CN115119581B - Automatic plug seedling transplanting system and method - Google Patents
Automatic plug seedling transplanting system and method Download PDFInfo
- Publication number
- CN115119581B CN115119581B CN202210688265.XA CN202210688265A CN115119581B CN 115119581 B CN115119581 B CN 115119581B CN 202210688265 A CN202210688265 A CN 202210688265A CN 115119581 B CN115119581 B CN 115119581B
- Authority
- CN
- China
- Prior art keywords
- seedling
- plug
- transplanting
- seedlings
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000002689 soil Substances 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 120
- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000009471 action Effects 0.000 claims description 16
- 238000000926 separation method Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 241000405070 Percophidae Species 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
The invention relates to the field of agricultural machinery and technology, and provides an automatic plug seedling transplanting system and method, wherein the automatic plug seedling transplanting system comprises a seedling conveying device, a seedling taking device, a seedling separating device and a planting device; the seedling conveying device is correspondingly arranged with the plug tray, the plug tray is used for accommodating plug tray seedlings, and the seedling conveying device is used for conveying the plug tray from the first position to the second position; the seedling taking device is arranged close to the second position, and is used for taking out the plug seedlings in the plug positioned at the second position and conveying the plug seedlings to the seedling separating device; the seedling outlet of the seedling separating device faces the planting device, and the seedling separating device is used for separating seedlings of the plug seedlings and conveying the plug seedlings to the planting device; the planting device is used for transplanting the plug seedlings into the soil. The automatic plug seedling transplanting system does not need to utilize manual labor to take and send seedlings, can realize mechanical automation in the whole transplanting process, saves labor cost and effectively improves the transplanting efficiency of plug seedlings.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an automatic plug seedling transplanting system and method.
Background
With the development of industrial modernization, most farm operations are implemented by adopting modernization techniques, such as transplants, grafting machines, and the like. However, at present, the domestic transplanting machine is mainly a semi-automatic transplanting machine, when the semi-automatic transplanting machine is utilized for operation, manual seedling taking and seedling throwing are often needed, the working efficiency of the semi-automatic transplanting machine is between 30 plants/min and 40 plants/min due to the limitation of manual operation, the working efficiency is low, the semi-automatic transplanting machine cannot be matched with the high requirement of quick transplanting of seedlings, and in addition, a large amount of labor cost is needed when the transplanting is performed manually, and the cost is high.
Disclosure of Invention
The invention provides an automatic transplanting system and method for plug seedlings, which are used for solving the problem of low seedling transplanting efficiency in the prior art.
In a first aspect, the present invention provides an automatic plug seedling transplanting system, including: seedling conveying device, seedling taking device, seedling dividing device and planting device;
the seedling conveying device is correspondingly arranged with the plug tray, the plug tray is used for accommodating plug tray seedlings, and the seedling conveying device is used for conveying the plug tray from a first position to a second position;
the seedling taking device is arranged close to the second position and is used for taking out the plug seedlings in the plug positioned at the second position and conveying the plug seedlings to the seedling separating device;
the seedling outlet of the seedling separating device faces the planting device, and the seedling separating device is used for separating the plug seedlings and conveying the plug seedlings to the planting device;
the planting device is used for transplanting the plug seedlings into soil.
According to the automatic plug seedling transplanting system provided by the invention, the seedling conveying device comprises a transmission mechanism and a positioning mechanism;
the seedling pushing rod is connected between the two transmission chains, and is used for accommodating the plug, the first driving piece is connected with the transmission chain, and under the action of the first driving piece, the transmission chain can rotate to drive the seedling pushing rod to move along the rotation direction of the transmission chain, and the seedling pushing rod can drive the plug to synchronously move;
the positioning mechanism comprises positioning rods and supporting rods, the positioning rods are arranged between the two transmission chains along the rotation direction of the transmission chains, positioning grooves are formed in the bottoms of the plug trays, and the size of the positioning rods is matched with the size of the positioning grooves; the support rod is arranged between the two transmission chains, and one end of the positioning rod is connected with the support rod.
According to the automatic plug seedling transplanting system provided by the invention, the seedling taking device comprises a lifting mechanism, a first moving mechanism, a second moving mechanism and a seedling taking mechanism;
the second moving mechanism is connected with the first moving mechanism, and the first moving mechanism drives the second moving mechanism to move along a first direction; the lifting mechanism is connected with the second moving mechanism, and the second moving mechanism drives the lifting mechanism to move along a second direction; the lifting mechanism is connected with the seedling taking mechanism and drives the seedling taking mechanism to move along a third direction;
the first direction, the second direction and the third direction are perpendicular to each other.
According to the automatic plug seedling transplanting system provided by the invention, the seedling taking mechanism further comprises a clamping piece and a clamping piece fixing plate, wherein the clamping piece fixing piece is connected to the lifting mechanism, the clamping piece is connected to the clamping piece fixing plate, and the clamping piece is used for grabbing plug seedlings.
According to the automatic plug seedling transplanting system provided by the invention, a plurality of clamping pieces are arranged, and the clamping pieces are connected to the clamping piece fixing plate along the linear direction.
According to the automatic plug seedling transplanting system provided by the invention, the seedling separating device comprises a connecting rod mechanism, a linear guide rail, a sliding block, a second driving piece and a seedling separating cup;
the linear guide rail is arranged on the clamping piece fixing plate, the sliding block is matched with the linear guide rail, the connecting rod mechanism is connected with the linear guide rail through the sliding block, and the clamping pieces are respectively connected with the plurality of linkage points of the connecting rod mechanism in a one-to-one correspondence manner;
the second driving piece is connected with the sliding block, the sliding block can move along the extending direction of the linear guide rail under the action of the second driving piece so as to drive the connecting rod mechanism to retract or expand in the extending direction of the linear guide rail, and the spacing between the clamping pieces is adjustable under the driving of the connecting rod mechanism so as to enable the positions of the clamping pieces to be matched with the positions of the seedling separating cups.
