WO2019148597A1 - 一种用于移栽机的自动取苗投苗装置及其方法 - Google Patents

一种用于移栽机的自动取苗投苗装置及其方法 Download PDF

Info

Publication number
WO2019148597A1
WO2019148597A1 PCT/CN2018/078897 CN2018078897W WO2019148597A1 WO 2019148597 A1 WO2019148597 A1 WO 2019148597A1 CN 2018078897 W CN2018078897 W CN 2018078897W WO 2019148597 A1 WO2019148597 A1 WO 2019148597A1
Authority
WO
WIPO (PCT)
Prior art keywords
seedling
moving
claw
claws
seedlings
Prior art date
Application number
PCT/CN2018/078897
Other languages
English (en)
French (fr)
Inventor
胡建平
潘杰
费卫征
韩绿化
Original Assignee
江苏大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 江苏大学 filed Critical 江苏大学
Priority to US16/477,805 priority Critical patent/US11259458B2/en
Publication of WO2019148597A1 publication Critical patent/WO2019148597A1/zh

Links

Images

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

Definitions

  • the invention relates to the field of agricultural machinery, in particular to an automatic seedling seedling device for a transplanting machine and a method thereof.
  • Vegetables are indispensable foods in life. China's planting area has reached 300 million mu, annual output exceeds 700 million tons, and continues to grow. It is the world's largest vegetable producer and consumer. At present, the cultivation of agricultural vegetables in China mostly adopts the method of seedling seedlings and post-planting, which can make vegetables avoid natural disasters such as drought and freezing damage during the nursery period, and can fully utilize the light and heat resources and have climate compensation. And the role of early maturity and yield increase of crops has enormous economic and social benefits, so the development of a fully automatic vegetable transplanting machine suitable for China's national conditions has become a prerequisite for large-scale planting of vegetables.
  • the transplanting machine on the market has semi-automatic and fully automatic points.
  • the semi-automatic transplanting machine needs to manually take seedlings from the plug tray and inject seedlings.
  • the transplanting machine has high labor intensity and low efficiency.
  • the automatic transplanting machine integrates the advanced electromechanical liquid-gas integration technology, which can realize automatic vegetable transplanting in the whole process of seedling, seedling, planting and covering soil, with low labor intensity and high efficiency.
  • the seedling picking mechanism is the core part of the automatic transplanting machine for the plug seedlings. It is the symbol of distinguishing the automatic transplanting machine and the semi-automatic transplanting machine.
  • the efficiency of the seedlinging mechanism and the quality of the seedlings directly determine the automatic transplanting machine.
  • the overall work effect is seedlings.
  • Chinese Patent Publication No. CN106258124A discloses a method and a system for seedling transplanting machines in rows and rows to take seedlings in order, and the system adopts a swinging seedling picking mechanism, and takes seedlings at intervals, taking 6 at a time.
  • Tree can achieve uninterrupted supply and seedlings, but need to take a row of seedlings twice, the efficiency is low, driven by the single side of the cylinder, the stability is poor, the seedlings are taken after the seedlings are taken from the nursery Inserted above, the leaves and stems of the seedlings have greater damage, and the seedlings are planted in turn, and only one set of seedlings is used to pick up the seedlings during exercise. When the speed is fast, it is easy to produce hanging seedlings, and the posture of the seedlings is not good.
  • the present invention provides an automatic seedling seedling device for a transplanting machine and a method thereof.
  • the automatic seedling seedling device for a transplanting machine can realize a whole row without a gap.
  • the seedlings at the same time, inoculate the seedlings, overcome the problem that the seedling time brought by the interval seedlings, the seedling time brought by the seedlings is difficult to control, and the success rate of the seedlings is low, and the trays only need to do the longitudinal conveying movement, improve the tray conveying and the seedlings.
  • the efficiency of seedlings by changing the number of seedlings, it can be adapted to 72 holes, 128 holes and other kinds of plugs; the seedlings are taken first to reach the seedling point, and then the whole row of seedlings is transferred to the seedlings.
  • the method of taking the seedlings below makes the seedling claws play a combing effect on the carcass seedlings before inserting the carcass, and can separate the adjacent seedling leaves which are staggered together, overcoming the existing seedling claws from the seedlings.
  • the seedling device Inserting the carcass and seedlings directly from the upper part of the carcass, reducing the damage on the opposite side, improving the quality of the seedlings; the seedling device is stationary and the seedlings are shortened, and the distance of free fall movement is shortened, so that the seedlings are more accurate.
  • the present invention achieves the above technical objects by the following technical means.
  • An automatic seedling seedling device for transplanting machine comprising: a seedling picking mechanism, a seedling guiding device, a box moving mechanism and a seedlingling mechanism, wherein the seedling picking mechanism is installed on the box moving mechanism, two sets The seedlingling mechanism is symmetrically arranged on both sides of the shifting mechanism, and the seedling guiding device is installed above the seedlinging mechanism;
  • the picking mechanism mainly comprises an up and down moving linear guide, a rectangular frame, a spring, a moving cylinder up and down, a picking claw, a bottom plate, a lateral moving linear guide, a lateral moving cylinder, and the rectangular frame is fixed on the frame, the rectangular frame
  • the left and right sides are respectively equipped with up and down moving linear guides, and the upper and lower moving linear guides are matched with the first slider fixed on the bottom plate;
  • the upper and lower moving cylinders are mounted on the upper end surface of the rectangular frame, and the piston rods of the upper and lower moving cylinders are connected with the bottom plate;
  • the slot is connected to the moving claw driving moving board located on the front surface of the bottom plate, and the moving claw plate is moved by
  • the second slider on the end; a plurality of picking claw moving connecting plates are mounted on the rail slider connecting block On the two sliders, the plurality of picking claws are respectively mounted on the picking claw moving connecting plate; the two picking claw moving driving boards are respectively connected with the outermost two rail slider connecting blocks; adjacent A spring is disposed between the two picking claws, and the spring is mounted on the screw, and the two ends of the screw are equipped with a limit nut; when the laterally moving cylinder is fully contracted, the innermost picking claw is concentric with the innermost hole of the plug.
  • the outermost take-up claw is concentric with the outermost hole of the plug, and all the picking claws are concentric with the same row of holes on the tray; when the laterally moving cylinder is fully extended, the compression of the spring is The minimum compression of the spring defined by the limit nut, the outermost take-up claw should be concentric with the upper opening of the outermost inclined guide barrel, each taking the seedling claw and each guiding barrel, concentric;
  • the seedling guiding device mainly comprises a guiding seedling barrel mounting plate mounted on the bracket, and the vertical guiding seedling barrel snap ring and the inclined guiding seedling barrel retaining ring respectively mounted on the guiding seedling barrel mounting plate are respectively coaxially mounted on the vertical guiding seedling a vertical guiding seedling barrel and a tilting guiding seedling barrel of the barrel buckle ring and the inclined guiding seedling barrel buckle; the guiding seedling outlets of the vertical guiding seedling barrel and the inclined guiding seedling barrel are respectively arranged in a circular arrangement in the seedlingling mechanism Cup coaxial.
  • the two oil pressure buffers are respectively mounted on the back surface of the bottom plate through the oil pressure buffer mount; the stop bolts are installed in the middle position of the front surface of the bottom plate through the stop bolt mounting seat; when the laterally moving cylinder is fully contracted The innermost picking claw should be touched to the stop bolt for the limit position, and the length of the stop bolt should be such that the innermost picking claw is concentric with the innermost hole of the plug; the outermost picking claw should be taken Concentric with the outermost hole of the plug; when the laterally moving cylinder protrudes to the most distal end of the oil pressure buffer that acts as a limit, the outermost take-up claw should be the upper part of the outermost inclined guide barrel The opening is concentric.
  • the number of the laterally moving linear guides is four, arranged in parallel, and the two picking claw moving drive plates are staggered on the second sliders at both ends of the laterally moving linear guide.
  • the seedling claw is provided with a spacing block for taking the seedling claws, and when the laterally moving cylinder is completely contracted, the spacing between the adjacent seeding claws is the same as the spacing of the hole of the hole.
  • a spring platen is respectively disposed at both ends of the spring, and the spring platen is also mounted on the screw.
  • the up-and-down moving cylinder piston rod is connected to the bottom plate by moving the cylinder eye joint up and down, and moving the cylinder connecting plate up and down.
  • the laterally moving cylinder piston rod is connected to the bottom plate by laterally moving the cylinder fish joint and laterally moving the cylinder foot. .
  • the number of the vertical guiding seedling barrels is one, and is located at the innermost side of the seedling guiding device.
  • the bracket comprises a longitudinal bracket, a cross bracket, the longitudinal bracket is mounted on a side of the seedling mechanism, the cross bracket is mounted on the longitudinal bracket, and the guiding bucket mounting plate is mounted on the cross bracket.
