CN215379856U

CN215379856U - Full-automatic transplanter

Info

Publication number: CN215379856U
Application number: CN202121790742.0U
Authority: CN
Inventors: 刘国维
Original assignee: Zhuhai Yipin Agricultural Technology Co ltd
Current assignee: Zhuhai Yipin Agricultural Technology Co ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2022-01-04
Anticipated expiration: 2031-08-02

Abstract

The utility model discloses a full-automatic transplanting machine, and belongs to the technical field of hole seedling transplanting equipment. The full-automatic transplanter comprises a frame, a planting disc conveying mechanism, a seedling raising disc conveying mechanism, a transplanting mechanism and a control mechanism; a planting plate workbench and a seedling raising plate workbench which are arranged in parallel are arranged on the rack; the planting plate conveying mechanism is arranged on one side of the planting plate workbench; the planting plate conveying mechanism is arranged on the planting plate workbench and can move along the length direction of the planting plate workbench; the seedling raising plate conveying mechanism is arranged on the seedling raising plate workbench and can move along the length direction of the seedling raising plate workbench; the transplanting machine frame is erected on the rack along the width direction of the rack and can move along the height direction and the width direction of the rack; the control mechanism is arranged on the frame and controls the automatic operation of each mechanism. The utility model can realize the whole automatic transplanting process, does not need workers to carry the seedling tray, saves the cost and can realize convenient and quick transplanting.

Description

Full-automatic transplanter

Technical Field

The utility model relates to the technical field of hole seedling transplanting equipment, in particular to a full-automatic transplanting machine.

Background

After the seedling stage of the seedling tray reaches the transplanting stage, seedlings need to be transplanted from a high-density seedling tray to a low-density planting tray, and the high-intensity work is required. At present, in the traditional method, one seedling is generally transplanted to a planting tray cup and then placed in a planting tray by manpower, and then the planting tray is placed on a planting frame for cultivation, so that the whole transplanting process is time-consuming and labor-consuming, the seedling damage rate is high, and the labor cost is high. The development and application of the transplanter can greatly improve the labor conditions of operators and improve the operation efficiency. However, the existing transplanter can only realize the automatic transplanting work, the seedling tray still needs to be manually conveyed to the transplanter for transplanting, the automation degree is low, and the transplanting efficiency is low; meanwhile, the current transplanter can not solve the problem of transplanting indoor water culture seedlings.

Therefore, it is necessary to develop a full-automatic transplanter which has high efficiency and is suitable for indoor water culture seedling transplantation.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a full-automatic transplanting machine which can realize the full automation of transplanting, does not need workers to carry seedling trays, saves the labor cost and the time cost and can realize convenient and quick transplanting.

In order to solve the problems, the technical scheme adopted by the utility model is as follows:

a fully automatic transplanter, comprising:

the seedling raising device comprises a rack, wherein a planting disc workbench and a seedling raising disc workbench which are arranged in parallel are arranged on the rack;

the planting disc conveying mechanism is arranged on one side of the planting disc workbench and used for conveying the planting disc onto the planting disc workbench;

the planting disc conveying mechanism is arranged on the planting disc workbench and can move along the length direction of the planting disc workbench;

the seedling raising plate conveying mechanism is arranged on the seedling raising plate workbench and can move along the length direction of the seedling raising plate workbench;

the transplanting mechanism is erected on the rack along the width direction of the rack and used for grabbing seedlings on the seedling raising plate workbench and transplanting the seedlings to a platform of the planting plate workbench; the transplanting mechanism can move along the height direction and the width direction of the rack;

and the control mechanism is arranged on the rack and controls the automatic operation of each mechanism.

As a preferred embodiment of the utility model, the planting tray conveying mechanism comprises a docking station and a conveying trolley; the connection table is arranged on one side of the end parts of the two ends of the rack, and a track for the conveying trolley to travel is arranged on the connection table; the conveying trolley comprises a driving motor and a plurality of roller groups arranged on two sides of the conveying trolley, the driving motor is arranged in the conveying trolley and drives the roller groups to roll, and the conveying trolley can move along the track through the driving motor and the rollers; the conveying trolley is in signal connection with the control mechanism and is controlled by the control mechanism.

