WO2021026725A1 - 一种用于插秧机的横向推送托盘装置及自动上苗系统 - Google Patents

一种用于插秧机的横向推送托盘装置及自动上苗系统 Download PDF

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Publication number
WO2021026725A1
WO2021026725A1 PCT/CN2019/100206 CN2019100206W WO2021026725A1 WO 2021026725 A1 WO2021026725 A1 WO 2021026725A1 CN 2019100206 W CN2019100206 W CN 2019100206W WO 2021026725 A1 WO2021026725 A1 WO 2021026725A1
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Prior art keywords
seedling
conveying
lateral
tray
bracket
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PCT/CN2019/100206
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English (en)
French (fr)
Inventor
尹飞龙
祖张蓂子
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尹飞龙
祖张蓂子
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Application filed by 尹飞龙, 祖张蓂子 filed Critical 尹飞龙
Priority to PCT/CN2019/100206 priority Critical patent/WO2021026725A1/zh
Publication of WO2021026725A1 publication Critical patent/WO2021026725A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines

Definitions

  • the invention relates to the technical field of agricultural automation, and in particular to a lateral pushing tray device and an automatic seedling loading system for a rice transplanter.
  • the driver drives the seedling transplanter, the assistants arrange the seedlings in the seedling tray, and then place the seedling tray near the seedling box at the back of the frame of the rice transplanter, and finally put the seedlings in the seedling tray into the seedling box.
  • the seedlings are taken out from the seedling box by an automatic seedling transplanting machine and inserted into the field.
  • the auxiliary personnel need to consume more physical energy during the process of placing the seedling tray near the seedling box at the rear end of the frame of the rice transplanter, and the rice transplanter is mobile, so that the auxiliary personnel not only need physical energy to place the seedlings At the same time, it also consumes physical strength to maintain its own balance, which leads to high labor intensity and low work efficiency.
  • the invention provides a lateral pushing tray device and an automatic seedling loading system for a rice transplanter to automatically transfer the seedlings to the vicinity of the seedling box at the rear end of the frame of the rice transplanter, thereby reducing human labor intensity and improving work efficiency.
  • the specific technical solution is as follows.
  • the present invention provides a horizontal pushing tray device for a rice transplanter, comprising: multiple sets of seedling transfer brackets arranged side by side, a horizontal pushing bracket, a horizontal pushing mechanism, a horizontal drive motor, and a horizontally movable transfer tray ,
  • the position detection sensor, seedling barrier door and seedling barrier door opener can be moved laterally;
  • the lateral drive motor, the laterally movable conveying tray position detection sensor, and multiple sets of seedling conveying brackets arranged side by side are all fixedly connected to the seedling conveying device mounting frame, and the seedling conveying device mounting frame is mounted on the frame of the rice transplanter
  • the output end of the lateral drive motor is connected to the lateral pushing mechanism
  • the lateral pushing mechanism is connected to the lateral pushing bracket
  • the lateral pushing bracket is sleeved on the laterally movable transmission
  • one end of the laterally movable transport tray close to the seedling box is provided with the seedling barrier door and the seedling barrier door opener, and seedlings are placed in the laterally movable transport tray;
  • the lateral driving motor drives the lateral pushing mechanism to move
  • the lateral pushing mechanism drives the laterally movable conveying tray in the lateral pushing bracket to move on multiple sets of seedling conveying brackets, and the position of the laterally movable conveying tray
  • the detection sensor detects that the laterally movable conveying tray moves to the first preset position of the seedling conveying device mounting frame, it sends a stop command to the lateral drive motor to stop the lateral drive motor from driving the lateral pushing mechanism movement.
  • the lateral drive motor is fixedly connected to one side of the seedling conveying device mounting frame, the output end of the lateral drive motor is connected to the driving wheel, and the driven wheel is fixedly connected to the seedling conveying device
  • the horizontal transmission belt is installed on the driving wheel and the driven wheel, and the horizontal pushing bracket is installed on the upper end of the horizontal transmission belt;
  • the lateral drive motor drives the driving wheel to rotate
  • the driving wheel drives the driven wheel to rotate through the lateral transmission belt
  • the lateral transmission belt drives the laterally movable transport tray in the lateral push bracket to the seedlings.
  • the other side of the mounting frame of the conveying device moves to the first preset position of the mounting frame of the seedling conveying device.
  • the lateral pushing mechanism includes an active connecting rod and a driven connecting rod;
  • the lateral drive motor is fixedly connected to one side of the mounting frame of the seedling conveying device, the output end of the lateral drive motor is connected with the driving link, and the driving link is connected with the driven link, so The driven connecting rod is connected with the lateral pushing bracket;
  • the lateral drive motor drives the active link to move, the active link drives the driven link to move, and the driven link drives the laterally movable transport tray in the lateral pushing bracket to the
  • the other side of the mounting frame of the seedling conveying device moves to the first preset position of the mounting frame of the seedling conveying device.
  • the lateral pushing mechanism includes a guide rod and a threaded shaft
  • Two rotating supports and two fixed supports are installed on the mounting frame of the seedling conveying device, the two rotating supports are rotatably installed with the threaded shaft, and the two fixed supports are fixedly installed with the guide Rod, the lateral drive motor is fixedly connected to one side of the mounting frame of the seedling conveying device, the output end of the lateral drive motor is connected with the threaded shaft, and the threaded shaft is sleeved on the thread of the lateral pushing bracket In the hole, the threaded shaft and the threaded hole constitute a threaded transmission pair, and the lateral pushing bracket is slidably mounted on the guide rod through the light hole;
  • the lateral drive motor drives the screw shaft to rotate, and the screw shaft drives the laterally movable conveying tray in the lateral pushing bracket to move to the other side of the seedling conveying device mounting frame to the seedling conveying device installation The first preset position of the rack.
  • the above-mentioned lateral pushing tray device for rice transplanter further includes a drive motor mounting plate, the drive motor mounting plate is fixedly mounted on the seedling conveying device mounting frame, and the lateral drive motor is mounted on the drive motor. board.
  • the above-mentioned lateral pushing tray device for the rice transplanter further includes a slide, a roller and a limit device;
  • each group of seedling conveying brackets is provided with the slideway, the slideways between adjacent seedling conveying brackets are butted, the lower surface of the laterally movable conveying tray is provided with the roller, the limit The device is arranged at the second preset position of the slideway;
  • the laterally movable transport tray slides on the slideway through the rollers, and the limiting device restricts the laterally movable transport tray from moving on the slideway.
  • the number of the slides is two, and the two slides are respectively arranged at both ends of the upper surface of the mounting frame of the seedling conveying device.
  • the form of the limiting device is one of a top bead type, a leaf spring type, an elastic rigid wire type or a magnet type.
  • the upper opening area of the laterally movable transport tray is larger than the bottom surface area.
  • the present invention provides an automatic seedling loading system, which includes a seedling conveying device mounting frame, at least one set of seedling loading devices and a lateral pushing tray device.
  • Each group of seedling loading devices includes a conveying bracket returner, a conveying wire, Conveying wire recovery drive, conveying wire recovery spool, mounting plate, seedling box, seedling detection sensor and position sensor, the lateral pushing tray device is any one of the above-mentioned lateral pushing tray devices;
  • the conveying bracket returner is installed on the seedling conveying device mounting frame, and the return wire of the conveying bracket returner passes through the through hole and the transverse direction of the seedling conveying device mounting frame.
  • One end of the corresponding seedling conveying bracket in the pushing tray device is connected, and the other end of the seedling conveying bracket is connected to a conveying wire.
  • the upper surface of the seedling conveying bracket is provided with a seedling detection sensor, and the conveying wire passes through the mounting
  • the through hole on the board is installed on the transmission wire recovery spool, the transmission wire recovery spool is connected to the output end of the transmission wire recovery drive, and the transmission wire recovery spool and the transmission wire recovery drive are both installed on the mounting plate ,
  • the mounting plate is installed in the seedling box, and the position sensor is installed in the seedling box;
  • the seedling detection sensor detects whether there are seedlings in the laterally movable conveying tray placed on the seedling conveying bracket.