  • the seedling-removing mechanism of the invention can realize the seedlings without the interval and the seedlings, and at the same time, the seedlings are overcome, and the problem that the seedling time brought by the interval seedlings, the seedlings brought by the seedlings is difficult to control, the success rate of the seedlings is low, and the trays are overcome It only needs to carry out the longitudinal conveying movement, which improves the efficiency of the tray conveying, seedling and seedling feeding;
  • the seedling picking mechanism of the invention can adapt to 72 holes, 128 holes and the like by changing the number of seedling claws and taking the thickness of the seedling block spacer;
  • the invention adopts the method of taking the seedling claws to reach the seedling point, and then shifting the whole row of seedlings to the bottom of the seedling claws to take the seedlings, so that the seedling claws are taken from the middle of the two seedlings, The staggered adjacent seedling leaves are separated, and the carcass seedlings are combed before inserting the carcass, and the existing seedling claws are directly inserted into the carcass from the top of the seedlings. Phenomenon, reducing the damage on the opposite side and improving the quality of seedlings;
  • the seedling-inducing device of the present invention stops the seedlings and shortens the free-falling movement distance, so that the seedlings are more accurate.
  • FIG. 1 is a schematic view showing the installation of the automatic seedling seedling device on the chassis of the transplanter according to the present invention.
  • FIG. 2 is a schematic structural view 1 of the automatic seedling seedling raising device of the present invention.
  • FIG. 3 is a schematic structural view 2 of the automatic seedling seedling device according to the present invention.
  • Figure 4 is a schematic view showing the structure of the seedling picking mechanism of the present invention.
  • Figure 5 is a schematic view showing the structure of the seedling picking mechanism of the present invention.
  • Fig. 6 is a schematic view showing the installation of the seedling claws on the laterally moving linear guide according to the present invention.
  • Figure 7 is a schematic view showing the installation of the screw, the spring and the limit nut on the spring pressure plate of the present invention.
  • Figure 8 is a schematic view showing the structure of the seedling guiding device of the present invention.
  • Fig. 9 (a) and (b) are schematic views showing the state at the time of seedling raising and seeding.
  • Figure 10 is a schematic view showing the positional relationship between the seedling guiding barrel and the seedling guiding device of the present invention.
  • Figure 11 (a), (b), (c), (d), (e), (f), (g) are the initial state of the whole row of seedlings at the same time, the seedlings are taken Arriving at the seedling point, moving the box to transport the tray to the seedling point, taking the seedlings into the carcass, taking the seedlings to pull out the carcass, taking the seedlings and seedlings to move to the seedling point, taking the seedlings and putting the seedlings into the seedlings
  • the automatic seedling seedling device for the automatic transplanting machine of the present invention comprises a seedling picking mechanism 1, a seedling guiding device 2, a moving box mechanism 3 and a seedlingling mechanism.
  • the seedling picking mechanism 1 is installed on the top of the shifting mechanism 3
  • two sets of seedlinging mechanisms 4 are symmetrically arranged on both sides of the shifting mechanism 3
  • the seedling guiding device 2 is installed above the seedlingling mechanism 4, and the whole set of automatic seedlings is cast.
  • the seedling device can be mounted on the transplanter chassis 5.
  • the seedling picking mechanism 1 includes a vertical moving linear guide 1-1, a rectangular frame 1-2, a spring 1-3, a rail slider connecting block 1-4, and a seedling claw spacer 1 -5, spring pressure plate 1-6, stop bolt 1-7, stop bolt mounting seat 1-8, moving the cylinder 1-9 up and down, moving the fisheye joint 1-10 up and down, taking the claws 1-111, the bottom plate 1-12, lateral movement linear guide 1-13, picking claw moving joint plate 1-14, screw 1-15, limit nut 1-16, picking claw moving drive plate 1-17, oil pressure buffer 1 18, hydraulic buffer mount 1-19, laterally moving cylinder connecting plate 1-20, up and down moving cylinder mounting plate 1-21, up and down moving cylinder connecting plate 1-22, plug 1-23, lateral moving cylinder fish eye Joints 1-24, laterally moving cylinder feet 1-25, laterally moving cylinders 1-26.
  • the rectangular frame 1-2 is fixed on the frame, and the left and right sides of the rectangular frame 1-2 are respectively mounted with up and down moving linear guides 1-1, and the bottom plates 1-12 are mounted on the upper and lower moving linear guides 1-1.
  • the up-and-down moving cylinders 1-9 are mounted at an intermediate position of the upper end surface of the rectangular frame 1-2 by moving the cylinder mounting plate 1-21 up and down, and the up-and-down moving cylinder fish eye joints 1-10 are mounted on the upper and lower moving cylinders 1-9 piston rods.
  • the two laterally moving cylinders 1-26 are mounted on the back surface of the bottom plate 1-12 by laterally moving the cylinder feet 1-25.
  • the bottom plate 1-12 is provided with a plurality of grooves arranged in parallel to move the cylinder laterally (1-26).
  • the piston rod is connected to the pick-up claw moving drive plate (1-17) located on the front surface of the bottom plate 1-12 through the groove, and the moving claw plate is moved by the lateral movement cylinder 1-26 to move the driving plate 1-17 to slide in the groove.
  • the laterally moving cylinder fish eye joints 1-24 are mounted on the laterally moving cylinders 1-26, and are connected to the picking claw moving drive plates 1-17 by laterally moving the cylinder connecting plates 1-20.
  • the two hydraulic buffers 1-18 are respectively mounted on the back surface of the bottom plate 1-12 through the oil buffer sockets 1-19; the four lateral moving linear guides 1-13 are mounted with a plurality of second sliders and Parallelly mounted on the front side of the bottom plate 1-12; the stop bolts 1-7 are mounted in the middle of the front surface of the bottom plate 1-12 by the stop bolt mounting seat 1-8; the two picking claw moving drive plates 1-17 are staggered Installed on the second slider at both ends of the lateral movement linear guide 1-13. As shown in FIG.
  • the plurality of picking claw moving connecting plates 1-14 are mounted on the other second sliders of the laterally moving linear guides 1-13 through the rail slider connecting blocks 1-4, and the plurality of taking The seedling claws 1-11 are not attached to the picking claw moving connecting plates 1-14.
  • the two picking claw moving drive plates 1-17 are respectively connected to the outermost two rail slider connecting blocks 1-4.
  • Springs 1-3 are disposed between the adjacent two picking claws 1-11, and the springs 1-3 are mounted on the screws 1-15, and the ends 1-15 of the screws 1-15 are fitted with the limit nuts 1-16.
  • the spring pressure plate 1-6 is provided with a hole, the hole diameter is larger than the diameter of the screw 1-15, so that the screw 1-15 can pass through, and is smaller than the outer diameter of the limit nut 1-16; the spring pressure plate 1-6 is installed As shown in FIG. 7, the limit nut 1-16 is respectively installed at the two ends of the screw 1-15 and is respectively located outside the two spring pressure plates 1-6.
  • the innermost take-up claws 1-11 are concentric with the innermost hole of the plugs 1-23, and the outermost take-up claws 1-11 and the outermost sides of the trays 1-23
  • the hole of the hole is concentric, and all the seeding claws 1-11 are concentric with the hole of the same row on the trays 1-23; when the laterally moving cylinders 1-26 are fully extended, the compression amount of the spring 1-3
  • the minimum compression of the spring 1-3 defined by the limit nut 1-16, the outermost take-up claw 1-11 should be concentric with the upper opening of the outermost inclined guide barrel 2-5, each taking the claw 1-11 Concentric with each of the seedling barrels 2-4, 2-5.
  • the outermost extraction claws 1-11 should be the same as the outermost inclined guide barrels 2-5. Axis, at this time take the seedlings to open the seedlings.
  • the outermost extraction claws 1-11 should be concentric with the outermost holes of the trays 1-23; the innermost extraction claws 1-11 should be touched.
  • the stop bolts 1-7 are used, and the length of the stop bolts 1-7 should be such that the innermost take-up claws 1-11 are concentric with the innermost holes of the plugs 1-23.
  • the seedling guiding device 2 includes a guiding seedling barrel mounting plate 2-1, a longitudinal support 2-2, a vertical guiding seedling barrel retaining ring 2-3, a vertical guiding seedling barrel 2-4, and a tilt guiding seedling barrel.
  • the seedling claws 1-11 are provided with a seedling claw spacer 1-5 for separating the seedling claws 1-11, and when When the laterally moving cylinders 1-26 are fully contracted, the spacing of the seedling claws 1-11 is the same as the spacing of the holes 1-23.
  • the limiting nut 1-16 defines a minimum compression amount of the spring 1-3. When the laterally moving cylinder 1-26 extends to the farthest end, the elastic force corresponding to the minimum compression amount of the spring 1-3 can open the respective claws 1 -11, and each of the seedling claws 1-11 is concentric with the respective seedling barrels 2-4, 2-5.
  • the up-and-down moving cylinders 1-9 are extended to slide the linear guide rails 1-1 downwardly upwards, so that the seed removing claws 1-11 are inserted downward into the nursery, and the seedling claws 1-11 are taken to clamp the body;
  • the upper and lower moving cylinders 1-9 are contracted to slide the linear guide rails 1-1 upward and upward, so that the picking claws 1-11 are pulled upwards and the bottom of the body is higher than the upper surfaces of the trays 1-23. .
  • the center of the upper end of the vertical guiding seedling barrel 2-4 and the inclined guiding seedling barrel 2-5 are in the same straight line, and the center of the lower end surface is concentric with the seedling cup 4-1.
  • the working method of the automatic seedling seedling device for the automatic transplanting machine comprises the following steps:

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Transplanting Machines (AREA)

Abstract

一种用于移栽机的自动取苗投苗装置，包括取苗机构（1）、导苗装置（2）、移箱机构（3）和分苗机构（4），取苗机构装在移箱机构上面，两套分苗机构对称布置于移箱机构两侧，导苗装置固定在分苗机构上方。移箱机构将穴盘苗输送至取苗点，取苗机构使各取苗爪（1-11）移动至取苗点并取苗，移动至投苗点并投苗，导苗装置使苗钵按预定的轨迹进入分苗机构，分苗机构将钵体旋转输送至落苗点进行落苗。该装置实现无间隔整排取苗，同时投苗，提高了取苗效率、投苗的效率和成功率；而且穴盘只需做纵向输送运动，提高了穴盘输送效率。取苗爪爪针在插入钵体之前对钵体苗起到一个梳理作用，提高了取苗质量；导苗装置静止接苗且缩短自由落体运动距离，投苗更准。

Description

一种用于移栽机的自动取苗投苗装置及其方法 技术领域
本发明涉及农业机械领域，尤其涉及一种用于移栽机的自动取苗投苗装置及其方法。
背景技术
蔬菜是生活中不可或缺的食物种类，我国种植面积已达3亿亩，年产量超过7亿吨，且持续增长，是世界上最大的蔬菜生产和消费国。目前，我国农业蔬菜的培育多采用先穴盘育苗，后移栽种植的方式，这种方式可以使蔬菜避开育苗期干旱、冻害等自然灾害，并可充分利用光热资源，具有对气候补偿和使作物提早成熟及增产的作用，具有巨大的经济效益和社会效益，所以研发适合我国国情全自动蔬菜移栽机械成为实现大面积种植蔬菜的前提。
目前，市场上的移栽机有半自动和全自动之分，半自动移栽机需人工从穴盘中取苗并投苗，这种移栽机劳动强度大，效率低。全自动移栽机融合先进的机电液气一体化技术，可实现取苗、投苗、栽植、覆土等全过程自动化蔬菜移栽，劳动强度低，效率高。其中，取苗机构是穴盘苗全自动移栽机的核心部分，是区分全自动移栽机和半自动移栽机的标志，取苗机构的效率和取苗质量直接决定了全自动移栽机的整体作业效果苗。在现有技术中，中国专利公开号CN106258124A，公开了一种钵苗移栽机成排间隔取苗依次放苗的方法和系统，该系统采用摆动式取苗机构，间隔取苗，一次取6棵，能够实现无中断供盘、取苗，但需要分两次取完一排苗，效率较低，通过气缸单边驱动，稳定性较差，穴盘到位后取苗爪再从苗钵正上方插入，对苗的叶和茎有较大损伤，依次投苗，且只有一套分苗机构在运动中接苗，速度较快时，容易产生挂苗，投苗姿态不佳等问题。
发明内容
针对现有技术中存在不足，本发明提供了一种用于移栽机的自动取苗投苗装置及其方法所述用于移栽机的自动取苗投苗装置可实现无间隔整排取苗，同时投苗，克服了间隔取苗、依次投苗带来的投苗时间难以控制、投苗成功率低的问题，而且穴盘只需做纵向输送运动，提高了穴盘输送、取苗和投苗效率；通过改变取苗爪个数，可适应72孔，128孔等多种穴盘；采用取苗爪先行到达取苗点，然后待取穴盘整排苗平移输送到取苗爪正下方进行取苗的方法，使得取苗爪爪针在插入钵体之前对钵体苗起到一个梳理作用，可将交错在一起的相邻钵苗叶子分开，克服现有取苗爪从苗正上方直接插入钵体取苗带 来的夹苗、伤苗现象，减少了对面的损伤，提高了取苗质量；导苗装置静止接苗且缩短自由落体运动距离，使投苗更准确。
本发明是通过以下技术手段实现上述技术目的的。
一种用于移栽机的自动取苗投苗装置，其特征在于，包括取苗机构、导苗装置、移箱机构和分苗机构，所述取苗机构安装在移箱机构上面，两套分苗机构对称布置于移箱机构的两侧，导苗装置安装在分苗机构上方；
所述取苗机构主要包括上下移动直线导轨、矩形框架、弹簧、上下移动气缸、取苗爪、底板、横向移动直线导轨、横向移动气缸，所述矩形框架固定在机架上，所述矩形框架的左右两侧均安装有上下移动直线导轨，上下移动直线导轨与固定在底板上的第一滑块配合；上下移动气缸安装于矩形框架上端面，上下移动气缸的活塞杆与底板相连；底板正面设置至少两根相互平行的横向移动直线导轨，安装有若干第二滑块；两个横向移动气缸安装在底板背面，所述底板上开有若干条平行布置的槽，横向移动气缸活塞杆通过所述槽与位于底板正面的取苗爪移动驱动板相连，通过横向移动气缸带动取苗爪移动驱动板可在槽内滑动，所述两个取苗爪移动驱动板交错安装在横向移动直线导轨两端的第二滑块上；若干个取苗爪移动连接板通过导轨滑块连接块装在其他第二滑块上，所述若干个取苗爪分别安装在取苗爪移动连接板上；所述两个取苗爪移动驱动板分别与最外侧的两个导轨滑块连接块相连；相邻的两个取苗爪之间设置弹簧，所述弹簧装在螺杆上，螺杆两端装有限位螺母；所述横向移动气缸完全收缩时，最内侧取苗爪与穴盘最内侧穴孔同轴心、最外侧取苗爪与穴盘最外侧穴孔同轴心，且所有取苗爪与穴盘上同一排的穴孔同轴心；所述横向移动气缸完全伸出时，弹簧的压缩量为限位螺母限定的弹簧最小压缩量，最外侧取苗爪应与最外侧倾斜导苗桶的上部开口同轴心，各取苗爪与各导苗桶、同轴心；
所述导苗装置主要包括装在支架上的导苗桶安装板，分别安装在导苗桶安装板上的垂直导苗桶卡环和倾斜导苗桶卡环，分别同轴安装在垂直导苗桶卡环和倾斜导苗桶卡环的垂直导苗桶和倾斜导苗桶；所述垂直导苗桶和倾斜导苗桶的导苗出口分别与分苗机构中呈圆形排布的分苗杯同轴心。
进一步的，所述两个油压缓冲器分别通过油压缓冲器安装座安装在底板背面；所述止动螺栓通过止动螺栓安装座安装在底板正面中间位置；所述横向移动气缸完全收缩时，应使最内侧取苗爪碰到作限位用的止动螺栓，且止动螺栓长度应满足使最内侧取苗爪与穴盘最内侧穴孔同轴心；应使最外侧取苗爪与穴盘最外侧穴孔同轴心；所述横向移动气 缸伸出到最远端遇到起限位作用的油压缓冲器时，最外侧取苗爪应与最外侧倾斜导苗桶的上部开口同轴心。
进一步的，所述横向移动直线导轨的数量为四根，平行布置，两个取苗爪移动驱动板交错装在所述横向移动直线导轨两端的第二滑块上。
进一步的，所述取苗爪上设置有取苗爪间隔块，并当横向移动气缸完全收缩时相邻取苗爪之间的间距与穴盘穴孔间距相同。
进一步的，弹簧的两端分别设置弹簧压板，所述弹簧压板也装在螺杆上。
进一步的，所述上下移动气缸活塞杆通过上下移动气缸鱼眼接头、上下移动气缸连接板与底板相连，所述横向移动气缸活塞杆通过横向移动气缸鱼眼接头、横向移动气缸脚座与底板相连。
进一步的，所述垂直导苗桶的数量为1个，位于导苗装置的最内侧。
进一步的，所述支架包括纵向支架、十字支架所述纵向支架安装在分苗机构侧面，所述十字支架安装在纵向支架上面，导苗桶安装板安装在十字支架上。
所述的用于移栽机的自动取苗投苗装置的取苗和投苗的方法，其特征在于，包括以下步骤：
S1：将穴盘放置于移箱机构上，此时横向移动气缸伸出至最远端，各取苗爪位于垂直导苗桶、倾斜导苗桶上方；
S2：横向移动气缸收缩，通过取苗爪移动驱动板带动各取苗爪在横向移动直线导轨上向中心滑动，当最内侧取苗爪碰到止动螺栓时，横向移动气缸继续收缩并压缩各弹簧，直至取苗爪间隔块抵住取苗爪，此时，各取苗爪位于穴盘上方且间距与穴盘穴孔间距相同，位于取苗点；
S3：移箱机构将穴盘输送至取苗点；
S4：上下移动气缸伸出，在底板的带动下，使取苗爪整体在上下移动直线导轨上向下滑动，从而使取苗爪向下插入苗钵，同时取苗爪夹紧钵体；
S5：上下移动气缸收缩使取苗爪整体在上下移动直线导轨上向上滑动，从而使取苗爪向上拔出苗钵，使钵体底部高于穴盘上表面；
S6：横向移动气缸伸出，通过取苗爪移动驱动板带动各取苗爪在横向移动直线导轨上向两侧滑动，弹簧逐渐张开，推动弹簧压板至限位螺母，进而使各取苗爪的间距散开至与各导苗桶轴心距离相同，横向移动气缸伸出碰到油压缓冲器时，此时各取苗爪与各导苗桶对应，到达投苗点；
S7：取苗爪张开将苗钵投入导苗装置，钵体顺着导苗桶进入分苗机构，分苗机构将苗钵旋转输送至落苗点；
S8：横向移动气缸收缩再次使取苗爪移动至取苗点，穴盘前进一个穴孔的距离，开始下一个取苗、投苗周期，直至取完整盘苗钵。
本发明的有益效果：
1)本发明的取苗机构可实现无间隔整排取苗，同时投苗，克服了间隔取苗、依次投苗带来的投苗时间难以控制、投苗成功率低的问题，而且穴盘只需做纵向输送运动，提高了穴盘输送、取苗和投苗效率；
2)本发明的取苗机构通过改变取苗爪个数、取苗爪间隔块厚度，可适应72孔，128孔等多种穴盘；
3)本发明采用取苗爪先行到达取苗点，然后待取穴盘整排苗平移输送到取苗爪正下方进行取苗的方法，使得取苗爪爪针从两棵苗中间穿过，将交错在一起的相邻钵苗叶子分开，在插入钵体之前对钵体苗起到一个梳理作用，克服现有取苗爪从苗正上方直接插入钵体取苗带来的夹苗、伤苗现象，减少了对面的损伤，提高了取苗质量；
4)本发明的导苗装置静止接苗且缩短自由落体运动距离，使投苗更准确。
附图说明
图1为本发明所述自动取苗投苗装置在移栽机底盘上的安装示意图。
图2为本发明所述自动取苗投苗装置的结构示意图一。
图3为本发明所述自动取苗投苗装置的结构示意图二。
图4本发明所述取苗机构的结构示意图一。
图5本发明所述取苗机构的结构示意图二。
图6为本发明所述取苗爪在横向移动直线导轨上的安装示意图。
图7为本发明所述螺杆、弹簧与限位螺母在弹簧压板上的安装示意图。
图8本发明所述导苗装置的结构示意图。
图9中(a)、(b)分别为在投苗点、取苗点时的状态示意图。
图10为本发明所述导苗桶与导苗装置的位置关系示意图。
图11中(a)、(b)、(c)、(d)、(e)、(f)、(g)分别为本发明所述整排取苗同时投苗装置初始状态、取苗爪到达取苗点、移箱机构将穴盘输送至取苗点、取苗爪插入钵体、取苗爪拔出钵体、取苗爪带苗移动至投苗点、取苗爪将苗投入导苗装置的机构简图。
其中：
1.取苗机构；1-1.上下移动直线导轨；1-2.矩形框架；1-3.弹簧；1-4.导轨滑块连接块；1-5.取苗爪间隔块；1-6.弹簧压板；1-7.止动螺栓；1-8.止动螺栓安装座；1-9.上下移动气缸；1-10.上下移动气缸鱼眼接头；1-11.取苗爪；1-12.底板；1-13.横向移动直线导轨；1-14.取苗爪移动连接板；1-15.螺杆；1-16.限位螺母；1-17.取苗爪移动驱动板；1-18.油压缓冲器；1-19油压缓冲器安装座；1-20.横向移动气缸连接板；1-21.上下移动气缸安装板；1-22.上下移动气缸连接板；1-23.穴盘；1-24.横向移动气缸鱼眼接头；1-25横向移动气缸脚座；1-26.横向移动气缸；2.导苗装置；2-1.导苗桶安装板；2-2.纵向支架；2-3.垂直导苗桶卡环；2-4.垂直导苗桶；2-5.倾斜导苗桶；2-6.倾斜导苗桶卡环；2-7.十字支架；3.移箱机构；4.分苗机构；4-1.分苗杯；5移栽机底盘。
具体实施方式
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。
如图1、图2、图3所示，本发明所述的用于自动移栽机的自动取苗投苗装置，包括取苗机构1、导苗装置2、移箱机构3和分苗机构4，所述取苗机构1安装在移箱机构3上面，两套分苗机构4对称布置于移箱机构3的两侧，导苗装置2安装在分苗机构4上方，整套自动取苗投苗装置可安装于移栽机底盘5上。
如图4、图5所示，所述取苗机构1包括上下移动直线导轨1-1、矩形框架1-2、弹簧1-3、导轨滑块连接块1-4、取苗爪间隔块1-5、弹簧压板1-6、止动螺栓1-7、止动螺栓安装座1-8、上下移动气缸1-9、上下移动气缸鱼眼接头1-10、取苗爪1-11、底板1-12、横向移动直线导轨1-13、取苗爪移动连接板1-14、螺杆1-15、限位螺母1-16、取苗爪移动驱动板1-17、油压缓冲器1-18、油压缓冲器安装座1-19、横向移动气缸连接板1-20、上下移动气缸安装板1-21、上下移动气缸连接板1-22、穴盘1-23、横向移动气缸鱼眼接头1-24、横向移动气缸脚座1-25、横向移动气缸1-26。所述矩形框架1-2固定在机架上，所述矩形框架1-2的左右两侧均安装有上下移动直线导轨1-1，所述底板1-12安装于上下移动直线导轨1-1第一滑块上。所述上下移动气缸1-9通过上下移动气缸安装板1-21安装于矩形框架1-2上端面中间位置，所述上下移动气缸鱼眼接头1-10安装在上下移动气缸1-9活塞杆上，并通过上下移动气缸连接板1-22与底板1-12背面相连。
所述两个横向移动气缸1-26通过横向移动气缸脚座1-25安装在底板1-12背面，所述底板1-12上开有若干条平行布置的槽，横向移动气缸(1-26)活塞杆通过所述槽与位于底板1-12正面的取苗爪移动驱动板(1-17)相连，通过横向移动气缸1-26带动取苗爪 移动驱动板1-17可在槽内滑动。具体的，所述横向移动气缸鱼眼接头1-24安装在横向移动气缸1-26活塞杆上，并通过横向移动气缸连接板1-20与取苗爪移动驱动板1-17相连。所述两个油压缓冲器1-18分别通过油压缓冲器安装座1-19安装在底板1-12背面；所述四根横向移动直线导轨1-13上安装有若干第二滑块且平行安装在底板1-12正面；所述止动螺栓1-7通过止动螺栓安装座1-8安装在底板1-12正面中间位置；所述两个取苗爪移动驱动板1-17交错安装在横向移动直线导轨1-13两端第二滑块上。如图6所示，所述若干个取苗爪移动连接板1-14通过导轨滑块连接块1-4安装在横向移动直线导轨1-13的其他第二滑块上，所述若干个取苗爪1-11别安装在取苗爪移动连接板1-14上。所述两个取苗爪移动驱动板1-17分别与最外侧的两个导轨滑块连接块1-4相连。
相邻的两个取苗爪1-11之间设置弹簧1-3，所述弹簧1-3装在螺杆1-15上，螺杆1-15两端装有限位螺母1-16。所述弹簧压板1-6上设有一孔，孔径大于螺杆1-15直径，使螺杆1-15可穿过，同时小于限位螺母1-16外径；所述弹簧压板1-6安装在取苗爪移动连接板1-14上，如图7所示，所述限位螺母1-16分别安装在螺杆1-15两端且分别处于两块弹簧压板1-6外侧。
所述横向移动气缸1-26完全收缩时，最内侧取苗爪1-11与穴盘1-23最内侧穴孔同轴心、最外侧取苗爪1-11与穴盘1-23最外侧穴孔同轴心，且所有取苗爪1-11与穴盘1-23上同一排的穴孔同轴心；所述横向移动气缸1-26完全伸出时，弹簧1-3的压缩量为限位螺母1-16限定的弹簧1-3最小压缩量，最外侧取苗爪1-11应与最外侧倾斜导苗桶2-5的上部开口同轴心，各取苗爪1-11与各导苗桶2-4、2-5同轴心。
所述横向移动气缸1-26伸出到最远端遇到起限位作用的油压缓冲器1-18时，最外侧取苗爪1-11应与最外侧倾斜导苗桶2-5同轴心，此时取苗爪张开投苗。所述横向移动气缸1-26完全收缩时，应使最外侧取苗爪1-11与穴盘1-23最外侧穴孔同轴心；应使最内侧取苗爪1-11碰到作限位用的止动螺栓1-7，且止动螺栓1-7长度应满足使最内侧取苗爪1-11与穴盘1-23最内侧穴孔同轴心。
如图8所示，所述导苗装置2包括导苗桶安装板2-1、纵向支架2-2、垂直导苗桶卡环2-3、垂直导苗桶2-4、倾斜导苗桶2-5、倾斜导苗桶卡环2-6、十字支架2-7，所述纵向支架2-2安装在分苗机构4侧面，所述十字支架2-7安装在纵向支架2-2上面，所述导苗桶安装板2-1安装在十字支架2-7上面；所述垂直导苗桶卡环2-3和倾斜导苗桶卡环2-6分别安装在导苗桶安装板2-1上，所述垂直导苗桶2-4和倾斜导苗桶2-5分别同轴安装在垂直导苗桶卡环2-3和倾斜导苗桶卡环2-6内。
如图9所示，所述取苗爪1-11上设置有取苗爪间隔块1-5，所述取苗爪间隔块1-5用于隔开各取苗爪1-11，并当横向移动气缸1-26完全收缩时取苗爪1-11间距与穴盘1-23穴孔间距相同。所述限位螺母1-16限定弹簧1-3最小压缩量，当横向移动气缸1-26伸出到最远端时，弹簧1-3最小压缩量对应的弹力可以撑开各取苗爪1-11，并使各取苗爪1-11与各导苗桶2-4、2-5同轴心。
所述上下移动气缸1-9伸出使整体在上下移动直线导轨1-1向下滑动，从而使取苗爪1-11向下插入苗钵，同时取苗爪1-11夹紧钵体；所述上下移动气缸1-9收缩使整体在上下移动直线导轨1-1向上滑动，从而使取苗爪1-11向上拔出苗钵，并使钵体底部高于穴盘1-23上表面。
如图10所示，所述垂直导苗桶2-4、倾斜导苗桶2-5上端面圆心处于同一直线，下端面圆心分别与分苗杯4-1同轴心。
如图11所示，所述用于自动移栽机的自动取苗投苗装置的工作方法，包括以下步骤：
S1：将穴盘1-23放置于移箱机构3上，此时横向移动气缸1-26伸出至最远端，各取苗爪1-11位于导苗桶2-4上方；
S2：横向移动气缸1-26收缩，通过取苗爪移动驱动板1-17带动各取苗爪1-11在横向移动直线导轨1-13上向中心滑动，当最内侧取苗爪1-11碰到止动螺栓1-7时，横向移动气缸1-26继续收缩并压缩各弹簧1-3，直至取苗爪间隔块1-5抵住取苗爪，此时，各取苗爪1-11位于穴盘1-23上方且间距与穴盘1-23穴孔间距相同，位于取苗点；
S3：移箱机构3将穴盘1-23输送至取苗点；
S4：上下移动气缸1-9伸出，使整体在上下移动直线导轨1-1上向下滑动，从而使取苗爪1-11向下插入苗钵，同时取苗爪1-11夹紧钵体；
S5：上下移动气缸1-9收缩使整体在上下移动直线导轨1-1上向上滑动，从而使取苗爪1-11向上拔出苗钵，使钵体底部高于穴盘1-23上表面；
S6：横向移动气缸1-26伸出，通过取苗爪移动驱动板1-17带动各取苗爪1-11在横向移动直线导轨1-13上向两侧滑动，弹簧1-3逐渐张开，推动弹簧压板1-6至限位螺母，进而使各取苗爪1-11散开至与各导苗桶2-4、2-5轴心距离相同，横向移动气缸1-26伸出碰到油压缓冲器1-18时，到达投苗点，此时各取苗爪1-11与各导苗桶2-4、2-5对应；
S7：取苗爪1-11张开将苗钵投入导苗装置2，钵体顺着导苗桶2-4、2-5进入分苗机构4，分苗机构4将苗钵旋转输送至落苗点；
S8：横向移动气缸1-26收缩再次使取苗爪1-11移动至取苗点，穴盘1-23前进一个 穴孔的距离，开始下一个取苗、投苗周期，直至取完整盘苗钵。
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。

Claims (9)

  1. 一种用于移栽机的自动取苗投苗装置，其特征在于，包括取苗机构(1)、导苗装置(2)、移箱机构(3)和分苗机构(4)，所述取苗机构(1)安装在移箱机构(3)上面，两套分苗机构(4)对称布置于移箱机构(3)的两侧，导苗装置(2)安装在分苗机构(4)上方；
    所述取苗机构(1)主要包括上下移动直线导轨(1-1)、矩形框架(1-2)、弹簧(1-3)、上下移动气缸(1-9)、取苗爪(1-11)、底板(1-12)、横向移动直线导轨(1-13)、横向移动气缸(1-26)，所述矩形框架(1-2)固定在机架上，所述矩形框架(1-2)的左右两侧均安装有上下移动直线导轨(1-1)，上下移动直线导轨(1-1)与固定在底板(1-12)上的第一滑块配合；上下移动气缸(1-9)安装于矩形框架(1-2)上端面，上下移动气缸(1-9)的活塞杆与底板(1-12)相连；底板(1-12)正面设置至少两根相互平行的横向移动直线导轨(1-13)，安装有若干第二滑块；两个横向移动气缸(1-26)安装在底板(1-12)背面，所述底板上开有若干条平行布置的槽，横向移动气缸(1-26)活塞杆通过所述槽与位于底板(1-12)正面的取苗爪移动驱动板(1-17)相连，所述两个取苗爪移动驱动板(1-17)交错安装在横向移动直线导轨(1-13)两端的第二滑块上；若干个取苗爪移动连接板(1-14)通过导轨滑块连接块(1-4)装在其他第二滑块上，所述若干个取苗爪(1-11)分别安装在取苗爪移动连接板(1-14)上；所述两个取苗爪移动驱动板(1-17)分别与最外侧的两个导轨滑块连接块(1-4)相连；相邻的两个取苗爪(1-11)之间设置弹簧(1-3)，所述弹簧(1-3)装在螺杆(1-15)上，螺杆(1-15)两端装有限位螺母(1-16)；所述横向移动气缸(1-26)完全收缩时，最内侧取苗爪(1-11)与穴盘(1-23)最内侧穴孔同轴心、最外侧取苗爪(1-11)与穴盘(1-23)最外侧穴孔同轴心，且所有取苗爪(1-11)与穴盘(1-23)上同一排的穴孔同轴心；所述横向移动气缸(1-26)完全伸出时，弹簧(1-3)的压缩量为限位螺母(1-16)限定的弹簧(1-3)最小压缩量，最外侧取苗爪(1-11)应与最外侧倾斜导苗桶(2-5)的上部开口同轴心，各取苗爪(1-11)与各导苗桶(2-4、2-5)同轴心；
    所述导苗装置(2)主要包括装在支架上的导苗桶安装板(2-1)，分别安装在导苗桶安装板(2-1)上的垂直导苗桶卡环(2-3)和倾斜导苗桶卡环(2-6)，分别同轴安装在垂直导苗桶卡环(2-3)和倾斜导苗桶卡环(2-6)的垂直导苗桶(2-4)和倾斜导苗桶(2-5)；所述垂直导苗桶(2-4)和倾斜导苗桶(2-5)的导苗出口分别与分苗机构(4)中呈圆形排布的分苗杯(4-1)同轴心。
  2. 根据权利要求1所述的用于移栽机的自动取苗投苗装置，其特征在于，所述两个油压缓冲器(1-18)分别通过油压缓冲器安装座(1-19)安装在底板(1-12)背面；所述止动螺栓(1-7)通过止动螺栓安装座(1-8)安装在底板(1-12)正面中间位置；所述横向移动气缸(1-26)完全收缩时，应使最内侧取苗爪(1-11)碰到作限位用的止动螺栓(1-7)，且止动螺栓(1-7)长度应满足使最内侧取苗爪(1-11)与穴盘(1-23)最内侧穴孔同轴心；应使最外侧取苗爪(1-11)与穴盘(1-23)最外侧穴孔同轴心；所述横向移动气缸(1-26)伸出到最远端遇到起限位作用的油压缓冲器(1-18)时，最外侧取苗爪(1-11)应与最外侧倾斜导苗桶(2-5)的上部开口同轴心。
  3. 根据权利要求1所述的用于移栽机的自动取苗投苗装置，其特征在于，所述横向移动直线导轨(1-13)的数量为四根，平行布置，两个取苗爪移动驱动板(1-17)交错装在所述横向移动直线导轨(1-13)两端的第二滑块上。
  4. 根据权利要求1所述的用于移栽机的自动取苗投苗装置，其特征在于，所述取苗爪(1-11)上设置有取苗爪间隔块(1-5)，并当横向移动气缸(1-26)完全收缩时相邻取苗爪(1-11)之间的间距与穴盘(1-23)穴孔间距相同。
  5. 根据权利要求1所述的用于移栽机的自动取苗投苗装置，其特征在于，弹簧(1-3)的两端分别设置弹簧压板(1-6)，所述弹簧压板(1-6)也装在螺杆(1-15)上。
  6. 根据权利要求1所述的用于移栽机的自动取苗投苗装置，其特征在于，所述上下移动气缸(1-9)活塞杆通过上下移动气缸鱼眼接头(1-10)、上下移动气缸连接板(1-22)与底板(1-12)相连，所述横向移动气缸(1-26)活塞杆通过横向移动气缸鱼眼接头(1-24)、横向移动气缸脚座(1-25)与底板(1-12)相连。
  7. 根据权利要求1所述的用于移栽机的自动取苗投苗装置，其特征在于，所述垂直导苗桶(2-4)的数量为1个，位于导苗装置(2)的最内侧。
  8. 根据权利要求1所述的用于移栽机的自动取苗投苗装置，其特征在于，所述支架包括纵向支架(2-2)、十字支架(2-7)所述纵向支架(2-2)安装在分苗机构(4)侧面，所述十字支架(2-7)安装在纵向支架(2-2)上面，导苗桶安装板(2-1)安装在十字支架(2-7)上。
  9. 权利要求1-8中任一项所述的用于移栽机的自动取苗投苗装置的取苗和投苗的方法，其特征在于，包括以下步骤：
    S1：将穴盘(1-23)放置于移箱机构(3)上，此时横向移动气缸(1-26)伸出至最远端，各取苗爪(1-11)位于垂直导苗桶(2-4)、倾斜导苗桶(2-5)上方；
    S2：横向移动气缸(1-26)收缩，通过取苗爪移动驱动板(1-17)带动各取苗爪(1- 11)在横向移动直线导轨(1-13)上向中心滑动，当最内侧取苗爪(1-11)碰到止动螺栓(1-7)时，横向移动气缸(1-26)继续收缩并压缩各弹簧(1-3)，直至取苗爪间隔块(1-5)抵住取苗爪，此时，各取苗爪(1-11)位于穴盘(1-23)上方且间距与穴盘(1-23)穴孔间距相同，位于取苗点；
    S3：移箱机构(3)将穴盘(1-23)输送至取苗点；
    S4：上下移动气缸(1-9)伸出，在底板(1-12)的带动下，使取苗爪(1-11)整体在上下移动直线导轨(1-1)上向下滑动，从而使取苗爪(1-11)向下插入苗钵，同时取苗爪(1-11)夹紧钵体；
    S5：上下移动气缸(1-9)收缩使取苗爪(1-11)整体在上下移动直线导轨(1-1)上向上滑动，从而使取苗爪(1-11)向上拔出苗钵，使钵体底部高于穴盘(1-23)上表面；
    S6：横向移动气缸(1-26)伸出，通过取苗爪移动驱动板(1-17)带动各取苗爪(1-11)在横向移动直线导轨(1-13)上向两侧滑动，弹簧(1-3)逐渐张开，推动弹簧压板(1-6)至限位螺母，进而使各取苗爪(1-11)的间距散开至与各导苗桶(2-4、2-5)轴心距离相同，横向移动气缸(1-26)伸出碰到油压缓冲器(1-18)时，此时各取苗爪(1-11)与各导苗桶(2-4、2-5)对应，到达投苗点；
    S7：取苗爪(1-11)张开将苗钵投入导苗装置(2)，钵体顺着导苗桶(2-4、2-5)进入分苗机构(4)，分苗机构(4)将苗钵旋转输送至落苗点；
    S8：横向移动气缸(1-26)收缩再次使取苗爪(1-11)移动至取苗点，穴盘(1-23)前进一个穴孔的距离，开始下一个取苗、投苗周期，直至取完整盘苗钵。
PCT/CN2018/078897 2018-02-02 2018-03-14 一种用于移栽机的自动取苗投苗装置及其方法 WO2019148597A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/477,805 US11259458B2 (en) 2018-02-02 2018-03-14 Automatic picking and casting device for transplanting machine and its method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810105734.4 2018-02-02
CN201810105734.4A CN108337967B (zh) 2018-02-02 2018-02-02 一种用于移栽机的自动取苗投苗装置及其方法