According to the automatic plug seedling transplanting system provided by the invention, the automatic plug seedling transplanting system further comprises an encoder and a controller, wherein the encoder is used for detecting the transplanting travelling distance of the plug seedlings and transmitting the transplanting travelling distance to the controller, and the controller is used for comparing the transplanting travelling distance with the preset transplanting position of the plug seedlings and controlling the seedling conveying action of the seedling conveying device according to the pose signal.
According to the automatic plug seedling transplanting system provided by the invention, the automatic plug seedling transplanting system further comprises a ranging sensor, wherein the ranging sensor is used for detecting the ground clearance of the planting device and sending the ground clearance to the controller, and the controller can compare the ground clearance with the preset ground clearance of the planting device and control the planting device to ascend or descend according to a comparison result.
According to the automatic plug seedling transplanting system provided by the invention, the automatic plug seedling transplanting system further comprises a traveling device, the traveling device comprises a land wheel and a frame, the seedling conveying device, the seedling taking device, the seedling separating device and the planting device are all arranged on the frame, the land wheel is arranged at the bottom of the frame, and under the action of the land wheel, the frame can drive the seedling conveying device, the seedling taking device, the seedling separating device and the planting device to move along the travelling direction of the land wheel.
In a second aspect, the present invention provides an automatic plug seedling transplanting method based on the plug seedling automatic transplanting system in any one of the first aspects, including:
the seedling conveying device conveys the plug tray from a first position to a second position so as to enable the plug tray seedlings to be in a state of waiting for picking up seedlings;
the seedling taking device takes out the plug seedlings in the plug at the second position, so that the plug seedlings are in a state of waiting for seedling separation;
the seedling separating device performs seedling separating treatment on the plug seedlings so as to convey the plug seedlings into the planting device;
and the planting device conveys the plug seedlings into soil to finish transplanting the plug seedlings.
The automatic plug seedling transplanting system provided by the invention consists of four parts, namely a seedling conveying device, a seedling taking device, a seedling dividing device and a planting device, wherein the plug with the plug seedlings is conveyed to a second position from a first position by the seedling conveying device, the plug seedlings to be taken out from the plug are taken out by the seedling taking device, then the plug seedlings at the second position are taken out by the seedling taking device and transferred to the seedling dividing device, further, the seedling dividing device divides the plug seedlings, the divided plug seedlings are conveyed to the planting device, and the plug seedlings are conveyed to soil to be planted by the planting device, so that automatic transplanting of the plug seedlings is completed. Compared with the prior art, the automatic plug seedling transplanting system does not need to manually take and send the seedlings, can realize mechanical automation in the whole transplanting process, saves labor cost and effectively improves the transplanting efficiency of the plug seedlings.
Furthermore, the automatic plug seedling transplanting method provided by the invention has the same advantages as described above because the automatic plug seedling transplanting system is adopted for transplanting operation.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an automatic plug seedling transplanting system provided by an embodiment of the invention;
fig. 2 is one of partial schematic structural diagrams of the automatic plug seedling transplanting system provided by the embodiment of the invention;
fig. 3 is a second schematic diagram of a partial structure of the automatic plug seedling transplanting system according to the embodiment of the invention;
fig. 4 is a schematic structural diagram of a seedling feeding device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a seedling taking device according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of a clamping member according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a seedling separating device according to an embodiment of the present invention;
FIG. 8 is a second schematic structural view of a seedling separating device according to an embodiment of the present invention;
FIG. 9 is a schematic view of a transmission and sensor mounting of a planting device according to an embodiment of the present disclosure;
fig. 10 is a schematic diagram of a touch panel interface of the automatic plug seedling transplanting system provided by the embodiment of the invention;
reference numerals:
1: a seedling feeding device; 11: a transmission mechanism; 111: a drive chain; 112: seedling pushing rods; 12: a positioning mechanism; 121: a positioning rod; 122: a support rod; 13: a first photoelectric switch; 2: a seedling taking device; 21: a lifting mechanism; 22: a first moving mechanism; 23: a second moving mechanism; 24: a seedling taking mechanism; 25: a clamping member; 251: a mechanical finger; 252: a driving rod; 26: a clamping piece fixing plate; 3: seedling separating device; 31: a link mechanism; 32: a linear guide rail; 33: a slide block; 34: seedling separating cups; 35: a second photoelectric switch; 4: a planting device; 41: transplanting duckbilled; 42: a sensor; 5: a walking device; 51: and (5) a land wheel.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "provided with," "connected to," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can also be communicated with the inside of two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
The automatic plug seedling transplanting system and the automatic plug seedling transplanting method provided by the invention are described below with reference to fig. 1 to 10.
In a first aspect, an embodiment of the present invention provides an automatic plug seedling transplanting system, including: seedling feeding device 1, seedling taking device 2, seedling separating device 3 and planting device 4.
The seedling conveying device 1 is correspondingly arranged with the plug tray, the plug tray is used for containing plug tray seedlings, and the seedling conveying device 1 is used for conveying the plug tray from the first position to the second position.
The seedling taking device 2 is arranged close to the second position, and the seedling taking device 2 is used for taking out the plug seedlings in the plug positioned at the second position and conveying the plug seedlings to the seedling separating device 3.
The seedling outlet of the seedling separating device 3 is arranged towards the planting device 4, and the seedling separating device 3 is used for separating the plug seedlings and conveying the plug seedlings to the planting device 4.
The planting device 4 is used for transplanting plug seedlings into soil.
Specifically, as shown in fig. 1 to 3, the seedling taking device 2 is located at the top of the automatic plug seedling transplanting system, the seedling separating device 3 is located below the seedling taking device 2, the positions of the seedling conveying device 1 and the positions of the seedling taking device 2 and the seedling separating device 3 can both correspond, and the seedling conveying device 1 is used for conveying plug trays with plug seedlings to the position junction of the three positions so as to facilitate the seedling taking device 2 to take out plug seedlings from the plug trays and smoothly place the plug seedlings in the seedling separating device 3.
The planting device 4 and the lower part of the seedling dividing planting are subjected to seedling dividing treatment by the seedling dividing device 3, and then the plug seedlings entering the planting device 4 are transplanted into soil through the transplanting duckbilled 41 in the planting device 4.