  • the first command is sent to the conveying wire recovery drive; the position sensor detects the seedlings.
  • the seedling stock in the box when the seedling stock is less than the preset value, the second instruction is sent to the lateral pushing tray device, and the laterally movable conveying tray of the lateral pushing tray device moves to the seedling conveying bracket at the initial position and sends
  • the third instruction is sent to the transmission wire recovery driver; when the transmission wire recovery driver receives the first instruction and the third instruction, it controls the transmission wire recovery spool to tighten the transmission wire, and the transmission wire pulls the seedling conveying bracket to move to the seedling box
  • the seedling barrier door opener contacts the seedling barrier door and pushes the seedling barrier door to open, the seedlings in the laterally movable conveying tray are transferred to the seedling box, and the position sensor detects the seedling box.
  • the fourth instruction is sent to the conveying bracket returner.
  • the conveying bracket returner receives the fourth instruction and tightens the return wire so that the return wire pulls the seedling
  • the conveying bracket returns to the initial position
  • the lateral driving motor drives the lateral pushing mechanism to move
  • the lateral pushing mechanism drives the laterally movable conveying tray in the lateral pushing bracket to transfer to the seedling supplement position to obtain seedlings.
  • the horizontal pushing tray device for the rice transplanter connects the output end of the horizontal drive motor with the horizontal pushing mechanism, the horizontal pushing mechanism is connected with the horizontal pushing bracket, and the horizontal pushing bracket sleeve It is arranged on the outside of the laterally movable conveying tray, so that when the seedlings are conveyed, the lateral driving motor drives the lateral pushing mechanism to move, and the lateral pushing mechanism drives the laterally movable conveying tray in the lateral pushing bracket to move to the mounting frame of the seedling conveying device.
  • the first preset position is integrated with the corresponding seedling conveying bracket, and then the seedling is transferred to the seedling box, which reduces the labor intensity and improves work efficiency.
  • any product or method of the present invention does not necessarily need to achieve all the advantages described above at the same time.
  • the horizontal pushing mechanism By connecting the output end of the horizontal drive motor with the horizontal pushing mechanism, the horizontal pushing mechanism is connected with the horizontal pushing bracket, the horizontal pushing bracket is sleeved on the outside of the laterally movable conveying tray, so that when the seedlings are transferred, the horizontal
  • the drive motor drives the lateral pushing mechanism to move, and the lateral pushing mechanism drives the laterally movable conveying tray in the lateral pushing bracket to move to the first preset position of the seedling conveying device mounting frame, and integrates with the corresponding seedling conveying bracket, and then the seedlings Transfer to the seedling box to reduce labor intensity and improve work efficiency.
  • the automatic seedling loading system provided by the embodiment of the present invention can move the transport tray to the seedling transport bracket at the initial position through the laterally movable transport tray of the transverse pushing tray device, and then control the transport wire recovery spool to tighten the transport wire recovery spool through the transport wire recovery drive Conveying wire, the seedling conveying bracket is moved to the docking position with the seedling box through the conveying wire, and then the seedling barrier door opener pushes the seedling barrier door to open, and the seedling conveying bracket can move laterally under the action of gravity.
  • the seedlings inside are transferred to the seedling box, achieving the purpose of automatically placing the seedlings in the laterally movable conveying tray into the seedling box.
  • the upper opening area of the laterally movable conveying tray is larger than the area of the bottom surface, the seedlings can accurately and steadily fall in the laterally movable conveying tray.
  • the lateral pushing mechanism can more easily drive the laterally movable transport tray in the lateral pushing bracket.
  • the function of fixing the relative position between the laterally movable conveying tray and the seedling conveying bracket can be realized by setting the limit device.
  • the lateral pushing mechanism can more easily drive the laterally movable transport tray in the lateral pushing bracket to move.
  • Figure 1 is a schematic structural diagram of a lateral pushing tray device for a rice transplanter provided by an embodiment of the present invention
  • Figure 2 (a) is a side view of the first structure of the lateral pushing mechanism provided by this embodiment
  • Figure 2 (b) is a top view of the first structure of the lateral pushing mechanism provided by this embodiment
  • Figure 3 (a) is a side view of the second structure of the lateral pushing mechanism provided by this embodiment
  • Figure 3(b) is a front view of the second structure of the lateral pushing mechanism provided by this embodiment
  • Figure 3(c) is a top view of the second structure of the lateral pushing mechanism provided by this embodiment.
  • Figure 4 is a schematic diagram of an installation of a lateral pusher provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a slideway and a limit device provided by an embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of an automatic seedling loading system provided by an embodiment of the present invention.
  • Figure 1- Figure 6 1 seedling conveyor mounting frame, 2 lateral push bracket, 21 lateral drive belt, 22 drive pulley, 23 driven pulley, 24 drive link, 25 driven link, 3 lateral drive motor, 4 Transversely movable transfer tray, 5 slide, 6 limit device, 7 transfer bracket return device, 8 transfer wire, 9 mounting plate, 10 seedling box, 11, return wire, 12 seedling transfer bracket, 13 seedling transplanting machine.
  • the embodiment of the invention discloses a lateral pushing tray device and an automatic seedling loading system for a rice transplanter, which automatically places the seedling tray near the seedling box at the rear end of the frame of the rice transplanter, thereby reducing human labor intensity and improving work efficiency.
  • the embodiments of the present invention will be described in detail below.
  • Fig. 1 is a schematic structural diagram of a lateral pushing tray device for a rice transplanter provided by an embodiment of the present invention.
  • the lateral pushing tray device for the rice transplanter provided by the embodiment of the present invention includes a plurality of sets of seedling conveying brackets 12 arranged side by side, a lateral pushing bracket 2, a lateral pushing mechanism, a lateral driving motor 3, and a laterally movable conveying tray 4, The position detection sensor, seedling barrier door and seedling barrier door opener can be moved laterally.
  • the lateral drive motor 3, the laterally movable conveying tray position detection sensor, and multiple sets of seedling conveying brackets 12 arranged side by side are all fixedly connected to the seedling conveying device mounting frame 1. Since the driver is at the front end of the frame of the rice transplanter, The seedling box is located at the rear end of the frame. Therefore, the lateral pushing tray device is arranged at the rear end of the frame of the rice transplanter. Specifically, the seedling conveying device mounting frame 1 is installed on the upper surface of the rear end of the frame of the rice transplanter.
  • the lateral pushing tray device for the rice transplanter provided by the embodiment of the present invention further includes a drive motor mounting plate, which is fixedly installed on the seedling conveying device mounting frame 1.
  • the horizontal drive motor 3 is installed on the drive motor mounting plate.
  • the output end of the lateral drive motor 3 is connected to the lateral pushing mechanism, and the lateral pushing mechanism is connected to the lateral pushing bracket 2.
  • the lateral pushing bracket 2 is sleeved on the outside of the laterally movable conveying tray 4, that is to say horizontally
  • the push bracket 2 is in the form of a frame, which can cover the laterally movable conveying tray 4, and can move with the laterally movable conveying tray 4, in order to facilitate the transfer of the seedlings in the laterally movable conveying tray 4 to the seedling box 10.
  • a seedling blocking door and a seedling blocking door opener are provided at one end of the horizontally movable transport tray 4 close to the seedling box 10.
  • the opening method of the seedling barrier door may include one of an upward opening type, a downward opening type or a two-side opening type.
  • the seedlings are placed in the laterally movable conveying tray 4.
  • the upper opening area of the laterally movable conveying tray is set to be larger than the bottom surface area. Therefore, by designing the upper opening area of the laterally movable conveying tray to be larger than the bottom surface area, the seedlings can accurately and stably fall in the laterally movable conveying tray 4.
  • Seedlings are placed in the laterally movable conveying tray 4.
  • the laterally movable conveying tray 4 When the laterally movable conveying tray 4 is conveyed, the lateral driving motor 3 drives the lateral pushing mechanism to move, and the lateral pushing mechanism drives the laterally movable conveying tray 4 in the laterally pushing bracket 2 to move.
  • the laterally movable conveying tray position detection sensor detects that the laterally movable conveying tray 4 moves to the first preset position of the seedling conveying device mounting frame 1, and sends a stop command to the lateral drive motor to drive laterally
  • the motor receives the stop command and stops driving the horizontal pushing mechanism.
  • the first preset position is on the seedling conveying bracket corresponding to the seedling box slide that needs to replenish the seedlings.
  • the conveying tray 4 and the seedling conveying support can be moved laterally.
  • the racks are docked so that the seedlings in the laterally movable transport tray 4 can be placed in the seedling box in the next step.
  • this embodiment connects the output end of the lateral drive motor to the lateral pushing mechanism, the lateral pushing mechanism is connected to the lateral pushing bracket, and the lateral pushing bracket is sleeved on the outside of the laterally movable conveying tray, so that When conveying the seedling tray, the lateral drive motor 3 drives the lateral pushing mechanism to move, and the lateral pushing mechanism drives the laterally movable conveying tray 4 in the lateral pushing bracket 2 to move to the first preset position of the seedling conveying device mounting frame 1.
  • a preset position is on the seedling conveying bracket corresponding to the seedling box slide that needs to replenish the seedlings.
  • the laterally movable conveying tray 4 is docked with the seedling conveying bracket, so that the next step is to move the conveying tray in the laterally movable conveying tray 4.
  • the seedlings are placed in the seedling box to reduce labor intensity and improve work efficiency.
  • horizontal pushing mechanism including but not limited to the following:
  • the first form is a first form:
  • Figure 2 (a) is a side view of the first structure of the lateral pushing mechanism provided by this embodiment
  • Figure 2 (b) is the lateral pushing mechanism provided by this embodiment
  • the lateral pushing mechanism includes a lateral transmission belt 21, a driving wheel 22 and a driven wheel 23.
  • the lateral drive motor 3 is fixedly connected to one side of the seedling conveying device mounting frame 1, the output end of the lateral drive motor 3 is connected to the driving wheel 22, the driven wheel 23 is fixedly connected to the other side of the seedling conveying device mounting frame 1, and the driving wheel 22
  • a horizontal transmission belt 21 is installed on the driven wheel 23, and a horizontal push bracket 2 is installed on the upper end of the horizontal transmission belt 21.
  • the horizontal push mechanism 2 is installed at the front end of the seedling conveying device mounting frame 1, which is the installation shown in Figure 1. position.
  • the horizontal drive motor 3 drives the driving wheel 22 to rotate
  • the driving wheel 22 drives the driven wheel 23 to rotate through the horizontal transmission belt 21
  • the horizontal transmission belt 21 drives the horizontally movable transport tray 4 in the horizontal push bracket 2 to be installed in the seedling transport device
  • the laterally movable conveying tray position detection sensor detects that the laterally movable conveying tray 4 moves to the first preset position of the seedling conveying device mounting frame 1, and sends a stop command to the lateral drive motor
  • the lateral drive motor 3 Receive the stop instruction and stop driving the lateral pushing mechanism. At this time, the conveying tray can be moved laterally.
  • the lateral transmission belt 21 may be one of a belt, a chain, or a cable
  • the driving wheel 22 may be one of a pulley or a sprocket wheel, which is not limited in the embodiment of the present invention.
  • Figure 3 (a) is a side view of the second structure of the lateral pushing mechanism provided by this embodiment
  • Figure 3 (b) is the lateral pushing mechanism provided by this embodiment
  • Fig. 3(c) is a top view of the second structure of the lateral pushing mechanism provided in this embodiment.
  • the lateral pushing mechanism includes an active link 24 and a driven link 25.
  • the lateral drive motor 3 is fixedly connected to one side of the seedling conveying device mounting frame 1.
  • the output end of the lateral drive motor 3 is connected to the active link 24, the active link 24 is connected to the driven link 25, and the driven link 25 is connected to the lateral
  • the pushing bracket 2 is connected.
  • the horizontal pushing mechanism is installed on the side of the seedling conveying device mounting frame 1, which is the installation position shown in FIG. 4, which is an installation of the horizontal pushing machine provided by the embodiment of the present invention Schematic.
  • the horizontal drive motor 3 drives the active link 24 to move, the active link 24 drives the driven link 25 to move, and the driven link 25 drives the laterally movable transfer tray 4 in the lateral push bracket 2 to transfer the seedlings.
  • the other side of the device mounting frame 1 moves to the first preset position of the seedling transfer device mounting frame 1.
  • the first preset position is also on the seedling transfer bracket corresponding to the seedling box slide that needs to be supplemented with seedlings.
  • the mobile transport tray 4 and the seedling transport bracket complete the docking, so that the seedlings in the laterally movable transport tray 4 can be placed in the seedling box in the next step.
  • the lateral pushing mechanism may include a guide rod and a threaded shaft.
  • two rotating supports and two fixed supports are installed on the seedling conveying device mounting frame 1.
  • the two rotating supports are rotatably installed with threaded shafts, and the two fixed supports are fixedly installed with guides.
  • two guide rods and four fixed supports can also be provided.
  • the two guide rods are fixedly installed on the two fixed supports, and the two guide rods are parallel to each other.
  • the horizontal drive motor 3 is fixedly connected to one side of the seedling conveying device mounting frame 1.
  • the output end of the horizontal drive motor 3 is connected with a threaded shaft, which is sleeved in the threaded hole of the horizontal pushing bracket, and the threaded shaft and the threaded hole constitute a threaded drive
  • a light hole is arranged on the horizontal pushing bracket, and the horizontal pushing bracket is slidably mounted on the guide rod through the light hole.
  • the horizontal drive motor 3 drives the screw shaft to rotate, and the screw shaft drives the horizontal push bracket 2 to slide along the guide rod.
  • the horizontal push bracket 2 drives the laterally movable conveying tray 4 to the other side of the seedling conveying device mounting frame 1.
  • the laterally movable conveyor tray position detection sensor detects that the laterally movable conveyor tray 4 moves to the first preset position of the seedling conveyor mounting frame 1, and sends a stop command
  • the lateral drive motor 3 receives the stop command and stops driving the lateral pushing mechanism.
  • the transport tray 4 can be moved laterally to the seedling box slide of the seedling conveyor mounting frame 1 that needs to be supplemented with seedlings.
  • the laterally movable conveying tray 4 is docked with the seedling conveying bracket, so that the seedlings in the laterally movable conveying tray 4 can be placed in the seedling box in the next step.
  • the transmission of the seedlings is realized by setting the guide rod and the screw shaft.
  • Figure 5 is a schematic structural diagram of a slideway and a limit device provided by an embodiment of the present invention.
  • the horizontal pushing tray device for the rice transplanter may also include a slide 5, a roller and a limiting device 6.
  • a slide 5 is provided on the upper surface of each group of seedling conveying brackets 12, the slides between adjacent seedling conveying brackets 12 are butted, and the lower surface of the laterally movable conveying tray 4 is provided with rollers, and the limiting device 6 is arranged at The second preset position of the slideway 5, the second preset position can be located on the protruding side of the slideway 5, or on the concave side of the slideway 5, the embodiment of the present invention does not impose any limitation on this .
  • the slides 5 between each seedling conveying bracket 12 are connected end to end, so that when the lateral pushing mechanism drives the laterally movable conveying tray 4 in the lateral pushing bracket 2 to move, the laterally moving conveying tray 4 can be moved from end to end through the rollers.
  • the connecting slide 5 slides, and the limit device 6 restricts the laterally movable conveying tray 4 from moving on the slide.
  • the lateral pushing mechanism can more easily drive the laterally movable transport tray 4 in the lateral pushing bracket 2 to move.
  • the number of slides 5 may be multiple, preferably two, and the two slides are respectively arranged at both ends of the upper surface of the mounting frame 1 of the seedling conveying device.
  • the shape of the slide 5 can be round, square, trapezoidal or triangular.
  • the limiting device 6 can be in one of a top bead type, a leaf spring type, an elastic rigid wire type or a magnet type.
  • FIG 6 is a schematic structural diagram of an automatic seedling loading system provided by an embodiment of the present invention.
  • An embodiment of the present invention also provides an automatic seedling loading system.
  • the automatic seedling loading system includes a seedling conveying device mounting frame 1, at least one The seedling loading device and the horizontal pushing tray device are assembled, and the horizontal pushing tray device is the horizontal pushing tray device of any of the above embodiments.
  • Each set of seedling loading devices may include a transfer bracket return 7, a transfer wire 8, a transfer wire recovery drive, a transfer wire recovery spool, a mounting plate 9, a seedling box 10, a seedling detection sensor and a position sensor.
  • the conveying bracket returner 7 is installed on the seedling conveying device mounting frame 1, the seedling conveying device mounting frame 1 is installed on the upper surface of the rear end of the rice transplanter 13, and the conveying bracket returner 7
  • the return wire 11 passes through the through hole of the seedling transfer device mounting frame 1 and is connected to one end of the corresponding seedling transfer bracket 12 in the horizontal pushing tray device, and the return wire 11 is controlled by the transfer bracket return device 7 to pull the seedlings and transport
  • the bracket 12 moves back and forth along the return wire 11 to facilitate docking with the seedling box 10.
  • the other end of the seedling conveying bracket 12 is connected to the conveying wire 8.
  • the conveying wire 8 is installed on the conveying wire recovery spool through the through hole on the mounting plate 9.
  • the conveying wire recovery spool is connected to the output end of the conveying wire recovery drive, and the conveying wire is recovered Both the spool and the conveying wire recovery drive are installed on the mounting plate 9, and the mounting plate 9 is installed on the seedling box 10.
  • a seedling detection sensor is provided on the upper surface of the seedling conveying bracket 12.
  • a position sensor is installed in the seedling box 10.
  • the seedling detection sensor detects whether there are seedlings loaded in the laterally movable conveying tray 4 placed on the seedling conveying bracket 12. When there are seedlings, it indicates that the seedling box 10 is used to replenish the seedlings. The seedlings have been prepared, the seedling detection sensor sends the first instruction to the transmission wire recovery driver, and the transmission wire recovery driver receives the first instruction to learn that the seedlings for replenishing the seedling box 10 are ready to be completed.
  • the position sensor detects the stock of seedlings in the seedling box 10, and when the stock of seedlings is less than the preset value, it sends a second instruction to the lateral pushing tray device, and the laterally movable conveying tray 4 of the lateral pushing tray device moves to the seedling conveying bracket at the initial position 12, and send the third command to the transmission wire recovery driver.
  • the transmission wire recovery driver when the transmission wire recovery driver receives the first instruction and the third instruction, it learns that the seedling box 10 needs to be supplemented with seedlings and the seedlings used to supplement the seedling box 10 have been prepared, and the seedlings can be added to the seedling box 10 at this time. Therefore, the transmission wire recovery driver controls the transmission wire recovery spool to tighten the transmission wire 8, and the transmission wire 8 pulls the seedling conveying bracket 12 to move to the docking position with the seedling box 10. At this time, the seedling barrier door opener and the seedling barrier door By touching and pushing the seedling blocking door to open, the seedlings in the transport tray 4 can be moved laterally and transferred to the seedling box 10.
  • the fourth command is sent to the transfer bracket returner.
  • the seedling stock is not less than the preset value, indicating that the number of seedlings in the seedling box 10 is large, and the seedling replenishment is complete.
  • the conveying bracket returner receives the fourth instruction and knows that the seedling replenishment is completed, tighten the return wire 11 so that the return wire 11 pulls the seedling conveying bracket 12 back to the initial position, and the lateral drive motor 3 drives the lateral pushing mechanism to move,
  • the lateral pushing mechanism drives the laterally movable conveying tray 4 in the lateral pushing bracket 2 to transfer to the seedling replenishment position so as to obtain the seedlings, and then repeat the above-mentioned seedling replenishing process.
  • the automatic seedling loading system provided by the embodiment of the present invention can move the transport tray to the seedling transport bracket at the initial position through the laterally movable transport tray of the transverse pushing tray device, and then control the transport wire recovery through the transport wire recovery drive
  • the spool tightens the conveying wire, and the seedling conveying bracket is moved to the docking position with the seedling box through the conveying wire, and then the seedling barrier door opener pushes the seedling barrier door to open, so that the seedling conveying bracket can be moved horizontally under the action of gravity.
  • the seedlings in the mobile conveying tray are transferred to the seedling box, achieving the purpose of automatically placing the seedlings in the laterally movable conveying tray into the seedling box.
  • modules in the device in the embodiment may be distributed in the device in the embodiment according to the description of the embodiment, or may be located in one or more devices different from this embodiment with corresponding changes.
  • the modules of the above-mentioned embodiments can be combined into one module or further divided into multiple sub-modules.

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Abstract

一种用于插秧机（13）的横向推送托盘装置及自动上苗系统，该装置包括：多组并排排列的秧苗传送托架（12）、横向推送托架（2）、横向推送机构、横向驱动马达（3）、可横向移动传送托盘（4）、可横向移动传送托盘（4）位置检测传感器、秧苗阻隔门和秧苗阻隔门开启器，横向驱动马达（3）、可横向移动传送托盘（4）位置检测传感器和多组并排排列的秧苗传送托架（12）均固定连接于秧苗传送装置安装架（1），横向驱动马达（3）的输出端与横向推送机构连接，横向推送机构与横向推送托架（2）连接，横向推送托架（2）套设于可横向移动传送托盘（4）的外侧，可横向移动传送托盘（4）在秧苗传送托架（12）上移动，可横向移动传送托盘（4）内放置有秧苗。上述装置及上苗系统可减少人力劳动强度，提高工作效率。

Description

一种用于插秧机的横向推送托盘装置及自动上苗系统 技术领域
本发明涉及农业自动化技术领域，具体而言，涉及一种用于插秧机的横向推送托盘装置及自动上苗系统。
背景技术
目前在种植水稻时，驾驶员驾驶插秧机，辅助人员将秧苗布置在秧盘中，再将秧盘放置到插秧机的车架后端的秧箱附近，最后将秧盘中的秧苗放入秧箱中，通过自动插秧机器从秧箱中取出秧苗并插入田中。
由于秧盘较重，使得辅助人员在将秧盘放置到插秧机的车架后端的秧箱附近过程中需要消耗较多的体力，且插秧机是移动的，使得辅助人员不仅需要耗费体力放置秧盘，同时还要消耗体力维持自身平衡，导致人力劳动强度较高且工作效率较低。
发明内容
本发明提供了一种用于插秧机的横向推送托盘装置及自动上苗系统，以自动将秧苗传送到插秧机的车架后端的秧箱附近，减少人力劳动强度，提高工作效率。具体的技术方案如下。
第一方面，本发明提供了一种用于插秧机的横向推送托盘装置，包括：多组并排排列的秧苗传送托架、横向推送托架、横向推送机构、横向驱动马达、可横向移动传送托盘、可横向移动传送托盘位置检测传感器、秧苗阻隔门和秧苗阻隔门开启器；
所述横向驱动马达、所述可横向移动传送托盘位置检测传感器和多组并排排列的秧苗传送托架均固定连接于秧苗传送装置安装架，所述秧苗传送装置安装架安装于插秧机的车架后端的上表面，所述横向驱动马达的输出端与所述横向推送机构连接，所述横向推送机构与所述横向推送托架连接，所述横向推送托架套设于所述可横向移动传送托盘的外侧，所述可横向移动传送托盘靠近秧箱的一端设置有所述秧苗阻隔门和所述秧苗阻隔门开启器，所述可横向移动传送托盘内放置有秧苗；
所述横向驱动马达驱动所述横向推送机构运动，所述横向推送机构带动所述横向推送托架内的可横向移动传送托盘在多组秧苗传送托架上移动，所述可横向移动传送托盘位置检测传感器检测所述可横向移动传送托盘运动至所述秧苗传送装置安装架的第一预设位置时，发送停止指令至所述横向驱动马达以使所述横向驱动马达停止驱动所述横向推送机构运动。
可选的，所述横向驱动马达固定连接于所述秧苗传送装置安装架的一侧，所述横向驱动马达的输出端与所述主动轮连接，所述从动轮固定连接于所述秧苗传送装置安装架的另一侧，所述主动轮与所述从动轮上安装有所述横向传动带，所述横向传动带上端安装有所述横向推送托架；
所述横向驱动马达驱动所述主动轮转动，所述主动轮通过所述横向传动带带动所述从动轮转动，所述横向传动带带动所述横向推送托架内的可横向移动传送托盘向所述秧苗传送装置安装架的另一侧运动至所述秧苗传送装置安装架的第一预设位置。
可选的，所述横向推送机构包括主动连杆和从动连杆；
所述横向驱动马达固定连接于所述秧苗传送装置安装架的一侧，所述横向驱动马达的输出端与所述主动连杆连接，所述主动连杆与所述从动连杆连接，所述从动连杆与所述横向推送托架连接；
所述横向驱动马达驱动所述主动连杆运动，所述主动连杆带动所述从动连杆运动，所述从动连杆带动所述横向推送托架内的可横向移动传送托盘向所述秧苗传送装置安装架的另一侧运动至所述秧苗传送装置安装架的第一预设位置。
可选的，所述横向推送机构包括导向杆和螺纹轴；
所述秧苗传送装置安装架上安装有两个转动支座和两个固定支座，所述两个转动支座转动安装有所述螺纹轴，所述两个固定支座固定安装有所述导向杆，所述横向驱动马达固定连接于所述秧苗传送装置安装架的一侧，所述横向驱动马达的输出端与所述螺纹轴连接，所述螺纹轴套装在所述横向推送托架的螺纹孔内，所述螺纹轴和所述螺纹孔构成螺纹传动副，所述横向推送托架通过光孔滑动安装在所述导向杆上；
所述横向驱动马达驱动所述螺纹轴转动，所述螺纹轴带动所述横向推送托架内的可横向移动传送托盘向所述秧苗传送装置安装架的另一侧运动至所 述秧苗传送装置安装架的第一预设位置。
可选的，上述用于插秧机的横向推送托盘装置还包括驱动马达安装板，所述驱动马达安装板固定安装于所述秧苗传送装置安装架，所述横向驱动马达安装于所述驱动马达安装板。
可选的，上述用于插秧机的横向推送托盘装置还包括滑道、滚轮和限位装置；
每组秧苗传送托架的上表面设置有所述滑道，相邻的秧苗传送托架之间的滑道对接，所述可横向移动传送托盘的下表面设置有所述滚轮，所述限位装置设置于所述滑道的第二预设位置；
所述可横向移动传送托盘通过所述滚轮在所述滑道上滑动，所述限位装置限制所述可横向移动传送托盘在所述滑道上窜动。
可选的，所述滑道的数量为两个，两个滑道分别设置在所述秧苗传送装置安装架的上表面的两端。
可选的，所述限位装置的形式为顶珠式、片簧式、弹性刚丝式或磁铁式中的一种。
可选的，所述可横向移动传送托盘的上部开口面积大于底面面积。
第二方面，本发明提供了一种自动上苗系统，包括秧苗传送装置安装架、至少一组上苗装置和横向推送托盘装置，每组上苗装置包括传送托架回位器、传送导线、传送导线回收驱动器、传送导线回收线轴、安装板、秧箱、秧苗检测传感器和位置传感器，所述横向推送托盘装置为上述任一所述的横向推送托盘装置；
对于任一组上苗装置，传送托架回位器安装于所述秧苗传送装置安装架，所述传送托架回位器的回位导线穿过所述秧苗传送装置安装架的通孔与横向推送托盘装置中对应的秧苗传送托架的一端连接，所述秧苗传送托架的另一端与传送导线连接，所述秧苗传送托架的上表面设置有秧苗检测传感器，所述传送导线穿过安装板上的通孔安装于传送导线回收线轴，所述传送导线回收线轴和所述传送导线回收驱动器的输出端连接，所述传送导线回收线轴和所述传送导线回收驱动器均安装于所述安装板，所述安装板安装于秧箱，所述位置传感器安装于所述秧箱中；
对于任一组上苗装置，秧苗检测传感器检测放置于秧苗传送托架上的可横向移动传送托盘内是否装载有秧苗，当有秧苗时，发送第一指令至传送导线回收驱动器；位置传感器检测秧箱中的秧苗存量，当秧苗存量小于预设值时发送第二指令至横向推送托盘装置，所述横向推送托盘装置的可横向移动传送托盘运动至位于初始位置的秧苗传送托架上，并发送第三指令至传送导线回收驱动器；传送导线回收驱动器接收到第一指令和第三指令时，控制传送导线回收线轴收紧传送导线，所述传送导线拉动所述秧苗传送托架运动至与秧箱对接的对接位置，秧苗阻隔门开启器与秧苗阻隔门接触并推动所述秧苗阻隔门开启，所述可横向移动传送托盘内的秧苗转移至秧箱中，所述位置传感器检测所述秧箱中的秧苗存量不小于预设值时发送第四指令至传送托架回位器，所述传送托架回位器接收第四指令，收紧回位导线，使得所述回位导线拉动所述秧苗传送托架回到初始位置，横向驱动马达驱动横向推送机构运动，所述横向推送机构带动横向推送托架内的所述可横向移动传送托盘转移至秧苗补充位置获取秧苗。
由上述内容可知，本发明实施例提供的用于插秧机的横向推送托盘装置，通过将横向驱动马达的输出端与横向推送机构连接，横向推送机构与横向推送托架连接，横向推送托架套设于可横向移动传送托盘的外侧的方式，使得在传送秧苗时，横向驱动马达驱动横向推送机构运动，横向推送机构带动横向推送托架内的可横向移动传送托盘运动至秧苗传送装置安装架的第一预设位置，与相对应的秧苗传送托架合体，而后将秧苗转移至秧箱中，减少人力劳动强度，提高工作效率。当然，实施本发明的任一产品或方法并不一定需要同时达到以上所述的所有优点。
本发明实施例的创新点包括：
1、通过将横向驱动马达的输出端与横向推送机构连接，横向推送机构与横向推送托架连接，横向推送托架套设于可横向移动传送托盘的外侧的方式，使得在传送秧苗时，横向驱动马达驱动横向推送机构运动，横向推送机构带动横向推送托架内的可横向移动传送托盘运动至秧苗传送装置安装架的第一预设位置，与相对应的秧苗传送托架合体，而后将秧苗转移至秧箱中，减少人力劳动强度，提高工作效率。
2、本发明实施例提供的自动上苗系统，可以通过横向推送托盘装置的可横向移动传送托盘运动至位于初始位置的秧苗传送托架上，然后通过传送导 线回收驱动器控制传送导线回收线轴收紧传送导线，通过传送导线拉动秧苗传送托架运动至与秧箱对接的对接位置，然后秧苗阻隔门开启器推动秧苗阻隔门开启，在重力的作用下使得秧苗传送托架上的可横向移动传送托盘内的秧苗转移至秧箱中，达到了自动将可横向移动传送托盘内秧苗放置到秧箱中的目的。
3、通过将可横向移动传送托盘的上部开口面积设计为大于底面面积的方式，使得秧苗可以准确并平稳的落在可横向移动传送托盘内。
4、通过设置滑道和滚轮的方式，使得横向推送机构更易带动横向推送托架内的可横向移动传送托盘运动。
5、通过设置限位装置可以实现可横向移动传送托盘与秧苗传送托架之间实现相对位置固定的功能。另外，通过设置滑道和滚轮的方式，使得横向推送机构更易带动横向推送托架内的可横向移动传送托盘运动。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单介绍。显而易见地，下面描述中的附图仅仅是本发明的一些实施例。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的用于插秧机的横向推送托盘装置的一种结构示意图；
图2(a)为本实施例提供的横向推送机构的第一种结构的侧视图；
图2(b)为本实施例提供的横向推送机构的第一种结构的俯视图；
图3(a)为本实施例提供的横向推送机构的第二种结构的侧视图；
图3(b)为本实施例提供的横向推送机构的第二种结构的前视图；
图3(c)为本实施例提供的横向推送机构的第二种结构的俯视图；
图4为本发明实施例提供的横向推送机的一种安装示意图；
图5为本发明实施例提供的滑道和限位装置的结构示意图；
图6为本发明实施例提供的自动上苗系统的结构示意图。
图1-图6中：1秧苗传送装置安装架、2横向推送托架、21横向驱动皮带、22主动皮带轮、23从动皮带轮、24主动连杆、25从动连杆、3横向驱动马达、4可横向移动传送托盘、5滑道、6限位装置、7传送托架回位器、8传送导线、9安装板、10秧箱、11、回位导线、12秧苗传送托架、13插秧机。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整的描述。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含的一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
本发明实施例公开了一种用于插秧机的横向推送托盘装置及自动上苗系统，自动将秧盘放置到插秧机的车架后端的秧箱附近，减少人力劳动强度，提高工作效率。下面对本发明实施例进行详细说明。
图1为本发明实施例提供的用于插秧机的横向推送托盘装置的一种结构示意图。本发明实施例提供的用于插秧机的横向推送托盘装置，包括多组并排排列的秧苗传送托架12、横向推送托架2、横向推送机构、横向驱动马达3、可横向移动传送托盘4、可横向移动传送托盘位置检测传感器、秧苗阻隔门和秧苗阻隔门开启器。
参见图1，横向驱动马达3、可横向移动传送托盘位置检测传感器和多组并排排列的秧苗传送托架12均固定连接于秧苗传送装置安装架1，由于驾驶员位于插秧机的车架前端，秧箱位于车架后端，因此，横向推送托盘装置设置于插秧机的车架后端，具体的，秧苗传送装置安装架1安装于插秧机的车架后端的上表面。
为了将横向驱动马达3固定连接于秧苗传送装置安装架1，本发明实施 例提供的用于插秧机的横向推送托盘装置还包括驱动马达安装板，驱动马达安装板固定安装于秧苗传送装置安装架1，横向驱动马达3安装于驱动马达安装板。由此，通过将横向驱动马达3安装于驱动马达安装板，再将驱动马达安装板固定安装于秧苗传送装置安装架1的方式，将横向驱动马达3固定连接于秧苗传送装置安装架1。
继续参见图1，横向驱动马达3的输出端与横向推送机构连接，横向推送机构与横向推送托架2连接，横向推送托架2套设于可横向移动传送托盘4的外侧，也就是说横向推送托架2是一个框架形式，可以套住可横向移动传送托盘4，并可以带着可横向移动传送托盘4运动，为了便于将可横向移动传送托盘4内的秧苗转移到秧箱10中，设置可横向移动传送托盘4靠近秧箱10的一端设置有秧苗阻隔门和秧苗阻隔门开启器。
示例性的，秧苗阻隔门的开启方式可以包括向上开门式、向下开门式或两侧开门式中的一种。
秧苗放置于可横向移动传送托盘4内，为了使秧苗可以准确并平稳的落在横向移动传送托盘4内，设置可横向移动传送托盘的上部开口面积大于底面面积。由此，通过将可横向移动传送托盘的上部开口面积设计为大于底面面积的方式，使得秧苗可以准确并平稳的落在横向移动传送托盘4内。
可横向移动传送托盘4内放置有秧苗，在传送可横向移动传送托盘4时，横向驱动马达3驱动横向推送机构运动，横向推送机构带动横向推送托架2内的可横向移动传送托盘4在多组秧苗传送托架12上移动，可横向移动传送托盘位置检测传感器检测可横向移动传送托盘4运动至秧苗传送装置安装架1的第一预设位置时，发送停止指令至横向驱动马达，横向驱动马达接收停止指令，停止驱动横向推送机构运动，该第一预设位置也就是需要补充秧苗的秧箱滑道所对应的秧苗传送托架上，此时，可横向移动传送托盘4与秧苗传送托架完成对接，以便于下一步将可横向移动传送托盘4中的秧苗放置到秧箱中。
由上述内容可知，本实施例通过将横向驱动马达的输出端与横向推送机构连接，横向推送机构与横向推送托架连接，横向推送托架套设于可横向移动传送托盘的外侧的方式，使得在传送秧盘时，横向驱动马达3驱动横向推送机构运动，横向推送机构带动横向推送托架2内的可横向移动传送托盘4 运动至秧苗传送装置安装架1的第一预设位置，该第一预设位置也就是需要补充秧苗的秧箱滑道所对应的秧苗传送托架上，可横向移动传送托盘4与秧苗传送托架完成对接，以便于下一步将可横向移动传送托盘4中的秧苗放置到秧箱中，减少人力劳动强度，提高工作效率。
横向推送机构的形式有多种，包括但不限于以下几种：
第一种形式：
参见图2(a)和图2(b)，图2(a)为本实施例提供的横向推送机构的第一种结构的侧视图，图2(b)为本实施例提供的横向推送机构的第一种结构的俯视图，横向推送机构包括横向传动带21、主动轮22和从动轮23。
横向驱动马达3固定连接于秧苗传送装置安装架1的一侧，横向驱动马达3的输出端与主动轮22连接，从动轮23固定连接于秧苗传送装置安装架1的另一侧，主动轮22与从动轮23上安装有横向传动带21，横向传动带21上端安装有横向推送托架2，此时，横向推送机构2安装在秧苗传送装置安装架1的前端，也就是图1中所示的安装位置。
在传送秧苗时，横向驱动马达3驱动主动轮22转动，主动轮22通过横向传动带21带动从动轮23转动，横向传动带21带动横向推送托架2内的可横向移动传送托盘4向秧苗传送装置安装架1的另一侧运动，可横向移动传送托盘位置检测传感器检测可横向移动传送托盘4运动至秧苗传送装置安装架1的第一预设位置时，发送停止指令至横向驱动马达，横向驱动马达3接收停止指令，停止驱动横向推送机构运动，此时，可横向移动传送托盘4运动至秧苗传送装置安装架1的需要补充秧苗的秧箱滑道所对应的秧苗传送托架上，可横向移动传送托盘4与秧苗传送托架完成对接，以便于下一步将可横向移动传送托盘4中的秧苗放置到秧箱中。
示例性的，横向传动带21可以为皮带、链条或拉线中的一种，主动轮22可以为皮带轮或链条轮中的一种，本发明实施例对此并不做任何限定。
由此，通过设置主动轮22和从动轮23的方式，实现秧苗的传送。
第二种形式：
参见图3(a)-图3(c)，图3(a)为本实施例提供的横向推送机构的第二种结构的侧视图，图3(b)为本实施例提供的横向推送机构的第二种结 构的前视图，图3(c)为本实施例提供的横向推送机构的第二种结构的俯视图，横向推送机构包括主动连杆24和从动连杆25。
横向驱动马达3固定连接于秧苗传送装置安装架1的一侧，横向驱动马达3的输出端与主动连杆24连接，主动连杆24与从动连杆25连接，从动连杆25与横向推送托架2连接，此时，横向推送机构安装在秧苗传送装置安装架1的侧面，也就是图4中所示的安装位置，图4为本发明实施例提供的横向推送机的一种安装示意图。
在传送秧苗时，横向驱动马达3驱动主动连杆24运动，主动连杆24带动从动连杆25运动，从动连杆25带动横向推送托架2内的可横向移动传送托盘4向秧苗传送装置安装架1的另一侧运动至秧苗传送装置安装架1的第一预设位置，该第一预设位置也就是需要补充秧苗的秧箱滑道所对应的秧苗传送托架上，可横向移动传送托盘4与秧苗传送托架完成对接，以便于下一步将可横向移动传送托盘4中的秧苗放置到秧箱中。
由此，通过设置主动连杆24和从动连杆25的方式，实现秧苗的传送。
第三种形式：
横向推送机构可以包括导向杆和螺纹轴。
为了固定导向杆和螺纹轴，在秧苗传送装置安装架1上安装有两个转动支座和两个固定支座，两个转动支座转动安装有螺纹轴，两个固定支座固定安装有导向杆，当然，为了更稳固的进行传送，还可以设置两根导向杆以及四个固定支座，两根导向杆分别固定安装在两个固定支座上，且两个导向杆相互平行。
横向驱动马达3固定连接于秧苗传送装置安装架1的一侧，横向驱动马达3的输出端与螺纹轴连接，螺纹轴套装在横向推送托架的螺纹孔内，螺纹轴和螺纹孔构成螺纹传动副，横向推送托架上设置有光孔，横向推送托架通过光孔滑动安装在导向杆上。
在传送秧苗时，横向驱动马达3驱动螺纹轴转动，螺纹轴带动横向推送托架2沿着导向杆滑动，横向推送托架2带动可横向移动传送托盘4向秧苗传送装置安装架1的另一侧运动至秧苗传送装置安装架1的第一预设位置，可横向移动传送托盘位置检测传感器检测可横向移动传送托盘4运动至秧苗传送装置安装架1的第一预设位置时，发送停止指令至横向驱动马达3，横 向驱动马达3接收停止指令，停止驱动横向推送机构运动，此时，可横向移动传送托盘4运动至秧苗传送装置安装架1的需要补充秧苗的秧箱滑道所对应的秧苗传送托架上，可横向移动传送托盘4与秧苗传送托架完成对接，以便于下一步将可横向移动传送托盘4中的秧苗放置到秧箱中。
由此，通过设置导向杆和螺纹轴的方式，实现秧苗的传送。
参见图5，图5为本发明实施例提供的滑道和限位装置的结构示意图，为了使横向推送机构更易带动横向推送托架2内的可横向移动传送托盘4运动，本发明实施例提供的用于插秧机的横向推送托盘装置还可以包括滑道5、滚轮和限位装置6。
每组秧苗传送托架12的上表面设置有滑道5，相邻的秧苗传送托架12之间的滑道对接，可横向移动传送托盘4的下表面设置有滚轮，限位装置6设置于滑道5的第二预设位置，该第二预设位置可以位于滑道5凸出的一侧，也可以位于滑道5的凹陷的一侧，本发明实施例对此并不做任何限制。
在各个秧苗传送托架12之间的滑道5首尾相接，使得在横向推送机构带动横向推送托架2内的可横向移动传送托盘4运动时，横向移动传送托盘4通过滚轮可以在首尾相接的滑道5上滑动，限位装置6限制可横向移动传送托盘4在滑道上窜动。
由此，通过设置滑道和滚轮的方式，使得横向推送机构更易带动横向推送托架2内的可横向移动传送托盘4运动。
示例性的，滑道5的数量可以为多个，优选为两个，两个滑道分别设置在秧苗传送装置安装架1的上表面的两端。滑道5的形状可以为圆形、方形、梯形或三角形等形状。限位装置6的形式可以为顶珠式、片簧式、弹性刚丝式或磁铁式中的一种。
参见图6，图6为本发明实施例提供的自动上苗系统的结构示意图，本发明实施例还提供了一种自动上苗系统，该自动上苗系统包括秧苗传送装置安装架1、至少一组上苗装置和横向推送托盘装置，横向推送托盘装置为上述任一实施例的横向推送托盘装置。
每组上苗装置可以包括传送托架回位器7、传送导线8、传送导线回收驱动器、传送导线回收线轴、安装板9、秧箱10、秧苗检测传感器和位置传感器。
对于任一组上苗装置，传送托架回位器7安装于秧苗传送装置安装架1，秧苗传送装置安装架1安装于插秧机13的车架后端的上表面，传送托架回位器7的回位导线11穿过秧苗传送装置安装架1的通孔与横向推送托盘装置中对应的秧苗传送托架12的一端连接，通过传送托架回位器7控制回位导线11拉着秧苗传送托架12沿回位导线11前后运动以便于与秧箱10对接。
秧苗传送托架12的另一端与传送导线8连接，传送导线8穿过安装板9上的通孔安装于传送导线回收线轴，传送导线回收线轴和传送导线回收驱动器的输出端连接，传送导线回收线轴和传送导线回收驱动器均安装于安装板9，安装板9安装于秧箱10。
为了确定放置于秧苗传送托架12的可横向移动传送托盘4内是否装载有秧苗，在秧苗传送托架12的上表面设置有秧苗检测传感器。为了检测秧箱10中的秧苗的数量，将位置传感器安装于秧箱10中。
对于任一组上苗装置，秧苗检测传感器检测放置于秧苗传送托架12上的可横向移动传送托盘4内是否装载有秧苗，当有秧苗时，说明此时用于补充到秧箱10中的秧苗已经准备完成，秧苗检测传感器发送第一指令至传送导线回收驱动器，传送导线回收驱动器接收第一指令获知用于补充到秧箱10中的秧苗已经准备完成。位置传感器检测秧箱10中的秧苗存量，当秧苗存量小于预设值时发送第二指令至横向推送托盘装置，横向推送托盘装置的可横向移动传送托盘4运动至位于初始位置的秧苗传送托架12上，并发送第三指令至传送导线回收驱动器。
因此，传送导线回收驱动器接收到第一指令和第三指令时，获知秧箱10需要补充秧苗且用于补充到秧箱10中的秧苗已经准备完成，此时即可将秧苗补充到秧箱10，因此，传送导线回收驱动器控制传送导线回收线轴收紧传送导线8，传送导线8拉动秧苗传送托架12运动至与秧箱10对接的对接位置，此时，秧苗阻隔门开启器与秧苗阻隔门接触并推动秧苗阻隔门开启，可横向移动传送托盘4内的秧苗转移至秧箱10中。
位置传感器检测秧箱10中的秧苗存量不小于预设值时发送第四指令至传送托架回位器，秧苗存量不小于预设值说明秧箱10中的秧苗的数量较多，秧苗补充完成，传送托架回位器接收第四指令，获知秧苗补充完成，收紧回位导线11，使得回位导线11拉动秧苗传送托架12回到初始位置，横向驱动 马达3驱动横向推送机构运动，横向推送机构带动横向推送托架2内的可横向移动传送托盘4转移至秧苗补充位置以便于获取秧苗，然后再重复上述秧苗补充过程。
由上述内容可知，本发明实施例提供的自动上苗系统，可以通过横向推送托盘装置的可横向移动传送托盘运动至位于初始位置的秧苗传送托架上，然后通过传送导线回收驱动器控制传送导线回收线轴收紧传送导线，通过传送导线拉动秧苗传送托架运动至与秧箱对接的对接位置，然后秧苗阻隔门开启器推动秧苗阻隔门开启，在重力的作用下使得秧苗传送托架上的可横向移动传送托盘内的秧苗转移至秧箱中，达到了自动将可横向移动传送托盘内的秧苗放置到秧箱中的目的。
本领域普通技术人员可以理解：附图只是一个实施例的示意图，附图中的模块或流程并不一定是实施本发明所必须的。
本领域普通技术人员可以理解：实施例中的装置中的模块可以按照实施例描述分布于实施例的装置中，也可以进行相应变化位于不同于本实施例的一个或多个装置中。上述实施例的模块可以合并为一个模块，也可以进一步拆分成多个子模块。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围。

Claims (10)

  1. 一种用于插秧机的横向推送托盘装置，其特征在于，包括：多组并排排列的秧苗传送托架、横向推送托架、横向推送机构、横向驱动马达、可横向移动传送托盘、可横向移动传送托盘位置检测传感器、秧苗阻隔门和秧苗阻隔门开启器；
    所述横向驱动马达、所述可横向移动传送托盘位置检测传感器和多组并排排列的秧苗传送托架均固定连接于秧苗传送装置安装架，所述秧苗传送装置安装架安装于插秧机的车架后端的上表面，所述横向驱动马达的输出端与所述横向推送机构连接，所述横向推送机构与所述横向推送托架连接，所述横向推送托架套设于所述可横向移动传送托盘的外侧，所述可横向移动传送托盘靠近秧箱的一端设置有所述秧苗阻隔门和所述秧苗阻隔门开启器，所述可横向移动传送托盘内放置有秧苗；
    所述横向驱动马达驱动所述横向推送机构运动，所述横向推送机构带动所述横向推送托架内的可横向移动传送托盘在多组秧苗传送托架上移动，所述可横向移动传送托盘位置检测传感器检测所述可横向移动传送托盘运动至所述秧苗传送装置安装架的第一预设位置时，发送停止指令至所述横向驱动马达以使所述横向驱动马达停止驱动所述横向推送机构运动。
  2. 如权利要求1所述的用于插秧机的横向推送托盘装置，其特征在于，所述横向推送机构包括横向传动带、主动轮和从动轮；
    所述横向驱动马达固定连接于所述秧苗传送装置安装架的一侧，所述横向驱动马达的输出端与所述主动轮连接，所述从动轮固定连接于所述秧苗传送装置安装架的另一侧，所述主动轮与所述从动轮上安装有所述横向传动带，所述横向传动带上端安装有所述横向推送托架；
    所述横向驱动马达驱动所述主动轮转动，所述主动轮通过所述横向传动带带动所述从动轮转动，所述横向传动带带动所述横向推送托架内的可横向移动传送托盘向所述秧苗传送装置安装架的另一侧运动至所述秧苗传送装置安装架的第一预设位置。
  3. 如权利要求1所述的用于插秧机的横向推送托盘装置，其特征在于，所述横向推送机构包括主动连杆和从动连杆；
    所述横向驱动马达固定连接于所述秧苗传送装置安装架的一侧，所述横向驱动马达的输出端与所述主动连杆连接，所述主动连杆与所述从动连杆连接，所述从动连杆与所述横向推送托架连接；
    所述横向驱动马达驱动所述主动连杆运动，所述主动连杆带动所述从动连杆运动，所述从动连杆带动所述横向推送托架内的可横向移动传送托盘向所述秧苗传送装置安装架的另一侧运动至所述秧苗传送装置安装架的第一预设位置。
  4. 如权利要求1所述的用于插秧机的横向推送托盘装置，其特征在于，所述横向推送机构包括导向杆和螺纹轴；
    所述秧苗传送装置安装架上安装有两个转动支座和两个固定支座，所述两个转动支座转动安装有所述螺纹轴，所述两个固定支座固定安装有所述导向杆，所述横向驱动马达固定连接于所述秧苗传送装置安装架的一侧，所述横向驱动马达的输出端与所述螺纹轴连接，所述螺纹轴套装在所述横向推送托架的螺纹孔内，所述螺纹轴和所述螺纹孔构成螺纹传动副，所述横向推送托架通过光孔滑动安装在所述导向杆上；
    所述横向驱动马达驱动所述螺纹轴转动，所述螺纹轴带动所述横向推送托架内的可横向移动传送托盘向所述秧苗传送装置安装架的另一侧运动至所述秧苗传送装置安装架的第一预设位置。
  5. 如权利要求1所述的用于插秧机的横向推送托盘装置，其特征在于，还包括驱动马达安装板，所述驱动马达安装板固定安装于所述秧苗传送装置安装架，所述横向驱动马达安装于所述驱动马达安装板。
  6. 如权利要求1所述的用于插秧机的横向推送托盘装置，其特征在于，还包括滑道、滚轮和限位装置；
    每组秧苗传送托架的上表面设置有所述滑道，相邻的秧苗传送托架之间的滑道对接，所述可横向移动传送托盘的下表面设置有所述滚轮，所述限位装置设置于所述滑道的第二预设位置；
    所述可横向移动传送托盘通过所述滚轮在所述滑道上滑动，所述限位装置限制所述可横向移动传送托盘在所述滑道上窜动。
  7. 如权利要求6所述的用于插秧机的横向推送托盘装置，其特征在于， 所述滑道的数量为两个，两个滑道分别设置在所述秧苗传送装置安装架的上表面的两端。
  8. 如权利要求6所述的用于插秧机的横向推送托盘装置，其特征在于，
    所述限位装置的形式为顶珠式、片簧式、弹性刚丝式或磁铁式中的一种。
  9. 如权利要求1所述的用于插秧机的横向推送托盘装置，其特征在于，
    所述可横向移动传送托盘的上部开口面积大于底面面积。
  10. 一种自动上苗系统，其特征在于，包括秧苗传送装置安装架、至少一组上苗装置和横向推送托盘装置，每组上苗装置包括传送托架回位器、传送导线、传送导线回收驱动器、传送导线回收线轴、安装板、秧箱、秧苗检测传感器和位置传感器，所述横向推送托盘装置为权利要求1-9中任一项所述的横向推送托盘装置；
    对于任一组上苗装置，传送托架回位器安装于所述秧苗传送装置安装架，所述传送托架回位器的回位导线穿过所述秧苗传送装置安装架的通孔与横向推送托盘装置中对应的秧苗传送托架的一端连接，所述秧苗传送托架的另一端与传送导线连接，所述秧苗传送托架的上表面设置有秧苗检测传感器，所述传送导线穿过安装板上的通孔安装于传送导线回收线轴，所述传送导线回收线轴和所述传送导线回收驱动器的输出端连接，所述传送导线回收线轴和所述传送导线回收驱动器均安装于所述安装板，所述安装板安装于秧箱，所述位置传感器安装于所述秧箱中；
    对于任一组上苗装置，秧苗检测传感器检测放置于秧苗传送托架上的可横向移动传送托盘内是否装载有秧苗，当有秧苗时，发送第一指令至传送导线回收驱动器；位置传感器检测秧箱中的秧苗存量，当秧苗存量小于预设值时发送第二指令至横向推送托盘装置，所述横向推送托盘装置的可横向移动传送托盘运动至位于初始位置的秧苗传送托架上，并发送第三指令至传送导线回收驱动器；传送导线回收驱动器接收到第一指令和第三指令时，控制传送导线回收线轴收紧传送导线，所述传送导线拉动所述秧苗传送托架运动至与秧箱对接的对接位置，秧苗阻隔门开启器与秧苗阻隔门接触并推动所述秧苗阻隔门开启，所述可横向移动传送托盘内的秧苗转移至秧箱中，所述位置传感器检测所述秧箱中的秧苗存量不小于预设值时发送第四指令至传送托架回位器，所述传送托架回位器接收第四指令，收紧回位导线，使得所述回位 导线拉动所述秧苗传送托架回到初始位置，横向驱动马达驱动横向推送机构运动，所述横向推送机构带动横向推送托架内的所述可横向移动传送托盘转移至秧苗补充位置获取秧苗。
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