Publications (1)

Publication Number Publication Date
WO2019148597A1 true WO2019148597A1 (zh) 2019-08-08

Family

ID=62958518

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/078897 WO2019148597A1 (zh) 2018-02-02 2018-03-14 一种用于移栽机的自动取苗投苗装置及其方法

Country Status (3)

Country Link
US (1) US11259458B2 (zh)
CN (1) CN108337967B (zh)
WO (1) WO2019148597A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115191338A (zh) * 2022-07-27 2022-10-18 浙江大学 一种海绵块整序蘸水装置

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109156133B (zh) * 2018-09-28 2021-07-30 河南科技大学 一种适应不同钵苗基质的可循迹取苗装置
CN109328574B (zh) * 2018-10-29 2023-11-21 中国农业机械化科学研究院集团有限公司 一种自动钵苗定植机
CN110122004A (zh) * 2019-05-13 2019-08-16 江苏大学 一种间隙取苗柔性变距投苗装置及钵苗移栽机
CN111247915A (zh) * 2019-05-21 2020-06-09 石河子大学 一种快速整排穴盘苗输送装置
US11483964B2 (en) * 2019-07-15 2022-11-01 Deere & Company Sapling retrieval apparatus for planting saplings
US11445657B2 (en) * 2019-07-15 2022-09-20 Deere & Company Sapling planting apparatus
CN110800407A (zh) * 2019-12-20 2020-02-18 山东农业大学 一种多功能大葱双行移栽机
CN111296012A (zh) * 2020-04-09 2020-06-19 润禾(镇江)农业装备有限公司 一种移栽机用自动取苗分苗装置
CN112293006B (zh) * 2020-11-18 2021-11-26 南京轩世琪源软件科技有限公司 一种秧苗移栽机用投苗设备
CN113099800A (zh) * 2021-04-21 2021-07-13 江苏大学 一种自动移栽机用取苗投苗机构
CN113079774B (zh) * 2021-04-27 2022-02-15 江苏大学 一种自动移栽机用苗盘输送定位装置及输送投苗方法
CN114367455B (zh) * 2021-11-26 2024-05-14 山东安信种苗股份有限公司 蔬菜苗智能分级设备
CN114946347B (zh) * 2022-06-30 2024-05-03 兰剑智能科技股份有限公司 一种用于植物种植板的剔补苗装置、设备及方法
CN115413554B (zh) * 2022-07-29 2023-06-27 汕头大学 一种一体化植树机及植树方法
CN115643869B (zh) * 2022-10-18 2024-02-13 农业农村部南京农业机械化研究所 一种基于可降解穴盘的全自动移栽机
CN115529904B (zh) * 2022-10-18 2024-02-13 农业农村部南京农业机械化研究所 一种基于可降解秧盘的吊杯式分苗机构
CN116195409A (zh) * 2023-02-22 2023-06-02 江苏大学 一种自走式全自动密植蔬菜移栽机及栽植控制方法
GB2629044A (en) * 2023-02-22 2024-10-16 Jiangsu Univ Self-propelled full-automatic densely-planting vegetable transplanter and planting control method thereof
CN117941592B (zh) * 2024-03-25 2024-06-14 中国农业科学院草原研究所 一种草原生态修复用植被移栽设备及其使用方法

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5911631A (en) * 1996-09-23 1999-06-15 Bouldin & Lawson, Inc. Seedling transplanter with easily detachable gripper
US20060130720A1 (en) * 2003-05-01 2006-06-22 Bart Parrein Method and apparatus for transporting seedlings in a planting machine
CN201491493U (zh) * 2009-09-22 2010-06-02 韩长杰 穴盘苗移栽自动取喂装置
CN202818947U (zh) * 2012-10-23 2013-03-27 湖南农业大学 钵盘苗自动取苗投苗装置
CN203289877U (zh) * 2013-04-27 2013-11-20 中国农业机械化科学研究院 一种钵苗取送装置
CN105103741A (zh) * 2015-08-05 2015-12-02 江苏大学 一种适用于多行栽植的自动取苗分投装置和方法
CN106358537A (zh) * 2016-10-20 2017-02-01 江苏大学 一种穴盘苗自动移栽机及其控制系统
CN106538122A (zh) * 2016-11-25 2017-03-29 威海恒基伟业信息科技发展有限公司 一种高架栽培配套秧苗移栽机器人及其控制方法
US20170265378A1 (en) * 2014-10-31 2017-09-21 Risutec Oy Planting seedlings
CN206629432U (zh) * 2017-03-06 2017-11-14 山东农业大学 一种移栽机自动投苗装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994003040A1 (en) * 1992-08-10 1994-02-17 Williames Hi-Tech International Pty. Ltd. Apparatus for automatically planting seedlings taken from a hard seedling tray
US6591766B2 (en) * 1996-12-31 2003-07-15 Williames Hi-Tech International Pty Ltd. Field transplanter
US6634306B1 (en) * 2002-07-30 2003-10-21 Frank W. Faulring Method and apparatus for transplanting
US7036440B1 (en) * 2002-09-12 2006-05-02 Gil A Sena Adjustable tray size automatic seedling planting apparatus
US7051475B1 (en) * 2003-09-12 2006-05-30 Gil A Sena Adjustable tray size automatic seedling planting apparatus
US8573142B2 (en) * 2008-07-31 2013-11-05 Faulring Mechanical Devices, Inc. Foliage separator for a transplanter
JP5880150B2 (ja) * 2012-03-07 2016-03-08 井関農機株式会社 移植機
CN103444329B (zh) * 2013-09-10 2015-05-06 江苏大学 一种钵苗移栽机穴盘输送和定位方法
CN203884187U (zh) * 2014-02-24 2014-10-22 淮阴工学院 蔬菜杯苗移栽机自动取投苗机构
US9661800B2 (en) * 2014-05-27 2017-05-30 Greenheart Farms, Inc. Independently automated mechanical transplanter
JP6429752B2 (ja) * 2015-09-03 2018-11-28 株式会社椿本チエイン 植物移植装置
CN105104012B (zh) * 2015-09-15 2017-10-27 安徽泓森高科林业股份有限公司 一种花卉分盆重组机
CN108366536A (zh) * 2015-12-24 2018-08-03 株式会社椿本链条 移植装置和移植方法
CN106258124B (zh) 2016-10-11 2018-08-21 江苏大学 一种钵苗移栽机成排间隔取苗依次放苗的方法和系统
CN106888640B (zh) * 2017-03-27 2020-02-14 黄祖祥 杂交稻分蘖大苗插秧机单本插植分苗方法

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5911631A (en) * 1996-09-23 1999-06-15 Bouldin & Lawson, Inc. Seedling transplanter with easily detachable gripper
US20060130720A1 (en) * 2003-05-01 2006-06-22 Bart Parrein Method and apparatus for transporting seedlings in a planting machine
CN201491493U (zh) * 2009-09-22 2010-06-02 韩长杰 穴盘苗移栽自动取喂装置
CN202818947U (zh) * 2012-10-23 2013-03-27 湖南农业大学 钵盘苗自动取苗投苗装置
CN203289877U (zh) * 2013-04-27 2013-11-20 中国农业机械化科学研究院 一种钵苗取送装置
US20170265378A1 (en) * 2014-10-31 2017-09-21 Risutec Oy Planting seedlings
CN105103741A (zh) * 2015-08-05 2015-12-02 江苏大学 一种适用于多行栽植的自动取苗分投装置和方法
CN106358537A (zh) * 2016-10-20 2017-02-01 江苏大学 一种穴盘苗自动移栽机及其控制系统
CN106538122A (zh) * 2016-11-25 2017-03-29 威海恒基伟业信息科技发展有限公司 一种高架栽培配套秧苗移栽机器人及其控制方法
CN206629432U (zh) * 2017-03-06 2017-11-14 山东农业大学 一种移栽机自动投苗装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115191338A (zh) * 2022-07-27 2022-10-18 浙江大学 一种海绵块整序蘸水装置
CN115191338B (zh) * 2022-07-27 2023-07-25 浙江大学 一种海绵块整序蘸水装置

Also Published As

Publication number Publication date
CN108337967B (zh) 2019-08-27
US11259458B2 (en) 2022-03-01
US20210329830A1 (en) 2021-10-28
CN108337967A (zh) 2018-07-31

Similar Documents

Publication Publication Date Title
WO2019148597A1 (zh) 一种用于移栽机的自动取苗投苗装置及其方法
US11382259B2 (en) Plug seedling automatic transplanting machine and its control method
US11172603B2 (en) Ejecting-clamping-pulling combined seedling fetching device for automatic transplanter and operating method therefor
CN109197060B (zh) 具有低损伤仿形快速取苗装置的穴盘苗全自动移栽机及方法
CN113056991B (zh) 一种油菜钵苗移栽机构
CN109121606A (zh) 一种农作物秧苗移栽机
CN207612610U (zh) 一种经济作物钵苗移栽自动取苗和投苗装置
CN108243689B (zh) 一种取分苗装置及移栽机
WO2024174429A1 (zh) 一种自走式全自动密植蔬菜移栽机及栽植控制方法
CN105123053A (zh) 一种钵苗移栽机穴盘苗可控取投末端执行器
CN212013570U (zh) 一种穴盘苗移栽机械手及穴盘苗全自动移栽机
CN101536632B (zh) 一种旱地穴盘苗自动取苗机构
CN112673776A (zh) 一种油菜钵苗摆栽机
CN114313955B (zh) 一种定植杯自动摆杯装置及定植杯夹具
CN206452940U (zh) 一种水培苗定植海绵夹取式自动分离机
CN108781667A (zh) 一种移栽机整排取送苗试验台
CN110915375A (zh) 一种定植杯摆杯机构及自动摆杯机
WO2017036366A1 (zh) 一种匀转速二维宽窄插秧机
CN206760034U (zh) 气动柔性下压式取苗机构
CN212367887U (zh) 一种移栽机用自动取苗分苗装置
CN109729794B (zh) 一种盆栽花卉穴盘苗全自动移栽机的取分盆机构
CN111296012A (zh) 一种移栽机用自动取苗分苗装置
CN104285565B (zh) 断根嫁接苗自动栽植装置及其工作方法
CN103733784B (zh) 一种穴盘苗移栽装置及取放苗方法
CN219124756U (zh) 一种基于窄株距八行叶菜移栽机的自动喂苗装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18903977

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18903977

Country of ref document: EP

Kind code of ref document: A1