As a preferred embodiment of the present invention, the planting disk conveying mechanism comprises a supporting plate, a first stepping motor, a first reduction box, a first gear, a first slider and a pair of optical axes arranged in parallel; the first stepping motor and the first reduction gearbox are both arranged on the rack, an output shaft of the first stepping motor is in transmission connection with the first reduction gearbox, and the first gear is fixedly arranged on the output shaft of the first reduction gearbox; the optical axis is fixedly arranged on the planting disc workbench, the first sliding block is fixedly arranged on the bottom of the supporting plate and is in sliding connection with the optical axis, and first linear racks meshed with the first gear are fixedly arranged on two sides of the bottom of the supporting plate; the first stepping motor can drive the first gear to rotate forwards or reversely to move the first linear rack, so as to drive the supporting plate and the first sliding block to slide along the optical axis; the first stepping motor is connected with the control mechanism through a lead and is controlled by the control mechanism.

In a preferred embodiment of the present invention, the mechanism of the seedling tray transfer mechanism is the same as the structure of the planting tray transfer mechanism.

As a preferred embodiment of the utility model, a portal frame arranged along the width of the frame is arranged on the frame, and the portal frame is positioned above the planting disc workbench and the seedling tray workbench; the transplanting mechanism is arranged on the portal frame and comprises a transplanting device and a driving device; the driving device comprises a screw rod and a servo motor which are arranged on the portal frame, and the screw rod is connected with the servo motor; the transplanting device is fixed on the screw rod through a fixing plate, and the servo motor drives the transplanting device to horizontally reciprocate between the planting plate workbench and the seedling raising plate workbench; the servo motor is connected with the control mechanism through a lead and is controlled by the control mechanism.

As a preferred embodiment of the present invention, the transplantation device comprises a mounting plate, a sliding rail, a second sliding block, a second stepper motor, a second reduction box, a second gear, a second linear rack and a plurality of transplantation head assemblies, wherein the sliding rail and the second gear rack are fixedly mounted on the fixing plate, the sliding block is mounted on the mounting plate and slidably connected with the sliding rail, the second stepper motor is fixedly mounted on the mounting plate, an output shaft of the second stepper motor penetrates through the mounting plate to be in transmission connection with the second reduction box, and the second gear is connected with the second reduction box and meshed with the second linear rack; the transplanting head assembly is arranged on the mounting plate; the second stepping motor can drive the second gear to rotate forwards or reversely on the second linear rack so as to enable the second sliding block to slide along the sliding rail, and therefore the transplanting head assembly is driven to horizontally reciprocate on the fixing plate; the second stepping motor is connected with the control mechanism through a lead and is controlled by the control mechanism.

As a preferred embodiment of the present invention, the transplantation head assembly comprises an air supply pump, a slipway cylinder and a clamp head; the air supply pump is arranged on the frame and communicated with the sliding table air cylinder through an air pipe with an electromagnetic valve, and the sliding table air cylinder can push the clamp head in the vertical direction; the clamp head comprises a pneumatic finger cylinder and two clamping jaws; the pneumatic finger cylinder is arranged on the sliding table cylinder and can move up and down along the vertical direction, the air supply pump is connected with the pneumatic finger cylinder through an air pipe with an electromagnetic valve, and the two working ends of the pneumatic finger cylinder are fixedly connected with the clamping jaws respectively; the electromagnetic valve is in signal connection with the control mechanism and is controlled by the control mechanism.

As a preferred embodiment of the utility model, the clamping jaw is a thin sheet member with a tip, and the clamping jaw is bent inwards to form an included angle with a central axis of the pneumatic finger cylinder; the inner side of the clamping jaw is provided with an anti-skidding tooth surface.

As a preferred embodiment of the utility model, a tank chain for collecting and arranging the air pipes and the wires is arranged in the portal frame, one end of the tank chain is fixedly connected with the portal frame, and the other end of the tank chain is fixedly connected with the mounting plate.

As a preferred embodiment of the present invention, an infrared sensor for sensing the planting plate is disposed on the frame, and the infrared sensor is in signal connection with and controlled by the control mechanism.

