WO2019148782A1 - 一种穴盘苗自动移栽机及其控制方法 - Google Patents

一种穴盘苗自动移栽机及其控制方法 Download PDF

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Publication number
WO2019148782A1
WO2019148782A1 PCT/CN2018/096739 CN2018096739W WO2019148782A1 WO 2019148782 A1 WO2019148782 A1 WO 2019148782A1 CN 2018096739 W CN2018096739 W CN 2018096739W WO 2019148782 A1 WO2019148782 A1 WO 2019148782A1
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WIPO (PCT)
Prior art keywords
seedling
actuator
control system
claw
guiding
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PCT/CN2018/096739
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English (en)
French (fr)
Inventor
胡建平
潘杰
费卫征
罗朝霞
韩绿化
杨德勇
李静
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.)
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Publication date
Priority claimed from CN201810105734.4A external-priority patent/CN108337967B/zh
Priority claimed from CN201810757620.8A external-priority patent/CN109005811B/zh
Application filed by 江苏大学 filed Critical 江苏大学
Priority to US16/477,810 priority Critical patent/US11382259B2/en
Publication of WO2019148782A1 publication Critical patent/WO2019148782A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays

Definitions

  • the invention relates to the field of agricultural machinery, in particular to a plug seedling automatic transplanting machine and a control 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.
  • Chinese Patent Publication No. 106358537A discloses a plug seedling automatic transplanting machine and a control system thereof.
  • the transplanting machine and the control system adopt a swinging seedling picking mechanism, and take seedlings at intervals, taking 6 trees at a time.
  • the tray needs longitudinal movement and lateral movement, and the efficiency is low.
  • the seedling claws are inserted from the top of the nursery.
  • the leaves and stems of the seedlings are greatly damaged, and the seedlings are planted in turn, and the seedlings are connected to the seedlings during exercise.
  • the speed is fast, it is easy to produce problems such as hanging seedlings and poor posture of the seedlings, and only one set of seedlings and The seedlings are unable to adapt to the requirements of different rows of different crops when transplanting.
  • the present invention provides a plug seedling automatic transplanting machine and a control method thereof, which can realize the seedlings without gaps and the whole seedlings, and at the same time, the seedlings are overcome, the interval seedlings are taken, and the seedlings are sequentially introduced.
  • the seedling time is difficult to control, and the success rate of seedlings is low, and the trays only need to be longitudinally transported, which improves the efficiency of the tray transport, seedlings and seedlings; by changing the number of seedlings, it can be adapted to 72 holes.
  • Phenomenon reduce the damage to carcass seedlings, improve the quality of seedlings; guide seedling device to stop seedlings and shorten the free fall movement distance, so that the seedlings are more accurate, there are two sets of seedlings, seedlings, seedlings, planting devices , adapt to different rows of different crops when transplanting Requirements.
  • the present invention achieves the above technical objects by the following technical means.
  • An automatic transplanting machine for a seedling tray seedling comprising a chassis bracket, a planting mechanism, a seedling guiding device, a seedlinging mechanism and a power mechanism, wherein the power mechanism is mounted on the chassis bracket for powering the transplanting machine;
  • the utility model further comprises a shifting mechanism, a seedling picking mechanism and a control system, wherein the shifting mechanism is mounted on the chassis bracket, the picking mechanism is mounted on the shifting mechanism, and the two sets of the seedlinging mechanisms are symmetrically arranged through the chassis bracket.
  • a seedling device is arranged above each set of the seedling mechanism; a planting mechanism is arranged under each set of the seedling mechanism; the control system controls the power mechanism, the planting mechanism, the seedling mechanism, and the box Institutions and seedlings;
  • the moving mechanism includes a tray, a position proximity switch, a tray recovery device, a shifting bracket and a conveying device, and the conveying device is mounted on the chassis bracket by a shifting bracket; the tray is placed on the conveying device, The end of the moving direction of the conveying device is provided with a plug recovery device; the position proximity switch is installed on the shifting bracket for determining whether the plug reaches the pre-fetching point and transmitting the signal to the control system; the control system controls the conveying Device operation
  • the seedling picking mechanism comprises a first linear guide pair, a seedling picking bracket, a moving picking claw device, a second actuator limiting block, a first actuator, a bottom plate, a second linear guide pair, a second actuator, and a a stroke switch group and a second stroke switch group;
  • the seedling rack is fixed on the shift box bracket;
  • the first actuator is mounted on the seedling rack, and the pull rod of the first actuator is connected to the bottom plate, and the bottom plate Connecting the seedling bracket by the first linear guide pair, the bottom plate is moved up and down by the first actuator;
  • the bottom plate is connected to the two moving picking claw devices by the second linear guide pair, the second
  • the linear guide pairs are arranged in a horizontal direction; each of the moving picking claw devices is connected with the second executing mechanism, and a plurality of second actuator limiting blocks are disposed on the bottom plate near the picking point and the seedlinging point, and the second through The actuator and the second actuator limit block move the moving seedling claw device between the seeding point and the
  • the moving seedling claw device comprises a spring, a seedling claw spacer block, a seedling claw and a screw, and the bottom plate is mounted with a plurality of seed removing claws through a second linear guide pair; the screw is provided with a stopper on both sides thereof.
  • Two adjacent picking claws are mounted on the screw between the stoppers, the screw is sleeved with a spring, and the spring is located between two adjacent picking claws;
  • the seedling claws at both ends of the seedling claw are connected with the second actuator; the seedling claws are provided with the spacing block for taking the seedling claws, and when the second actuator moves, the spacing block of the seedling claws is taken to make the adjacent claws.
  • the spacing between the holes is the same as the hole spacing of the hole, and the center of the seedling claw is coaxial with the center of the hole of the hole.
  • the seedling cups in the seedling mechanism are arranged in a circular shape, and the branching mechanism is installed on the seedling mechanism for detecting the number of the transferred seedling cups.
  • the seedling guiding device comprises a tilting guiding seedling barrel, a guiding seedling device bracket, a guiding seedling device bracket, a tilt guiding seedling barrel buckle, a vertical guiding seedling barrel buckle and a vertical guiding seedling barrel;
  • the guiding device device bracket is mounted on In the seedling mechanism, the vertical guiding seedling barrel ring and the inclined guiding seedling barrel ring are respectively mounted on the guiding device bracket, and the vertical guiding seedling barrel ring is installed with a vertical guiding seedling barrel, and the inclined guiding seedling barrel
  • the inclined guiding seedling barrel is installed in the snap ring, and the guiding seedling outlets of the vertical guiding seedling barrel and the inclined guiding seedling barrel are respectively corresponding to the seedling cups in the seedlingling mechanism.
  • first actuator and the second actuator are both double-acting cylinders; further comprising a gas source triplex and a pressure sensor, wherein the gas source triplex is mounted on the seedling support, and the gas source triplex is connected at one end
  • the air source has the other end connected to the first actuator and the second actuator; the first actuator and the second actuator are each provided with a solenoid valve.
  • the utility model further comprises a clutch device, a gas storage tank and a pump head of the air compressor; the air compressor is connected with the power mechanism for generating compressed gas; the gas storage tank is connected at one end to the pump head of the air compressor, and the other end is connected with Gas source triple piece connection;
  • the clutch device comprises a pump head mount, a clutch handle, a positioning ball, a positioning spring, a connecting member and a guiding strip; the two guiding strips are mounted in parallel on the chassis bracket, and the air compressor pump head is installed on the pump head
  • the pump head mounting seat is located between the two guiding strips, and the pump head mounting seat is movable along the guiding strip;
  • the clutch handle is rotatably mounted on the chassis bracket, and the bottom surface of the clutch handle is provided with a first blind
  • the hole, the positioning ball and the positioning spring are placed in the first blind hole, and the positioning spring is located above the positioning ball
  • the connecting member is rotatably mounted on the pump head mounting seat at one end, and the other end is rotatably mounted on the clutch handle
  • the chassis bracket is provided There is a second blind hole and a third blind hole, and the second blind hole, the third blind hole and the first blind hole have the same distance from the center of the clutch handle.
  • a method for controlling a seed transplanting automatic transplanting machine comprises the following steps:
  • each of the seeding claws is located above the first row of the hole of the tray, and the center of the hole Concentric with each of the seedling claws;
  • control system starts the conveying device to transport the tray to the seeding point according to the signal output by the second stroke switch group; the control system controls the first actuator to drive the moving seedling claw device to insert the seedling seedling, and according to the first stroke switch The signal generated by the group controls the seedling claw to clamp the carcass seedling;
  • control system controls the first actuator to drive the mobile picking claw device to pull out the seedling; the control system controls the second actuator to drive the moving picking claw device to move to the seedling point;
  • each row of the trays has N holes, and there are M rows; the control system controls the rotation of the seedling mechanism, and when the seedling cup triggers the stroke switch N/2 times, according to the signals generated by the second stroke switch group and the stroke switch, The control system controls the extraction of the seedlings to open the seedlings into the seedling device.
  • the carcass seedlings enter the seedling mechanism along the vertical guiding seedling barrel and the inclined guiding seedling barrel, and the seedling mechanism rotates the carcass seedlings to the falling seedling point. When the planting mechanism is dropped, the end of the seedling cycle is completed;
  • the control system controls the second actuator to drive the movement of the seedling claw device to move to the seedling point; the control system controls the conveying device to advance the tray to a hole, performs the next seeding cycle, and repeats the above process M times.
  • the control system controls the conveying device to move the tray forward and drop to the tray recovery device.
  • step S0 there is a step S0, wherein the S0 is specifically: rotating the clutch handle to make the positioning ball enter the third blind hole, and at this time, the air pump head is started, and the air compressor head is started by the power mechanism.
  • the gas storage tank conveys the gas; the control system detects the pressure of the gas storage tank to determine whether the air pressure reaches the required working pressure, and when the air pressure reaches the working pressure required by the transplanting machine, the control system reaches the working condition.
  • the automatic seed transplanting machine for plugging seedlings first transports the plug tray to the pre-fetching seedling point by the shifting mechanism, and waits until the seedling claw reaches the seedling point, and then the whole row of seedlings to be taken and transferred to the take-out
  • the method of taking the seedlings directly under the seedling claws makes the seedling claws and needles pass through the middle of the two seedlings, and separates the adjacent seedling leaves which are staggered together, and plays a combing effect on the carcass seedlings before inserting the carcass.
  • the invention overcomes the phenomenon of seedlings and wounds brought by the seedlings directly inserted from the top of the seedlings, and reduces the damage on the opposite side, thereby improving the quality of the seedlings.
  • the automatic seed transplanting machine for plugging seedlings can realize seedlings without gaps and whole seedlings by seedling picking mechanism, and at the same time, seedlings are planted, and it is difficult to control the seedling time brought by interval seedlings and seedlings in sequence,
  • the problem of low success rate of seedlings is that the trays only need to be longitudinally transported, which improves the efficiency of the tray transport, seedlings and seedlings.
  • the automatic seed transplanting machine for plugging seedlings according to the present invention can be adapted 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 automatic seed transplanting machine for plugging seedlings enables the seedlings to be more accurate by the seedling device being statically connected to the seedlings and shortening the free falling body movement distance.
  • the automatic seed transplanting machine for plugging seedlings can change the position of the seedling point by changing the position of the limiting block of the second actuator, and can adapt to different sets of independent seedlings and planting mechanisms. Planting line spacing requirements.
  • the method for controlling the automatic transplanting machine of the plug seedling according to the present invention can feedback the change of the rotational speed of the seedling mechanism to the seedling picking mechanism, and change the time point of the seedling, and can adapt to different planting speeds.
  • FIG. 1 is a schematic view showing the overall structure of a plug seedling automatic transplanting machine according to the present invention.
  • FIG. 2 is a schematic structural view of a box moving mechanism of a plug seedling automatic transplanting machine according to the present invention.
  • FIG. 3a is a schematic structural view of the seedling picking mechanism according to the present invention.
  • Figure 3b is a rear view of Figure 3.
  • FIG. 4a is a schematic view showing the installation of the mechanism of the mobile seedling device according to the present invention.
  • Fig. 4b is a view showing the working state of the mechanism of the mobile seedling picking device according to the present invention.
  • FIG. 5 is a schematic structural view of a seedling mechanism according to the present invention.
  • Figure 6 is a schematic view showing the structure of the seedling guiding device according to the present invention.
  • Fig. 7a is a schematic view showing the positional relationship between the seedling guiding barrel and the seedling guiding device according to the present invention.
  • Figure 7b is a left side view of Figure 7a.
  • FIG. 8 is a schematic structural view of a power mechanism according to the present invention.
  • Figure 9 is a schematic view showing the structure of the clutch device according to the present invention.
  • Figure 10 is a flow chart showing the operation of the automatic transplanting machine for the plug seedling according to the present invention.
  • Fig. 11a is a view showing the initial state of the automatic seed transplanting machine of the plug seedling according to the present invention.
  • Fig. 11b is a view showing the state in which the seedling picking device moves to the seeding point according to the present invention.
  • Fig. 11c is a view showing a state in which the transfer mechanism of the present invention transports the tray to the seeding point.
  • Fig. 11d is a view showing the state in which the seedling claws are inserted into the carcass seedlings according to the present invention.
  • Fig. 11e is a view showing the state in which the seedling claws are pulled out of the seedlings according to the present invention.
  • Fig. 11f is a view showing a state in which the seedling picking device of the present invention is moved to the seedling point with the carcass seedling.
  • Fig. 11g is a view showing the state in which the seedling claws of the present invention are put into the seedling-distributing mechanism.
  • Fig. 11h is a view showing a state in which the seedlingling mechanism of the present invention rotates the carcass seedling to the falling seedling mouth.
  • Figure 11i is a state diagram of the planting mechanism of the present invention.
  • Fig. 11j is a schematic diagram of the mechanism for planting seedlings and planting mechanisms of the planting mechanism according to the present invention.
  • Chassis support 2. Planting mechanism; 3. Seedling mechanism; 3-1. Seedling cup; 3-2. Travel switch; 4. Guide seedling device; 4-1. Tilt guide seedling barrel; 4-2. Guide seedling device bracket; 4-3. inclined guide seedling barrel retaining ring; 4-4. vertical guiding seedling barrel retaining ring; 4-5. vertical guiding seedling barrel; 5. power mechanism; 5-1. gas storage tank; -2. Clutch device; 5-3. Air compressor head; 5-2-1. Pump head mount; 5-2-2. Clutch handle; 5-2-3. Positioning ball; 5-2-4 Positioning spring; 5-2-5. Connecting piece 5-2-6. Guide bar; 6. Shifting mechanism; 6-1. Plug disk; 6-2. Position proximity switch; 6-3.
  • the automatic seed transplanting machine for plugging seedlings of the present invention comprises a chassis support 1, a planting mechanism 2, a seedling guiding device 4, a seedlinging mechanism 3 and a power mechanism 5, and the power mechanism 5 is mounted on the chassis.
  • bracket 1 for powering the transplanting machine further comprising a shifting mechanism 6, a seedling picking mechanism 7 and a control system
  • the shifting mechanism 6 being mounted on the chassis bracket 1
  • the seedling picking mechanism 7 is mounted on the top of the shifting mechanism 6
  • two sets of the seedlinging mechanism 3 are symmetrically arranged on both sides of the shifting mechanism 6 through the chassis bracket 1, and each set of the seedlinging mechanism 3 is provided with a seedling guiding device 4
  • the planting mechanism 2 is disposed below the seedling mechanism 3
  • the control system controls the power mechanism 5, the planting mechanism 2, the seedling mechanism 3, the shifting mechanism 6 and the seedling picking mechanism 7.
  • the shifting mechanism 6 includes a tray 6-1, a position proximity switch 6-2, a tray recovery device 6-3, a shifting bracket 6-4, and a conveying device 6-5.
  • the device 6-5 includes a stepping motor 6-5-1, a motor mounting shaft 6-5-2, a coupling 6-5-3, a driving shaft 6-5-4, a driving sprocket 6-5-5, and a hole.
  • the tray conveying plate 6-5-6 is mounted on the shifting bracket 6-7; the driving shaft 6-5-4 and the driven shaft 6-5-10 are respectively passed through the bearing 6-5- 9 is mounted in parallel on the side of the shifting bracket 6-7; the driving sprocket 6-5-5 is mounted on the driving shaft 6-5-4, and the driven sprocket 6-5-8 is mounted on the driven shaft 6- 5-10, and the main and driven sprocket are connected by two identical chains 6-5-11, and the tray driving strip 6-5-7 is mounted on the same corresponding to the two chains 6-5-11 On the link; the stepping motor 6-5-1 is mounted on the shifting bracket 6-7 via the motor mounting shaft 6-5-2, and passes through the coupling 6-5-3 and the driving shaft 6-5 -4 connected; the tray 6-1 is placed on the conveying device 6-5, the conveying device 6-5 moving side
  • the end is provided with a tray recovery device 6-3, which includes a recovery box transition plate 6-3-1 and a tray recovery frame 6-3-2, the tray recovery frame 6-3 -2 is located below the recovery box transition plate
  • the seedling picking mechanism 7 includes a first linear guide pair 7-1, a seedling picking bracket 7-2, a moving picking claw device 7-3, and a second actuator limiting block 7-4.
  • the seedling support 7-2 is fixed on the shifting bracket 6-7;
  • the first actuator 7-5 is mounted on the seedling support 7-2,
  • the pull rod of the first actuator 7-5 is connected to the bottom plate 7-6, and the bottom plate 7-6 is connected to the seedling support 7-2 through the first linear guide pair 7-1, and passes through the first actuator 7- 5 moving the bottom plate 7-6 up and down;
  • the bottom plate 7-6 is connected to the two moving picking claw devices 7-3 through the second linear guide pair 7-7, the second linear guide pair 7-7 along Arranging in a horizontal direction;
  • the gas source triplex 7-8 is
  • Block 7-4 a plurality of said second actuator stop blocks 7-4 define a limit position for movement of the second actuator 7-10, through the second actuator 7-10 and the second actuator stop block 7-4
  • the moving picking claw device is moved between the picking point and the seeding point, and the back surface of the bottom plate 7-6 is arranged in parallel with the mounting direction of the second actuator 7-10 in a plurality of mounting holes to limit the second actuator.
  • the position of the block 7-4 is adjustable to adjust the maximum extension of the double-acting cylinder; the pressing rod 7-13 is installed in front of the seedling support 7-2 through the pressing rod mounting block 7-14, and the pressing rod mounting block 7
  • the position of -14 is adjustable, and the end of the pressing rod 7-13 has external thread.
  • the upper and lower positions of the pressing rod 7-13 are adjusted by screwing the number of thread turns. Should be different heights, different specifications of the tray.
  • the first travel switch group 7-11 is installed near the first linear guide pair 7-1 for determining whether the bottom plate 7-6 reaches a predetermined position, and the second travel switch group 7-12 is mounted on the second straight line. Near the guide rail pair 7-7, for judging whether the mobile pick-up claw device reaches a predetermined position; the first travel switch group 7-11 and the second travel switch group 7-12 respectively transmit signals to the control system, the control The system controls the movement of the first actuator 7-5 and the second actuator 7-10 and the mobile picking jaw device.
  • the number of the first set of switch groups 7-11 and the second set of switch sets 7-11 can be determined according to actual conditions. In the embodiment of the present invention, the number of the first set of travel switches 7-11 is 3.
  • the mobile picking claw device 7-3 Arranging from top to bottom, when the first travel switch is triggered, the mobile picking claw device 7-3 is located at a certain distance above the tray 6-1, and when the second travel switch is triggered, the mobile picking claw is moved.
  • the device 7-3 contacts the upper surface of the body in the tray 6-1, and when the third stroke switch is triggered, the moving seeding device 7-3 contacts the bottom surface of the hole in the tray 6-1;
  • the number of the two-stroke switch group 7-12 is four, which are respectively located at two seeding points and two seedling point attachments.
  • the mobile seeding claw device 7-3 includes a spring 7-3-1, a seedling claw spacer 7-3-2, a seedling claw 7-3-3, and a screw 7-3-4.
  • the bottom plate 7-6 is mounted with a plurality of picking claws 7-3-3 through the second linear guide pair 7-7; the screws 7-3-4 are provided with stoppers 7-3-5 on both sides, adjacent Two of the picking claws 7-3-3 are mounted on the screw 7-3-4 between the stoppers 7-3-5, and the screw 7-3-4 is sleeved with a spring 7-3- 1.
  • the spring 7-3-1 is located between two adjacent picking claws 7-3-3; any one of the two ends of the picking claw 7-3-3 arranged in a straight line takes the seedling claw 7- 3-3 is connected to the second actuator 7-10; the seedling claw 7-3-3 is provided with a seedling claw spacer 7-3-2, and when the second actuator 7-10 is moved, the seedling is taken.
  • the claw spacer 7-3-2 makes the spacing between adjacent picking claws 7-3-3 the same as the spacing of the hole 6-1 holes, and takes the center of the seedling 7-3-3 and the tray 6-1 The center of the hole is coaxial.
  • the seedling cups 3-1 in the seedling mechanism 3 are arranged in a circular shape, and the branching mechanism 3 is mounted with a travel switch 3-2 for detecting the transferred seedling cups 3 -1 quantity.
  • the seedling guiding device 4 includes a tilting guiding seedling barrel 4-1, a seedling guiding device bracket 4-2, a tilt guiding seedling barrel retaining ring 4-3, and a vertical guiding seedling barrel retaining ring 4-4.
  • a vertical guiding seedling barrel 4-5 the seedling guiding device bracket 4-3 is mounted on the seedlinging mechanism 3, and the vertical guiding seedling barrel retaining ring 4-4 and the inclined guiding seedling barrel retaining ring 4-3 are respectively installed at A vertical guiding seedling barrel 4-5 is installed in the vertical guiding seedling barrel retaining ring 4-4 on the guiding seedling device bracket 4-2, and the inclined guiding seedling barrel 4-1 is installed in the inclined guiding seedling barrel retaining ring 4-3.
  • the guiding seedling outlets of the vertical guiding seedling barrels 4-5 and the inclined guiding seedling barrels 4-1 are respectively corresponding to the seedling cups 3-1 in the seedlingling mechanism 3.
  • the power mechanism 5 further includes a gas storage tank 5-1, a clutch device 5-2, and an air compressor pump head 5-3; the air compressor and the power mechanism 5 are connected by a belt drive, The compressed gas is generated; one end of the gas storage tank 5-1 is connected to the air compressor head 5-3, and the other end is connected to the gas source triplet 7-8.
  • the clutch device 5-2 includes a pump head mount 5-2-1, a clutch handle 5-2-2, a positioning ball 5-2-3, a positioning spring 5-2-4, and a connecting member.
  • the clutch handle 5-2-2 is rotatably mounted on the chassis bracket 1, and the first blind hole is provided on the bottom surface of the clutch handle 5-2-2, the positioning ball 5-2-3 and the positioning spring 5-2- 4 is placed in the first blind hole, and the positioning spring 5-2-4 is located above the positioning ball 5-2-3, and one end of the connecting piece 5-2-5 is rotatably mounted on the pump head mounting 5-2-1, and One end is rotatably mounted on the clutch handle 5-2-2, and the chassis bracket 1 is provided with a second blind hole and
  • the method for controlling the automatic seed transplanting machine of the plug seedling according to the present invention comprises the following steps:
  • the tray 6-1 is placed on the conveying device 6-5 of the shifting mechanism 6, and at this time, the seedling claws 7-3-3 of the two sets of the seedling claw device 7-3 are located.
  • the control system activates the conveying device 6-5 to transport the tray 6-1 to the pre-fetching seedling point; the control system stops according to the signal outputted by the position proximity switch 6-2 The conveying device 6-5 moves;
  • the second actuator 7-10 is activated, and the control system controls the movement of the seedling claw device 7-3 to the seeding point according to the signal output by the second stroke switch group 7-12;
  • the claw 7-3-3 is located above the first row of the hole of the tray 6-1, and the center of the hole is concentric with each of the seedling claws;
  • the control system starts the conveying device 6-5 to transport the tray 6-1 to the seeding point according to the signal output by the second stroke switch group 7-12; as shown in FIG. 11d, the control system controls The first actuator 7-5 drives the mobile picking claw device 7-3 to insert the seedling, and at the same time controls the picking claw 7-3-3 to clamp the body according to the signal generated by the first limit switch group 7-11;
  • control system controls the first actuator 7-5 to drive the mobile picking claw device 7-3 to pull out the seedling; as shown in Fig. 11f, the control system controls the second actuator 7-10 to drive the movement. Take the seedling claw device 7-3 to the seedling point;
  • each of the trays 6-1 is N holes, and there are M rows; the control system controls the seedling mechanism 3 to rotate, and when the seedling cup 3-1 triggers the stroke switch 3-2N/2 times At the time, according to the signals generated by the second stroke switch group 7-12 and the stroke switch 3-2, the control system controls the extraction of the seedling claws 7-3-3 to open the nursery into the seedling device 4, and the nursery follows the vertical guide seedling
  • the barrel 4-5 and the inclined seedling barrel 4-1 enter the seedling mechanism 3, as shown in Figs. 11i and 11g, the seedling mechanism 3 rotates the nursery to the falling point and then falls into the planting mechanism 2, then one takes End of the seedling cycle;
  • control system controls the second actuator 7-10 to drive the mobile picking claw device 7-3 to move to the seeding point; the control system controls the conveying device 6-5 to advance the tray 6-1 to a hole, and proceeds After taking the seedling cycle and repeating the above process M times, the control system controls the conveying device 6-5 to move the tray 6-1 forward and drop it to the tray recovery device 6-3.

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  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
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Abstract

一种穴盘苗自动移栽机及其控制方法，包括底盘支架（1）、栽植机构（2）、分苗机构（3）、导苗装置（4）、动力机构（5）、移箱机构（6）、取苗机构（7），移箱机构（6）装在底盘支架（1）上面，取苗机构（3）装在移箱机构（6）上面，两套分苗机构（3）通过底盘支架（1）对称布置于移箱机构（6）两侧，每套分苗机构（3）上方设有导苗装置（4），每套所述分苗机构（3）下方设有栽植机构（2），在各个机构和控制系统的协同作用下，可以实现对多种规格穴盘的无间隔整排取苗，同时投苗，提高了取苗、投苗的效率和成功率；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（4）静止接苗且缩短自由落体运动距离，投苗更准。

Description

一种穴盘苗自动移栽机及其控制方法 技术领域
本发明涉及农业机械领域，尤其涉及一种穴盘苗自动移栽机及其控制方法。
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。在现有技术中，中国专利公开号106358537A，公开了一种穴盘苗自动移栽机及其控制系统，该移栽机及控制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，穴盘需要纵向移动和横向移动，效率较低，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，仅有一套取苗机构和分苗机构，无法适应移栽时，不同作物不同行距的要求。
发明内容
针对现有技术中存在不足，本发明提供了一种穴盘苗自动移栽机及其控制方法，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，克服现有取苗爪从钵体苗正上方直接插入钵体取苗带来的夹苗、伤苗现象，减少了对钵体苗的损伤，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，有两套取苗、投苗、分苗、栽植装置，适应移栽时，不同作物不同行距的要求。
本发明是通过以下技术手段实现上述技术目的的。
一种穴盘苗自动移栽机，包括底盘支架、栽植机构、导苗装置、分苗机构和动力机构，所述动力机构安装在底盘支架上面，用于为移栽机提供动力；其特征在于，还包括移箱机构、取苗机构和控制系统，所述移箱机构装在底盘支架上面，所述取苗机构装在移箱机构上面，两套所述分苗机构通过底盘支架对称布置在移箱机构两侧，每套所述分苗机构上方设有导苗装置；每套所述分苗机构下方设有栽植机构；所述控制系统控制动力机构、栽植机构、分苗机构、移箱机构和取苗机构；
所述移箱机构包括穴盘、位置接近开关、穴盘回收装置、移箱支架和输送装置，所述输送装置通过移箱支架安装在底盘支架上；所述穴盘放置在输送装置上，所述输送装置移动方向末端设有穴盘回收装置；所述位置接近开关安装在移箱支架，用于判断穴盘是否到达预取苗点，并将信号传输至控制系统；所述控制系统控制输送装置运行；
所述取苗机构包括第一直线导轨副、取苗支架、移动取苗爪装置、第二执行机构限位块、第一执行机构、底板、第二直线导轨副、第二执行机构、第一行程开关组和第二行程开关组；所述取苗支架固定在移箱支架上面；所述取苗支架上安装第一执行机构，所述第一执行机构的拉杆与底板连接，所述底板通过第一直线导轨副与所述取苗支架连接，通过第一执行机构使得所述底板上下移动；所述底板通过第二直线导轨副与两个移动取苗爪装置连接，所述第二直线导轨副沿水平方向布置；每个所述移动取苗爪装置与第二执行机构连接，位于取苗点和投苗点附近的底板上设有若干第二执行机构限位块，通过第二执行机构和第二执行机构限位块使得所述移动取苗爪装置在取苗点和投苗点之间移动；所述第一行程开关组安装在第一直线导轨副附近，用于判断底板是否到达预定位置，所述第二行程开关组安装在第二直线导轨副附近，用于判断移动取苗爪装置是否到达预定位置；所述第一行程开关组和第二行程开关组分别将信号传输至控制系统，所述控制系统控制第一执行机构、第二执行机构和移动取苗装置的运动。
进一步，所述移动取苗爪装置包括弹簧、取苗爪间隔块、取苗爪和螺杆，所述底板通过第二直线导轨副安装若干取苗爪；所述螺杆两侧上设有挡块，相邻两个所述取苗爪安装在所述挡块之间的螺杆上，所述螺杆上套有弹簧，所述弹簧位于相邻两个所述取苗爪之间；直线排列的所述取苗爪两端任一取苗爪与第二执行机构连接；所述取苗爪上设有取苗爪间隔块，当第二执行机构运动时，取苗爪间隔块使相邻取苗爪之间的间距与穴盘穴孔间距相同，且取苗爪中心与穴盘穴孔中心同轴。
进一步，所述分苗机构中的分苗杯呈圆形排布，所述分苗机构上安装行程开关，用于检测转过的分苗杯数量。
进一步，所述导苗装置包括倾斜导苗桶、导苗装置支架、导苗装置支架、倾斜导苗桶卡 环、垂直导苗桶卡环和垂直导苗桶；所述导苗装置支架装在分苗机构上，所述垂直导苗桶卡环和倾斜导苗桶卡环分别安装在导苗装置支架上，所述垂直导苗桶卡环内安装垂直导苗桶，所述倾斜导苗桶卡环内安装倾斜导苗桶，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的分苗杯一一对应。
进一步，所述第一执行机构和第二执行机构均为双作用气缸；还包括气源三联件和压力传感器，所述气源三联件安装在取苗支架上，所述气源三联件一端连接气源，另一端并联第一执行机构和第二执行机构；所述第一执行机构和第二执行机构上均设有电磁阀。
进一步，还包括离合装置、储气罐和空压机泵头；所述空压机与动力机构连接，用于产生压缩气体；所述储气罐一端与空压机泵头连接，另一端与气源三联件连接；
所述离合装置包括泵头安装座、离合手柄、定位球、定位弹簧、连接件和导向条；两条所述导向条平行安装在底盘支架上，所述空压机泵头安装在泵头安装座上，所述泵头安装座位于两导向条之间，且所述泵头安装座可沿导向条移动；所述离合手柄转动安装在底盘支架上，所述离合手柄底面设有第一盲孔，定位球和定位弹簧放置在第一盲孔内，且定位弹簧位于定位球上方，连接件一端转动安装在泵头安装座上，另一端转动安装在离合手柄上，所述底盘支架上设有第二盲孔和第三盲孔，所述第二盲孔、第三盲孔和第一盲孔位到离合手柄圆心的距离相同。
一种穴盘苗自动移栽机的控制方法，包括如下步骤：
S1：将穴盘放置于移箱机构的输送装置上，此时两套移动取苗爪装置的取苗爪位于导苗装置上方且与导苗桶同轴心；控制系统启动输送装置将穴盘输送至预取苗点；控制系统根据所述位置接近开关输出的信号，停止输送装置运动；
S2：启动第二执行机构，控制系统根据第二行程开关组输出的信号控制驱动移动取苗爪装置运动至取苗点；各取苗爪位于穴盘第一排穴孔上方，且穴孔中心与各取苗爪同轴心；
S3：控制系统根据第二行程开关组输出的信号，启动输送装置将穴盘输送至取苗点；控制系统控制第一执行机构驱动移动取苗爪装置插入钵体苗，同时根据第一行程开关组产生的信号，控制取苗爪夹紧钵体苗；
S4：控制系统控制第一执行机构驱动移动取苗爪装置拔出钵苗；控制系统控制第二执行机构驱动移动取苗爪装置运动至投苗点；
S5：设穴盘每排为N个穴孔，有M排；控制系统控制分苗机构转动，当分苗杯触发行程开关N/2次时，根据第二行程开关组和行程开关产生的信号，控制系统控制取苗爪张开将钵体苗投入导苗装置，钵体苗顺着垂直导苗桶和倾斜导苗桶进入分苗机构，分苗机构将钵体苗旋转输送至落苗点后掉入栽植机构，则一个取投苗周期结束；
S6：控制系统控制第二执行机构驱动移动取苗爪装置运动至取苗点；控制系统控制输送装置使穴盘前进一个穴孔的距离，进行下一个取投苗周期，重复上述过程M次后，控制系统控制输送装置使穴盘向前移动并落盘至穴盘回收装置。
进一步，所述S1步骤前设有S0步骤，所述S0具体为：转动离合手柄，使定位球进入第三盲孔，此时空压机泵头启动，通过动力机构使空压机泵头开始向储气罐输送气体；控制系统检测储气罐压力，判断气压是否达到所需的工作气压，当气压达到移栽机所需的工作气压时，控制系统达到工作条件。
本发明的有益效果：
1.本发明所述的穴盘苗自动移栽机，通过移箱机构先将穴盘输送至预取苗点，等取苗爪到达取苗点后，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。
2.本发明所述的穴盘苗自动移栽机，通过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。
3.本发明所述的穴盘苗自动移栽机，可以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。
4.本发明所述的穴盘苗自动移栽机，通过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。
5.本发明所述的穴盘苗自动移栽机，通过改变第二执行机构限位块的位置，可以改变投苗点的位置，配合两套独立的分苗机构和栽植机构，可以适应不同栽植行距要求。
6.本发明所述的穴盘苗自动移栽机控制方法，可将分苗机构转速的变化反馈给取苗机构，改变投苗的时间点，可以适应不同的栽植速度。
附图说明
图1为本发明所述的穴盘苗自动移栽机整体结构示意图。
图2为本发明所述的穴盘苗自动移栽机移箱机构的结构示意图。
图3a为本发明所述的取苗机构结构示意图。
图3b为图3的后视图。
图4a为本发明所述的移动取苗装置机构安装示意图。
图4b为本发明所述的移动取苗装置机构工作状态图。
图5为本发明所述的分苗机构结构示意图。
图6为本发明所述的导苗装置结构示意图。
图7a为本发明所述的导苗桶与导苗装置的位置关系示意图。
图7b为图7a的左视图。
图8为本发明所述的动力机构结构示意图。
图9为本发明所述的离合装置结构示意图。
图10为本发明所述的穴盘苗自动移栽机工作流程图。
图11a为本发明所述的穴盘苗自动移栽机的初始状态图。
图11b为本发明所述的取苗装置移动到达取苗点的状态图。
图11c为本发明所述的移箱机构将穴盘输送至取苗点的状态图。
图11d为本发明所述的取苗爪插入钵体苗的状态图。
图11e为本发明所述的取苗爪拔出钵体苗的状态图。
图11f为本发明所述的取苗装置带钵体苗移动至投苗点的状态图。
图11g为本发明所述的取苗爪将钵体苗投入分苗机构的状态图。
图11h为本发明所述的分苗机构将钵体苗旋转至落苗口的状态图。
图11i为本发明所述的栽植机构接苗的状态图。
图11j为本发明所述的栽植机构接苗、栽植机构植苗的机构简图。
其中：
1.底盘支架；2.栽植机构；3.分苗机构；3-1.分苗杯；3-2.行程开关；4.导苗装置；4-1.倾斜导苗桶；4-2.导苗装置支架；4-3.倾斜导苗桶卡环；4-4.垂直导苗桶卡环；4-5.垂直导苗桶；5.动力机构；5-1.储气罐；5-2.离合装置；5-3.空压机泵头；5-2-1.泵头安装座；5-2-2.离合手柄；5-2-3.定位球；5-2-4.定位弹簧；5-2-5.连接件5-2-6.导向条；6.移箱机构；6-1.穴盘；6-2.位置接近开关；6-3.穴盘回收装置；6-3-1.回收箱过渡板；6-3-2.穴盘回收框；6-4.移箱支架；6-5.输送装置；6-5-1.步进电机；6-5-2.电机安装轴；6-5-3.联轴器；6-5-4.主动轴；6-5-5.主动链轮；6-5-6.穴盘输送板；6-5-7.穴盘驱动条；6-5-8.从动链轮；6-5-9.轴承；6-5-10.从动轴；6-5-11.链条；7.取苗机构；7-1.第一直线导轨副；7-2.取苗支架；7-3.移动取苗爪装置；7-4.第二执行机构限位块；7-5.第一执行机构；7-6.底板；7-7.第二直线导轨副；7-8.气源三联件；7-9.压力传感器；7-10.第二执行机构；7-11.第一行程开关组；7-12.第二行程开关组；7-13.压杆；7-14.压杆安装块。
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所示，本发明所述的穴盘苗自动移栽机，包括底盘支架1、栽植机构2、导苗装置4、分苗机构3和动力机构5，所述动力机构5安装在底盘支架1上面，用于为移栽机提供动力；其特征在于，还包括移箱机构6、取苗机构7和控制系统，所述移箱机构6装在底盘支架1上面，所述取苗机构7装在移箱机构6上面，两套所述分苗机构3通过底盘支架1对称布置在移箱机构6两侧，每套所述分苗机构3上方设有导苗装置4；每套所述分苗机构3下方设有栽植机构2；所述控制系统控制动力机构5、栽植机构2、分苗机构3、移箱机构6和取苗机构7。
如图2所示，所述移箱机构6包括穴盘6-1、位置接近开关6-2、穴盘回收装置6-3、移箱支架6-4和输送装置6-5，所述输送装置6-5包括步进电机6-5-1、电机安装轴6-5-2、联轴器6-5-3、主动轴6-5-4、主动链轮6-5-5、穴盘输送板6-5-6、穴盘驱动条6-5-7、从动链轮6-5-8、轴承6-5-9、从动轴6-5-10、链条6-5-11，所述穴盘输送板6-5-6安装于移箱支架6-7上；所述主动轴6-5-4和从动轴6-5-10两端分别通过轴承6-5-9平行安装于移箱支架6-7的侧面；所述主动链轮6-5-5安装于主动轴6-5-4上，从动链轮6-5-8安装于从动轴6-5-10上，并且通过两条完全相等的链条6-5-11将主、从动链轮相连，穴盘驱动条6-5-7安装于两条链条6-5-11对应的的同一链节上；所述步进电机6-5-1通过电机安装轴6-5-2安装于移箱支架6-7上上，并且通过联轴器6-5-3与主动轴6-5-4相连；所述穴盘6-1放置在输送装置6-5上，所述输送装置6-5移动方向末端设有穴盘回收装置6-3，所述穴盘回收装置6-3包括回收箱过渡板6-3-1和穴盘回收框6-3-2，所述穴盘回收框6-3-2位于回收箱过渡板6-3-1下方，所述回收箱过渡板6-3-1分为上平面、过渡斜面和垂直侧面，其中上平面应不高于穴盘输送板6-5-6；所述位置接近开关6-2安装在移箱支架6-4，用于判断穴盘6-1是否到达预取苗点，并将信号传输至控制系统，所述位置接近开关6-2包括微动开关6-2-1和感应铁丝6-2-2，所述感应铁丝6-2-2固定在微动开关6-2-1旋钮上，所述微动开关6-2-1位置与感应铁丝6-2-2长度应满足当穴盘6-1被输送至预取苗点时，感应铁丝6-2-2被穴盘6-1顶开而触发微动开关6-2-1；所述控制系统通过向步进电机6-5-1发送脉冲个数来控制输送装置6-5输送穴盘6-1的距离，当穴盘6-1触发位置接近开关6-2后，控制系统第一次发送的脉冲数使穴盘6-1准确移动至取苗点，之后每次发送的脉冲数应使穴盘6-1被输送一个穴孔的距离。
如图3所示，所述取苗机构7包括第一直线导轨副7-1、取苗支架7-2、移动取苗爪装置7-3、第二执行机构限位块7-4、第一执行机构7-5、底板7-6、第二直线导轨副7-7、气源三联件7-8、压力传感器7-9、第二执行机构7-10、第一行程开关组7-11和第二行程开关组7-12；所述取苗支架7-2固定在移箱支架6-7上面；所述取苗支架7-2上安装第一执行机构7-5，所 述第一执行机构7-5的拉杆与底板7-6连接，所述底板7-6通过第一直线导轨副7-1与所述取苗支架7-2连接，通过第一执行机构7-5使得所述底板7-6上下移动；所述底板7-6通过第二直线导轨副7-7与两个移动取苗爪装置7-3连接，所述第二直线导轨副7-7沿水平方向布置；所述气源三联件7-8安装在取苗支架7-2上，所述气源三联件7-8一端连接气源，另一端并联第一执行机构7-5和第二执行机构7-10，所述第一执行机构7-5和第二执行机构7-10均为双作用气缸且其上均设有电磁阀；所述压力传感器安装在取苗支架7-2上，压力传感器接入气路中，用于判断气压是否达到所需的工作气压，并将信号传输至控制系统；每个所述移动取苗爪装置7-3与第二执行机构7-10连接，位于取苗点和投苗点附近的底板7-6上设有若干第二执行机构限位块7-4，若干所述第二执行机构限位块7-4限定第二执行机构7-10运动的极限位置，通过第二执行机构7-10和第二执行机构限位块7-4使得所述移动取苗爪装置在取苗点和投苗点之间移动，底板7-6背面在第二执行机构7-10运动方向间距平行布置若干个安装孔，使第二执行机构限位块7-4位置可调，用来调整双作用气缸的最大伸出量；所述压杆7-13通过压杆安装块7-14安装于取苗支架7-2前面，压杆安装块7-14左右位置可调，压杆7-13一端有外螺纹，通过拧入螺纹圈数调整压杆7-13上下位置，适应不同高度、不同规格的穴盘。
所述第一行程开关组7-11安装在第一直线导轨副7-1附近，用于判断底板7-6是否到达预定位置，所述第二行程开关组7-12安装在第二直线导轨副7-7附近，用于判断移动取苗爪装置是否到达预定位置；所述第一行程开关组7-11和第二行程开关组7-12分别将信号传输至控制系统，所述控制系统控制第一执行机构7-5和第二执行机构7-10和移动取苗爪装置的运动。一般所述第一行程开关组7-11和第二行程开关组7-12的数量可根据实际情况确定，本发明的实施例中可以是：所述第一行程开关组7-11数量为3个，自上而下布置，当第一个行程开关被触发时，移动取苗爪装置7-3位于穴盘6-1上面一定距离，当第二个行程开关被触发时，移动取苗爪装置7-3接触到穴盘6-1中钵体的上表面，当第三个行程开关被触发时，移动取苗爪装置7-3接触到穴盘6-1中穴孔的底面；第二行程开关组7-12的数量各为4个，分别位于两个取苗点和两个投苗点附件，当位于取苗点的行程开关被触发时，移动取苗爪装置7-3位于取苗点，当位于投苗点的行程开关被触发时，移动取苗爪装置7-3位于投苗点。
如图4所示，所述移动取苗爪装置7-3包括弹簧7-3-1、取苗爪间隔块7-3-2、取苗爪7-3-3和螺杆7-3-4，所述底板7-6通过第二直线导轨副7-7安装若干取苗爪7-3-3；所述螺杆7-3-4两侧上设有挡块7-3-5，相邻两个所述取苗爪7-3-3安装在所述挡块7-3-5之间的螺杆7-3-4上，所述螺杆7-3-4上套有弹簧7-3-1，所述弹簧7-3-1位于相邻两个所述取苗爪7-3-3之间；直线排列的所述取苗爪7-3-3两端任一取苗爪7-3-3与第二执行机构7-10连接；所述取苗爪7-3-3上设有取苗爪间隔块7-3-2，当第二执行机构7-10运动时，取苗爪间隔块7-3-2使相邻取苗爪 7-3-3之间的间距与穴盘6-1穴孔间距相同，且取苗爪7-3-3中心与穴盘6-1穴孔中心同轴。
如图5所示，所述分苗机构3中的分苗杯3-1呈圆形排布，所述分苗机构3上安装行程开关3-2，用于检测转过的分苗杯3-1数量。
如图6和7所示，所述导苗装置4包括倾斜导苗桶4-1、导苗装置支架4-2、倾斜导苗桶卡环4-3、垂直导苗桶卡环4-4和垂直导苗桶4-5；所述导苗装置支架4-3装在分苗机构3上，所述垂直导苗桶卡环4-4和倾斜导苗桶卡环4-3分别安装在导苗装置支架4-2上，所述垂直导苗桶卡环4-4内安装垂直导苗桶4-5，所述倾斜导苗桶卡环4-3内安装倾斜导苗桶4-1，所述垂直导苗桶4-5和倾斜导苗桶4-1的导苗出口分别与分苗机构3中的分苗杯3-1一一对应。
如图8所示，所述动力机构5还包括储气罐5-1、离合装置5-2和空压机泵头5-3；所述空压机与动力机构5通过带传动连接，用于产生压缩气体；所述储气罐5-1一端与空压机泵头5-3连接，另一端与气源三联件7-8连接。
如图9所示，所述离合装置5-2包括泵头安装座5-2-1、离合手柄5-2-2、定位球5-2-3、定位弹簧5-2-4、连接件5-2-5和导向条5-2-6；两条所述导向条5-2-6平行安装在底盘支架1上，所述空压机泵头5-3安装在泵头安装座5-2-1上，所述泵头安装座5-2-1位于两导向条5-2-6之间，且所述泵头安装座5-2-1可沿导向条5-2-6移动；所述离合手柄5-2-2转动安装在底盘支架1上，所述离合手柄5-2-2底面设有第一盲孔，定位球5-2-3和定位弹簧5-2-4放置在第一盲孔内，且定位弹簧5-2-4位于定位球5-2-3上方，连接件5-2-5一端转动安装在泵头安装座5-2-1上，另一端转动安装在离合手柄5-2-2上，所述底盘支架1上设有第二盲孔和第三盲孔，所述第二盲孔、第三盲孔和第一盲孔位到离合手柄5-2-2圆心的距离相同，定位球5-2-3在定位弹簧5-2-4的作用力下压于第二盲孔，空压机泵头5-3停止工作，离合手柄5-2-2绕第一盲孔转动，定位球5-2-3压缩定位弹簧5-2-4并随着离合手柄5-2-2一起绕第一盲孔转动，同时通过连接件5-2-5带动泵头安装座5-2-1和空压机泵头5-3进行移动，实现带传动的涨紧，定位球5-2-3在定位弹簧5-2-4的作用下压于第三盲孔，空压机泵头5-3启动。
如图10所示，本发明所述的穴盘苗自动移栽机的控制方法，包括以下步骤：
S0：转动离合手柄5-2-2，使定位球5-2-3进入第三盲孔，此时空压机泵头5-3与动力机构5连接，通过动力机构5使空压机泵头5-3开始向储气罐5-1输送气体；控制系统检测储气罐5-1压力，判断气压是否达到所需的工作气压，当气压达到移栽机所需的工作气压时，控制系统达到工作条件。
S1：如图11a所示，将穴盘6-1放置于移箱机构6的输送装置6-5上，此时两套取苗爪装置7-3的取苗爪7-3-3位于导苗装置4上方且与导苗桶同轴心；控制系统启动输送装置6-5将穴盘6-1输送至预取苗点；控制系统根据所述位置接近开关6-2输出的信号，停止输送装置 6-5运动；
S2：如图11b所示，启动第二执行机构7-10，控制系统根据第二行程开关组7-12输出的信号控制驱动移动取苗爪装置7-3运动至取苗点；各取苗爪7-3-3位于穴盘6-1第一排穴孔上方，且穴孔中心与各取苗爪同轴心；
S3：如图11c所示，控制系统根据第二行程开关组7-12输出的信号，启动输送装置6-5将穴盘6-1输送至取苗点；如图11d所示，控制系统控制第一执行机构7-5驱动移动取苗爪装置7-3插入钵苗，同时根据第一行程开关组7-11产生的信号，控制取苗爪7-3-3夹紧钵体；
S4：如图11e所示，控制系统控制第一执行机构7-5驱动移动取苗爪装置7-3拔出钵苗；如图11f所示，控制系统控制第二执行机构7-10驱动移动取苗爪装置7-3运动至投苗点；
S5：如图11g所示，设穴盘6-1每排为N个穴孔，有M排；控制系统控制分苗机构3转动，当分苗杯3-1触发行程开关3-2N/2次时，根据第二行程开关组7-12和行程开关3-2产生的信号，控制系统控制取苗爪7-3-3张开将苗钵投入导苗装置4，苗钵顺着垂直导苗桶4-5和倾斜导苗桶4-1进入分苗机构3，如图11i和11g所示，分苗机构3将苗钵旋转输送至落苗点后掉入栽植机构2，则一个取投苗周期结束；
S6：控制系统控制第二执行机构7-10驱动移动取苗爪装置7-3运动至取苗点；控制系统控制输送装置6-5使穴盘6-1前进一个穴孔的距离，进行下一个取投苗周期，重复上述过程M次后，控制系统控制输送装置6-5使穴盘6-1向前移动并落盘至穴盘回收装置6-3。

Claims (8)

  1. 一种穴盘苗自动移栽机，包括底盘支架(1)、栽植机构(2)、导苗装置(4)、分苗机构(3)和动力机构(5)，所述动力机构(5)安装在底盘支架(1)上面，用于为移栽机提供动力；其特征在于，还包括移箱机构(6)、取苗机构(7)和控制系统，所述移箱机构(6)装在底盘支架(1)上面，所述取苗机构(7)装在移箱机构(6)上面，两套所述分苗机构(3)通过底盘支架(1)对称布置在移箱机构(6)两侧，每套所述分苗机构(3)上方设有导苗装置(4)；每套所述分苗机构(3)下方设有栽植机构(2)；所述控制系统控制动力机构(5)、栽植机构(2)、分苗机构(3)、移箱机构(6)和取苗机构(7)；
    所述移箱机构(6)包括穴盘(6-1)、位置接近开关(6-2)、穴盘回收装置(6-3)、移箱支架(6-4)和输送装置(6-5)，所述输送装置(6-5)通过移箱支架(6-4)安装在底盘支架(1)上；所述穴盘(6-1)放置在输送装置(6-5)上，所述输送装置(6-5)移动方向末端设有穴盘回收装置(6-3)；所述位置接近开关(6-2)安装在移箱支架(6-4)，用于判断穴盘(6-1)是否到达预取苗点，并将信号传输至控制系统；所述控制系统控制输送装置(6-5)运行；
    所述取苗机构(7)包括第一直线导轨副(7-1)、取苗支架(7-2)、移动取苗爪装置(7-3)、第二执行机构限位块(7-4)、第一执行机构(7-5)、底板(7-6)、第二直线导轨副(7-7)、第二执行机构(7-10)、第一行程开关组(7-11)和第二行程开关组(7-12)；所述取苗支架(7-2)固定在移箱支架(6-7)上面；所述取苗支架(7-2)上安装第一执行机构(7-5)，所述第一执行机构(7-5)的拉杆与底板(7-6)连接，所述底板(7-6)通过第一直线导轨副(7-1)与所述取苗支架(7-2)连接，通过第一执行机构(7-5)使得所述底板(7-6)上下移动；所述底板(7-6)通过第二直线导轨副(7-7)与两个移动取苗爪装置(7-3)连接，所述第二直线导轨副(7-7)沿水平方向布置；每个所述移动取苗爪装置(7-3)与第二执行机构(7-10)连接，位于取苗点和投苗点附近的底板7-6上设有若干第二执行机构限位块(7-4)，通过第二执行机构(7-10)和第二执行机构限位块(7-4)使得所述移动取苗爪装置(7-3)在取苗点和投苗点之间移动；所述第一行程开关组(7-11)安装在第一直线导轨副(7-1)附近，用于判断底板(7-6)是否到达预定位置，所述第二行程开关组(7-12)安装在第二直线导轨副(7-7)附近，用于判断移动取苗爪装置是否到达预定位置；所述第一行程开关组(7-11)和第二行程开关组(7-12)分别将信号传输至控制系统，所述控制系统控制第一执行机构(7-5)、第二执行机构(7-10)和移动取苗爪装置(7-3)的运动。
  2. 根据权利要求1所述的穴盘苗自动移栽机，其特征在于，所述移动取苗爪装置(7-3)包括弹簧(7-3-1)、取苗爪间隔块(7-3-2)、取苗爪(7-3-3)和螺杆(7-3-4)，所述底板(7-6)通过第二直线导轨副(7-7)安装若干取苗爪(7-3-3)；所述螺杆(7-3-4)两侧上设有挡块(7-3-5)，相邻两个所述取苗爪(7-3-3)安装在所述挡块(7-3-5)之间的螺杆(7-3-4)上，所述螺杆(7-3-4) 上套有弹簧(7-3-1)，所述弹簧(7-3-1)位于相邻两个所述取苗爪(7-3-3)之间；直线排列的所述取苗爪(7-3-3)两端任一取苗爪(7-3-3)与第二执行机构(7-10)连接；所述取苗爪(7-3-3)上设有取苗爪间隔块(7-3-2)，当第二执行机构(7-10)运动时，取苗爪间隔块(7-3-2)使相邻取苗爪(7-3-3)之间的间距与穴盘(6-1)穴孔间距相同，且取苗爪(7-3-3)中心与穴盘(6-1)穴孔中心同轴。
  3. 根据权利要求1所述的穴盘苗自动移栽机，其特征在于，所述分苗机构(3)中的分苗杯(3-1)呈圆形排布，所述分苗机构(3)上安装行程开关(3-2)，用于检测转过的分苗杯(3-1)数量。
  4. 根据权利要求1所述的穴盘苗自动移栽机，其特征在于，所述导苗装置(4)包括倾斜导苗桶(4-1)、导苗装置支架(4-2)、倾斜导苗桶卡环(4-3)、垂直导苗桶卡环(4-4)和垂直导苗桶(4-5)；所述导苗装置支架(4-2)装在分苗机构(3)上，所述垂直导苗桶卡环(4-4)和倾斜导苗桶卡环(4-3)分别安装在导苗装置支架(4-2)上，所述垂直导苗桶卡环(4-4)内安装垂直导苗桶(4-5)，所述倾斜导苗桶卡环(4-3)内安装倾斜导苗桶(4-1)，所述垂直导苗桶(4-5)和倾斜导苗桶(4-1)的导苗出口分别与分苗机构(3)中的分苗杯(3-1)一一对应。
  5. 根据权利要求1所述的穴盘苗自动移栽机，其特征在于，还包括气源三联件(7-8)和压力传感器(7-9)，所述第一执行机构(7-5)和第二执行机构(7-10)均为双作用气缸；所述气源三联件(7-8)安装在取苗支架7-2上，所述气源三联件(7-8)一端连接气源，另一端并联第一执行机构(7-5)和第二执行机构(7-10)；所述第一执行机构(7-5)和第二执行机构(7-10)上均设有电磁阀。
  6. 根据权利要求1所述的穴盘苗自动移栽机，其特征在于，还包括储气罐(5-1)、离合装置(5-2)和空压机泵头(5-3)；所述空压机与动力机构(5)连接，用于产生压缩气体；所述储气罐(5-1)一端与空压机泵头(5-3)连接，另一端与气源三联件(7-8)连接；
    所述离合装置(5-2)包括泵头安装座(5-2-1)、离合手柄(5-2-2)、定位球(5-2-3)、定位弹簧(5-2-4)、连接件(5-2-5)和导向条(5-2-6)；两条所述导向条(5-2-6)平行安装在底盘支架(1)上，所述空压机泵头(5-3)安装在泵头安装座(5-2-1)上，所述泵头安装座(5-2-1)位于两导向条(5-2-6)之间，且所述泵头安装座(5-2-1)可沿导向条(5-2-6)移动；所述离合手柄(5-2-2)转动安装在底盘支架(1)上，所述离合手柄(5-2-2)底面设有第一盲孔，定位球(5-2-3)和定位弹簧(5-2-4)放置在第一盲孔内，且定位弹簧(5-2-4)位于定位球(5-2-3)上方，连接件(5-2-5)一端转动安装在泵头安装座(5-2-1)上，另一端转动安装在离合手柄(5-2-2)上，所述底盘支架(1)上设有第二盲孔和第三盲孔，所述第二 盲孔、第三盲孔和第一盲孔位到离合手柄(5-2-2)圆心的距离相同。
  7. 一种根据权利要求1-6中任一所述的穴盘苗自动移栽机的控制方法，其特征在于，包括如下步骤：
    S1：将穴盘(6-1)放置于移箱机构(6)的输送装置(6-5)上，此时两套取苗爪装置(7-3)的取苗爪(7-3-3)位于导苗装置(4)上方且与导苗桶同轴心；控制系统启动输送装置(6-5)将穴盘(6-1)输送至预取苗点；控制系统根据所述位置接近开关(6-2)输出的信号，停止输送装置(6-5)运动；
    S2：启动第二执行机构(7-10)，控制系统根据第二行程开关组(7-12)输出的信号控制驱动移动取苗爪装置(7-3)运动至取苗点；各取苗爪(7-3-3)位于穴盘(6-1)第一排穴孔上方，且穴孔中心与各取苗爪同轴心；
    S3：控制系统根据第二行程开关组(7-12)输出的信号，启动输送装置(6-5)将穴盘(6-1)输送至取苗点；控制系统控制第一执行机构(7-5)驱动移动取苗爪装置(7-3)插入钵体苗，同时根据第一行程开关组(7-11)产生的信号，控制取苗爪(7-3-3)夹紧钵体苗；
    S4：控制系统控制第一执行机构(7-5)驱动移动取苗爪装置(7-3)拔出钵体苗；控制系统控制第二执行机构(7-10)驱动移动取苗爪装置(7-3)运动至投苗点；
    S5：设穴盘(6-1)每排为N个穴孔，有M排；控制系统控制分苗机构(3)转动，当分苗杯(3-1)触发行程开关(3-2)N/2次时，根据第二行程开关组(7-12)和行程开关(3-2)产生的信号，控制系统控制取苗爪(7-3-3)张开将钵体苗投入导苗装置(4)，钵体苗顺着垂直导苗桶(4-5)和倾斜导苗桶(4-1)进入分苗机构(3)，分苗机构(3)将钵体苗旋转输送至落苗点后掉入栽植机构(2)，则一个取投苗周期结束；
    S6：控制系统控制第二执行机构(7-10)驱动移动取苗爪装置(7-3)运动至取苗点；控制系统控制输送装置(6-5)使穴盘(6-1)前进一个穴孔的距离，进行下一个取投苗周期，重复上述过程M次后，控制系统控制输送装置(6-5)使穴盘(6-1)向前移动并落盘至穴盘回收装置(6-3)。
  8. 根据权利要求7所述的穴盘苗自动移栽机的控制方法，其特征在于，所述S1步骤前设有S0步骤，所述S0具体为：转动离合手柄(5-2-2)，使定位球(5-2-3)进入第三盲孔，此时空压机泵头(5-3)启动，通过动力机构(5)使空压机泵头(5-3)开始向储气罐(5-1)输送气体；控制系统检测储气罐(5-1)压力，判断气压是否达到所需的工作气压，当气压达到移栽机所需的工作气压时，控制系统达到工作条件。
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