The automatic plug seedling transplanting system provided by the embodiment of the invention comprises four parts, namely a seedling conveying device 1, a seedling taking device 2, a seedling dividing device 3 and a planting device 4, wherein a plug with plug seedlings is conveyed to a second position from a first position by the seedling conveying device 1, the plug seedlings to be taken out from the plug by the seedling taking device 2, then the plug seedlings at the second position are taken out by the seedling taking device 2 and transferred to the seedling dividing device 3, further, the seedling dividing device 3 divides the plug seedlings, the divided plug seedlings are conveyed to the planting device 4, and the plug seedlings are conveyed to soil to be planted by the planting device 4 so as to finish automatic transplanting of the plug seedlings. Compared with the prior art, the automatic plug seedling transplanting system does not need to manually take and send the seedlings, can realize mechanical automation in the whole transplanting process, saves labor cost and effectively improves the transplanting efficiency of the plug seedlings.
In an alternative embodiment, the seedling feeding device 1 comprises a transmission mechanism 11 and a positioning mechanism 12.
The transmission mechanism 11 comprises a first driving part, a transmission chain 111 and a seedling pushing rod 112, the seedling pushing rod 112 is connected between the two transmission chains 111, the seedling pushing rod 112 is used for containing the plug tray, the first driving part is connected with the transmission chain 111, under the action of the first driving part, the transmission chain 111 can rotate to drive the seedling pushing rod 112 to move along the rotation direction of the transmission chain 111, and the seedling pushing rod 112 can drive the plug tray to synchronously move.
The positioning mechanism 12 comprises a positioning rod 121 and a supporting rod 122, the positioning rod 121 is arranged between the two transmission chains 111 along the rotation direction of the transmission chains 111, a positioning groove is arranged at the bottom of the plug, and the size of the positioning rod 121 is matched with the size of the positioning groove; the supporting rod 122 is arranged between the two transmission chains 111, and one end of the positioning rod 121 is connected with the supporting rod 122. Specifically, as shown in fig. 4, in order to facilitate placement of the plug on the ejector pin 112, an installation groove is provided at the bottom of the plug, the size of the installation groove is adapted to the size of the ejector pin 112, and when the transmission chain 111 rotates, the ejector pin 112 can drive the plug to advance so as to push the plug to a position where the seedling picking device 2 can pick.
In order to further guarantee the stability of plug in the transportation process, and can guide the plug, as shown in fig. 4, still be equipped with positioning mechanism 12 in sending seedling device 1, positioning mechanism 12 includes locating lever 121 and bracing piece 122, and locating lever 121 is fixed through the bracing piece 122 between bearing on the driving shaft and two seedling curb plates that send, and the chi of the constant head tank of plug bottom and the size phase-match of locating lever 121, and the plug can be along the length extending direction of locating lever 121.
In an alternative embodiment, the seedling taking device 2 comprises a lifting mechanism 21, a first moving mechanism 22, a second moving mechanism 23 and a seedling taking mechanism 24.
The second moving mechanism 23 is connected with the first moving mechanism 22, and the first moving mechanism 22 drives the second moving mechanism 23 to move along the first direction; the lifting mechanism 21 is connected with a second moving mechanism 23, and the second moving mechanism 23 drives the lifting mechanism 21 to move along a second direction; the lifting mechanism 21 is connected with the seedling taking mechanism 24, and the lifting mechanism 21 drives the seedling taking mechanism 24 to move along a third direction.
The first direction, the second direction and the third direction are perpendicular to each other.
Specifically, as shown in fig. 5, the seedling taking device 2 is composed of four parts of a lifting mechanism 21, a first moving mechanism 22, a second moving mechanism 23 and a seedling taking mechanism 24, wherein the first moving mechanism 22 can drive the whole seedling taking device 2 to move towards or away from the tray in the horizontal direction (defined as the front-back direction).
The second moving mechanism 23 is connected to the lower part of the first moving mechanism 22, the lifting mechanism 21 and the seedling taking mechanism 24 are connected to the lower part of the second moving mechanism 23, and the second moving mechanism 23 can move along the left-right direction of the plug tray so as to drive the lifting mechanism 21 and the seedling taking mechanism 24 below to move along the left-right direction of the plug tray.
The seedling taking mechanism 24 is connected below the lifting mechanism 21, and the lifting mechanism 21 can drive the seedling taking mechanism 24 to move in the height direction.
The three directions of movement are combined, so that the seedling taking mechanism 24 can be adaptively moved to the position where the plug seedling is located, and the plug seedling can be accurately grasped.
In some examples, the first movement mechanism 22 includes a transplanting support and a three-bar cylinder mounted on the transplanting support for powering the back and forth movement of the seedling taking device 2 between the tray and the seedling separating device 3, so that the seedling taking mechanism 24 can move in the first direction.
A guide rail is further arranged below the transplanting support, a sliding block 33 is connected to the guide rail, and under the action of the air cylinder, the sliding block 33 can move along the guide rail so as to drive the seedling taking device 2 to move along the guide rail, namely, the seedling taking mechanism 24 can move in the second direction.
The lifting mechanism 21 is provided with a double-rod air cylinder which is used for lifting the seedling taking mechanism 24 so as to lift the clamped plug seedlings and correspondingly place the plug seedlings into the seedling separating device 3.
In an alternative embodiment, the seedling taking mechanism 24 comprises a clamping piece 25 and a clamping piece fixing plate 26, the clamping piece 25 is connected to the lifting mechanism 21, the clamping piece 25 is connected to the clamping piece fixing plate 26, and the clamping piece 25 is used for grabbing plug seedlings.
Specifically, as shown in fig. 6, the clamping member 25 may be a manipulator for clamping the seedling stem of the plug seedling. The mechanical arm is independently provided with an air cylinder, the air cylinder is connected with a driving rod 252 on the mechanical arm, the air cylinder can drive the driving rod 252 to stretch out and contract so as to drive an L-shaped mechanical finger 251 to open and close, as shown in fig. 5, a pin is fixed on one end of the driving rod 252, and when the pin moves in a U-shaped groove of the L-shaped mechanical finger 251, the L-shaped mechanical finger 251 rotates along a revolute pair, so that the plug seedlings are clamped and released.
