole tray conveying motor drives the roller chain to move, the chain shaft drives the hole tray to move, so that the hole tray is conveyed.
2. In the variable-spacing seedling taking mechanism, the left and right positions of each end effector are adjusted through the linear module, and the expansion or furling of the end effectors is controlled through the expansion cylinder, so that the end effectors are adjusted to be above the seedling receiving mechanism, and the grabbing and transplanting of plug seedlings are realized; and moreover, a plurality of groups of end effectors are arranged, so that the transplanting efficiency of the plug seedlings can be greatly improved.
3. The end effector is provided with the wedge-shaped block, the contraction end of the wedge-shaped block faces downwards, when the seedling taking steel needle moves downwards, the wedge-shaped block is inserted into the lower guide plate along with the seedling taking steel needle, the inclination angle of the seedling taking steel needle can be further changed, the clamping force can be instantly improved, and the completeness of seedling taking is ensured.
4. According to the seedling receiving mechanism, plug seedlings in the planting cups can be controlled to sequentially enter the seedling receiving hopper through the cup cover opening plate, the plug seedlings in the seedling receiving hopper are planted through the duckbilled seedling planting assembly, the stroke-adjustable cylinder can control the vertical position of the duckbilled seedling planting assembly, and the soil penetration depth of the plug seedlings is adjusted.
5. Because the duckbilled seedling planting assembly needs to be inserted into soil in the transplanting process of the plug seedlings, the seedling receiving hopper and the duckbilled seedling planting assembly are fixed on the two optical shafts, and the two ends of the optical shafts are installed through the linear bearings, so that the whole machine can slide along the linear bearings while moving forward, the transplanting position of the duckbilled seedling planting assembly is ensured to be unchanged, zero-speed soil penetration of the plug seedlings is realized, and the verticality and the survival rate of the plug seedlings are greatly improved; in addition, the buffer spring is sleeved on the optical axis, so that the duckbilled seedling planting assembly can reset after seedling planting is finished, and continuous seedling planting operation is performed.
6. The transplanter can realize continuous planting of the plug seedlings by only one person putting the plug on the plug conveying mechanism, has high automation degree and is suitable for popularization and application.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic front view of the present invention.
Fig. 3 is a right-view structural diagram of the present invention.
Fig. 4 is a schematic top view of the present invention.
Fig. 5 is a schematic perspective view of the tray conveying mechanism according to the present invention.
Fig. 6 is a second perspective view of the tray conveying mechanism of the present invention.
Fig. 7 is a schematic perspective view of a variable-pitch seedling taking mechanism according to the present invention.
Fig. 8 is a schematic structural view of the variable-pitch seedling taking mechanism in the invention.
Fig. 9 is a perspective view of an end effector according to the present invention.
Fig. 10 is a schematic perspective view of the seedling receiving mechanism of the present invention.
FIG. 11 is a schematic perspective view of a duckbilled seedling planting assembly according to the present invention
Figure 12 is a left side elevational view of the duckbill seedling module of the present invention.
Fig. 13 is a schematic perspective view of a wheel drive mechanism according to the present invention.
Fig. 14 is a front view schematically showing the structure of the wheel drive mechanism of the present invention.