Compared with the prior art, the utility model has the beneficial effects that:

the full-automatic transplanter is reasonable and scientific in structure, the planting plate is conveyed to the planting plate workbench through the conveying trolley, automatic conveying of the planting plate and the seedling raising plate is achieved through the planting plate conveying mechanism and the seedling raising plate conveying mechanism respectively, automatic transplanting of seedlings on the seedling raising plate to the planting plate is achieved through the transplanting mechanism, the degree of automation is high, quick and accurate transplanting can be achieved, meanwhile, the planting plate does not need to be carried manually, time and labor are saved, transplanting efficiency of indoor multilayer water planting seedling raising is greatly improved, operation is simple and reliable, seedling damage rate is effectively reduced, and the full-automatic transplanter is suitable for large-scale production of indoor multilayer water planting.

Drawings

FIG. 1 is a front view of a fully automatic transplanter in accordance with the present invention;

FIG. 2 is a side view of the fully automatic transplanter in accordance with the present invention;

FIG. 3 is a top view of the fully automatic transplanter in accordance with the present invention;

FIG. 4 is a schematic structural view of the present invention with the gantry and the plant-conveying mechanism removed;

FIG. 5 is a partial perspective view of a grafting mechanism according to the utility model;

the reference numbers illustrate: 1. a frame; 11. a planting tray worktable; 12. a seedling tray workbench; 13. a gantry; 2. a planting tray conveying mechanism; 21. a docking station; 22. a conveying trolley; 3. a planting tray conveying mechanism; 31. a first stepper motor; 32. a first reduction gearbox; 33. a first gear; 34. a first slider; 35. an optical axis; 36. a first linear rack; 37. a support plate; 4. a seedling tray conveying mechanism; 5. a transplanting mechanism; 510. a servo motor; 511. a fixing plate; 512. mounting a plate; 513. a slide rail; 514. a second slider; 515. a second stepping motor; 516. a second reduction gearbox; 517. a second gear; 518. a second linear rack; 519. a sliding table cylinder; 520. a clamp head; 521. an air supply pump; 522. a pneumatic finger cylinder; 523. a clamping jaw; 6. a tank chain.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 3, the fully automatic transplanter provided by the present invention includes a frame 1 for mounting other mechanisms, a planting tray conveying mechanism 2 for conveying a planting tray to a transplanting work area, a planting tray conveying mechanism 3 for driving the planting tray to move along the length direction of the frame 1, a seedling tray conveying mechanism 4 for driving the seedling tray to move along the length direction of the frame 1, a transplanting mechanism 5 for grabbing seedlings and transplanting the seedlings to a planting tray worker, and a control mechanism for controlling each mechanism to automatically operate. Frame 1 comprises aluminium parts welding or spiro union, installs along 1 length direction of frame and mutual parallel arrangement's planting dish workstation 11 and educates seedling tray workstation 12 in frame 1, wherein educates seedling tray workstation 12 and snatchs the work area of seedling for transplanting mechanism 5, and planting tray workstation 11 transplants the seedling to the work area of planting the dish for transplanting mechanism 5. In order to move conveniently, a plurality of universal wheels are arranged on the bottom of the frame 1. The frame 1 is provided with a portal frame 13 arranged along the width of the frame 1, and the portal frame 13 is positioned above the planting plate workbench 11 and the seedling raising plate workbench 12. The planting plate conveying mechanism 2 is arranged on one side of the planting plate workbench 11 and used for conveying the planting plate to the planting plate workbench 11. The planting disc conveying mechanism 3 is arranged on the planting disc workbench 11 and can reciprocate along the length direction of the planting disc workbench 11; the seedling raising tray transfer mechanism 4 is installed on the seedling raising tray table 12 and can reciprocate in the length direction of the seedling raising tray table 12. The transplanting mechanism 5 is erected above the machine frame 1 along the width direction of the machine frame 1 and can move along the height direction and the width direction of the machine frame 1. The control mechanism (not shown) is arranged on the frame 1 and is respectively electrically connected or in signal connection with the mechanisms so as to control the automatic operation of the mechanisms; the control mechanism is a PLC controller, and the model of the PLC controller can be preferably selected from the model of the communicator XD5E-60T 0-E. According to the scheme, the seedling transplanting device is reasonable and scientific in structure, the planting disc is conveyed to the planting disc workbench 11 through the planting disc conveying mechanism 2, automatic conveying of the planting disc and the seedling raising disc is achieved through the planting disc conveying mechanism 3 and the seedling raising disc conveying mechanism 4 respectively, automatic transplanting of seedlings on the seedling raising disc to the planting disc is achieved through the transplanting mechanism 5, the automation degree is high, quick and accurate transplanting can be achieved, meanwhile, the planting disc does not need to be manually conveyed, time and labor are saved, transplanting efficiency of indoor multilayer water planting seedling raising is greatly improved, operation is simple and reliable, seedling damage rate is effectively reduced, and the seedling transplanting device is suitable for large-scale production of indoor multilayer water planting