In addition, have the silica gel pad on L shape mechanical finger 251, prevent to press from both sides the seedling of damaging when getting, reduce the damage of plug seedling.
In an alternative embodiment, the number of the clamping members 25 is plural, and the plurality of clamping members 25 are connected to the clamping member fixing plate 26 in a straight line direction.
Specifically, in order to improve the efficiency of seedling taking and transplanting, as shown in fig. 4, a plurality of clamping members 25 may be provided, and the plurality of clamping members 25 are sequentially arranged along the left-right extending direction of the tray.
Each clamping piece 25 is independently provided with an air cylinder and an electromagnetic reversing valve group, and the electromagnetic reversing valve is used for controlling the contraction and the extension of the air cylinder and controlling each action of the air cylinder so as to realize independent control of each clamping piece 25.
In an alternative embodiment, the seedling separating device 3 comprises a linkage 31, a linear guide 32, a slide 33, a second driving member and a seedling separating cup 34.
The linear guide rail 32 is connected to one side of the lifting mechanism 21 facing the clamping piece 25, the sliding block 33 is matched with the linear guide rail 32, the connecting rod mechanism 31 is connected with the linear guide rail 32 through the sliding block 33, and the clamping pieces 25 are respectively connected with a plurality of linkage points of the connecting rod mechanism 31 in a one-to-one correspondence mode.
The second driving piece is connected with the sliding block 33, under the action of the second driving piece, the sliding block 33 can move along the extending direction of the linear guide rail 32 so as to drive the connecting rod mechanism 31 to retract or expand in the extending direction of the linear guide rail 32, and under the driving of the connecting rod mechanism 31, the spacing between the clamping pieces 25 can be adjusted so that the positions of the clamping pieces 25 are matched with the positions of the seedling separating cups 34.
Specifically, the linear guide rail 32 is fixedly installed below the lifting mechanism 21, as shown in fig. 5, the linear guide rail 32 is provided with a sliding block 33, and the sliding block 33 can move on the linear guide rail 32 to drive a plurality of linkage points of the linkage mechanism 31 to move along with the linear guide rail 32, and the linkage mechanism 31 is used for expanding and contracting a plurality of clamping pieces 25 at the same time, at the same speed and at the same interval.
The second driving member may be an air cylinder for powering the movement of the slider 33, and the air cylinder moves by pulling the slider 33 fixed to the first clamping member 25 to extend or retract the multi-link mechanism 31.
As shown in fig. 7 and 8, the center of the linking point of the link mechanism 31 is connected with the manipulator and the slide blocks 33, the slide blocks 33 move on the linear guide rails 32, so that when the link mechanism 31 is unfolded, the link mechanism 31 is only parallel to the arrangement direction of the seedling separating cups 34, the link mechanism 31 is prevented from moving in the other four degrees of freedom, and the third slide block 33 connected with the link mechanism 31 is fixed on the linear guide rails 32, so that when the air cylinder stretches out and contracts, the slide blocks 33 can act simultaneously, the equal interval between the slide blocks 33 is ensured, and the interval between the slide blocks 33 is adjusted by changing the stroke of the air cylinder, so that the slide block is applicable to the hole trays of different hole openings.
The driving piece in the embodiment of the invention can adopt air cylinders, the specific model is not limited, each air cylinder can be correspondingly provided with an electromagnetic reversing valve, and the action of each air cylinder is independently controlled through the electromagnetic reversing valve. In addition, the corresponding pneumatic assembly can be further arranged, the pneumatic assembly is used for purifying and filtering gas, regulating pressure, lubricating cylinders and the like, air is pressurized by the air compressor, and after purifying and filtering and regulating pressure by the pneumatic assembly, the opening and closing of the cylinders at all positions of the seedling taking device 2 are controlled by the electromagnetic directional valve.
In an alternative embodiment, the automatic plug seedling transplanting system further comprises an encoder and a controller, wherein the encoder is used for detecting the transplanting travelling distance of the plug seedlings and transmitting the transplanting travelling distance to the controller, and the controller is used for comparing the transplanting travelling distance with the preset transplanting position of the plug seedlings and controlling the seedling conveying action of the seedling conveying device 1 according to the pose signal.
Specifically, a control box is arranged in the plug seedling automatic transplanting system, a touch screen is arranged on the control box, a main controller PLC of the automatic transplanting machine is arranged in the control box, and all modules are controlled to work cooperatively through the PLC, so that the whole transplanting process is completed.
The control system is arranged in the control box, the encoder is used for inputting and detecting the transplanting advancing distance of the plug seedlings, the controller in the control system can compare the transplanting advancing interval distance of the plug seedlings with the preset fixed-point transplanting position in the system, and the seedling conveying action of the seedling conveying device is controlled according to the comparison result, for example, when the transplanting advancing distance is larger than the preset distance, the seedling conveying speed of the seedling conveying device is increased, so that the actual transplanting position of the plug seedlings is matched with the preset position.
In addition, the automatic plug seedling transplanting system is also provided with an Internet of things system, and the Internet of things is used for transmitting transplanting information such as transplanting efficiency, plant spacing, transplanting area and the like to the client in real time, so that transplanting data can be obtained at any time. The controller controls the seedling conveying device 1, the seedling taking device 2 and the seedling separating device 3 in real time according to the transplanting data.
The seedling conveying device 1 is also provided with a first photoelectric switch 13, the first photoelectric switch 13 is used for detecting the position of the plug seedling, the first photoelectric switch 13 is arranged on a side plate of the seedling conveying device 1, when the plug seedling reaches a designated position, the first photoelectric switch 13 sends out a first seedling taking signal, and the controller controls the first driving piece to stop waiting for the seedling taking device to take the seedling;
the encoder can be arranged on the driving shaft of the seedling conveying device 1 and used for detecting the seedling conveying speed and the seedling conveying displacement and correcting signal errors of the first photoelectric switch 13 caused by overlarge plug seedling blades.
