WO2024040676A1

WO2024040676A1 - Soilless culture crop transplanting device

Info

Publication number: WO2024040676A1
Application number: PCT/CN2022/120898
Authority: WO
Inventors: 高国华
Original assignee: 苏州新农益科技有限公司
Priority date: 2022-08-23
Filing date: 2022-09-23
Publication date: 2024-02-29
Also published as: CN115486242A

Abstract

The present application relates to the technical field of soilless culture, and provides a soilless culture crop transplanting device, designed to solve the problem of low manual labor efficiency in existing transplanting processes. The soilless culture crop transplanting device comprises a seedling supplying apparatus, a seedling raising/lowering apparatus, and a seedling transplanting apparatus; the seedling supplying apparatus is disposed upstream of the seedling raising/lowering apparatus and is configured to supply seedlings arranged in rows to the seedling raising/lowering apparatus; the seedling raising/lowering apparatus is disposed at the outlet of the seedling supplying apparatus and is configured to lower the seedlings arranged in rows; the seedling transplanting apparatus is configured to pass through planting holes from the lower parts of seedlings so as to clamp and release the seedlings. The soilless culture crop transplanting device provided by the present application can improve the labor efficiency in a transplanting process.

Description

Soilless crop transplanting equipment

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202211017756.8 and titled "Soilless Cultivation Crop Transplanting Equipment" submitted to the China Patent Office on August 23, 2022, the entire content of which is incorporated into this application by reference.

Technical field

The present application relates to the technical field of soilless cultivation, specifically, to a soilless cultivation crop transplanting equipment.

Background technique

Soilless culture, including hydroponics and aerosol culture. Among them, hydroponics is a new type of soilless plant cultivation method, also known as nutrient hydroponics. Its core is to directly immerse the roots of plants in nutrient solution. This nutrient solution can replace soil and provide water, nutrients, and nutrients to plants. Growth factors such as oxygen allow plants to grow normally. Generally speaking, during the hydroponics process, crops need to be fixed on a planting plate so that the roots of the crops are immersed in the culture solution. However, manual insertion is currently the main method, which is less efficient and prone to errors over a long period of time.

Application content

The first purpose of this application is to provide a soilless cultivation crop transplanting equipment to solve the technical problem of low manual labor efficiency in the existing transplanting process.

The soilless cultivation crop transplanting equipment provided by this application is configured to transplant seedlings into a planting plate. The planting plate is provided with planting holes penetrating along the thickness direction, and includes a seedling supply device, a seedling lifting device and a seedling transplanting device. The seedling supply device is disposed upstream of the seedling lifting device and is configured to provide seedlings to the seedling lifting device. The seedling lifting device is disposed at an outlet of the seedling supply device and is configured to adjust the position of the seedling. Descending, the seedling transplanting device is configured to clamp and release seedlings from below the seedlings through the planting holes.

The beneficial effects brought by the soilless cultivation crop transplanting equipment of this application are:

The seedling supply device can be used to place a large number of seedlings at one time, and then the seedling supply device gradually sends them to the exit, and is moved to the transplanting station by the seedling lifting device and then transplanted to the planting holes of the planting plate by the seedling transplanting device. , it is possible to place a large number of seedlings at one time without continuously adding seedlings. It can realize automated operation and does not need to manually add seedlings one by one to the planting holes, which greatly improves labor efficiency and can reduce errors that may occur due to long-term manual labor. .

In a preferred technical solution, the seedling lifting device includes a seedling support and a first lifting mechanism. The seedling support includes a lower support plate and a side support plate. The lower edge of the side support plate is fixedly connected to the lower support plate. The side facing away from the seedling supply device; the first lifting mechanism includes a first lifting drive assembly and a first lifting transmission assembly, and the power output end of the first lifting drive assembly is connected to the first lifting transmission assembly, The first lifting transmission assembly is connected to the seedling support.

In a preferred technical solution, the seedling lifting device further includes a frame and a position-limiting auxiliary plate fixedly arranged relative to the frame, and the position-limiting auxiliary plate and the side support plate are respectively located on opposite sides of the lower support plate. side.

In a preferred technical solution, the seedling supply device includes a belt conveyor mechanism, the belt conveyor mechanism includes a conveyor belt, a conveyor push plate is fixedly connected to the conveyor belt, and the conveyor push plate is configured to accommodate the seedlings.

In a preferred technical solution, the seedling supply device further includes a horizontal transition plate, the horizontal transition plate is provided at the outlet of the belt conveyor mechanism, and the horizontal transition plate is configured to carry the seedlings.

In a preferred technical solution, the seedling supply device further includes an upper guide plate located below the horizontal transition plate, and a side of the upper guide plate facing the seedling lifting device is in contact with the horizontal transition plate. The edge of the transition plate on the side facing away from the belt conveyor mechanism is flush.

In a preferred technical solution, the seedling supply device further includes a first blocking mechanism. The first blocking mechanism includes a blocking driving member and a blocking member fixedly connected to the power output end of the blocking driving member. The blocking member is configured to pass through the horizontal transition plate from below the horizontal transition plate.

In a preferred technical solution, a plate driving device is further included; the plate driving device includes a plate driving assembly, and the plate driving assembly is drivingly connected to the plate driving roller.

In the preferred technical solution, a roll film release device is also included; the colonization plate is a flexible roll film; the roll film release device includes a roll, the roll is rotatably installed on the frame, and the wall of the roll has openings. There is a clamping slot, and the clamping slot is configured to be clamped and fixed with the end of the flexible roll film.

In a preferred technical solution, the drum includes a central shaft and a plurality of sandwich plates arranged at intervals along the circumferential direction of the central shaft and fixedly connected. The central shaft is rotationally connected to the frame, and any two The clamping groove is formed between the adjacent sandwich plates, and the clamping groove is arranged through the axial direction of the central axis; the sandwich plate is an arc-shaped plate, and the sandwich plate is arranged along the axial direction away from the central axis. The direction of the central axis is arched, and the generatrix of the sandwich panel is parallel to the central axis.

Description of drawings

In order to more clearly explain the technical solutions in the embodiments or background technology of the present application, the drawings needed to be used in the description of the embodiments or background technology will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of describing the embodiments or the background technology. For the embodiments of the application, those of ordinary skill in the art can also obtain other drawings based on the provided drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of the soilless crop transplanting equipment provided by the embodiment of the present application;

Figure 2 is a schematic structural diagram of the soilless crop transplanting equipment provided by the embodiment of the present application. The film roll release device is omitted in the figure;

Figure 3 is a schematic structural diagram of the soilless crop transplanting equipment provided by the embodiment of the present application viewed from another direction. The film roll release device is omitted in the figure;

Figure 4 is a partial schematic diagram of the seedling supply device at the first blocking mechanism in the soilless crop transplanting equipment provided by the embodiment of the present application;

Figure 5 is a partial schematic diagram of the film roll release device in the soilless crop transplanting equipment provided by the embodiment of the present application;

Figure 6 is a right side view of the soilless crop transplanting equipment provided by the embodiment of the present application. The film roll release device is omitted in the figure;

Figure 7 is a schematic structural diagram of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application;

Figure 8 is a left view of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application;

Figure 9 is a cross-sectional view of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application at the gripper fingers;

Figure 10 is a top view of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application;

Figure 11 is a schematic structural diagram of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application, viewed from the front and lower right;

Figure 12 is a schematic structural diagram of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application, viewed from the rear lower left;

Explanation of reference symbols:

100-seedling supply device; 110-belt transmission mechanism; 111-conveyor belt; 112-first transmission push plate; 113-second transmission push plate; 114-belt transmission motor; 115-active transmission shaft; 116-passive transmission shaft; 117-side guide plate; 121-horizontal transition plate; 122-sensor; 123-upper guide plate; 131-blocking drive member; 132-blocking member; 200-seedling lifting device; 210-first lifting drive assembly; 220-th A lifting transmission assembly; 221-reducer; 222-lifting screw; 223-lifting nut; 224-first lifting guide post; 225-first lifting guide seat; 226-lifting transition plate; 230-seedling bracket; 231 -Lower support plate; 232-first relief gap; 233-side support plate; 234-second relief gap; 235-limit hole; 236-upper support plate; 240-limit auxiliary plate; 300-plate drive Device; 310-plate drive assembly; 311-plate drive motor; 312-plate drive motor bracket; 321-plate drive coupling; 322-plate drive roller; 323-transmission gear; 324-plate drive bearing seat; 400-roll Film release device; 410-Roll drive motor; 420-Roll transmission assembly; 430-Roll; 431-Cut; 432-Central shaft; 433-Clamping plate; 434-Support ribs; 500-Seedling clamping and release Mechanism; 510-claw finger; 511-claw tip; 520-claw finger driving assembly; 521-claw finger mounting base; 522-claw driving part; 523-claw driving power source; 524-claw linkage; 600-The second lifting mechanism; 610-The second lifting drive component; 611-The second lifting motor; 612-Lifting motor bracket; 620-The second lifting transmission component; 621-Lifting coupling; 622-Lifting transmission shaft; 623 -Lifting gear; 624-Lifting rack; 625-Linear guide bush; 626-Second lifting guide column; 627-Clamp base; 628-Lifting bearing seat; 700-Seedling translation mechanism; 710-Seedling translation assembly; 720 -Seedling toggle assembly; 721-first insert; 722-seedling toggle power part; 723-first toggle connection plate; 724-second toggle connection plate; 800-first seedling limiting mechanism; 810- The first seedling limiting power part; 820-the second insert; 830-limiting connecting plate; 840-limiting guide rod; 850-limiting slide; 901-frame; 990-seedling; 999-seedling body; 998-matrix; 980-colonization plate; 981-colonization hole.