Specifically, as shown in fig. 3, the planting tray conveying mechanism 2 includes two docking stations 21 and a conveying cart 22 mounted on the docking stations 21. The two connection platforms 21 are respectively arranged on one side close to the end parts of the two ends of the frame 1, and the connection platforms 21 are provided with tracks for the transport trolley 22 to walk. The conveying trolley 22 comprises a driving motor and a plurality of roller groups arranged at two sides of the conveying trolley 22, the driving motor is arranged in the conveying trolley 22 and drives the roller groups to roll, and the conveying trolley 22 can move along a track under the combined action of the driving motor and the roller groups; the conveying trolley 22 is in signal connection with and controlled by the control mechanism. An infrared sensor (not shown) for sensing the planting plate is arranged on the portal frame 13 above the machine frame 1, and the infrared sensor is in signal connection with the control mechanism and is controlled by the control mechanism. The conveying trolley 22 conveys the planting trays to be transplanted to the planting tray conveying mechanism 3 under the control of the control mechanism, and when the control mechanism receives a signal that the infrared sensor senses the planting trays, the control mechanism sends a starting signal to the planting tray conveying mechanism 3.

Specifically, as shown in fig. 4 to 5, the planting disk conveying mechanism 3 includes a supporting plate 37, a first stepping motor 31, a first reduction gearbox 32, a first gear 33, a first slider 34, and a pair of optical axes 35 arranged in parallel. The first stepping motor 31 and the first reduction gearbox 32 are both arranged at the bottom of the planting disc workbench 11, an output shaft of the first stepping motor 31 is in transmission connection with the first reduction gearbox 32, and an output shaft of the first reduction gearbox 32 penetrates through the bottom of the planting disc workbench 11 and is fixedly connected with the first gear 33. Optical axis 35 fixed mounting is on planting a set workstation 11, and two first sliders 34 fixed mounting are on the bottom both sides of layer board 37, and two first sliders 34 respectively with two optical axis 35 sliding connection, fixed mounting is with the first straight-line rack 36 of first gear 33 meshing on the bottom of layer board 37. The first stepping motor 31 can drive the first gear 33 to rotate forward or backward to reciprocate the first linear rack 36 along the length direction of the plant disk table 11, so as to drive the first slider 34 of the supporting plate 37 to slide along the optical axis 35, thereby realizing the movement of the plant disk. The first stepping motor 31 is connected with the control mechanism through a wire and is controlled by the control mechanism, and the first stepping motor 31 is started after receiving a starting signal of the control mechanism and drives the planting plate to move along the length direction of the rack 1. Further, a limiting block for limiting the planting disc is mounted on the supporting plate 37. Preferably, the mechanism of the seedling raising tray conveying mechanism 4 is the same as the structure of the planting tray conveying mechanism 3, and the seedling raising tray conveying mechanism 4 realizes the movement of the seedling raising tray along the length direction of the seedling raising tray workbench 12 through the forward rotation or the reverse rotation of the stepping motor.

Specifically, the transplanting mechanism 5 is mounted on a gantry 13, and the transplanting mechanism 5 includes a transplanting device and a driving device. Preferably, the driving device includes a lead screw (not shown) fixedly installed on the gantry 13 and a servo motor 510, the lead screw is connected with the servo motor 510; the transplanting device is fixed on the screw rod through the fixing plate 511, and the servo motor 510 drives the screw rod to rotate so as to drive the transplanting device to horizontally reciprocate between the planting plate workbench 11 and the seedling raising plate workbench 12. The servo motor 510 is connected with and controlled by the control mechanism through a lead. When the control mechanism receives a signal that the infrared sensor senses the planting plate, the control mechanism simultaneously sends a starting signal to the servo motor 510, and the transplanting device horizontally reciprocates along the portal frame 13 under the combined action of the servo motor 510 and the screw rod.