Further, when the first seedling taking signal advances due to the excessive leaf of the tray seedling, but the tray seedling does not reach the designated position, the tray feeding distance is calculated by the encoder every time the first driving member (which may be a stepping motor) resumes traveling: x=2ρrm/C, where: c is the total pulse number of a single circle of the encoder, M is the pulse number of the encoder counted from the beginning of a stepping motor to the end of a seedling taking signal, r is the radius from the plug to the center of a driving shaft, the feeding distance of the plug when the first seedling taking signal is triggered is judged, and if the feeding distance x is smaller than the adjacent center hole distance t of the plug, the stepping motor continues to rotate, so that the feeding amount of the plug reaches the center hole distance of the plug.
A proximity switch is further arranged near the clamping piece 25 and used for detecting the position of the manipulator, and when the manipulator reaches the designated position, the proximity switch sends out a second seedling taking signal, and the manipulator clamps the plug seedlings; after the plug seedlings are clamped, the controller controls the driving piece to start.
The control system is also provided with a second photoelectric switch, the second photoelectric switch is used for detecting the seedling separating cup 34, the second photoelectric switch starts counting from the signal of the first seedling separating cup 34, when the counting reaches the number of seedlings, the seedlings are thrown, for example, six mechanical arms can throw the whole row of six seedlings into the seedling separating cup.
In an alternative embodiment, the automatic plug seedling transplanting system further includes a ranging sensor, the ranging sensor is used for detecting the ground clearance of the planting device and sending the ground clearance to the controller, and the controller can compare the ground clearance with the preset ground clearance of the planting device 4 and control the planting device 4 to ascend or descend according to the comparison result.
Specifically, a distance measuring sensor is further arranged in the control system, the distance measuring sensor can be an ultrasonic distance measuring sensor, the ultrasonic distance measuring sensor is used for detecting the ground clearance of the planting device 4, the ultrasonic distance measuring sensor is used for detecting the ground clearance of the planting device, and the planting device 4 can be adjusted to be suitable for transplanting height through the movable frame according to the relation between different crops and planting depths obtained through experiments and modeling.
Further, as shown in fig. 9, which shows a transmission schematic diagram of the planting device 4 and a sensor installation schematic diagram, the running speed of the transplanting machine can calculate the transplanting frequency,
n-the rotation speed of the land wheel 51, r/s
n 1 ——Z 2 、Z 3 Shaft speed, r/s
Z 1 Ground wheel 51 sprocket tooth number
Z 2 Driving shaft sprocket tooth number
The rotating speed of the duckbill rotary table driven by the input shaft is as follows:
n 2 -rotational speed of duckbill rotor, r/s
Z 3 The driving shaft is connected with the duckbill rotary tableSprocket tooth number of (a)
Z 4 Tooth number of chain wheel on duckbill rotary disk
The planting device has four transplanting duckbilled 41, a sensor 42 is arranged beside the transplanting duckbilled 41, counting is carried out through the sensor 42, the rotating disc of the transplanting duckbilled 41 rotates one circle, y seedlings are planted in total, and therefore the time t is required from the completion of planting of the last duckbilled to the completion of planting of the next duckbilled:
y-duckbill number, i.e. number of transplanting duckbill turntables in one revolution
The transplanting efficiency can be calculated by the above method, and is as follows:
s-transplanting efficiency, plant/min
The relation between the transplanting efficiency and the walking speed is calculated by the method:
d-diameter of ground wheel 51, m
V-walking speed, m/s.
In an alternative embodiment, the automatic plug seedling transplanting system further comprises a traveling device 5, the traveling device 5 comprises a land wheel 51 and a frame, the seedling conveying device 1, the seedling taking device 2, the seedling dividing device 3 and the planting device 4 are all arranged on the frame, the land wheel 51 is arranged at the bottom of the frame, and under the action of the land wheel 51, the frame can drive the seedling conveying device 1, the seedling taking device 2, the seedling dividing device 3 and the planting device 4 to move along the travelling direction of the land wheel 51.
Specifically, the walking device 5 can drive the seedling conveying device 1, the seedling taking device 2, the seedling dividing device 3 and the planting device 4 to move along the advancing direction so as to realize dynamic transplanting of plug seedlings.
The running gear 5 can be connected with the controller, and the controller can control running of land wheel 51 in running gear 5 and work of transplanting in the field, and running gear 5 is driven by the remote controller and is controlled to walk in flat ground, and has obstacle meeting brake function, and when field operation, has automatic navigation and is driven, automatic turn function, adopts serial port communication with the control system of get seedling device 2, makes it can transplant automatically when field operation.
Specifically, the running gear 5 control module includes remote control module, obstacle avoidance module, navigation module, autopilot module. The walking device 5 is driven by electric power, as shown in fig. 10, an automatic driving instruction of the walking device 5 is issued through a touch interface of a touch screen, the automatic driving is performed in two advancing modes or in a retreating mode, the speed is regulated and controlled through the control 4-1 of an accelerator, the turning of the self-walking platform is controlled through an electric steering wheel, a digital quantity signal is converted into an analog quantity signal through D/A conversion, the speed of the self-walking platform is controlled through the D/A conversion, the self-walking platform is driven in a remote control mode when the road is driven, an obstacle avoidance system detects front and rear objects through a laser radar when the road is operated in a field, the self-walking platform meets an obstacle, the self-walking platform immediately stops and alarms, an alarm signal is transmitted back to a client, the transplanting part immediately stops transplanting, and is moving or is stationary when the obstacle is judged through the fed back signal, if the obstacle is moving, the self-walking platform and transplanting automatically starts after the obstacle is waited for leaving, the obstacle is eliminated, if the obstacle is judged to be stationary obstacle (such as a weather station, a wire pole, etc.), the self-walking platform lifts the transplanting device off the ground, and after the obstacle is bypassed, the transplanting device is put down again to start to work.