Reference numerals:
1. a frame; 1-1, an air pump fixing frame; 1-2, supporting a shaft;
2. a plug conveying mechanism; 2-1, bending pieces; 2-2, a position sensor reflector; 2-3, a roller chain; 2-4, a plug conveying motor; 2-5, chain shaft; 2-6, a pinch roller; 2-7, a supporting plate; 2-8, a support plate; 2-9, horizontal pin shaft; 2-10, a handle; 2-11, a drive sprocket; 2-12, a driven sprocket;
3. a variable-pitch seedling taking mechanism; 3-1, a linear module; 3-2, a guide shaft; 3-3, a silent guide rail; 3-4, a large cylinder; 3-5, an end effector; 3-5-1, cylinder mounting plate; 3-5-2, small cylinder; 3-5-3, mounting a steel needle plate; 3-5-4, an upper guide plate; 3-5-5, lower guide plate; 3-5-6, taking a seedling steel needle; 3-5-7, wedge block; 3-5-8, adjusting corner fittings; 3-6, expanding the cylinder;
4. a seedling receiving mechanism; 4-1, planting a cup; 4-2, a belt wheel conveyor; 4-3, opening a plate of the cup cover; 4-4, an outer frame; 4-5, a stroke-adjustable cylinder; 4-6, optical axis; 4-7, inoculating a seedling bucket; 4-8, buffer spring; 4-9, duckbilled seedling planting components; 4-9-1, planting a seedling fixing plate; 4-9-2, a first contoured duckbill; 4-9-3, a second contoured duckbill; 4-9-4, a first connecting plate; 4-9-5, a second connecting plate; 4-9-6, short pin shaft; 4-9-7, planting seedling cylinder; 4-10, sliding rails; 4-11, a guide track; 4-12, linear bearings; 4-13, inoculating a seedling plate;
5. a wheel drive mechanism; 5-1, a motor fixing frame; 5-2, an upper rotating motor; 5-3, fixing a rubber wheel plate; 5-4, rubber wheels; 5-5, rotating the motor downwards; 5-6, an angle sensor; 5-7, a synchronizing wheel;
6. an electric cabinet;
7. and (4) a plug.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
For convenience of description, the left side of fig. 2 is taken as left, the right side is taken as right, the outward direction perpendicular to the paper is taken as front, and the inward direction perpendicular to the paper is taken as rear.
The electric-driven dry land plug seedling transplanter shown in fig. 1 to 4 comprises a frame 1, a plug conveying mechanism 2, two groups of variable-interval seedling taking mechanisms 3, two groups of seedling receiving mechanisms 4, a plurality of groups (four groups in the figure) of wheel-type driving mechanisms 5 and an electric cabinet 6; wherein the two groups of variable-interval seedling taking mechanisms are respectively in one-to-one correspondence with the two groups of seedling receiving mechanisms.
As shown in fig. 5 and 6, the tray conveying mechanism is horizontally movably positioned on the frame in the front-back direction for conveying the tray 7. The plug tray conveying mechanism comprises two bending pieces 2-1, a locking assembly, a plurality of (two in the figure) position sensor light reflecting plates 2-2, two roller chains 2-3, a plug tray conveying motor 2-4, a plurality of chain shafts 2-5, a pressing wheel 2-6 and a supporting plate 2-7. The two bending pieces are arranged on the left side and the right side of the plug at an interval distance and used for supporting the plug. Each group of bending pieces are fixed on the rack through a locking assembly; the locking assembly comprises a support plate 2-8, a horizontal pin shaft 2-9 and a handle 2-10. The supporting plate is fixed on the frame; one end of the horizontal pin shaft is fixedly connected with the bending piece, and the other end of the horizontal pin shaft can be horizontally and movably positioned on the supporting plate along the left-right direction so as to adjust the distance between the two bending pieces; the handle can be vertically movably installed on the supporting plate in a threaded mode, and the bottom of the handle is connected with the horizontal pin shaft in an abutting mode. During installation, the position of the horizontal pin shaft is adjusted to enable the distance between the two bending pieces to be suitable for the width of the hole tray, then the handle is screwed down to enable the bottom of the handle to tightly abut against the horizontal pin shaft, and therefore the bending pieces are fixed on the rack. The position sensor reflector is arranged on the inner side of the bending piece, and the conveying position of the plug tray is positioned by sensing a position sensor (not shown in the figure) on the side surface of the plug tray.
The two roller chains are respectively arranged below the two bending pieces; the two roller chains are tensioned by chain wheels (comprising a driving chain wheel 2-11 and a driven chain wheel 2-12) arranged on bearing seats, wherein the bearing seats on which the driving chain wheels are arranged are fixed on a rack, and the bearing seats on which the driven chain wheels are arranged are slidably arranged on the rack so as to adjust the positions of the driven chain wheels according to the lengths of the chains and ensure the tensioning of the roller chains. In the two roller chains, two driving chain wheels and two driven chain wheels are connected with each other through rotating shafts; the plug conveying motor drives the rotating shaft between the two driving chain wheels to rotate, so that the two roller chains are driven to synchronously move. Two ends of the chain shaft are respectively and fixedly connected with two roller chains, wherein the upper parts of the roller chains correspond to the positions of the hole discs, so that the chain shaft connected to the upper parts of the roller chains is just clamped and embedded in the hole gaps at the bottoms of the hole discs; when the roller chain drives the chain shaft to move, the chain shaft applies force to the hole tray, so that the hole tray is driven to move. Preferably, the chain shafts are arranged at equal intervals, and the interval between two adjacent chain shafts is integral multiple of the center distance of the holes.
The inner side of the bending piece is provided with the pressing wheel, the pressing wheel is located above the edge of the plug tray, and the vertical position of the plug tray can be located to avoid vertical movement of the plug tray in the seedling taking process. In addition, the supporting plate is arranged at the bottom of the plug tray and horizontally fixed on the rack, and the upper surface of the supporting plate is basically flush with the bottom surface of the plug tray, so that the plug tray is prevented from being stressed and recessed in the seedling taking process.
The two groups of variable-interval seedling taking mechanisms are identical in structure and symmetrically arranged on the rack, and the variable-interval seedling taking mechanisms are located above the plug conveying mechanism and used for grabbing plug seedlings. As shown in figures 7 and 8, each group of variable-interval seedling taking mechanisms comprises a linear module 3-1, a guide shaft 3-2, a silent guide rail 3-3, a plurality of large cylinders 3-4, a plurality of end effectors 3-5 and an expansion cylinder 3-6. The straight line module is horizontally fixed on the rack along the left and right directions and can be purchased; the guide shaft is fixed on the rack, arranged in parallel with the linear module and used for guiding the mute guide rail; the mute guide rail is horizontally arranged along the front-back direction, one end of the mute guide rail is fixed on the sliding block of the linear module, and the other end of the mute guide rail is connected to the guide shaft in a sliding manner. The large air cylinder is vertically arranged above the end effector to push the end effector to integrally descend to reach the position right above the plug seedlings so as to prepare for the end effector to continuously descend and take the seedlings; in the embodiment, the number of the large cylinders is 6, the large cylinders are divided into two groups which are in mirror symmetry, each group of the variable-interval seedling taking mechanisms comprises one group (specifically 3) of large cylinders, and the 3 large cylinders are arranged in the front-back direction; in the two groups of large cylinders, the center distance between two mutually symmetrical end effectors is the same as the center distance between two adjacent holes on the plug (in this embodiment, the center distance between two adjacent holes is 42.5mm, and can also be set to be an integral multiple of 42.5 mm). The end effectors are fixed at the tail ends of the push rods of the large cylinders in a one-to-one correspondence manner and are used for grabbing plug seedlings; two adjacent end effectors are connected to each other by a nylon string (not shown). The expansion cylinder drives the end effectors to mutually expand or contract; the big cylinder on the foremost side is fixed on the mute guide rail, the other big cylinders are slidably positioned on the mute guide rail, and the big cylinder on the rearmost side is fixedly connected with the tail end of the push rod of the expansion cylinder. During operation, the expansion cylinder extends to enable each big cylinder and each end effector to be mutually unfolded, the nylon rope is tensioned, meanwhile, the linear module drives each end effector to move to a position above the plug tray, then the big cylinder extends to drive the end effector to move downwards to reach a position right above the plug tray seedling, at the moment, the small cylinder in the end effector continues to extend to drive the seedling taking steel needle to descend to grab the seedling and keep a clamping state, the big cylinder integrally lifts the end effector in the seedling clamping state upwards, and therefore grabbing and lifting actions of the plug tray seedling are achieved.
As shown in figure 9, each group of end effectors comprises an air cylinder mounting plate 3-5-1, a small air cylinder 3-5-2, a steel needle mounting plate 3-5-3, an upper guide plate 3-5-4, a lower guide plate 3-5-5 and four seedling-taking steel needles 3-5-6. The cylinder mounting plate is fixed at the tail end of a push rod of the large cylinder; the small cylinder is vertically fixed on the cylinder mounting plate; the steel needle mounting plate is fixed at the tail end of a push rod of the small cylinder; the upper layer guide plate and the lower layer guide plate are fixed on the cylinder mounting plate at intervals, and are located below the steel needle mounting plate. One ends of four seedling taking steel needles are fixed on the steel needle mounting plate, and the other ends of the four seedling taking steel needles vertically downwards penetrate through the upper layer guide plate and the lower layer guide plate in sequence. And the lower layer guide plate is provided with adjusting angle pieces 3-5-8 which are connected with the outer sides of the seedling taking steel needles in an abutting mode so as to enable the seedling taking steel needles to incline towards the direction of mutual folding. When the device works, the small air cylinder extends to drive the four seedling taking steel needles to move downwards and insert into corresponding plug holes, so that plug seedlings are clamped smoothly.
Preferably, the seedling taking steel needle is further provided with a wedge-shaped block 3-5-7, the wedge-shaped block is positioned between the upper layer guide plate and the lower layer guide plate and is close to the upper layer guide plate, and the movement position of the seedling taking steel needle can be limited; the shrink end of wedge is down, and when snatching cave dish seedling, the seedling steel needle downstream is got in the drive to little cylinder extension, and the wedge inserts the lower floor deflector along with getting the seedling steel needle simultaneously, and the inclination of getting the seedling steel needle is further changed to the wedge, can improve the clamp force in the twinkling of an eye, guarantees to get the completeness of seedling.
The two groups of seedling receiving mechanisms are symmetrically arranged at the left side and the right side of the plug tray conveying mechanism and are used for receiving and transplanting plug tray seedlings; support shafts 1-2 are horizontally fixed on the rack along the left-right direction, and the two groups of seedling receiving mechanisms are slidably mounted on the support shafts so as to adjust the transplanting row spacing of the plug seedlings according to actual conditions. As shown in figure 10, each seedling receiving mechanism comprises a seedling receiving plate 4-13, a plurality of planting cups 4-1, a belt wheel conveyor 4-2, a cup cover opening plate 4-3, an outer frame 4-4, an adjustable stroke cylinder 4-5, an optical axis 4-6, a seedling receiving hopper 4-7, a buffer spring 4-8 and a duckbilled seedling planting assembly 4-9. The seedling receiving plate can be horizontally and slidably positioned on the supporting shaft along the left-right direction, and the position of the seedling receiving plate is locked and positioned through a locking ring (which can be purchased). The number of the planting cups is the same as that of the end effectors, the planting cups correspond to the end effectors one by one, and the number of the planting cups in each group of seedling receiving mechanisms in the figure is 3; 3 planting cups are arranged and fixed on the seedling receiving plate along the front-back direction, and the bottom of each planting cup is hinged with a cup cover; the distance between two adjacent planting cups is the same as the distance between two adjacent end effectors after being unfolded, so that the end effectors can accurately place the plug seedlings into the planting cups. The belt wheel conveyor is arranged on the rack and is positioned below each planting cup, and the belt wheel conveyor can be purchased outside. The cup cover opening plate is fixed on a conveying belt of a belt wheel conveyor so as to drive the cup covers to move by the belt wheel conveyor; in this embodiment, the frame is provided with guide rails 4 to 11 slidably connected to the lid opening plate to guide the lid opening plate. The cup cover opening plate corresponds to the cup cover of the planting cup; when the plate is opened to the bowl cover at band pulley conveyer's driving about down the fore-and-aft movement, the bowl cover is opened the switching of the steerable bowl cover of plate, and then control cave dish seedling and fall down from the field planting cup.
The outer frame is arranged below the cup cover opening plate, four sliding rails 4-10 are vertically arranged on the rack, and the outer frame can vertically move along the four sliding rails. The adjustable stroke cylinder is vertically fixed on the rack, and the tail end of a push rod of the adjustable stroke cylinder is fixedly connected with the outer frame to provide driving force for vertical movement of the outer frame. The optical axis is provided with two to two optical axes are arranged along fore-and-aft direction level, but the both ends of optical axis are all fixed a position on the frame through linear bearing axial slip ground. The seedling receiving hopper is fixed on the two optical axes and is positioned below each planting cup. And each optical axis is sleeved with the buffer spring, and two ends of the buffer spring respectively support against the inner side of the outer frame and the seedling receiving hopper. Duckbilled seedling planting subassembly is fixed and is connect seedling fill below for plant the seedling operation. In the advancing process of the transplanter, when the duckbilled seedling planting assembly plants seedlings, the stroke-adjustable air cylinder extends to enable the duckbilled seedling planting assembly to be inserted into soil, the position of the duckbilled seedling planting assembly is kept unchanged, meanwhile, the optical axis slides in the linear bearing, and the buffer spring deforms, so that the transplanter can ensure that plug seedlings enter the soil at zero speed while advancing, and the verticality and the survival rate of the plug seedlings are improved; after the transplanting of plug seedling, adjustable stroke cylinder shrink, the duckbilled subassembly of planting seedlings breaks away from soil, and under buffer spring's restoring force effect, the optical axis resets, drives the duckbilled subassembly of planting seedlings and gets back to initial position to carry out the operation of planting seedlings next time.
As shown in fig. 11 and 12, the duckbilled seedling planting assembly comprises a seedling planting fixing plate 4-9-1, a first copying duckbill 4-9-2, a second copying duckbill 4-9-3, a first connecting plate 4-9-4, a second connecting plate 4-9-5, a short pin shaft 4-9-6 and a seedling planting cylinder 4-9-7. The seedling planting fixing plate is fixedly connected with the seedling receiving hopper; first profile modeling duckbilled and the same and symmetrical arrangement of second profile modeling duckbilled structure, two profile modeling duckbilled are articulated with the fixed plate of planting seedlings respectively (two profile modeling duckbilled are fixed on corresponding profile modeling duckbilled with the articulated shaft of planting the fixed plate of planting seedlings) for two profile modeling duckbilled can open each other or draw in. The one end of first company's board is fixed on the articulated shaft of first profile modeling duckbilled and planting seedling fixed plate, and the one end of second company's board is fixed on the articulated shaft of second profile modeling duckbilled and planting seedling fixed plate to the first link board other end passes through with the second link board other end the short pin axle is articulated each other. The seedling planting cylinder is vertically fixed on the seedling planting fixing plate, and the tail end of a push rod of the seedling planting cylinder is fixedly connected with the short pin shaft. During operation, the extension of planting seedling cylinder drives the motion of stub axle, drives two profile modeling duckbilled through first duckbilled connecting plate and second duckbilled connecting plate and opens or draw in each other. In this embodiment, first even board, second even board, short hinge pin axle and the cylinder of planting seedlings all are provided with two sets of and symmetrical arrangement to improve the stability of two profile modeling duckbilled activities.
Four groups of wheel-type driving mechanisms are all arranged at the bottom of the frame and used for driving the transplanter to move integrally. As shown in fig. 13 and 14, each set of wheel type driving mechanism comprises a motor fixing frame 5-1, an upper rotating motor 5-2, a rubber wheel fixing plate 5-3, a rubber wheel 5-4 and a lower rotating motor 5-5. The motor fixing frame is fixed at the bottom of the rack; the upper rotating motor is vertically fixed on the motor fixing frame, and a rotating shaft of the upper rotating motor is provided with an angle sensor 5-6 for detecting the rotating angle of the upper rotating motor. The rubber wheel fixing plate is fixed at the tail end of a rotating shaft of the upper rotating motor; the rubber wheel is rotatably positioned on the rubber wheel fixing plate around a horizontal axis. The lower motor is fixed on the rubber wheel fixing plate, and the lower motor drives the rubber wheel to rotate through a pulley assembly (comprising two synchronizing wheels 5-7 and a belt connecting the two synchronizing wheels, the belt is not shown in the figure). When the electric vehicle works, the upper rotating motor is used for controlling the rotation of the rubber wheel; the lower rotating motor is used for controlling the rubber wheels to advance and retreat, so that the transplanting machine can move at any angle.
The electric cabinet is arranged on the frame and is respectively and electrically connected with all the air cylinders, the motor and the sensor so as to control the mechanisms to work in a matching way. In this embodiment, the electric cabinet is provided with two sets and installs respectively in the left and right sides of frame to rationally counter weight the whole machine.
An air pump fixing frame 1-1 for mounting an air pump (not shown in the figure) is arranged on the frame, and each air cylinder is connected with the air pump.
The working mode of the invention is as follows:
step 1: firstly, the distance between two bending pieces is adjusted through a clamping assembly, the hole disc with the seedlings is manually placed on a chain shaft of a roller chain, a pressing wheel is installed, and the vertical position of the hole disc in the subsequent seedling taking process is limited.
And 2, step: the plug conveying motor is started, the roller chain conveys plug seedlings to the position below the variable-interval seedling taking mechanism, and the plug conveying motor stops rotating.
And step 3: each large cylinder extends to enable each end effector to synchronously move downwards, and each small cylinder extends to drive a seedling taking steel needle to enter a hole to take a seedling; then each big cylinder contracts, the seedlings are lifted upwards, and the seedlings are successfully picked.
And 4, step 4: the two groups of linear modules respectively drive the three end effectors to move towards two sides and reach the upper part of the corresponding seedling receiving mechanism.
And 5: and expanding the expansion cylinder to expand the end effectors, contracting the small cylinders to release seedlings, and enabling the plug seedlings to just fall into the corresponding planting cups.
Step 6: the belt wheel conveyor drives the cup covers to open the plate to move, the cup covers at the bottoms of the planting cups are sequentially opened, and when one planting cup is opened, the plug seedlings fall into the seedling receiving hopper, and the duckbilled seedling planting assembly is used for zero-speed soil-entering seedling planting until the plug seedlings in the planting cups are sequentially transplanted, and all the plug seedlings taken by the end effector are successfully planted.
And 7: duckbilled seedling planting assembly and belt wheel conveyor reset, and two sets of sharp modules respectively drive three end effector and move and get the seedling position to next time, and repeated step 3 gets into the microcirculation to step 6, continues to get the seedling, plants the seedling operation.
And 8: and (3) after the end effectors take three rows of plug seedlings corresponding to each end effector on the plug, driving the roller chains to move by the plug conveying motor, enabling the plugs to move forward for three rows and then stop moving, repeating the steps 3 to 8, and entering a large cycle to realize continuous transplantation of the plug seedlings.
According to the invention, the 6x12 hole plug is adopted, the roller chain drives the plug to move forward for three rows of distances (realized by sensing a position sensor on the side surface of the plug through a position sensor reflector) each time, and all plug seedlings in one plug can be completely grabbed after four large cycles. After the grabbing is finished, the empty plug tray automatically falls into a collecting frame (not shown in the figure) in front of the plug tray conveying mechanism, the seedling is put in an auxiliary mode continuously by manpower, and the next seedling taking and planting actions are carried out.
Finally, it is noted that the above-mentioned list is only a specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and various modifications are possible, for example, six end effector seedling-fetching mechanisms may be optimized, six small cylinders may be replaced with other overall up-and-down driving forms to simplify the mechanical structure, and the like. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (3)
1. An electric drive type dry land plug seedling transplanter is characterized in that: the seedling transplanting machine comprises a rack (1), a plug tray conveying mechanism (2) which can be horizontally and movably positioned on the rack along the front-back direction to convey plug trays, two groups of variable-interval seedling taking mechanisms (3) which are symmetrically arranged on the rack and positioned above the plug tray conveying mechanism to grab plug tray seedlings, two groups of seedling receiving mechanisms (4) which are symmetrically arranged on the left side and the right side of the plug tray conveying mechanism to receive and transplant the plug tray seedlings, a plurality of groups of wheel-type driving mechanisms (5) which are arranged at the bottom of the rack to drive the transplanting machine to integrally move, and an electric cabinet (6) which is arranged on the rack to control the mechanisms to work in a matched mode; the two groups of seedling receiving structures can be horizontally positioned on a support shaft (1-2) of the frame in a sliding manner along the left and right directions so as to adjust the transplanting row spacing of the plug seedlings; the two groups of variable-interval seedling taking mechanisms are respectively in one-to-one correspondence with the two groups of seedling receiving mechanisms;
the hole tray conveying mechanism comprises two bending pieces (2-1) which are fixed on a rack through locking components and are arranged on the left side and the right side of a hole tray at intervals to support the hole tray, a plurality of position sensor reflecting plates (2-2) which are arranged on the inner sides of the bending pieces to position the conveying position of the hole tray, two roller chains (2-3) which are respectively arranged below the two bending pieces and are tensioned by a chain wheel, a hole tray conveying motor (2-4) driving the two roller chains to synchronously move, and a plurality of chain shafts (2-5) of which two ends are respectively and fixedly connected with the two roller chains; the upper part of the roller chain corresponds to the position of the hole disc, so that a chain shaft connected to the upper part of the roller chain is just clamped and embedded in a hole gap at the bottom of the hole disc; the chain shafts are arranged at equal intervals, and the interval between every two adjacent chain shafts is integral multiple of the center distance of the hole;
the locking assembly comprises a supporting plate (2-8) fixed on the rack, a horizontal pin shaft (2-9) with one end fixedly connected with the bent piece and the other end horizontally movably positioned on the supporting plate along the left-right direction so as to adjust the position of the bent piece, and a handle (2-10) which is vertically movably arranged on the supporting plate in a threaded manner and is connected with the bottom of the horizontal pin shaft in an abutting manner;
a pressing wheel (2-6) positioned above the edge of the plug is arranged on the inner side of the bending piece so as to prevent the plug from moving vertically in the seedling picking process; the bottom of the plug tray is provided with a supporting plate (2-7) fixed on the frame to prevent the plug tray from being stressed and recessed in the seedling taking process;
the variable-spacing seedling taking mechanism comprises a linear module (3-1) horizontally fixed on a rack in the left-right direction, a guide shaft (3-2) fixed on the rack and arranged in parallel with the linear module, a mute guide rail (3-3) horizontally arranged in the front-back direction, one end of the mute guide rail is fixed on a sliding block of the linear module, the other end of the mute guide rail is connected to the guide shaft in a sliding manner, a plurality of large cylinders (3-4) arranged in parallel and vertically arranged on the mute guide rail, a plurality of end effectors (3-5) arranged at the tail ends of push rods of the large cylinders in a one-to-one correspondence manner to grab plug seedlings, and expansion cylinders (3-6) driving the end effectors to mutually expand or contract; two adjacent end effectors are connected through a nylon rope; in each large cylinder, the large cylinder at the foremost side is fixed on the mute guide rail, the other large cylinders are slidably positioned on the mute guide rail, and the large cylinder at the rearmost side is fixedly connected with the tail end of the push rod of the expansion cylinder;
each group of end effectors comprises an air cylinder mounting plate (3-5-1) fixed at the tail end of a large air cylinder push rod, a small air cylinder (3-5-2) vertically fixed on the air cylinder mounting plate, a steel needle mounting plate (3-5-3) fixed at the tail end of a small air cylinder push rod, an upper guide plate (3-5-4) and a lower guide plate (3-5-5) which are fixed on the air cylinder mounting plate and positioned below the steel needle mounting plate, and four seedling taking steel needles (3-5-6) of which one ends are fixed on the steel needle mounting plate and the other ends vertically and downwards penetrate through the upper guide plate and the lower guide plate in sequence; the lower layer guide plate is provided with an adjusting angle piece (3-5-8) which is connected with the outer side of the seedling taking steel needle in an abutting mode so as to enable each seedling taking steel needle to incline towards the direction of mutual folding;
a wedge-shaped block (3-5-7) positioned between the upper layer guide plate and the lower layer guide plate is arranged on the seedling taking steel needle; the contraction end of the wedge-shaped block faces downwards and can be inserted into the lower guide plate along with the seedling taking steel needle;
each group of seedling receiving mechanisms comprises a seedling receiving plate (4-13) which can be horizontally positioned on the supporting shaft in a sliding manner along the left-right direction, a plurality of planting cups (4-1) which are fixed on the seedling receiving plate in parallel along the front-back direction and the bottoms of which are hinged with cup covers, a belt wheel conveyor (4-2) which is arranged on the seedling receiving plate and is positioned below the planting cups, a cup cover opening plate (4-3) which is driven by the belt wheel conveyor to move back and forth and corresponds to the positions of the cup covers of the planting cups so as to control the opening and the closing of the planting cups, an outer frame (4-4) which is arranged below the cup cover opening plate and is vertically positioned on the frame in a sliding manner, an adjustable stroke cylinder (4-5) which is vertically fixed on the seedling receiving plate and the tail end of a push rod of which is fixedly connected with the outer frame, an optical shaft (4-6) which is horizontally arranged along the front-back direction and is positioned on the outer frame in an axial sliding manner through a linear bearing, a seedling receiving hopper (4-7) which is fixed on the optical shaft and is positioned below each planting cup, a buffer spring (4-8) which is sleeved on the optical shaft and two ends of which respectively abut against the inner side and the seedling receiving hopper, and a duckbilled seedling planting assembly (9-9) for seedling planting; the planting cups are the same in number as the end effectors and correspond to the end effectors one by one; the distance between two adjacent planting cups is the same as the distance between two adjacent end effectors after being unfolded.
2. The electrically driven dry land pot seedling transplanter according to claim 1, wherein: the duckbilled seedling planting assembly comprises a seedling planting fixing plate (4-9-1) fixedly connected with a seedling receiving hopper, a first copying duckbill (4-9-2) and a second copying duckbill (4-9-3) which are hinged on the seedling planting fixing plate and are symmetrically arranged, a first connecting plate (4-9-4) with one end fixed on a hinged shaft of the first copying duckbill and the seedling planting fixing plate, a second connecting plate (4-9-5) with one end fixed on a hinged shaft of the second copying duckbill and the seedling planting fixing plate, a short pin shaft (4-9-6) which mutually hinges the other end of the first connecting plate and the other end of the second connecting plate, and a seedling planting cylinder (4-9-7) which is vertically fixed on the seedling planting fixing plate and is fixedly connected with the tail end of a push rod and the short pin shaft.
3. The electrically driven dry land pot seedling transplanter according to claim 2, wherein: each group of wheel type driving mechanisms comprises a motor fixing frame (5-1) fixed at the bottom of the rack, an upper rotating motor (5-2) vertically fixed on the motor fixing frame and provided with an angle sensor (5-6), a rubber wheel fixing plate (5-3) fixed at the tail end of the upper rotating motor, a rubber wheel (5-4) capable of being rotationally positioned on the rubber wheel fixing plate around a horizontal axis, and a lower rotating motor (5-5) fixed on the rubber wheel fixing plate and driving the rubber wheel to rotate through a belt wheel assembly.
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| CN108811636A (en) * | 2018-07-02 | 2018-11-16 | 浙江理工大学 | Leaf vegetables water planting transplantation device |
| CN109005811A (en) * | 2018-07-11 | 2018-12-18 | 江苏大学 | A kind of automatic transplanter for plug seedling and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103563532A (en) * | 2013-11-25 | 2014-02-12 | 江苏大学 | Automatic seedling taking manipulator for plug seeding transplanter |
| WO2019148782A1 (en) * | 2018-02-02 | 2019-08-08 | 江苏大学 | Automatic transplanting machine for plug seedling, and control method therefor |
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2022
- 2022-04-07 CN CN202210361192.3A patent/CN114586514B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08205686A (en) * | 1995-02-03 | 1996-08-13 | Kanzaki Kokyukoki Mfg Co Ltd | Seedling-planting mechanism of heeling-in-device |
| JPH11299362A (en) * | 1998-04-20 | 1999-11-02 | T & T Nursery:Kk | Cell seedling transplanter |
| CN105103741A (en) * | 2015-08-05 | 2015-12-02 | 江苏大学 | Apparatus and method for automatically picking seedling and separate projection applied to multi-row planting |
| CN105027776A (en) * | 2015-09-02 | 2015-11-11 | 张培坤 | Transplanting machine |
| CN108811636A (en) * | 2018-07-02 | 2018-11-16 | 浙江理工大学 | Leaf vegetables water planting transplantation device |
| CN109005811A (en) * | 2018-07-11 | 2018-12-18 | 江苏大学 | A kind of automatic transplanter for plug seedling and its control method |
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