More specifically, the transplantation device comprises a plurality of mounting plates 512, a sliding rail 513, a plurality of second sliding blocks 514, a second stepping motor 515, a second reduction box 516, a second gear 517, a second linear rack 518 and a plurality of transplantation head assemblies the number of which is matched with that of the mounting plates 512. Two slide rails 513 and a second gear 517 are fixedly installed on the fixing plate 511, and the second gear 517 is disposed between the two slide rails 513. A plurality of second sliding blocks 514 are arranged on the mounting plate 512 and are in sliding connection with the sliding rails 513, a second stepping motor 515 is fixedly arranged on the mounting plate 512, an output shaft of the second stepping motor 515 penetrates through the mounting plate 512 to be in transmission connection with a second reduction gearbox 516, a second gear 517 is connected with an output shaft of the second reduction gearbox 516 and is meshed with a second linear rack 518, and the transplantation head assembly is fixedly arranged on the mounting plate 512; the second stepper motor 515 may drive the second gear 517 to rotate in a forward or reverse direction on the second linear rack 518 to slide the second slider 514 along the track 513, thereby driving the graft head assembly on the mounting plate 512 to reciprocate horizontally on the mounting plate 511. The second stepping motor 515 is connected with the control mechanism through a lead and controlled by the control mechanism, and the plurality of transplanting head assemblies can adjust the distance between each other according to the seedling hole distance of the seedling raising tray or the planting tray under the driving of the second stepping motor 515.

Indoor multilayer water planting's seedling tray that educates generally uses the specification to be 12 grids 20 special rock wool dishes of arranging, plants the dish and generally uses the specification to be 4 grids 8 portable planting dish of arranging, consequently educates every size of arranging of seedling tray and every row of every grid of planting dish and all is inequality, needs a plurality of independent transplanting heads to accomplish on seedling tray that snatchs of seedling and the transplanting action of planting the dish seedling down. Further, the graft head assembly includes a skid cylinder 519, a clamp head 520, and an air supply pump 521 for providing an air supply. The sliding table cylinder 519 is fixedly arranged on the mounting plate 512, the clamp head 520 is connected to the sliding table cylinder 519, the air supply pump 521 is mounted on the frame 1 and is communicated with the sliding table cylinder 519 through an air pipe with an electromagnetic valve, air is supplied to the sliding table cylinder 519 by the air supply pump 521, and the sliding table cylinder 519 is inflated or deflated by the control system through controlling the opening and closing of the electromagnetic valve, so that the sliding table cylinder 519 can push the clamp head 520 in the vertical direction. More specifically, the clamp head 520 comprises a pneumatic finger cylinder 522 and two clamping jaws 523, the pneumatic finger cylinder 522 is mounted on a sliding table cylinder 519, the pneumatic finger cylinder 522 can move up and down in the vertical direction under the action of the sliding table cylinder 519, an air supply pump 521 is connected with the pneumatic finger cylinder 522 through an air pipe with an electromagnetic valve, the two working ends of the pneumatic finger cylinder 522 are fixedly connected with the clamping jaws 523 respectively, air is supplied to the pneumatic finger cylinder 522 through the air supply pump 521, and a control system controls the opening and closing of the electromagnetic valve to inflate or deflate the pneumatic finger cylinder 522, so that the loosening action and the clamping action of the clamping jaws 523 are realized, and the clamping or the loosening of the seedling is realized. The electromagnetic valves are in signal connection with the control mechanism and are controlled by the control mechanism.

In the process that the clamp head 520 clamps seedlings, the clamp head 520 moves downwards along two sides of a hole of the seedling raising disc, then the clamp is tightened to clamp the rock wool, in the downward process, the rock wool can not be inserted into foams on two sides of the hole and cause deformation of the clamp, and the seedlings can not be clamped. Therefore, the clamping jaw 523 is preferably a thin plate member made of stainless steel with a sharp point, which effectively prevents the clamping jaw 523 from deforming, and makes the positioning thereof accurate and durable. The clamping jaw 523 is inwards bent to enable the clamping jaw to form an included angle with the central axis of the pneumatic finger cylinder 522, the inner side of the clamping jaw 523 is provided with an anti-skid tooth surface, the outer side of the clamping jaw is a smooth surface, the outer side of the clamping jaw 523 is smooth to enable the clamp head 520 to move downwards along the two sides of the seedling hole when moving downwards, so that the insertion of seedling sponge and rock wool is avoided, the damage of the clamping jaw 523 to seedlings is effectively avoided, the seedling damage rate is greatly reduced, and the anti-skid tooth surface enables the clamp head 520 to better clamp rock wool or sponge.

In order to ensure the smooth operation of each mechanism, a tank chain 6 for collecting and arranging air pipes and wires is arranged in the portal frame 13, one end of the tank chain 6 is fixedly connected with the portal frame 13, the other end of the tank chain is fixedly connected with the fixing plate 511, and when the fixing plate 511 is driven by the servo motor 510 to move along the portal frame 13, the tank chain 6 and one end of the fixing plate 511 move along with the movement of the fixing plate 511.

The working principle of the utility model is as follows:

the conveying trolley 22 at the first end of the frame 1 receives the starting signal of the control mechanism and then confirms the time for moving the planting disk. When the plant trays are fed in, the transport trolley 22 transports the plant trays on the docking station 21 to the planting position of the plant tray workbench 11, and the transport trolley 22 returns to the docking station 21 to wait. When the planting tray is placed on the planting tray worktable 11, the infrared sensor senses the planting tray and sends a signal to the control mechanism, the control mechanism receives the signal and then sends a starting signal to the servo motor 510, the whole transplanting device moves to the upper part of the seedling tray under the action of the servo motor 510, meanwhile, the plurality of transplanting head components adjust the distance between each other through the second stepping motor 515, so that the clamp heads 520 correspond to the acupuncture points of the seedling tray, then the control mechanism controls the electromagnetic valve to inflate the sliding table cylinder 519 to drive the transplanting head to move downwards to enable the clamp heads 520 to extend into the acupuncture points, the control mechanism controls the electromagnetic valve to inflate the pneumatic finger cylinder 522, after the pneumatic finger cylinder 522 drives the clamp to clamp the rock wool with seedlings, the control mechanism controls the electromagnetic valve to deflate the sliding table cylinder 519 to drive the transplanting head to lift upwards, the servo motor 510 drives the transplanting device to move to the upper part of the planting tray under the control of the control mechanism, the transplanting head assembly moves left and right simultaneously under the control of the control mechanism to adjust the distance, so that the clamp head 520 corresponds to the hole of the planting disc, the control mechanism controls the electromagnetic valve to inflate the sliding table cylinder 519 to drive the transplanting head to move downwards, so that the clamp head 520 extends into the hole of the planting disc, the control mechanism controls the electromagnetic valve to deflate the pneumatic finger cylinder 522 to loosen the clamp head 520 and accurately place seedlings on the hole of the planting disc, and the sliding table cylinder 519 deflates to drive the transplanting head to rise. After the transplantation head finishes transplanting, the planting plate conveying mechanism 3 drives the planting plates to move forward one row. The transplanting device returns to the position above the seedling raising tray workbench 12 to enter the next transplanting cycle. When the transplantation of one planting tray is completed, the planting tray working table 11 drives the transplanted planting tray to move to the position of the connecting table 21 at the second end of the rack 1, the conveying trolley 22 moves into the rack 1 to take out the planting tray, and returns to the connecting table 21 to enable the transplanted planting tray to enter the next process.

In conclusion, the automatic transplanting device disclosed by the utility model has the advantages that the planting tray is conveyed to the planting tray workbench 11 through the conveying trolley 22, the automatic conveying of the planting tray and the seedling tray is respectively realized through the planting tray conveying mechanism 3 and the seedling tray conveying mechanism 4, the automatic transplanting of seedlings on the seedling tray to the planting tray is realized through the transplanting mechanism 5, the automation degree is high, the rapid and accurate transplanting can be realized, the time and the labor are saved, the transplanting efficiency of indoor multilayer water planting seedling is greatly improved, the seedling damage rate is effectively reduced, and the automatic transplanting device is suitable for the large-scale production of indoor multilayer water planting.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. The utility model provides a full-automatic transplanter which characterized in that: comprises that

2. The fully automatic transplanter according to claim 1, wherein: the planting tray conveying mechanism comprises a connecting table and a conveying trolley; the connection table is arranged on one side of the end parts of the two ends of the rack, and a track for the conveying trolley to travel is arranged on the connection table; the conveying trolley comprises a driving motor and a plurality of roller groups arranged on two sides of the conveying trolley, the driving motor is arranged in the conveying trolley and drives the roller groups to roll, and the conveying trolley can move along the track through the driving motor and the rollers; the conveying trolley is in signal connection with the control mechanism and is controlled by the control mechanism.

3. The fully automatic transplanter according to claim 1, wherein: the planting disc conveying mechanism comprises a supporting plate, a first stepping motor, a first reduction gearbox, a first gear, a first sliding block and a pair of optical axes which are arranged in parallel; the first stepping motor and the first reduction gearbox are both arranged on the rack, an output shaft of the first stepping motor is in transmission connection with the first reduction gearbox, and the first gear is fixedly arranged on the output shaft of the first reduction gearbox; the optical axis is fixedly arranged on the planting disc workbench, the first sliding block is fixedly arranged on the bottom of the supporting plate and is in sliding connection with the optical axis, and first linear racks meshed with the first gear are fixedly arranged on two sides of the bottom of the supporting plate; the first stepping motor can drive the first gear to rotate forwards or reversely to move the first linear rack, so as to drive the supporting plate and the first sliding block to slide along the optical axis; the first stepping motor is connected with the control mechanism through a lead and is controlled by the control mechanism.

4. The fully automatic transplanter according to claim 3, wherein: educate seedling tray transport mechanism's structure and planting dish transport mechanism's structure the same.

5. The fully automatic transplanter according to claim 1, wherein: the gantry frame is arranged on the rack along the width of the rack and is positioned above the planting disc workbench and the seedling raising disc workbench; the transplanting mechanism is arranged on the portal frame and comprises a transplanting device and a driving device; the driving device comprises a screw rod and a servo motor which are arranged on the portal frame, and the screw rod is connected with the servo motor; the transplanting device is fixed on the screw rod through a fixing plate, and the servo motor drives the transplanting device to horizontally reciprocate between the planting plate workbench and the seedling raising plate workbench; the servo motor is connected with the control mechanism through a lead and is controlled by the control mechanism.

6. The fully automatic transplanter according to claim 5, wherein: the transplanting device comprises a mounting plate, a slide rail, a second slide block, a second stepping motor, a second reduction gearbox, a second gear, a second linear rack and a plurality of transplanting head assemblies, wherein the slide rail and the second gear are fixedly mounted on the fixing plate; the transplanting head assembly is arranged on the mounting plate; the second stepping motor can drive the second gear to rotate forwards or reversely on the second linear rack so as to enable the second sliding block to slide along the sliding rail, and therefore the transplanting head assembly is driven to horizontally reciprocate on the fixing plate; the second stepping motor is connected with the control mechanism through a lead and is controlled by the control mechanism.

7. The fully automatic transplanter according to claim 6, wherein: the transplanting head assembly comprises an air supply pump, a sliding table cylinder and a clamp head; the air supply pump is arranged on the frame and communicated with the sliding table air cylinder through an air pipe with an electromagnetic valve, and the sliding table air cylinder can push the clamp head in the vertical direction; the clamp head comprises a pneumatic finger cylinder and two clamping jaws; the pneumatic finger cylinder is arranged on the sliding table cylinder and can move up and down along the vertical direction, the air supply pump is connected with the pneumatic finger cylinder through an air pipe with an electromagnetic valve, and the two working ends of the pneumatic finger cylinder are fixedly connected with the clamping jaws respectively; the electromagnetic valve is in signal connection with the control mechanism and is controlled by the control mechanism.

8. The fully automatic transplanter according to claim 7, wherein: the clamping jaw is a thin sheet component with a tip, and the clamping jaw is bent inwards to form an included angle with the central axis of the pneumatic finger cylinder; the inner side of the clamping jaw is provided with an anti-skidding tooth surface.

9. The fully automatic transplanter according to claim 7, wherein: and a tank chain for collecting and arranging the air pipes and the wires is arranged in the portal frame, one end of the tank chain is fixedly connected with the portal frame, and the other end of the tank chain is fixedly connected with the mounting plate.

10. The full-automatic transplanter according to any one of claims 1 to 7, wherein: the frame is provided with an infrared sensor used for sensing the planting plate, and the infrared sensor is in signal connection with the control mechanism and is controlled by the control mechanism.