RS485 communication is adopted in communication between the traveling device 5 control module and the transplanting system main controller PLC, 4G network communication is adopted between the Internet of things and the vegetable field automatic transplanting device, the traveling device 5 adjusts the speed according to the transplanting efficiency, the traveling speed of the traveling device 5 is converted into real-time transplanting efficiency, and the transplanting efficiency is transmitted to the cloud and the touch screen for display.
As shown in fig. 10, when the walking device 5 enters a field, the remote control mode is converted into an automatic driving mode, clicking starts to work, and an instruction is sent to the controller PLC through the RS485 bus, the controller PLC controls the seedling taking device 2 to perform collaborative operation with the seedling conveying device 1, transplanting work is completed, the controller PLC calculates transplanting quantity through the seedling taking times, and transmits data to the touch screen through the RS485 bus, and the touch screen transmits data to the cloud through the 4G network communication module, so that parameters such as transplanting efficiency, plant spacing, transplanting type, working area and the like can be checked in real time.
In summary, in actual operation, the interaction between the walking device 5 and the plug seedling automatic transplanting system is in three aspects: 1. the ultrasonic ranging sensor feeds the ground clearance of the planting device 4 back to the controller, and the controller controls the transplanting depth of the automatic transplanting machine according to the information; 2. the speed of the walking device 5 adjusts the transplanting efficiency, and feeds the transplanting efficiency back to the controller and the client; 3. the running gear 5 controls the stopping and starting of the automatic transplanting machine when meeting the obstacle, and the running gear 5 controls the ground wheel 51 differently according to the different obstacles.
In a second aspect, an embodiment of the present invention provides an automatic plug seedling transplanting method, including: the seedling conveying device 1 conveys the plug tray from the first position to the second position so as to enable the plug tray seedlings to be in a state of waiting for picking up seedlings.
The seedling taking device 2 takes out the plug seedlings in the plug at the second position, so that the plug seedlings are in a state of waiting for seedling separation.
The seedling separating device 3 performs seedling separating treatment on the plug seedlings so as to convey the plug seedlings to the planting device 4.
The planting device 4 conveys the plug seedlings into soil to finish transplanting the plug seedlings.
Specifically, the walking device 5 is remotely controlled, so that the plug seedling automatic transplanting system is driven into a working place, the suspended transplanting device is lowered to a proper height from the ground through the controller, the height is detected by the ultrasonic ranging sensor, a proper transplanting depth is adjusted according to a model of the transplanting crops and the transplanting depth established by experiments, and after the transplanting depth reaches the proper transplanting depth, transplanting work is started.
The seedling feeding device 1 feeds the plug seedling to the appointed position, the seedling taking device 2 takes the seedling, and the seedling separating device 3 separates the seedling accordingly, wherein in the seedling taking stage, when the plug seedling reaches the appointed position, the first photoelectric switch 13 detects the plug seedling and triggers the first seedling taking signal, and the seedling feeding device 1 stops. If the seedling taking signal of the first photoelectric switch 13 is too early due to shielding, the encoder calculates the seedling feeding distance through the pulse number, corrects the first seedling taking signal, and enables the stepping motor to continuously feed seedlings to the designated position.
The manipulator in the seedling taking device 2 reaches the seedling taking position, the proximity switch detects that the manipulator reaches, triggers a second seedling taking signal, the manipulator clamps and takes plug seedlings, the lifting mechanism 21 lifts the plug seedlings out of the plug, and the seedling conveying device 1 is started to continuously convey the seedlings.
In the seedling dividing stage, the seedling dividing device 3 is utilized to divide the clamped plug seedlings at equal intervals, after the second photoelectric switch detects a seedling throwing signal, the mechanical arm throws the seedlings, after the seedling throwing is completed, the mechanical arm returns to the original path to take the seedlings next time, and after the plug seedlings on the seedling conveying device 1 are transplanted, the next plug is then fed to the designated position.
The travelling speed of the travelling device 5 is related to the transplanting efficiency, the transplanting efficiency can be calculated according to the travelling speed, the travelling speed data of the travelling device 5 is transmitted to the Internet of things, and the travelling speed of the self-propelled platform is adjusted in real time according to the set transplanting efficiency.
And the controller transmits the transplanting efficiency to the control screen, and each working parameter is displayed on the touch screen. The touch screen transmits the transplanting data to the cloud through the 4G network communication module, so that the transplanting information can be detected and checked in real time, and the transplanting effect is adjusted in real time.
When the automatic transplanting device works, the walking device 5 encounters an obstacle, the walking device 5 immediately stops and gives an alarm, an alarm signal is transmitted back to the client, the transplanting part immediately stops transplanting, the transplanting part is in motion or is static when judging the obstacle through the fed back signal, if the obstacle is moving, the self-propelled platform and the transplanting are automatically started after the obstacle is waited to leave, the alarm is eliminated, if the obstacle is a static obstacle such as a weather station, the self-propelled platform lifts the transplanting device off the ground, and after bypassing the obstacle, the transplanting device is put down again to start transplanting work.
Description will be made by taking one embodiment as an example:
step 001: the running gear 5 of the automatic transplanting machine reaches the working place through remote control, and parameters such as the planting crops, the transplanting efficiency and the like are set on the man-machine interaction platform.
Step 002: clicking a start button on the touch interface.
Specifically, the digital signal and the analog signal sent by the touch interface control the ignition, the advancing and the turning of the self-propelled platform, the touch screen obtains the advancing speed of the walking device 5 through the sensor, the transplanting device works, the seedling feeding device 1 starts to send plug seedlings to the designated position, the seedling taking device 2 and the seedling separating device 3 start to take seedlings, separate seedlings and transplant according to the preset program, and the transplanting efficiency and the transplanting depth are changed by sending instructions through the touch screen.
Step 003: uploading transplanting parameters.
Specifically, the number of seedlings to be transplanted and the real-time seedling taking efficiency are calculated through the number of seedlings taking times obtained by the seedling taking device 2, and data are transmitted to a human-computer interaction interface through an electric signal. The man-machine interaction interface collects the working area and the real-time vehicle speed through the navigation system, and the value cloud is uploaded through the 4G network communication module after the data are summarized.