Detailed ways

In order to make the above objects, features and advantages of the present application more obvious and understandable, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

Figure 1 is a schematic structural diagram of a soilless crop transplanting equipment provided by an embodiment of the present application; as shown in Figure 1, the soilless crop transplanting equipment provided by an embodiment of the present application is configured to transplant seedlings into a planting plate 980 990. The planting plate 980 is provided with a planting hole 981 penetrating along the thickness direction. The seedling 990 includes a seedling body 999 and a matrix 998 connected to the bottom of the seedling body 999, including a seedling supply device 100, a seedling lifting device 200 and a seedling transplanting device. The seedlings The supply device 100 is disposed upstream of the seedling lifting device 200 and is configured to provide the seedlings 990 arranged in rows to the seedling lifting device 200. The seedling lifting device 200 is disposed at an outlet of the seedling supply device 100 and is configured to position the seedlings 990 arranged in rows. Lowering, the seedling transplanting device is configured to clamp and release the seedling 990 from below the seedling 990 through the planting hole 981 .

It should be noted that in this embodiment, the seedlings 990 can be seedlings 990 of any hydroponic crops such as leafy vegetables, flowers, Chinese herbal medicines, fruits and vegetables, or crops that need to be transplanted into the soil through the planting plate 980 when planting in the soil. of seedlings 990. In the drawings of this application, the upper part is the cup shape of a goblet, and the lower part is a cube, which is the seedling 990. The shape of the seedling body 999 is diverse and difficult to express through an intuitive view, so it is drawn as a goblet. The shape of the cup body is used as an example. Considering the convenience of manufacturing, the substrate 998 may be in the shape of a cube. The cube may be formed by cutting a large substrate 998 of a larger area, such as a rectangle, a circle or other irregular shapes, horizontally and vertically.

In addition, the colonization board 980 can be a rigid board, such as a rectangular rigid board, or a flexible roll film released by rolling, and the flexible roll film is pearl cotton. This arrangement of the flexible roll film not only makes the flexible roll film flexible enough to be folded up, but also makes the flexible roll film rigid enough to smoothly plant hydroponic crops after being rolled out. In other implementations, the flexible roll film can also be black and white film, rubber tape, etc.

A large number of seedlings 990 can be placed at one time using the seedling supply device 100, and then gradually sent to the exit by the seedling supply device 100, and moved to the transplanting station by the seedling lifting device 200, and then transplanted to the transplanting station by the seedling transplanting device. In the planting holes 981 of the plate 980, a large number of seedlings 990 can be placed at one time without the need to continuously add the seedlings 990. Automatic operation can be realized without the need to manually add the seedlings 990 to the planting holes one by one, which greatly improves labor efficiency. It can reduce possible errors caused by long-term manual labor. Moreover, the seedling transplanting device can clamp and release the seedling 990 from below the seedling 990 through the planting hole 981. Generally speaking, the clamped and released position is likely to be located at the substrate 998 part of the seedling 990. The seedling is clamped The matrix 998 part of 990 will not cause substantial harm to the seedlings 990 . Even if a small probability event occurs, the clamping position is not on the substrate 998 of the seedling 990, but on the seedling body 999. The clamping position is also the part of the seedling 990 that has just exposed the substrate 998, and it is difficult to completely avoid contact with the substrate 998 of the seedling 990, so The force will still be transmitted through the matrix 998. Therefore, the harm caused by other existing mechanized equipment inserting the seedlings 990 into the planting holes 981 from above can be reduced.

Figure 2 is a schematic structural diagram of the soilless crop transplanting equipment provided by the embodiment of the present application. The film roll release device is omitted in the figure; Figure 3 is the soilless crop transplanting equipment provided by the embodiment of the present application viewed from another direction. The structural schematic diagram of the film roll release device is omitted in the figure; Figure 6 is a right view of the soilless cultivation crop transplanting equipment provided by the embodiment of the present application, and the film roll release device is omitted in the figure; Figure 7 is the right view of the soilless cultivation crop transplanting equipment provided by the embodiment of the present application; Structural diagram of the seedling transplanting device in the transplanting equipment; as shown in Figure 2, Figure 3, Figure 6 and Figure 7, preferably, the seedling lifting device 200 includes a seedling bracket 230 and a first lifting mechanism. The seedling bracket 230 includes a lower The support plate 231 and the side support plate 233, the lower edge of the side support plate 233 is fixedly connected to the side of the lower support plate 231 away from the seedling supply device 100; the first lifting mechanism includes a first lifting drive assembly 210 and a first lifting transmission assembly 220 , the power output end of the first lifting drive assembly 210 is connected to the first lifting transmission assembly 220, and the first lifting transmission assembly 220 is connected to the seedling bracket 230.

The first lifting drive assembly 210 includes a first lifting motor fixedly installed on the top of the frame 901. The first lifting transmission assembly 220 includes a lifting screw 222 assembly, and a reducer 221 is connected to the upper end of the lifting screw 222 assembly. The reducer 221 is also installed on the top of the frame 901. The power input end of the reducer 221 is connected to the first lifting motor, and the power output end of the reducer 221 is connected to the lifting screw 222 of the lifting screw 222 assembly. The lifting screw 222 assembly also includes a lifting nut 223. The lifting nut 223 and the lifting screw 222 together form a ball screw assembly or a screw nut assembly. The lifting nut 223 is fixedly installed on the lifting transition plate 226. The lifting transition plate 226 The upper support plate 236 is fixedly installed by lifting and lowering the connecting column, and the upper support plate 236 is fixedly connected to the top edge of the side support plate 233 . Among them, the first lifting guide post 224 can be installed on the lifting transition plate 226, and the first lifting guide seat 225 can be installed on the top of the frame 901 to improve the stability of the lifting movement. Of course, in other implementations, linear modules, electric push rods, cylinders, etc. can also be used to realize the movement of the seedling support 230 in the vertical direction.

Figure 9 is a cross-sectional view of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application at the gripper fingers; Figure 10 is a top view of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application; Figure 11 Figure 12 is a schematic structural diagram of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application, viewed from the front and lower right; Figure 12 is a schematic structural diagram of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application, viewed from the rear lower left. ; As shown in Figures 9-12, the lower support plate 231 of the seedling bracket 230 has a first relief gap 232 at a position corresponding to the planting hole 981, and the width of the first relief gap 232 is consistent with the width of the seedling 990 , the lower part of the side support plate 233 is also provided with a second relief gap 234 at a position corresponding to the first relief gap 232. The width of the second relief gap 234 is greater than or equal to the later-described clamp configured to clamp a seedling 990. Refers to the width of 510.

More specifically, the number and position of the first relief notches 232 on the lower support plate 231 correspond to the colonization holes 981 . Moreover, the lower support plate 231 is in a long rectangular shape, and the first relief notch 232 penetrates along the width direction of the lower support plate 231 and is connected to the second relief notch 234 . The side support plate 233 can also be a long rectangle and is arranged on one edge of the lower support plate 231 . The second relief notch 234 is a gap that opens downward in the side support plate 233. The height of the upper edge of the second relief notch 234 can be located in the middle of the height direction of the side support plate 233, as long as it does not interfere with the gripper finger. 510 can intervene. By providing the first relief gap 232 and the second relief gap 234, space can be provided for the clamping fingers 510 to clamp the substrate 998 from the side and drive the substrate 998 to move downward after inserting the substrate 998. Moreover, the first relief gap The lower support plates 231 on both sides of the notch 232 can also prevent the clamped seedlings 990 from being removed due to the force between the substrates 998, thereby improving the accuracy of the action.

By arranging the lower support plate 231 and the side support plate 233 of the seedling bracket 230, a row of seedlings 990 output from the seedling supply device 100 can be received, and the side support plate 233 can also form a support from one side to prevent the seedlings 990 from falling from that side. So that the seedlings 990 can move smoothly from the outlet of the seedling supply device to the transplanting station. Moreover, the first lifting mechanism includes the first lifting drive assembly 210 and the first lifting transmission assembly 220, which can realize the movement of the seedling bracket 230 and the seedling 990 in a wider range, thereby facilitating operation.

As shown in Figure 2, preferably, the seedling lifting device 200 also includes a fixedly installed limiting auxiliary plate 240. The limiting auxiliary plate 240 and the side support plates 233 are respectively located on both sides of the lower support plate 231. Specifically, the limiting auxiliary plate 240 is fixedly connected to the frame 901 and is located on the opposite side of the side support plate 233 .

By providing an auxiliary limiting plate, when the seedling 990 descends with the lifting mechanism, its side away from the lower support plate 231 can be supported by the auxiliary limiting plate 240 to prevent the seedling 990 from falling over. Moreover, when the seedling transplanting device clamps and moves the seedling 990, the auxiliary limiting plate can also cooperate with the lower support plate 231 and the side support plate 233 to prevent the seedling 990 from being brought down by the force of the seedling transplanting device.

Figure 4 is a partial schematic diagram of the seedling supply device at the first blocking mechanism in the soilless crop transplanting equipment provided by the embodiment of the present application; as shown in Figures 2-4, preferably, the seedling supply device 100 includes a belt transmission mechanism 110. The belt transmission mechanism 110 includes a conveyor belt 111, and a transmission push plate is fixedly connected to the conveyor belt 111, and the transmission push plate is parallel to the seedlings 990 arranged in rows. Specifically, the belt transmission mechanism 110 includes a conveyor belt 111 that transmits in the horizontal direction. The conveyor belt 111 is set on the active transmission shaft 115 and the passive transmission shaft 116. The active transmission shaft 115 and the passive transmission shaft 116 are both rotatably installed on the frame 901. The transmission shaft 115 is connected to the output end of the belt transmission motor 114, and the belt transmission motor 114 is also installed on the frame 901. Among them, the active transmission shaft 115 is farther from the outlet of the belt transmission mechanism 110 , and the passive transmission shaft 116 is closer to the outlet of the belt transmission mechanism 110 . The conveyor belt 111 is also fixedly connected with a transmission push plate. When the conveyor belt 111 is running, the seedlings 990 closely arranged in a matrix can be pushed toward the exit through the transmission push plate. Above the conveyor belt 111, at both ends of a row of seedlings 990 in the length direction, side guide plates 117 can also be provided. The side guide plates 117 are fixedly connected to the frame 901 to guide the seedlings 990 transported by the conveyor belt 111 and prevent the seedlings 990 from being Spread out or fall to both sides while being pushed by the conveyor push plate. The spacing between the opposite sides of the two side guide plates 117 can be the center distance of the two furthest apart colonization holes 981 in the row of colonization holes 981 of the colonization plate 980 + the adjacent colonization in the row of colonization holes 981 of the colonization plate 980 The center distance of hole 981. The length of the transfer push plate may be slightly less than the distance between the opposite sides of the two side guide plates 117. During the pushing process, the distance between the transfer push plate and each side guide plate 117 should be less than half the width of the substrate 998. Specifically, in this embodiment, two transfer push plates may be provided—a first transfer push plate 112 and a second transfer push plate 113 . The first transmission push plate 112 and the second transmission push plate 113 are fixedly connected through connecting rods. The first transmission push plate 112 is closer to the outlet of the belt transmission mechanism 110 , and the second transmission push plate 113 is fixedly connected to the conveyor belt 111 .

By arranging the transfer push plate to push the seedlings 990 in rows, the seedlings 990 on the conveyor belt 111 can be pushed to the exit of the seedlings 990 in a row-by-row order, thereby facilitating the placement of a large number of seedlings 990 on the conveyor belt 111 at one time and The seedlings 990 are densely arranged in a matrix form. After a row of seedlings 990 is completely transplanted to the transplanting plate 980, the conveyor belt 111 and the transfer push plate can be used to drive the seedlings 990 on it to move the width of the row, and then a row of seedlings is sent to the seedling transplanting device. 990 for transplanting. The operator does not need to pay attention to the number of remaining seedlings 990 on the conveyor belt 111 very frequently and frequently replenish the seedlings 990, which improves the operating efficiency.

As shown in FIGS. 2 to 4 , preferably, the seedling supply device 100 further includes a horizontal transition plate 121 , and the horizontal transition plate 121 is provided at the outlet of the belt conveyor mechanism 110 . Specifically, the length of the horizontal transition plate 121 is equivalent to the width of the conveyor belt 111, and the width of the horizontal transition plate 121 needs to ensure that at least one row of seedlings 990 can be stably placed thereon. The edge of the horizontal transition plate 121 facing the conveyor belt 111 should be as close as possible to the conveyor belt 111 outside the passive conveyor shaft 116 . In addition, a sensor 122 is also provided on the horizontal transition plate 121, and the sensor 122 may be a proximity switch or a reflective photoelectric sensor 122. When the supply of seedlings 990 starts, once the sensor 122 detects no object on it, it means that the seedlings 990 of the seedling supply device 100 have been completely transported to the seedling lifting device 200, or at most there is only one row of seedlings 990 left that has not been transported to the seedlings. In the lifting device 200, the operator is reminded to replenish the seedlings 990 on the conveyor belt 111 in time.

By arranging the horizontal transition plate 121, after the conveyor belt 111 and the conveyor push plate transfer all the seedlings 990 to the horizontal transition plate 121, only the horizontal transition plate 121 can be used to carry these seedlings 990, and the conveyor belt 111 returns in the opposite direction without Will drive the seedlings to return 990. After the conveyor belt 111 is returned to the position, a large amount of space can be left on its upper surface to re-arrange the seedlings 990. After the placement is completed, the conveyor belt 111 can continue to run forward to move one or several rows of seedlings 990 on the horizontal transition plate 121. transmitted to the seedling lifting device 200. Therefore, when the seedling transplanting device transplants the seedlings 990, a large number of seedlings 990 can be added to the conveyor belt 111 without affecting the normal operation of other components, thereby improving production efficiency.

As shown in Figures 2 and 4, preferably, the seedling supply device 100 also includes an upper guide plate 123, the upper guide plate 123 is located below the horizontal transition plate 121, and the upper guide plate 123 faces one side of the seedling lifting device 200 and the horizontal The edge of the transition plate 121 on the side facing away from the belt conveying mechanism 110 is flush. The upper guide plate 123 can be arranged vertically and fixedly connected to the frame 901, and its length is not less than the width of the conveyor belt 111. The lower edge of the upper guide plate 123 can be adjacent to the upper edge of the limiting auxiliary plate 240 or only have a smaller gap. By providing the upper guide plate 123, the seedlings 990, especially the seedling body 999, can be guided during the first half of the journey when the seedlings 990 are lowered by the seedling lifting device 200 to prevent them from tipping during the entire lifting process.

As shown in Figure 4, preferably, the seedling supply device 100 also includes a first blocking mechanism. The first blocking mechanism includes a blocking driving member 131 and a blocking member fixedly connected to the power output end of the blocking driving member 131. The blocking member transitions from horizontal to The lower part of the plate 121 passes through the horizontal transition plate 121 . The blocking driving member 131 may be a thin cylinder, and the blocking driving member 131 may be installed on the upper guide plate 123 or a cross beam of the frame 901 . A blocking member is installed at the power output end of the blocking driving member 131. The blocking member may be a pin inserted into the matrix 998 of the seedlings 990 to prevent the seedlings 990 that are moved downward by the lifting device from driving an adjacent row of seedlings 990. Of course, it can also be a blocking rod configured to block the seedlings 990 from being driven by the descending seedlings 990 . When the conveyor belt 111 and the conveyor push plate push the seedlings 990, the blocking driving member 131 should drive the blocking member to move downward so that the upper end of the blocking member does not expose the horizontal transition plate 121, so as not to interfere with the normal movement of the seedlings 990. When the movement of the conveyor belt 111 stops, the blocking member can be exposed on the upper surface of the horizontal transition plate 121 to play a blocking role.

As shown in Figures 2 and 6, preferably, the transplanting equipment also includes a plate driving device 300; the plate driving device 300 includes a plate driving assembly 310, which is drivingly connected to a pair of plate driving rollers 322, and a pair of plate driving rollers 322. The rollers 322 are configured to clamp the planting plate 980 from both sides of the planting plate 980; the outer diameters of the pair of plate driving rollers 322 are the same, and each plate driving roller 322 is fixedly connected to a transmission gear 323, and the two transmission gears 323 mesh and Equally large. Specifically, the plate driving device 300 and the seedling conveying device are respectively located on both sides of the seedling transplanting device. That is, as shown in 1, the seedling conveying device is located on the left side of the seedling transplanting device, and the plate driving device 300 is located on the left side of the seedling transplanting device. Right. Among them, the plate driving assembly 310 includes a plate driving motor 311 and a plate driving motor bracket 312. The plate driving motor bracket 312 can be roughly in the shape of a gantry. The plate driving motor 311 is installed horizontally on the top of the gantry, and the plate driving motor bracket 312 passes through The mounting ear plates and threaded connectors at both ends are fixed on the frame 901. The plate driving rollers 322 may be hollow cylinders, wherein one of the plate driving rollers 322 , such as the upper plate driving roller 322 , is drivingly connected to the plate driving assembly 310 . Specifically, plate driving connecting shafts are respectively provided at both ends of the plate driving roller 322 . The output shaft of the plate drive motor 311 passes through the plate drive motor bracket 312 and is connected to the plate drive connection shaft through the plate drive coupling 321. Both ends of the plate drive connection shaft are installed on the side of the frame 901 through the plate drive bearing seat 324. plate. The ends of the same side of the two plate driving connection shafts are both provided with transmission gears 323. When it is necessary to drive the colonization plate 980 to move, the plate driving motor 311 drives the plate driving roller 322 to rotate through the plate driving coupling 321. The plate driving roller 322 drives the transmission gear 323 on the other side to rotate, and the two transmission gears 323 of equal size mesh. , driving the two semi-driving rollers to clamp the planting plate 980 and move horizontally under the action of friction.

By arranging the plate driving device 300 and using two equal-sized plate driving rollers 322 to drive the planting plate 980 to move, it can cooperate with the transplanting device. After each row of planting holes 981 is transplanted, the planting plate 980 is driven to move a certain distance. distance, thereby transplanting the seedlings 990 on the seedling bracket 230 into the planting plate 980, thereby improving the degree of automation and reducing the labor burden.

It should be noted that the above-mentioned plate driving device 300 can cooperate with the film roll release device 400 described below to jointly drive the flexible film roll used as the colonization plate 980 to move. It also does not need to cooperate with the film roll release device 400. For example, when the colonization plate 980 is a plate body with a relatively large rigidity, the colonization plate 980 is directly driven to move. After each row of planting holes 981 is transplanted, the colonization plate 980 is driven to move. A certain distance, thereby transplanting the seedlings 990 on the seedling support 230 into the planting plate 980. In another implementation, only one plate driving roller 322 may be provided. For example, it may be connected with the planting plate 980 by rolling friction above the planting plate 980, and a freely rotating supporting roller may be provided on the other side of the planting plate 980. Or a support plate is provided to support the colonization plate 980. Alternatively, in the case of providing the film roll release device 400 described below, there may not even be a component to support the flexible roll film from another direction, and the plate driving roller 322 is provided to exert tension on the flexible roll film.

Figure 5 is a partial schematic diagram of the film roll release device in the soilless crop transplanting equipment provided by the embodiment of the present application; as shown in Figure 5, preferably, the transplanting equipment also includes a film roll release device 400; the colonization plate 980 is Flexible roll film; the film roll release device 400 includes a roll 430, which is rotatably mounted on the frame 901. The roll 430 has a slot 431 on the wall thereof, and the slot 431 is configured to snap into place with the end of the flexible roll film. fixed.

By providing the roll 430, the roll of flexible roll film can be effectively released. Moreover, by providing the slot 431 configured to engage and fix the end of the flexible roll film on the wall of the roll 430, not only the flexible roll film can be effectively fixed, but also the flexible roll film can be easily fixed during the replacement process. Its end is inserted into the slot 431 along the axial direction of the roll 430, thereby improving the convenience of replacing the flexible film roll.

As shown in Figure 5, preferably, the drum 430 includes a central axis 432 and a plurality of sandwich plates 433 arranged at intervals along the circumferential direction of the central axis 432 and fixedly connected. The central axis 432 is rotationally connected to the frame 901, and any two A slot 431 is formed between two adjacent sandwich plates 433 , and the slot 431 is provided through the axial direction of the central axis 432 ; the sandwich plate 433 is an arc-shaped plate, and the sandwich plate 433 is arched in the direction away from the central axis 432 , the generatrix of the sandwich plate 433 is parallel to the central axis 432. When it is necessary to fix the end of the flexible roll film, the end of the flexible roll film can be clamped into the slot 431 formed by any two adjacent film sandwich plates 433, as shown in the figure. When the flexible roll film needs to be moved, the central axis 432 of the transfer drum rotates to drive the sandwich plates 433 to move synchronously, so that the flexible roll film gradually wraps around the outer peripheral surfaces of the plurality of sandwich plates 433 .

This arrangement of the roll 430, on the one hand, forms a slot 431 between any two sandwich plates 433, so that the flexible roll film can select the closest slot 431 according to the length margin of its end. The snap fit reduces the waste of material at the end of the flexible roll film. On the other hand, by arranging the snap slot 431 to penetrate along the axial direction of the central axis 432, the hydroponic crop transfer system can be used as needed when in use. Choose flexible roll films of different widths to colonize hydroponic crops. For example, when the volume of hydroponic crops that need to be planted is large, or when there are a large number of hydroponic crops that need to be planted, the width of the flexible roll film can be increased to change the colonization. The layout or number of holes 981 enables the flexible roll film to adapt to changes in the volume or quantity of hydroponic crops without requiring an overall replacement of the hydroponic crop transfer system. This arrangement improves the versatility of the hydroponic crop transfer system of this embodiment. Reduced usage costs.

As shown in FIG. 5 , in this embodiment, the membrane plate 433 is fixedly connected to the central axis 432 through the support ribs 434 , where the support ribs 434 extend along the radial direction of the central axis 432 . Moreover, the central shaft 432 is a hollow shaft. This arrangement can not only improve the strength of the central shaft 432 but also reduce the weight of the central shaft 432 .

As shown in FIG. 5 , in this embodiment, the sandwich plate 433 is an arc-shaped plate. The sandwich plate 433 is arched in a direction away from the central axis 432 , and the generatrix of the sandwich plate 433 is parallel to the axis of the central axis 432 .

Through this arrangement, the surface of the roll 430 that is in contact with the flexible roll film is an arc-shaped surface. On the one hand, the flexible roll film can fit more closely with the roll 430 when being folded. On the other hand, it can also prevent the flexible roll from being bent. The surface is scratched by sharp edges.

As shown in Figure 5, in this embodiment, the roll film transfer device may also include a roll drive mechanism. Specifically, the roll drive mechanism includes a roll drive motor 410 and a roll transmission assembly 420. The roll drive motor 410 is installed The end is installed on the frame 901, the motor shaft of the reel drive motor 410 is connected to the central axis 432 of the reel 430 through the reel transmission assembly 420, and the drive motor is configured to drive the central axis 432 of the reel 430 to rotate. When the flexible roll film needs to be rolled out, the roll drive motor 410 is started, the output shaft of the roll drive motor 410 rotates, and the roll drive assembly 420 drives the central axis 432 of the roll 430 to rotate, thereby realizing the rotation of the roll 430. Thus, the rolling operation of the flexible roll film can be realized. The arrangement of this roller driving mechanism has a simple structure and can accurately control the unfolding length of the flexible film, thereby improving the accuracy of planting and harvesting at the operating position. In this embodiment, the drum transmission assembly 420 may be a belt transmission assembly. Specifically, the transmission assembly includes a driving pulley, a driven pulley, and a transmission belt sleeved on both. The driving pulley and the driven pulley are both The rotation is arranged on the frame 901, the motor shaft of the driving motor is fixedly connected to the driving pulley, and is configured to drive the driving pulley to rotate, and the driven pulley is fixedly arranged coaxially with the central shaft 432. When the driving motor drives the driving pulley to rotate, the driving pulley transmits power to the driven pulley through the transmission belt, thereby driving the central shaft 432 .

As shown in FIG. 7 , the seedling transplanting device includes a seedling clamping and releasing mechanism 500 and a second lifting mechanism 600 . The seedling clamping and releasing mechanism 500 is installed on the second lifting mechanism 600 . The seedling clamping and releasing mechanism 500 is configured to release from the seedling 990 The seedlings 990 are clamped and released through the planting holes 981 below. The colonization holes 981 on the colonization plate 980 may be distributed in a matrix. When the seedling 990 is fixed in the planting hole 981, the matrix 998 of the seedling 990 will be subject to the pressure of the planting hole 981. The pressure generates friction to fix the matrix 998. Therefore, the size of the planting hole 981 in a certain direction needs to be equal to or Slightly smaller than the size of substrate 998 in this direction. Since the seedlings 990 need to be clamped and released, in order to provide sufficient space for the seedling clamping and releasing mechanism 500 to move, the size of the planting hole 981 in a certain direction needs to be significantly larger than the size of the matrix 998 in that direction. Furthermore, the shape of the colonization hole 981 may be an oval hole, a waist-shaped hole, or a rectangular hole. The direction in which the long axis of the oval hole and waist-shaped hole or the long side of the rectangular hole is located is the direction in which the seedling clamping and releasing mechanism 500 is opened.

By setting the seedling clamping and releasing mechanism 500 to clamp the seedling 990 from below the seedling 990 through the planting hole 981, and driving it down by the second lifting mechanism 600, the seedling 990 can be moved to the planting hole 981 and the seedling 990 can be released. Generally speaking, the position clamped and released by the seedling clamping and releasing mechanism 500 is most likely located at the substrate 998 portion of the seedling 990. Clamping the substrate 998 portion of the seedling 990 will not cause substantial damage to the seedling 990. Even if a small probability event occurs, the clamping part is not on the substrate 998 of the seedling 990, but on the seedling body 999. The clamping position is also the part of the seedling 990 that has just exposed the substrate 998, and it is difficult for the clamping release mechanism to completely avoid contact with the seedling 990. Matrix 998, so the force will still be transmitted through the matrix 998. Compared with the prior art solution of inserting the seedlings 990 into the planting holes 981 from above, the damage to the seedlings 990 is reduced.

Figure 8 is a left view of the seedling transplanting device in the transplanting equipment provided by the embodiment of the present application; as shown in Figures 8-12, preferably, the seedling clamping and releasing mechanism 500 includes a group of clamping fingers 510 and The gripper finger drive assembly 520 is capable of changing the relative angle between the gripper fingers 510 arranged in groups. The free end of the gripper finger 510 is provided with a claw tip 511 that can be inserted into the substrate 998. The gripper finger drive assembly 520 is configured to drive. The jaw tips 511 of the set of gripper fingers 510 are brought closer together and inserted into the matrix 998 . Specifically, in this embodiment, the gripper fingers 510 are generally in a V-shape with an upward opening, and the fingertips of the gripper fingers 510 are bent toward the opening area, thereby facilitating insertion into the matrix 998 when the gripper fingers 510 are closed.

Using the claw tip 511 that can be inserted into the matrix 998, the claw tip 511 can be used to extend into the solid part of the matrix 998 to provide a larger force to overcome the friction between the colonization hole 981 and the matrix 998, and drive the matrix 998 to move downward. to be inserted into the colonization hole 981. After the claw tip 511 is pulled out from the matrix 998, the clamping claw fingers 510 can be separated from the matrix 998. Moreover, the angle between the clamping fingers 510 arranged in groups can be changed, and the use of guide rails and other components can also be reduced. In situations such as hydroponic crops with a large water content, the humidity is high, and translational components such as guide rails are prone to malfunction. Corroded, causing malfunction.

In another implementation, the matrix 998 can also be clamped from both sides of the matrix 998 by non-insertion means, and friction force is used to drive the matrix 998 into the colonization hole 981 . The bottoms of such pairs of clamping jaws can be pivoted, and a combination of a pull-in electromagnet and a compression spring is provided at the middle or lower middle position. The pull-in electromagnet is installed on one of the clamping claw fingers 510, and the compression spring The two ends can respectively abut the gripper fingers 510 . The electromagnet is energized and attracts the other gripper finger 510 to clamp the substrate 998. When the electromagnet is powered off, the compression spring releases its elastic force, and the two jaw fingers 510 open to release the substrate 998. Alternatively, a combination of an electromagnet extending out of the piston rod and a tension spring can be used. When the electromagnet is energized, the piston rod retracts, and the tension spring pulls the two jaw fingers 510 closer, and the two jaw fingers 510 clamp the fingertips. Hold matrix 998. When the electromagnet is powered off, the piston rod overcomes the elastic force of the tension spring and pushes out, causing the two jaw fingers 510 to open. Of course, the above structure can also be applied to the solution of inserting the matrix 998.

As shown in Figures 8-12, preferably, the gripper finger driving assembly 520 includes a gripper finger mounting base 521, a gripper finger driving member 522 and a gripper driving power source 523. The bottom of the group of gripper finger fingers 510 is connected to The clamping finger mounting base 521 and the outer surface of the clamping finger 510 are in the shape of an upward opening. The clamping finger mounting base 521 is transmission connected with the clamping jaw driving power source 523. The clamping jaw driving member 522 is relative to the clamping finger mounting base. 521 is movable, and the clamping jaw driving member 522 is configured to contact and press the outer surface of the clamping jaw finger 510 from below.

By arranging the gripper driving power source 523 to drive the relative movement of the gripper finger mounting base 521, the gripper driving member 522 can be used to contact the outer surface of the upwardly open open-shaped gripper finger 510 and abut against the gripper finger. 510, causing the clamping fingers 510 to move closer to each other, thereby clamping the substrate 998 or driving the fingertips of the clamping fingers 510 to insert into the substrate 998. Using such a driving method, the relative movement of the clamping finger mounting base 521 and the clamping claw driving member 522 can drive the angle of the clamping finger 510 to change, thereby facilitating the movement of the clamping claw driving power source 523 out of the activity area of the clamping finger 510 , there is no need to drive each gripper finger 510 separately, which not only reduces the complexity of the system, but also reduces manufacturing costs, facilitates maintenance, and is conducive to jointly driving multiple gripper fingers 510 .

As shown in Figure 8, preferably, the clamping claw fingers 510 are elastic clamping claw fingers, and the upper opening size of the elastic clamping claw fingers in the natural state is larger than the size of the elastic clamping claw fingers when contacted by the clamping claw driving member 522; The claw finger mounting base 521 is rod-shaped, and the elastic claw finger is installed on the top of the claw finger mounting base 521; the clamping claw driving member 522 is tubular and sleeved on the outside of the claw finger mounting base 521.

Specifically, in this embodiment, a set of gripper fingers 510 is an elastic gripper finger as described below. In a natural state, the elastic claw fingers are generally V-shaped and open upward, and the fingertips of the claw fingers 510 are bent toward the opening area. If the elastic claw fingers are not contacted by the clamp driving member 522 below them, the opening will The angle is larger. If the outer surface of the elastic claw finger is contacted by the clamp driving member 522 and pressed against the elastic force of the elastic claw finger, the V-shaped opening angle is reduced, thereby facilitating the insertion of the clamp finger 510 into the substrate 998 when it is closed. middle. In another implementation, for a seedling 990 or a piece of substrate 998, two parallel elastic gripper fingers are provided to clamp the substrate 998 from both sides of the substrate 998. The bottom of each elastic gripper finger is provided with a U-shaped portion that opens upward. The top of the rod-shaped clamping finger mounting base 521 is provided with a horizontal limit shaft. There is a gap between the limiting shaft and the rest of the clamping finger mounting base 521, and the U-shaped part of the elastic clamping finger is located on the top. in the gap. In this embodiment, the clamping jaw driving member 522 is in the shape of a rectangular tube, or a hollow cylinder, and is provided with a connecting flange at the bottom, and is fixed on the clamping jaw base 627 described later. In fact, in other implementations, the clamping jaw driving member 522 only needs to have a rectangular or circular ring, or even a U-shaped, C-shaped or gate-shaped component with a suitable opening direction. This ring or component passes through a The upright column is fixed on the jaw base 627 described later. As long as there are two opposite parts, the middle part of the elastic clamping claw finger can be brought into contact, and then the upper parts thereof can be driven closer to each other.

By providing elastic claw fingers, they move relative to the tubular claw driving member 522 set outside the rod-shaped clamping finger mounting base 521. When the clamping claw driving member 522 is upward relative to the clamping claw finger mounting base 521, it can drive The gripper fingers 510 come together and clamp the substrate 998. When the clamping claw driving member 522 moves downward relative to the elastic clamping claw finger, the elastic clamping claw finger can automatically open due to its own elasticity, and its action is simple and easy to control. Moreover, it is advantageous to separately control the opening and closing of each elastic gripper finger through multiple gripper driving members 522, so that the opening and closing of each gripper finger 510 can be controlled uniformly.

In another implementation, the gripper fingers 510 may not be elastic, but may be swingable gripper fingers 510 whose bottoms are pivotally connected to the top of the gripper finger mounting base 521 . Preferably, the gripper fingers 510 may be arranged in pairs, and additional gripper fingers may be added. The weight of the portion of the gripper finger 510 located outside the gripper driver 522 allows the lower portion of the gripper finger 510 to rest on the upper edge of the gripper driver 522 . The upward the clamping jaw driving member 522 is relative to the clamping finger mounting base 521, the smaller the included angle of the two paired clamping fingers 510 can be to facilitate clamping of the substrate 998.

As shown in Figures 8-12, preferably, the installation ends of the clamping jaw driving member 522 and the clamping jaw driving power source 523 are fixedly installed on the clamping jaw base 627, and the power output end of the clamping jaw driving power source 523 is installed with The clamping jaw linkage 524 is fixedly installed with the clamping jaw finger mounting base 521 .

Specifically, in this embodiment, the gripper driving power source 523 can be a cylinder that is installed vertically and outputs a lifting action. More specifically, a pencil-shaped cylinder can be used. Of course, other linear drive devices can also be used, such as electric push rods. In this embodiment, in order to reduce the volume of related components, the end of the piston rod of the cylinder is connected to the jaw base 627 described later. For example, a nut can be threadedly connected to the threaded portion of the piston rod of the cylinder, and the nut is connected to the cylinder. The tightened parts of the piston rod are on both sides of the clamp base 627, thereby fixing the clamp base 627 and the piston rod. The size of the tightened part is larger than the size of the threaded part, forming a support that can be upward. Shaft shoulder. When the piston rod of the cylinder expands and contracts relative to the cylinder body, the cylinder body moves relative to the jaw base 627 . In this state, the power output end of the clamping jaw drive power source 523 is not the piston rod in the usual cylinder drive form, but the cylinder. For example, in this embodiment, there are six planting holes 981 in a row on the planting plate 980. Correspondingly, the clamping jaw linkage 524 connected to the power output end of the clamping jaw driving power source 523 can install six clamping jaws. Refers to the mounting base 521. Specifically, the six jaw finger mounting seats 521 can be arranged at the positions of the clamp linkage 524 corresponding to the positions of the six colonization holes 981 . Wrench planes that are parallel to the axis and parallel to each other can be provided at the lower part of the clamp finger mounting base 521, and the bottom of the clamp finger mounting base 521 is an externally threaded portion, and the external threaded portion passes through the clamping jaw linkage 524 along the thickness direction. , and tightened through connectors (not shown in the figure) such as nuts. Moreover, in order to improve the ability of the clamping jaw linkage 524 to bear the load within a longer length range, the clamping jaw linkage 524 can be generally in the shape of a channel steel, and the flanges on both sides are preferably turned downward to connect the nut to the clamp. The claw finger mounting base 521 is threaded to reduce interference with the wrench clamping plane.

With the above arrangement, the power output of the clamping claw driving power source 523 can be used to drive the movement of the clamping claw linkage 524, thereby driving multiple clamping claw finger mounting bases 521 to move together, improving the unity and efficiency of the action, and reducing the need for Timing of colonization operations. The installation sections of the clamping jaw driving member 522 and the clamping jaw driving power source 523 are both fixedly installed on the clamping jaw base 627 . Therefore, when the gripper finger mounting base 521 is driven by the gripper linkage 524, the gripper finger mounting base 521 moves relative to the gripper driving member 522, thereby changing the opening and closing state of the gripper finger 510 to achieve the substrate 998 clamping or releasing.

As shown in Figures 8, 9, 11, and 12, preferably, the second lifting mechanism 600 includes a second lifting drive assembly 610, a second lifting transmission assembly 620, and a jaw base 627. The second lifting drive assembly 610 The second lifting transmission assembly 620 is connected to the clamping jaw base 627, and the seedling clamping and releasing mechanism 500 is installed on the clamping jaw base 627.

Specifically, the second lifting drive assembly 610 includes a second lifting motor 611 and a lifting motor bracket 621. The lifting motor bracket 621 can be roughly in the shape of a gantry. The second lifting motor 611 is installed horizontally on the top of the gantry, and the lifting motor bracket 621 is fixed on the bracket through the mounting ears and threaded connectors at both ends. The second lifting transmission assembly 620 includes a lifting transmission shaft 622 , a lifting gear 624 and a lifting rack 624 . The output shaft of the second lifting motor 611 passes through the lifting motor bracket 621 and is connected to the lifting drive shaft through the lifting coupling 621. Both ends of the lifting drive shaft are installed on the side plates of the frame 901 through the lifting bearing seats 628. The lifting gear 624 is fixedly connected to the lifting drive shaft, the lifting gear 624 meshes with the lifting rack 624, and the lifting rack 624 is fixedly connected to the clamping jaw base 627. Among them, the clamp base 627 is rectangular when viewed from the direction of FIG. 8 . The piston rod of the gripper driving power source 523 is mounted on the upper part of the gripper base 627 . In addition, the clamping jaw base 627 is also slidingly connected to the second lifting guide post 626 through the linear guide bush 625. The second lifting guide post 626 is installed on the bottom plate of the frame 901, and the linear guide bush 625 is fixedly installed on the clamping jaw base. The upper and lower parts of the seat 627. It should be noted that, in order to facilitate the display of the internal structure, one side plate of the rack 901 is omitted in FIG. 1 and each of the accompanying drawings. This side plate is the side plate closer to the observer in FIG. 1 . Therefore, those skilled in the art should not be confused when they see that the lifting bearing seat 628 connected to one end of the lifting transmission shaft 622 described later is suspended, because the side plate on which the bearing seat is installed is not shown.

By arranging the second lifting mechanism 600 as above, the seedling clamping and releasing mechanism 500 can be driven to lift and move to a position where the seedling 990 can be clamped, and the clamped seedling 990 can be driven to be inserted into the planting hole 981 . After the operation of inserting a row of seedlings 990 is completed, the seedling clamping and releasing mechanism 500 can be driven down to prevent the seedling clamping and releasing mechanism 500 from interfering with the operation of the colonization plate 980 .

As shown in Figures 7 and 9-12, preferably, the seedling transplanting device also includes a seedling translation mechanism 700. The seedling translation mechanism 700 includes a seedling toggle component 720 and a seedling translation component 710. The seedling translation component 710 includes a translation force source. , the seedling toggle assembly 720 is installed at the power output end of the seedling translation assembly 710. The seedling toggle assembly 720 includes a seedling toggle power member 722 and a first insert 721 connected to the seedling toggle power member 722. The first insert 721 The movement direction of the seedling translation assembly 710 is arranged at an angle with the power output direction of the seedling translation assembly 710 .

Among them, the translational power source can be a linear module. The installation end of the linear module is fixedly installed on a mounting rod of the frame 901. The movement direction of the linear module is the power output direction of the seedling translation assembly 710, that is, the seedling toggle power. Piece 722 drives the seedling 990 in the direction of movement. The power output end of the linear module can be fixedly installed with a first toggle connection plate 723. The first toggle connection plate 723 is a vertical plate, and the first toggle connection plate 723 is arranged along the length direction of a row of seedlings 990. The first toggle connection plate 723 is fixedly connected to the second toggle connection plate 724. The second toggle connection plate 724 is also a vertical plate. The extension direction of the second fixed connection plate is the power output direction of the seedling toggle power component 722. The second fixed connection plate is equipped with a seedling stirring power member 722. The seedling stirring power part 722 can use a cylinder, more specifically, a thin cylinder can be used, and the power output plate of the thin cylinder is equipped with a first insert 721 through an adapter plate. The first insert 721 may be a pin. The movement direction of the first inserting member 721 may be consistent with the direction of the first inserting member 721 , and may be arranged at right angles to the power output direction of the seedling translation assembly 710 . More specifically, the movement direction of the first inserting member 721 is set horizontally. In other implementations, other angles may also be used, such as 60° or 75°. In fact, as long as the direction of the first insert 721 is set at an angle with the direction of movement of the seedling 990, it can block the movement of the seedling 990.

By providing the seedling translation mechanism 700, the first insert 721 is inserted into the matrix 998 of the seedlings 990, and driven by the seedling translation assembly 710, the seedlings 990 are moved along the length direction of a row of seedlings 990. In this way, a row of adjacent seedlings 990 can be placed into the seedling bracket 230. After a seedling 990 is caught in the planting hole 981, the row of seedlings 990 can be moved so that the adjacent seedlings 990 are aligned with the planting hole 981. accurate, so that the adjacent seedling 990 can also be caught into the planting hole 981 next time. In this way, the number of seedlings placed on the seedling support 230 can be increased at a time without having to be placed in a relative position corresponding to the space between the planting holes 981 . This makes the seedling transplanting device applicable to situations with closely arranged seedlings 990 .

As shown in Figures 7, 10 and 11, preferably, the seedling transplanting device further includes a first seedling limiting mechanism 800. The first seedling limiting mechanism 800 includes a first seedling limiting dynamic member 810. The dynamic part 810 is drivingly connected to the second inserting part 820, and the telescopic direction of the second inserting part 820 is arranged at an angle with the direction in which the seedling 990 is driven by the seedling clamping and releasing mechanism 500.

Among them, the first seedling limiting power component 810 can be a linear drive device, such as a cylinder, a linear module, etc. In this application, an electric push rod is used. The installation end of the first seedling limiting power part 810 is fixedly installed, the power output end of the first seedling limiting power part 810 is installed with a limiting connecting plate 830, and the lower part of the limiting connecting plate 830 is fixedly installed with a second insert 820. In this embodiment, the second insert 820 is arranged horizontally and perpendicular to the length direction of a row of seedlings 990 . Taking a row of six planting holes 981 on the planting plate 980 as an example, in this embodiment, two first seedling limiting power parts 810 are provided, and each first seedling limiting power part 810 is connected to a limiting connecting plate 830 can be an E-shaped clockwise rotating shape, and the second insert member 820 is connected to the bottom of each limiting connecting plate 830 . Specifically, every four second insertion pieces 820 form a group and are arranged at one horizontal free end of the E-shape. In addition, the limit connecting plate 830 is also fixedly connected to the limit guide rod 840, the limit guide rod 840 is slidingly connected to the limit slide seat 850, and the limit slide seat 850 is fixedly installed. Correspondingly, a limiting hole 235 may be provided on the side support plate 233. When the first seedling limiting power member 810 extends to drive the second insertion member 820 to insert into the substrate 998 of the seedling 990, the limiting hole 235 may be inserted into the substrate 998 of the seedling 990. The second insert 820 is inserted, so that when the second insert 820 bears a load, the limiting hole 235 can help the second insert 820 bear the load, thereby avoiding excessive deformation due to the second insert 820 being at the end of the cantilever beam structure. Defects.

The operating principle of this embodiment is:

As shown in Figures 1 to 12, specifically, in this embodiment, there are six colonization holes 981 in a row on the colonization plate 980 - colonization holes A, colonization holes B, colonization holes C... and colonization holes F. The provided row of seedlings 990 has 36 seedlings 990 . From near to far in Figure 1, that is, from bottom to top as shown in Figure 4, the seedlings are No. 1 seedling, No. 2 seedling, No. 3 seedling... No. 36 seedling.

S11: The operator can first fill the conveyor belt 111 with seedlings 990, and the seedlings 990 are closely arranged in a matrix form. The belt transmission motor 114 is started to drive the active transmission shaft 115 to rotate, and the active transfer shaft drives the conveyor belt 111 and the passive transmission shaft 116 to operate. The second conveyor push plate 113 fixed on the conveyor belt 111 moves to the right in FIG. 1 , thereby pushing the first conveyor push plate 112 to move to the right in FIG. 1 . Therefore, the first conveyor push plate 112 and the conveyor belt 111 together drive the seedlings 990 to move toward the seedling lifting device 200 . At this time, the blocking member in the first blocking mechanism does not expose the horizontal transition plate 121 .

S12: Before the seedlings 990 are completely pushed away from the horizontal transition plate 121, the lower support plate 231 of the seedling bracket 230 in the seedling lifting device 200 is located at the same height as the water transition plate. When the rightmost row of seedlings 990 in Figure 1 in the seedling transfer mechanism are all pushed to the seedling bracket 230, the blocking driving member 131 drives the blocking member to rise and is inserted into the matrix 998 of the second row of seedlings 990 on the horizontal transition plate 121. . At this time, the first lifting motor starts, driving the reducer 221 and the lifting screw 222 to rotate, so that the screw mother drives the lifting transition plate 226 fixedly connected with it to descend, and then drives the seedling support 230 to move downward. Since the substrate 998 of the second row of seedlings 990 has been inserted by the blocking member, the second row of seedlings 990 will not fall due to the adhesive force between the second row of seedlings 990 and the first row of seedlings 990 .

S13: When the seedling 990 descends to the transplanting station with the seedling support 230, the seedlings No. 6, 12, 18...36 respectively correspond to the six first clearance gaps 232 of the seedling support 230. The colonization plate 980 is located below the seedling bracket 230, and each first relief gap 232 corresponds to the colonization hole 981 of the colonization plate 980, that is, the first relief gap A corresponds to the colonization hole A, and the first relief gap B corresponds to the colonization hole A. The colonization hole B corresponds to...the first relief gap F corresponds to the colonization hole F. At this time, the clamp base 627 of the lifting mechanism is in a lower position. The seedling translation mechanism 700 has six first inserts 721. At this time, the six first inserts 721 respectively correspond to the substrate 998 of the seedlings No. 1, 7, 13...31, and the six second inserts 820 corresponds to the substrate 998 of seedlings No. 5, 11, 17...35.

S14: When it is necessary to implant the seedlings 990 into the planting hole 981, the thin cylinder serving as the seedling driving force member 722 extends, thereby driving each first insertion member 721 to insert the seedlings corresponding to the first relief gaps as shown in Figure 10 The seedlings above are shown, that is, when the seedling No. 6 corresponds to the first gap A, insert the seedling No. 7 into the matrix. When the seedling No. 12 corresponds to the first gap B, insert the seedling No. 13, and so on. The electric push rod as the first seedling limiting power part 810 drives the second inserting part 820 to be inserted into the seedlings corresponding to each first giving gap as shown in Figure 4, that is, the No. 6 seedling and the first giving gap. When A corresponds, insert the No. 5 seedling into the matrix 998. When the No. 12 seedling corresponds to the first gap B, insert the No. 11 seedling, and so on. Due to the existence of the limiting auxiliary plate 240 shown in Figure 2, when the substrate 998 is acted upon by the second inserting member 820, it will resist the limiting auxiliary plate 240, so the second inserting member 820 will not push the seedlings. Leave the lower support plate 231.

S15: The output shaft of the second lifting motor 611 drives the lifting drive shaft to rotate through the lifting coupling 621, and the lifting gear 624 on the lifting drive shaft rotates, driving the lifting rack 624 and the clamping jaw base 627 to rise. During this process, the piston rod of the pen-shaped cylinder, which is the clamping jaw driving power source 523, is in a retracted state. Correspondingly, the clamping jaw linkage 524 fixedly connected to the cylinder is in a higher position. Then, at this time, the gripper driving member 522 is in a lower position relative to the gripper finger mounting base 521 . Under the action of the elasticity of the clamping finger 510 , the clamping finger 510 is in an open state, and the two claw tips 511 are far apart and are not in contact with the substrate 998 . Then during the lifting process of the clamp base 627, the two claw tips 511 can pass upward from the colonization hole 981 and move to both sides of the matrix 998.

S16: Then, the piston rod of the clamping claw driving power source 523 extends. Since the piston rod is fixedly connected to the clamping claw base 627, the cylinder of the clamping claw driving power source 523 moves downward at this time, thereby driving the cylinder to be fixed. The connected jaw linkage 524 moves downward, thereby moving the jaw finger mount 521 downward. At this time, the clamping jaw driving member 522 is installed on the clamping jaw base 627 and does not move. In other words, the clamping jaw driving member 522 moves upward relative to the clamping jaw finger mounting base 521 . Therefore, the clamping finger 510 overcomes its own elasticity, its opening angle becomes smaller, and the two claw tips 511 approach each other and are inserted into the matrix 998 . One of the claw tips 511 passes through the side support plate 233 from the second relief notch 234 and penetrates into the matrix 998 .

S17: Then, the output shaft of the second lifting motor 611 rotates in the opposite direction, driving the lifting gear 624 to rotate in the opposite direction, and driving the lifting rack 624 and the clamping jaw base 627 to descend. Since the second insertion piece 820 and the first insertion piece 721 are respectively inserted into the substrate 998 adjacent to the substrate 998 clamped by the clamping fingers 510, and the lower support plates 231 on both sides of the first relief gap 232 are supported upward, Therefore, the two substrates 998 adjacent to the clamped substrate 998 will not be taken away by the friction force that may be generated between the substrate 998 and can still remain in place.

S18: The clamp base 627 continues to descend until the clamp fingers 510 move the substrate 998 into the colonization hole 981 and then stops descending. Since at least one of the matrix 998 and the colonization plate 980 is made of soft material, even if the size of the matrix 998 is larger than the width of the colonization hole 981, the matrix 998 can still enter the colonization hole 981. Moreover, the matrix 998 is in a state of large deformation, and the friction force generated by its elastic force can fix the matrix 998 in the colonization hole 981 .

S19: The piston of the clamping jaw driving power source 523 retracts, and the cylinder of the clamping jaw driving power source 523 rises, which in turn drives the clamping jaw linkage 524 to move upward, and the clamping jaw finger mounting base 521 moves upward. At this time, the jaw driving member 522 moves downward relative to the jaw finger mounting base 521 . Under the action of its own elasticity, the opening angle of the clamping claw fingers 510 increases, and the two claw tips 511 are pulled out from the matrix 998. The colonization hole 981 is located on both sides of the matrix 998 in the length direction. Then, the jaw base 627 continues to descend, and the jaw fingers 510 are completely withdrawn downward from the colonization hole 981.

S20: At this time, the plate driving motor 311 drives the plate driving roller 322 through the plate driving coupling 321. One plate driving roller 322 drives the other plate driving roller 322 to rotate through the meshed transmission gear 323, and the two jointly clamp the colonization plate. 980 moves towards the seedling supply device. At the same time, the drum driving motor 410 of the film roll release device 400 drives the drum 430 to rotate through the drum transmission assembly 420 to release more flexible film rolls. Thereby, the position of the colonization plate 980 can be changed, and the colonization holes 981 of the next row can be aligned with the first relief notch 232 . At the same time, the first seedling limiting power part 810 first drives the second insertion part 820 to be pulled out from the matrix 998. Then, the translational power source outputs power, and the first insert 721 is used to drive the substrate 998 of the seedlings on one side of the first relief gap (the bottom shown in Figure 10) to move upward (along the upward direction in Figure 10) one seedling 990 The width of the matrix 998 is such that the seedlings originally corresponding to the first relief notch 232 and the matrix 998 of the adjacent seedlings below as shown in FIG. 10 correspond to the first relief notch 232 and the planting hole 981 respectively. Then, the first seedling limiting power member 810 drives the second inserting member 820 to be inserted into the matrix 998 of the adjacent seedling 990 that is currently located on one side of the first relief gap 232 (at the bottom as shown in FIG. 10 ). That is, when seedling No. 6 corresponds to the first gap A and seedling No. 12 corresponds to the first gap B, after the seedlings No. 6, 12...36 are grabbed by the claw fingers 510 , the six first inserts 721 are already in the matrix 998 of the seedlings No. 1, No. 7... No. 31 respectively, driving the seedlings No. 1-5, No. 7-11,... No. 31-35 to the places shown in Figure 10 The width of the matrix 998 is moved above the display, so that the seedlings No. 5, 11...35 correspond to the first giving way gaps A, B...F respectively.

Then, start the next process of the clamp base 627 rising, the clamp fingers clamping the substrate 998, driving the substrate 998 down to insert the planting hole 981, releasing the substrate 998, the clamp base 627 descending again, driving the seedlings 990 to translate, the cycle Back and forth, so that all the seedlings 990 in a row are transplanted into the planting holes 981. That is, after the seedlings No. 5, 11, 17...35 were captured, they drove the seedlings No. 1-4, No. 7-10,...No. 31-34 to move upward as shown in Figure 10. At this time, seedlings No. 4, 10, 16...34 respectively correspond to the first clearance gaps A, B...F, and the second insert 820 is inserted into the seedlings No. 3, 9...33. The gripper fingers 510 grab seedlings No. 4, No. 10, No. 16... No. 34. And so on. It should be noted that after the seedlings No. 1, 7...31 are respectively corresponding to the first giving gaps A, B...F, and after the claw tip is inserted into the matrix 998, the first inserter 721 needs to be removed from the matrix. Pulled out in 998. This is to avoid interference with the first insert 721 when the clamping finger 110 drives the substrate 998 to move downward.

S30: After all the seedlings 990 in a row are transplanted into the planting holes 981, the first lifting motor drives the lifting screw 222 assembly to rotate in reverse, thereby moving the seedling bracket 230 upward to the lower support plate 231 and the horizontal transition plate 121 Equal height position. Before the seedling support 230 moves upward and reaches the position, the blocking driving member 131 drives the blocking member to descend, so that the top of the blocking member no longer exposes the horizontal transition plate 121 . Then, steps S12 to S30 are executed in a loop.

S40: Due to the arrangement of the first transmission push plate 112 and the second transmission push plate 113, the driving force for the seedlings 990 to move forward does not only come from the friction of the conveyor belt 111, so the first transmission push plate 112 can push all the seedlings 990 away. Conveyor Belt 111. It is even possible that the last row of seedlings 990 remaining on the seedling supply device 100 is still some distance away from the edge of the horizontal transition plate 121 facing the conveyor belt 111 . When the sensor 122 located in this distance detects that there is no object above, it means that there is only one row or a few rows of seedlings 990 left on the seedling supply device 100, thereby feeding back this information to the controller, and the controller controls the alarm to alarm, or The operator is prompted to add seedlings 990 to the conveyor belt 111 through a display screen or the like.

S41: Before replenishing the seedlings 990, the conveyor belt 111 runs in reverse direction to make enough space for the seedlings 990 to be placed.

The transplanting equipment introduced in the above embodiment performs the operation of transplanting seedlings on the flexible roll film released by the unwinding device 605. In fact, in another implementation, the transplanting equipment can also transplant seedlings to a planting rack having multiple layers of relatively rigid planting boards 980 . Specifically, the above-mentioned transplanting device can be arranged on a base that can move up and down, left and right, and can be moved up and down to match the planting boards 980 of each layer on the planting rack. By moving left and right, different rows on the planting board 980 can be transplanted. The transplanting hole 981 is used for transplanting seedlings.

Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the scope defined by the claims.

Finally, it should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or any such actual relationship or sequence between operations. Furthermore, the term "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus including a list of elements includes not only those elements but also other elements not expressly listed, Or it also includes elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element. In the above embodiments, the descriptions of directions such as “upper” and “lower” are based on those shown in the accompanying drawings.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Industrial applicability

The soilless cultivation crop transplanting equipment provided by this application can use the seedling supply device to place a large number of seedlings at one time, and then the seedling supply device gradually sends them to the exit, and is moved to the transplanting station by the seedling lifting device. The seedling transplanting device transplants to the planting holes of the planting plate. It can place a large number of seedlings at one time without continuously adding seedlings. It can realize automatic operation and does not need to manually add seedlings to the planting holes one by one, which greatly improves labor efficiency. , and can reduce possible errors caused by long-term manual labor.

Claims

A soilless cultivation crop transplanting equipment, configured to transplant seedlings (990) into a planting plate (980), the planting plate (980) is provided with a planting hole (981) penetrating along the thickness direction, characterized by: It includes a seedling supply device (100), a seedling lifting device (200) and a seedling transplanting device. The seedling supply device (100) is arranged upstream of the seedling lifting device (200) and is configured to move toward the seedling lifting device (200). 200) Provide seedlings (990), the seedling lifting device (200) is provided at the outlet of the seedling supply device (100) and is configured to lower the position of the seedlings (990), and the seedling transplanting device is configured The seedlings (990) are clamped and released from below the seedlings (990) through the planting holes (981).
The soilless cultivation crop transplanting equipment according to claim 1, characterized in that the seedling lifting device (200) includes a seedling bracket (230) and a first lifting mechanism, and the seedling bracket (230) includes a lower support plate (231) and a side support plate (233), the lower edge of the side support plate (233) is fixedly connected to the side of the lower support plate (231) away from the seedling supply device (100); the third A lifting mechanism includes a first lifting drive assembly (210) and a first lifting transmission assembly (220). The power output end of the first lifting drive assembly (210) is connected to the first lifting transmission assembly (220), so The first lifting transmission assembly (220) is connected to the seedling support (230).
The soilless cultivation crop transplanting equipment according to claim 2, characterized in that the seedling lifting device (200) further includes a frame and a limiting auxiliary plate (240) fixedly arranged relative to the frame, and the limiting auxiliary plate (240) is fixedly arranged relative to the frame. The position auxiliary plate (240) and the side support plate (233) are respectively located on opposite sides of the lower support plate (231).
The soilless cultivation crop transplanting equipment according to claim 1 or 2, characterized in that the seedling supply device (100) includes a belt transmission mechanism (110), and the belt transmission mechanism (110) includes a conveyor belt (111) , a transmission push plate is fixedly connected to the conveyor belt (111), and the transmission push plate is configured to push the seedlings (990).
The soilless cultivation crop transplanting equipment according to claim 4, characterized in that the seedling supply device (100) further includes a horizontal transition plate (121), the horizontal transition plate (121) is arranged on the belt conveyor At the outlet of the mechanism (110), the horizontal transition plate (121) is configured to carry the seedlings (990).
The soilless cultivation crop transplanting equipment according to claim 5, characterized in that the seedling supply device (100) further includes an upper guide plate (123), the upper guide plate (123) is located on the horizontal transition plate (121), and the side of the upper guide plate (123) facing the seedling lifting device (200) is flush with the edge of the horizontal transition plate (121) on the side away from the belt transmission mechanism (110). together.
The soilless cultivation crop transplanting equipment according to claim 5, characterized in that the seedling supply device (100) further includes a first blocking mechanism, the first blocking mechanism includes a blocking driving member (131) and the The blocking member (132) is fixedly connected to the power output end of the blocking driving member (131), and the blocking member (132) is configured to pass through the horizontal transition plate (121) from below .
The soilless cultivation crop transplanting equipment according to any one of claims 1-7, characterized in that it also includes a plate driving device (300); the plate driving device (300) includes a plate driving assembly (310), The plate driving assembly (310) is drivingly connected to the plate driving roller (322).
The soilless crop transplanting equipment according to any one of claims 1 to 8, further comprising a film roll release device (400); the colonization plate (980) is a flexible roll film; the film The roll release device (400) includes a roll (430). The roll (430) is rotatably installed on the frame. The drum (430) has a clamping slot (431) on its wall. The clamping slot (431) ) is configured to be clamped and fixed with the end of the flexible roll film.
The soilless cultivation crop transplanting equipment according to claim 9, characterized in that the drum (430) includes a central axis (432) and is arranged and fixedly connected at intervals along the circumferential direction of the central axis (432). A plurality of sandwich plates (433), the central axis (432) is rotationally connected to the frame, and the slot (431) is formed between any two adjacent sandwich plates (433), The clamping groove (431) is provided through the axial direction of the central axis (432); the sandwich plate (433) is an arc-shaped plate, and the sandwich plate (433) is arranged along the axis away from the central axis (432). ), the generatrix of the sandwich plate (433) is parallel to the central axis (432).