The automatic plug seedling transplanting system and the automatic plug seedling transplanting method provided by the embodiment of the invention can be suitable for transplanting seedlings of various vegetables, realize automatic field transplanting by combining the walking device 5 and the Internet of things technology, save the waste of manpower resources in the vegetable transplanting process, and have high transplanting efficiency and can stably work for a long time.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. An automatic plug seedling transplanting system is characterized by comprising: seedling conveying device, seedling taking device, seedling dividing device and planting device;
the seedling conveying device is correspondingly arranged with the plug tray, the plug tray is used for accommodating plug tray seedlings, and the seedling conveying device is used for conveying the plug tray from a first position to a second position;
the seedling taking device is arranged close to the second position and is used for taking out the plug seedlings in the plug positioned at the second position and conveying the plug seedlings to the seedling separating device;
the seedling outlet of the seedling separating device faces the planting device, and the seedling separating device is used for separating the plug seedlings and conveying the plug seedlings to the planting device;
the planting device is used for transplanting the plug seedlings into soil;
the automatic plug seedling transplanting system also comprises an encoder, a controller and a distance measuring sensor, the seedling conveying device is further provided with a first photoelectric switch, the first photoelectric switch is used for detecting the position of the plug seedlings, the first photoelectric switch is arranged on a side plate of the seedling conveying device, when the plug seedlings reach a designated position, the first photoelectric switch sends out a first seedling taking signal, and the controller controls a first driving piece to stop and wait for the seedling taking device to take seedlings;
the encoder is arranged on a driving shaft of the seedling conveying device, is used for detecting the transplanting travelling distance of the plug seedlings and transmitting the transplanting travelling distance to the controller, and the controller is used for comparing the transplanting travelling distance with a preset transplanting position of the plug seedlings and controlling the seedling conveying action of the seedling conveying device according to a comparison result;
under the condition that the signals of the first photoelectric switch are triggered due to the overlarge plug seedling blades, the encoder calculates a seedling feeding distance through the pulse number and corrects the first seedling taking signals;
the distance measuring sensor is used for detecting the ground clearance of the planting device and sending the ground clearance to the controller, and the controller can compare the ground clearance with the preset ground clearance of the planting device and control the planting device to be adjusted to be suitable for transplanting according to the relation between different crops and planting depths.
2. The automatic plug seedling transplanting system according to claim 1, wherein the seedling feeding device comprises a transmission mechanism and a positioning mechanism;
the seedling pushing rod is connected between the two transmission chains, and is used for accommodating the plug, the first driving piece is connected with the transmission chain, and under the action of the first driving piece, the transmission chain can rotate to drive the seedling pushing rod to move along the rotation direction of the transmission chain, and the seedling pushing rod can drive the plug to synchronously move;
the positioning mechanism comprises positioning rods and supporting rods, the positioning rods are arranged between the two transmission chains along the rotation direction of the transmission chains, positioning grooves are formed in the bottoms of the plug trays, and the size of the positioning rods is matched with the size of the positioning grooves; the support rod is arranged between the two transmission chains, and one end of the positioning rod is connected with the support rod.
3. The automatic plug seedling transplanting system according to claim 1, wherein the seedling picking device comprises a lifting mechanism, a first moving mechanism, a second moving mechanism and a seedling picking mechanism;
the second moving mechanism is connected with the first moving mechanism, and the first moving mechanism drives the second moving mechanism to move along a first direction; the lifting mechanism is connected with the second moving mechanism, and the second moving mechanism drives the lifting mechanism to move along a second direction; the lifting mechanism is connected with the seedling taking mechanism and drives the seedling taking mechanism to move along a third direction;
the first direction, the second direction and the third direction are perpendicular to each other.
4. The automatic plug seedling transplanting system according to claim 3, wherein the seedling taking mechanism further comprises a clamping piece and a clamping piece fixing plate, the clamping piece fixing piece is connected to the lifting mechanism, the clamping piece is connected to the clamping piece fixing plate, and the clamping piece is used for grabbing the plug seedlings.
5. The automatic plug seedling transplanting system according to claim 4, wherein a plurality of the clamping members are provided, and a plurality of the clamping members are connected to the clamping member fixing plate in a straight line direction.
6. The automatic plug seedling transplanting system according to claim 5, wherein the seedling separating device comprises a connecting rod mechanism, a linear guide rail, a sliding block, a second driving piece and a seedling separating cup;
the linear guide rail is connected to one side, facing the clamping piece, of the lifting mechanism, the sliding block is matched with the linear guide rail, the connecting rod mechanism is connected with the linear guide rail through the sliding block, and the clamping pieces are respectively connected with a plurality of linkage points of the connecting rod mechanism in a one-to-one correspondence manner;
the second driving piece is connected with the sliding block, the sliding block can move along the extending direction of the linear guide rail under the action of the second driving piece so as to drive the connecting rod mechanism to retract or expand in the extending direction of the linear guide rail, and the spacing between the clamping pieces is adjustable under the driving of the connecting rod mechanism so as to enable the positions of the clamping pieces to be matched with the positions of the seedling separating cups.
7. The automatic plug seedling transplanting system according to claim 1, further comprising a traveling device, wherein the traveling device comprises a land wheel and a frame, the seedling feeding device, the seedling taking device, the seedling dividing device and the planting device are all arranged on the frame, the land wheel is arranged at the bottom of the frame, and the frame can drive the seedling feeding device, the seedling taking device, the seedling dividing device and the planting device to move along the travelling direction of the land wheel under the action of the land wheel.
8. A plug seedling automatic transplanting method based on the plug seedling automatic transplanting system as claimed in any one of claims 1 to 7, characterized by comprising:
the seedling conveying device conveys the plug tray from a first position to a second position so as to enable the plug tray seedlings to be in a state of waiting for picking up seedlings;
the seedling taking device takes out the plug seedlings in the plug at the second position, so that the plug seedlings are in a state of waiting for seedling separation;
the seedling separating device performs seedling separating treatment on the plug seedlings so as to convey the plug seedlings into the planting device;
and the planting device conveys the plug seedlings into soil to finish transplanting the plug seedlings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688265.XA CN115119581B (en) | 2022-06-16 | 2022-06-16 | Automatic plug seedling transplanting system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688265.XA CN115119581B (en) | 2022-06-16 | 2022-06-16 | Automatic plug seedling transplanting system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115119581A CN115119581A (en) | 2022-09-30 |
| CN115119581B true CN115119581B (en) | 2023-12-05 |
Family
ID=83377451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210688265.XA Active CN115119581B (en) | 2022-06-16 | 2022-06-16 | Automatic plug seedling transplanting system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115119581B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759413A (en) * | 1993-08-20 | 1995-03-07 | Kubota Corp | Mechanism for correcting position of seedling in tray of 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 |
| CN106258124A (en) * | 2016-10-11 | 2017-01-04 | 江苏大学 | A kind of pot seedling transplanter is in a row spaced seedling taking and puts the method and system of Seedling successively |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
| CN106358836A (en) * | 2016-04-29 | 2017-02-01 | 湖南巽地农机制造有限责任公司 | Seedling disk and seedling conveying and separating system |
| CN106561127A (en) * | 2016-10-20 | 2017-04-19 | 江苏大学 | Control system and control method for seedling dropping of automatic transplanting machine |
| CN107750552A (en) * | 2017-11-15 | 2018-03-06 | 河南科技大学 | A kind of rural area pattern transplants system and method for planting in order |
| CN108777936A (en) * | 2016-03-31 | 2018-11-09 | 洋马株式会社 | Tree-remover |
| CN109348797A (en) * | 2018-11-27 | 2019-02-19 | 江苏大学 | A kind of automatic transplanter hole tray conveying positioning control system and method |
| CN111316795A (en) * | 2018-12-14 | 2020-06-23 | 南京农业大学 | Automatic seedling device that divides of vegetable transplantation |
| CN212013570U (en) * | 2020-03-20 | 2020-11-27 | 孙朋成 | Plug seedling transplanting manipulator and full-automatic plug seedling transplanting machine |
| CN213586891U (en) * | 2020-10-26 | 2021-07-02 | 德州福瑞特农业机械制造有限公司 | Automatic plug seedling transplanter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT505144B1 (en) * | 2007-10-24 | 2008-11-15 | Wintersteiger Ag | seeder |
-
2022
- 2022-06-16 CN CN202210688265.XA patent/CN115119581B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759413A (en) * | 1993-08-20 | 1995-03-07 | Kubota Corp | Mechanism for correcting position of seedling in tray of 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 |
| CN108777936A (en) * | 2016-03-31 | 2018-11-09 | 洋马株式会社 | Tree-remover |
| CN106358836A (en) * | 2016-04-29 | 2017-02-01 | 湖南巽地农机制造有限责任公司 | Seedling disk and seedling conveying and separating system |
| CN106258124A (en) * | 2016-10-11 | 2017-01-04 | 江苏大学 | A kind of pot seedling transplanter is in a row spaced seedling taking and puts the method and system of Seedling successively |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
| CN106561127A (en) * | 2016-10-20 | 2017-04-19 | 江苏大学 | Control system and control method for seedling dropping of automatic transplanting machine |
| CN107750552A (en) * | 2017-11-15 | 2018-03-06 | 河南科技大学 | A kind of rural area pattern transplants system and method for planting in order |
| CN109348797A (en) * | 2018-11-27 | 2019-02-19 | 江苏大学 | A kind of automatic transplanter hole tray conveying positioning control system and method |
| CN111316795A (en) * | 2018-12-14 | 2020-06-23 | 南京农业大学 | Automatic seedling device that divides of vegetable transplantation |
| CN212013570U (en) * | 2020-03-20 | 2020-11-27 | 孙朋成 | Plug seedling transplanting manipulator and full-automatic plug seedling transplanting machine |
| CN213586891U (en) * | 2020-10-26 | 2021-07-02 | 德州福瑞特农业机械制造有限公司 | Automatic plug seedling transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115119581A (en) | 2022-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102613041B (en) | Grape bagging robot system based on machine vision | |
| CN101412217B (en) | Autonomous field robot | |
| CN109392462B (en) | Robot and method for picking daylily | |
| CN108362326A (en) | A kind of outstanding rail greenhouse integrated information automatic cruising monitoring device | |
| CN102577755A (en) | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot | |
| CN111602518A (en) | Full-automatic ridge culture type strawberry picking robot and using method | |
| CN110614622A (en) | Intelligent fruit picking robot and implementation method thereof | |
| CN209527208U (en) | A kind of strawberry picking machine | |
| CN207460846U (en) | A kind of pineapple harvests intelligent carriage | |
| CN114679963B (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN202890093U (en) | Grape bagging robot system based on machine vision | |
| CN108476741B (en) | Small mechanical device for assisting in manually picking various fruits and application method thereof | |
| CN111684924A (en) | Strawberry picking robot based on raspberry group | |
| CN105467892A (en) | An automatic working vehicle based on a groove monorail inside a greenhouse and a control method thereof | |
| CN108391496A (en) | From walking suspension lifting formula spray spray fertilizer all-in-one machine and spraying method | |
| CN210328616U (en) | Bush pruning robot | |
| CN113119139A (en) | Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm | |
| CN115119581B (en) | Automatic plug seedling transplanting system and method | |
| CN101849458B (en) | Pot seedling planting device and pot seedling transplanting machine with the same | |
| CN213880843U (en) | Agricultural AGV chassis that four-wheel drive all-wheel is accurate turns to | |
| CN114097320B (en) | Terminal actuating mechanism of bionic intelligent inter-plant weeding robot | |
| CN209749190U (en) | trapezoidal grading collection robot for picking apples with two arms | |
| CN108323325B (en) | Strawberry picking machine simulating human hands and picking method | |
| CN2222995Y (en) | Automatic transplanting machine for seedlings | |
| CN114924570A (en) | Automatic vegetable transplanting robot capable of adapting to ridges and transplanting method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |