CN109197061B - Alfalfa transplanter and method for adjusting transplanting posture of alfalfa pot seedlings - Google Patents
Alfalfa transplanter and method for adjusting transplanting posture of alfalfa pot seedlings Download PDFInfo
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- CN109197061B CN109197061B CN201811066402.6A CN201811066402A CN109197061B CN 109197061 B CN109197061 B CN 109197061B CN 201811066402 A CN201811066402 A CN 201811066402A CN 109197061 B CN109197061 B CN 109197061B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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Abstract
The invention belongs to the field of agricultural machinery, and relates to an alfalfa transplanter and an alfalfa pot seedling transplanting posture adjusting method. The transplanter comprises a rack, a pot seedling posture adjustment seedling taking mechanism, a seedling throwing mechanism and a seedling tray conveying mechanism, wherein the pot seedling posture adjustment seedling taking mechanism comprises a posture adjustment seedling taking unit and a seedling conveying unit, and the seedling conveying unit comprises a guide rail side baffle, a rack, a conveying gear, a guide rod, a conveying motor and a conveying sliding block. The posture adjustment seedling taking unit comprises a clamping paw, a clamping plate, an adjustment upright post, an adjustment plate, a driven gear, a clamping adjustment motor, a driving gear and a clamping adjustment mounting seat. The clamping plate and the adjusting plate are positioned on the same horizontal plane and vertically intersected in the middle to form a cross-shaped structure together. The automatic clamping and conveying device is high in automation degree, can adjust the posture of the alfalfa pot seedlings, can automatically clamp and convey the alfalfa pot seedlings, can adjust according to the transplanting requirements of the row spacing and the plant spacing, is high in applicability, and is suitable for large-scale popularization and use.
Description
Technical Field
The invention relates to an alfalfa transplanter and an alfalfa transplanting method for adjusting transplanting postures of alfalfa pot seedlings, belongs to the field of agricultural machinery, and is particularly suitable for mass alfalfa pot bodies for artificial seedling culture and environment with high transplanting efficiency requirements.
Background
Alfalfa is a perennial high-quality forage grass and is known as the king of forage grass due to rich nutrient substances and wide application. The development of the alfalfa industry has important significance for adjusting the planting industry structure, promoting the process of changing grains into feeds and improving the market competitiveness of grass products and animal products. In recent years, the country implements the development action of the medicago in the dairy industry, and the production of high-quality medicago is effectively developed. According to the statistics of the industry, in 2015, the area reserved at the end of the whole country is 471.13 ten thousand hectares, the yield is 3217 ten thousand tons, wherein the planting area of the commercial alfalfa is 43.27 ten thousand hectares, which is increased by 21.6 thousand hectares compared with 2010. The planting area of the high-quality alfalfa is 21.33 ten thousand hectares, and 18 ten thousand hectares are increased compared with that of the high-quality alfalfa in 2010; the yield of the high-quality alfalfa is 180 ten thousand tons, and is increased by 8.2 times than that in 2010. Along with the expansion of the production scale of alfalfa planting and the increase of the domestic demand for high-quality alfalfa products, the demand for establishing a high-efficiency and low-loss alfalfa mechanized production system is more and more urgent.
At present, the mode of planting alfalfa manually can adopt a mode of firstly growing seedlings and then planting besides direct seeding. Seedling tray seedling of plants is mostly carried out in an artificial mode, firstly, a seedling substrate containing certain nutrient components is placed in the seedling tray, meanwhile, the soil moisture content of the substrate reaches the level suitable for the growth of alfalfa seeds, and the environment temperature where the seedling tray is located is kept in a certain range so as to be suitable for the growth and development of the alfalfa seeds. In the actual seedling raising process, the paper pot body is used for wrapping the substrate and performing seedling raising on the seedling raising plate. In the process of growing seedlings by using the paper pot body substrate, the paper pot body of the alfalfa cannot be damaged by conveying and transferring the whole seedling growing plate, so that the substrate for growing the alfalfa leaks out of the paper pot body. And at the in-process of actual manual cultivation alfalfa seedling and transplantation, because artificial operation, lead to the paper alms bowl body slope and irregularly placing on the seedling tray very easily, and then increased and held the degree of difficulty that manipulator centre gripping paper alms bowl body was held to the transplantation in-process in later stage for holding and holding the manipulator and holding the in-process of holding the paper alms bowl body of irregular gesture and having certain error, destroy the paper alms bowl body easily, finally lead to the missed seeding or the repeated seeding of alfalfa planting in-process.
At present, the related Chinese patent applications relating to the transplantation of paper pot seedlings include:
an eccentric cam track type transplanting mechanism (application number: 201610000953.7) is characterized in that an eccentric cam with a specific shape, a sliding platform and a track are adopted to form a transmission system, the device only aims at the conveying of transplanted seedlings, and the seedling taking process is not specifically included.
A multifunctional self-propelled combined vegetable transplanter (application number: 201510431798.X) comprises a machine body, and an engine and a transmission shaft which are connected with the machine body, can transplant vegetables and can selectively transplant vegetables with different specifications, but is complex in device and poor in applicability.
The pot seedling transplanter starts a seedling taking device (application number: 201610160034.6), the device adopts a four-bar mechanism and a pneumatic driving mode to take seedlings, the movement process of the device is relatively fixed, and for irregular seedling trays in the seedling tray placing process, the device is relatively fixed in movement track, so that the seedling taking process is easy to cause seedling injury and temple leakage.
A controllable tray seedling taking and throwing end effector (application number: 201510542278.6) of a pot seedling transplanter is characterized in that a cylinder is controlled by a solenoid valve at the tail end of the device, so that the processes of clamping seedlings, taking seedlings and loosening are realized, the conditions of seedling injury and seedling exposure in the seedling taking process are still not considered in the process, meanwhile, the seedling taking of the two devices is realized through the single seedling taking process, and the efficiency of the device is integrally low.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide an alfalfa transplanter for adjusting transplanting postures of alfalfa pot seedlings.
The invention also aims to provide an alfalfa transplanting method for adjusting the transplanting posture of alfalfa pot seedlings.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides an alfalfa transplanter for adjusting transplanting postures of alfalfa pot seedlings, which comprises a rack and a seedling tray conveying mechanism 22; a seedling falling channel 1 is arranged on the rack, and the seedling tray conveying mechanism 22 is used for sequentially conveying a plurality of pot seedling trays 24 to a horizontal seedling supply position at the top of the seedling tray conveying mechanism 22 from bottom to top; a plurality of alfalfa pot seedlings 23 are loaded on the pot seedling tray 24 in an array mode.
The transplanter further comprises a pot seedling posture adjusting seedling taking mechanism and a seedling throwing mechanism, wherein the seedling throwing mechanism and a seedling tray conveying mechanism 22 are sequentially arranged at the rear part of the seedling falling channel 1; the pot seedling posture adjusting and seedling fetching mechanism is arranged above the seedling throwing mechanism and the seedling tray conveying mechanism 22.
The pot seedling posture adjustment seedling taking mechanism comprises a posture adjustment seedling taking unit and a seedling conveying unit.
The seedling conveying unit comprises a guide rail side baffle 14, a rack 15, a conveying gear 16, a guide rod 17, a conveying motor 19 and a conveying sliding block 25.
The lower surface of a horizontally arranged rack 15 is provided with a plurality of teeth, the front end and the rear end of the rack 15 are fixedly connected with a guide rail side baffle 14 respectively, and the upper end of the guide rail side baffle 14 is fixedly connected with the rack 15; a guide rod 17 parallel to the rack 15 is fixedly connected between the two guide rail side baffles 14; the conveying slide block 25 is arranged on the guide rod 17 in a freely sliding manner; the conveying sliding block 25 is provided with a conveying motor 19, and a power output shaft of the conveying motor 19 is provided with a conveying gear 16 which is meshed with the teeth on the lower surface of the rack 15.
The posture adjustment seedling taking unit comprises a clamping paw 7, a clamping plate 10, an adjustment upright post 11, an adjustment plate 12, a driven gear 13, a clamping adjustment motor 20, a driving gear 21 and a clamping adjustment mounting seat 26.
The upper end of the clamping adjustment mounting seat 26 is fixedly connected to the lower end face of the conveying slide block 25.
The clamping plate 10 and the adjusting plate 12 are positioned on the same horizontal plane and vertically intersected in the middle to form a cross-shaped structure; the intersection point of the clamping plate 10 and the adjusting plate 12 divides the clamping plate 10 into two clamping sections which are symmetrical relative to the intersection point and have the same length, and divides the adjusting plate 12 into two adjusting sections which are symmetrical relative to the intersection point and have the same length; a rotating shaft 35 is vertically and fixedly connected to the intersection point of the clamping plate 10 and the adjusting plate 12, the rotating shaft 35 is rotatably connected to the lower end of the clamping adjusting mounting seat 26, and a driven gear 13 is arranged on the rotating shaft 35; the clamping adjustment motor 20 is fixedly connected to the side surface of the clamping adjustment mounting seat 26, and a driving gear 21 meshed with the driven gear 13 is arranged on a power output shaft of the clamping adjustment motor 20; the clamp adjustment motor 20 intermittently drives the pinion gear 21 to rotate such that the pinion gear 21 rotates 90 ° at each cycle of movement, thereby rotating the clamp plate 10 and the adjustment plate 12 90 ° at each cycle of movement.
The lower end surfaces of the two clamping sections of the clamping plate 10 are respectively provided with a plurality of clamping claws 7 which can extend downwards and clamp the alfalfa pot seedlings 23.
The lower end faces of the two adjusting sections of the adjusting plate 12 are vertically and fixedly connected with a plurality of adjusting upright columns 11, and the lower ends of the adjusting upright columns 11 are provided with adjusting tail ends 34 capable of extending downwards.
The maximum outer diameter of the adjusting tail end 34 is equal to the distance between two adjacent clover pot seedlings 23.
The seedling throwing mechanism comprises a seedling throwing pre-tightening spring 2, a seedling throwing motor 3, a belt 4, a seedling throwing baffle 5, a seedling throwing side plate 6 and an outer side plate 36.
The front ends and the rear ends of the two outer side plates 36 which are horizontally and symmetrically arranged are respectively provided with a transmission shaft, and the belt 4 is sleeved on the two transmission shafts; the belt 4 and the pot seedling tray 24 on the uppermost layer of the seedling tray conveying mechanism 22 are in the same horizontal plane; the front end of the belt 4 corresponds to the seedling falling channel 1.
The power output shaft of the seedling throwing motor 3 is connected with a conveying shaft arranged on the outer side plate 36, the driving belt 4 moves towards the seedling falling channel 1 from the seedling tray conveying mechanism 22, and the alfalfa pot seedlings 23 are thrown into the seedling falling channel 1.
Two outer side plates 36 are respectively fixedly connected with a seedling throwing side plate 6; the front end of the belt 4 is provided with a pair of symmetrically arranged seedling throwing baffles 5 which are respectively and rotatably connected to two seedling throwing side plates 6 and are pre-tightened through seedling throwing pre-tightening springs 2 arranged on the outer side surfaces of the seedling throwing side plates 6, so that the two seedling throwing baffles 5 are in mutual contact.
Each clamping section of the clamping plate 10 and each adjusting section of the adjusting plate 12 have four stopping positions in a horizontal plane; the four stopping positions comprise two working positions, wherein one working position is positioned above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa pot seedlings 23 of a pot seedling tray 24 on the uppermost layer; the other operating position is above the belt 4.
When one clamping section of the clamping plate 10 rotates to the position above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa seedlings 23 of one seedling tray 24 at the uppermost layer, each clamping paw 7 on the clamping section corresponds to one alfalfa seedling 23 respectively.
When an adjusting section of the adjusting plate 12 rotates to the position above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa seedlings 23 of an uppermost layer of alfalfa seedling tray 24, each adjusting upright 11 on the adjusting section corresponds to a gap between two adjacent alfalfa seedlings 23.
A cross bar 18 penetrating through the conveying slide block 25 is further fixedly connected between the two guide rail side baffles 14, and the cross bar 18 is parallel to the guide rod 17 and is positioned on the same horizontal plane.
The adjustment tip 34 is an inverted cone.
The material of the adjustment end 34 is rubber.
And a hydraulic cylinder is arranged in the adjusting upright post 11, and a telescopic rod of the hydraulic cylinder is fixedly connected with the adjusting tail end 34.
The clamping paw 7 adopts a cam structure to realize the extension and retraction along the vertical direction; the cam structure comprises a clamping mounting plate 8, a clamping pre-tightening spring 9, a cam 31, a boss 32 and a cam motor 33; the two clamping mounting plates 8 respectively corresponding to the two clamping sections of the clamping plate 10 are parallel to the clamping plate 10 and are respectively connected with the lower end face of the clamping section of the clamping plate 10 through a pair of clamping pre-tightening springs 9; the upper end face middle part of every centre gripping mounting panel 8 all the rigid coupling a boss 32, and the lower end face middle part of two centre gripping sections of grip block 10 all the rigid coupling has a cam motor 33, be equipped with cam 31 on cam motor 33's the power output shaft, cam 31 is located between the upper surface of the lower terminal surface of the centre gripping section of grip block 10 and boss 32.
An upper guide rod and a lower guide rod which are mutually sleeved and freely slide are arranged inside the clamping pre-tightening spring 9, the upper guide rod is fixedly connected to the lower end face of the clamping plate 10, and the lower guide rod is fixedly connected to the upper end face of the clamping mounting plate 8.
The clamping paw 7 adopts a pneumatic sliding block controlled by a pneumatic valve to realize a clamping function; the top end of a slide rail 37 provided with a pneumatic slide block 28 is fixedly connected on the clamping installation part 29, and the clamping installation part 29 is fixedly connected on the clamping installation plate 8 through a clamping fastening nut 30; the bottom end of the slide rail 37 is fixedly connected with a flange 27, and each clamping finger of the clamping paw 7 is respectively hinged with the pneumatic slide block 28 and the flange 27.
An alfalfa transplanting method for adjusting the transplanting posture of alfalfa pot seedlings by using the alfalfa transplanter comprises the following steps:
1. seedling supply
Placing a pot seedling tray 24 loaded with a plurality of alfalfa pot seedlings 23 in an array on a seedling tray conveying mechanism 22, and conveying the pot seedling tray 24 to a horizontal seedling supply position at the top of the seedling tray conveying mechanism 22 from bottom to top by the seedling tray conveying mechanism 22;
2. posture adjustment of pot seedlings
The conveying motor 19 drives the conveying gear 16 to rotate, the conveying sliding block 25 is driven to move along the axial direction of the guide rod 17, and then an adjusting section of the adjusting plate 12 of the posture adjusting seedling taking unit is moved to the position above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa pot seedlings 23 of a pot seedling tray 24 at the uppermost layer, and each adjusting upright post 11 on the adjusting section of the adjusting plate 12 corresponds to a gap between two adjacent alfalfa pot seedlings 23 respectively; the adjusting tail end 34 at the lower end of the adjusting upright post 11 extends downwards, and the inclined alfalfa pot seedlings 23 are righted and then are retracted upwards;
3. seedling taking
The clamping adjustment motor 20 drives the driving gear 21 to rotate, so as to drive the clamping plate 10 and the adjusting plate 12 to rotate 90 degrees, further, the clamping section of the clamping plate 10 of the posture adjustment seedling taking unit is rotated to be above a row of alfalfa pot seedlings 23 after the posture adjustment is completed, and each clamping paw 7 on the clamping section of the clamping plate 10 corresponds to one alfalfa pot seedling 23; the clamping paw 7 extends downwards to clamp the alfalfa pot seedlings 23 and then retracts upwards;
4. throwing seedling
The clamping adjusting motor 20 drives the driving gear 21 to rotate again to drive the clamping plate 10 and the adjusting plate 12 to rotate by 90 degrees, the conveying motor 19 drives the conveying gear 16 to rotate to drive the conveying slide block 25 to move along the axial direction of the guide rod 17, and then the clamping section of the clamping plate 10 of the posture adjusting seedling taking unit is rotated to be right above the belt 4 of the seedling throwing mechanism; the clamping paw 7 extends downwards, and after the clamped alfalfa pot seedlings 23 are placed on the belt 4 of the seedling throwing mechanism, the clamping paw 7 loosens the alfalfa pot seedlings 23 and retracts upwards; the belt 4 moves forwards under the driving of the seedling throwing motor 3, and the alfalfa pot seedlings 23 are thrown into the seedling falling channel 1 one by one;
meanwhile, the other adjusting section of the adjusting plate 12 of the posture adjusting seedling taking unit rotates to the position above the pot seedling tray 24 to prepare for posture adjustment of the next row of alfalfa pot seedlings 23, and the steps 2 to 4 are repeated to complete posture adjustment, seedling taking and seedling throwing operations of the alfalfa pot seedlings 23.
In the step 4, the seedling throwing interval of the alfalfa pot seedlings 23 is adjusted by adjusting the pretightening force of the seedling throwing pretightening spring 2 of the seedling throwing baffle 5 arranged at the front end of the belt 4.
Compared with the prior art, the invention has the beneficial effects that:
1. the posture adjusting seedling taking unit is arranged on the alfalfa transplanter, the posture of the pot seedlings can be adjusted before the pot seedlings are transplanted, and the degree of seedling damage and seedling damage in the transplanting process caused by irregular pot seedling postures is reduced.
2. The alfalfa transplanter adopts the clamping mechanism, can clamp a plurality of posture-adjusted alfalfa pot seedlings in the pot seedling transplanting process, and can place the clamped alfalfa pot seedlings on the belt in sequence through the mechanism, so that the pot seedling transplanting efficiency is improved;
3. the alfalfa transplanter is provided with the seedling throwing mechanism, so that the seedling sending time and frequency can be controlled according to the seedling sending frequency and time in the transplanting process, and the automation degree of transplanting and sending seedlings is improved;
4. the alfalfa transplanter can adapt to the requirements of pot seedling transplanting adaptability conditions with different row distances and plant distances, can meet the transplanting requirements of different types of pot seedlings at different row distances and plant distances, and is strong in operability;
5. the alfalfa transplanter has high automation degree, can adjust the posture of alfalfa pot seedlings, can automatically clamp and convey the alfalfa pot seedlings, can adjust according to the transplanting requirements of line spacing and plant spacing, has strong applicability, and is suitable for large-scale popularization and use.
Drawings
FIG. 1 is a schematic structural diagram of an alfalfa transplanter for adjusting transplanting postures of alfalfa pot seedlings according to the present invention;
fig. 2 is a schematic structural view of the seedling tray conveying mechanism 22;
FIG. 3a is a schematic structural view of a seedling picking mechanism for posture adjustment of pot seedlings;
FIG. 3b is a schematic structural view of the seedling conveying unit;
FIG. 3c is a schematic structural diagram of the posture adjustment seedling taking unit;
FIG. 3d is a schematic view of the clamping state of the clamping gripper 7;
FIG. 3e is a schematic diagram of the posture of the alfalfa pot seedlings 23 before being adjusted;
FIG. 3f is a schematic diagram of posture adjustment of the alfalfa pot seedlings 23;
fig. 4 is a schematic structural view of a cam structure adopted by the clamping paw 7;
fig. 5 is a schematic structural view of a pneumatic slider used for the gripper jaws 7;
FIG. 6 is a schematic structural view of a seedling throwing mechanism;
FIG. 7 is a schematic diagram of the cooperation of the seedling throwing mechanism and the pot seedling posture adjusting and seedling taking mechanism.
Wherein the reference numerals are:
1 seedling dropping channel 2 seedling throwing pre-tightening spring
3 throw 4 belts of seedling motor
5 seedling throwing baffle 6 seedling throwing side plate
7 clamping paw 8 clamping mounting plate
9 clamping and pre-tightening spring 10 clamping plate
11 adjusting upright post 12 adjusting plate
13 driven gear 14 guide rail side baffle
15 rack 16 conveying gear
17 guide bar 18 cross bar
19 conveying motor 20 clamping adjusting motor
21 driving gear 22 seedling tray conveying mechanism
24 pot seedling trays for 23 alfalfa pot seedlings
25 conveying slide block 26 clamping and adjusting mounting base
27 flange 28 pneumatic slide block
29 clamping fixture 30 clamps fastening nut
31 cam 32 boss
33 cam motor 34 adjusting end
35 outer side plate of rotating shaft 36
37 sliding rail
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, the alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings comprises a frame (the frame is of a conventional structure and is not shown in the drawing), a pot seedling posture adjusting seedling taking mechanism, a seedling throwing mechanism and a seedling tray conveying mechanism 22.
The seedling dropping machine is characterized in that a seedling dropping channel 1 is arranged on the rack, the seedling throwing mechanism and the seedling tray conveying mechanism 22 are sequentially arranged at the rear part of the seedling dropping channel 1, and the pot seedling posture adjusting and seedling taking mechanism is arranged above the seedling throwing mechanism and the seedling tray conveying mechanism 22.
As shown in fig. 2, the seedling tray conveying mechanism 22 is used for conveying a plurality of pot seedling trays 24 from bottom to top to a horizontal seedling supply position on the top of the seedling tray conveying mechanism 22 in sequence; a plurality of alfalfa pot seedlings 23 are loaded on the pot seedling tray 24 in an array mode.
As shown in fig. 3a, the pot seedling posture adjustment seedling taking mechanism comprises a posture adjustment seedling taking unit and a seedling conveying unit.
As shown in fig. 3b, the seedling conveying unit comprises a guide rail side baffle 14, a rack 15, a conveying gear 16, a guide rod 17, a conveying motor 19 and a conveying slide block 25.
The lower surface of the horizontally arranged rack 15 is provided with a plurality of teeth. The front end and the rear end of the rack 15 are fixedly connected with a guide rail side baffle 14 respectively, and the upper end of the guide rail side baffle 14 is fixedly connected with the rack 15. A guide rod 17 parallel to the rack 15 is fixedly connected between the two guide rail side baffles 14. The transfer shoe 25 is arranged on the guide bar 17 so as to be freely slidable. The conveying sliding block 25 is provided with a conveying motor 19, and a power output shaft of the conveying motor 19 is provided with a conveying gear 16 which is meshed with the teeth on the lower surface of the rack 15. The conveying motor 19 drives the conveying gear 16 to rotate, so that the conveying slider 25 moves in the axial direction of the guide rod 17.
Preferably, a cross bar 18 penetrating through the conveying slide 25 is further fixedly connected between the two guide rail side baffles 14, and the cross bar 18 is parallel to the guide rod 17 and is positioned on the same horizontal plane.
As shown in fig. 3c, the posture-adjusting seedling-taking unit comprises a clamping paw 7, a clamping plate 10, an adjusting upright post 11, an adjusting plate 12, a driven gear 13, a clamping adjusting motor 20, a driving gear 21 and a clamping adjusting mounting seat 26.
The upper end of the clamping adjustment mounting seat 26 is fixedly connected to the lower end face of the conveying slide block 25.
The clamping plate 10 and the adjusting plate 12 are positioned on the same horizontal plane and vertically intersected in the middle to form a cross-shaped structure together. At the intersection point of the clamping plate 10 and the adjusting plate 12, the clamping plate 10 is divided into two clamping sections which are symmetrical relative to the intersection point and have the same length, and the adjusting plate 12 is divided into two adjusting sections which are symmetrical relative to the intersection point and have the same length. A rotating shaft 35 is vertically and fixedly connected to the intersection point of the clamping plate 10 and the adjusting plate 12, the rotating shaft 35 is rotatably connected to the lower end of the clamping adjusting mounting seat 26, and the rotating shaft 35 is provided with a driven gear 13. The clamping adjustment motor 20 is fixedly connected to the side surface of the clamping adjustment mounting seat 26, and a driving gear 21 meshed with the driven gear 13 is arranged on a power output shaft of the clamping adjustment motor 20; the clamp adjustment motor 20 intermittently drives the pinion gear 21 to rotate such that the pinion gear 21 rotates 90 ° at each cycle of movement, thereby rotating the clamp plate 10 and the adjustment plate 12 90 ° at each cycle of movement.
As shown in fig. 3d, the lower end surfaces of the two clamping sections of the clamping plate 10 are respectively provided with a plurality of clamping claws 7 which can extend downwards and clamp the alfalfa pot seedlings 23.
As shown in fig. 3e and 3f, a plurality of adjusting columns 11 are vertically and fixedly connected to the lower end surfaces of the two adjusting sections of the adjusting plate 12, and the lower ends of the adjusting columns 11 are provided with adjusting tips 34 that can extend downward.
The maximum outer diameter of the adjusting tail end 34 is equal to the distance between two adjacent clover pot seedlings 23.
Preferably, the adjustment tip 34 is an inverted cone.
Preferably, the material of the adjustment end 34 is a soft material such as rubber.
Preferably, a hydraulic cylinder is arranged inside the adjusting upright post 11, and an expansion rod of the hydraulic cylinder is fixedly connected with the adjusting tail end 34.
As shown in fig. 4, the clamping paw 7 preferably adopts a cam structure to realize the expansion and contraction in the vertical direction. The cam structure comprises a clamping mounting plate 8, a clamping pre-tightening spring 9, a cam 31, a boss 32 and a cam motor 33. The two clamping mounting plates 8 respectively corresponding to the two clamping sections of the clamping plate 10 are parallel to the clamping plate 10 and are respectively connected with the lower end face of the clamping section of the clamping plate 10 through a pair of clamping pre-tightening springs 9. The upper end face middle part of every centre gripping mounting panel 8 all the rigid coupling a boss 32, and the lower end face middle part of two centre gripping sections of grip block 10 all the rigid coupling has a cam motor 33, be equipped with cam 31 on cam motor 33's the power output shaft, cam 31 is located between the upper surface of the lower terminal surface of the centre gripping section of grip block 10 and boss 32. The cam motor 33 drives the cam 31 to rotate, the distance between the clamping mounting plate 8 and the clamping plate 10 is changed, and then the clamping paw 7 stretches and retracts in the vertical direction.
Preferably, an upper guide rod and a lower guide rod which are sleeved with each other and can freely slide are arranged inside the clamping pre-tightening spring 9, the upper guide rod is fixedly connected to the lower end face of the clamping plate 10, and the lower guide rod is fixedly connected to the upper end face of the clamping mounting plate 8.
As shown in fig. 5, the gripping paw 7 preferably performs the gripping function using a pneumatic slide controlled by a pneumatic valve. The top end of a slide rail 37 provided with a pneumatic slide block 28 is fixedly connected on the clamping installation part 29, and the clamping installation part 29 is fixedly connected on the clamping installation plate 8 through a clamping fastening nut 30; the bottom end of the slide rail 37 is fixedly connected with a flange 27, and each clamping finger of the clamping paw 7 is respectively hinged with the pneumatic slide block 28 and the flange 27. The pneumatic slide 28 controlled by the pneumatic valve moves in the vertical direction along the slide rail 37, so that the opening degree of the clamping paw 7 is adjusted, and the clamping function is realized.
The seedling throwing mechanism is arranged between the seedling falling channel 1 and the seedling tray conveying mechanism 22. As shown in fig. 6, the seedling throwing mechanism comprises a seedling throwing pretightening spring 2, a seedling throwing motor 3, a belt 4, a seedling throwing baffle 5, a seedling throwing side plate 6 and an outer side plate 36.
The front end and the rear end of the two outer side plates 36 which are horizontally and symmetrically arranged are respectively provided with a transmission shaft, and the belt 4 is sleeved on the two transmission shafts. The belt 4 is in the same horizontal plane with the topmost pot seedling tray 24 of the seedling tray conveying mechanism 22. The front end of the belt 4 corresponds to the seedling falling channel 1.
The power output shaft of the seedling throwing motor 3 is connected with a conveying shaft arranged on the outer side plate 36, the driving belt 4 moves towards the seedling falling channel 1 from the seedling tray conveying mechanism 22, and the alfalfa pot seedlings 23 are thrown into the seedling falling channel 1.
Two outer side plates 36 are respectively and fixedly connected with a seedling throwing side plate 6. The front end of the belt 4 is provided with a pair of symmetrically arranged seedling throwing baffles 5 which are respectively and rotatably connected to two seedling throwing side plates 6 and are pre-tightened through seedling throwing pre-tightening springs 2 arranged on the outer side surfaces of the seedling throwing side plates 6, so that the two seedling throwing baffles 5 are in mutual contact.
Since the clamping plate 10 and the adjusting plate 12 are rotated by 90 ° in each movement cycle, each clamping segment of the clamping plate 10 and each adjusting segment of the adjusting plate 12 have four rest positions in the horizontal plane. The four stopping positions comprise two working positions, wherein one working position is positioned above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa pot seedlings 23 of a pot seedling tray 24 on the uppermost layer; the other operating position is above the belt 4.
When one clamping section of the clamping plate 10 rotates to the position above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa seedlings 23 of one seedling tray 24 at the uppermost layer, each clamping paw 7 on the clamping section corresponds to one alfalfa seedling 23 respectively.
When an adjusting section of the adjusting plate 12 rotates to the position above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa seedlings 23 of an uppermost layer of alfalfa seedling tray 24, each adjusting upright 11 on the adjusting section corresponds to a gap between two adjacent alfalfa seedlings 23.
An alfalfa transplanting method for adjusting transplanting postures of alfalfa pot seedlings comprises the following steps:
1) seedling supply
Placing a pot seedling tray 24 loaded with a plurality of alfalfa pot seedlings 23 in an array on a seedling tray conveying mechanism 22, and conveying the pot seedling tray 24 to a horizontal seedling supply position at the top of the seedling tray conveying mechanism 22 from bottom to top by the seedling tray conveying mechanism 22;
2) posture adjustment of pot seedlings
The conveying motor 19 drives the conveying gear 16 to rotate, the conveying sliding block 25 is driven to move along the axial direction of the guide rod 17, and then an adjusting section of the adjusting plate 12 of the posture adjusting seedling taking unit is moved to the position above the seedling tray conveying mechanism 22 and corresponds to a row of alfalfa pot seedlings 23 of a pot seedling tray 24 at the uppermost layer, and each adjusting upright post 11 on the adjusting section of the adjusting plate 12 corresponds to a gap between two adjacent alfalfa pot seedlings 23 respectively; the adjusting tail end 34 at the lower end of the adjusting upright post 11 extends downwards, and the inclined alfalfa pot seedlings 23 are righted and then are retracted upwards;
3) seedling taking
The clamping adjustment motor 20 drives the driving gear 21 to rotate, so as to drive the clamping plate 10 and the adjusting plate 12 to rotate 90 degrees, further, the clamping section of the clamping plate 10 of the posture adjustment seedling taking unit is rotated to be above a row of alfalfa pot seedlings 23 after the posture adjustment is completed, and each clamping paw 7 on the clamping section of the clamping plate 10 corresponds to one alfalfa pot seedling 23; the clamping paw 7 extends downwards to clamp the alfalfa pot seedlings 23 and then retracts upwards;
4) throwing seedling
As shown in fig. 7, the clamping adjustment motor 20 drives the driving gear 21 to rotate again to drive the clamping plate 10 and the adjustment plate 12 to rotate by 90 °, the conveying motor 19 drives the conveying gear 16 to rotate to drive the conveying slider 25 to move along the axial direction of the guide rod 17, and then the clamping section of the clamping plate 10 of the posture adjustment seedling taking unit is rotated to be right above the belt 4 of the seedling throwing mechanism; the clamping paw 7 extends downwards, and after the clamped alfalfa pot seedlings 23 are placed on the belt 4 of the seedling throwing mechanism, the clamping paw 7 loosens the alfalfa pot seedlings 23 and retracts upwards; the belt 4 moves forwards under the driving of the seedling throwing motor 3, and the alfalfa pot seedlings 23 are thrown into the seedling falling channel 1 one by one;
meanwhile, the other adjusting section of the adjusting plate 12 of the posture adjusting seedling taking unit rotates to the position above the pot seedling tray 24 to prepare for posture adjustment of the next row of alfalfa pot seedlings 23, and the steps 2) to 4) are repeated to complete posture adjustment, seedling taking and seedling throwing operations of the alfalfa pot seedlings 23.
In the step 4), the seedling throwing interval of the alfalfa pot seedlings 23 is adjusted by adjusting the pretightening force of the seedling throwing pretightening spring 2 of the seedling throwing baffle 5 arranged at the front end of the belt 4.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes and modifications can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. An alfalfa transplanter for adjusting transplanting postures of alfalfa pot seedlings comprises a frame and a seedling tray conveying mechanism (22); a seedling falling channel (1) is arranged on the rack, and the seedling tray conveying mechanism (22) is used for sequentially conveying a plurality of pot seedling trays (24) to a horizontal seedling supply position at the top of the seedling tray conveying mechanism (22) from bottom to top; a plurality of alfalfa pot seedlings (23) are loaded on the pot seedling tray (24) in an array manner,
the method is characterized in that:
the transplanter further comprises a pot seedling posture adjusting seedling taking mechanism and a seedling throwing mechanism, wherein the seedling throwing mechanism and a seedling tray conveying mechanism (22) are sequentially arranged at the rear part of the seedling falling channel (1); the pot seedling posture adjusting and seedling taking mechanism is arranged above the seedling throwing mechanism and the seedling tray conveying mechanism (22);
the pot seedling posture adjusting seedling taking mechanism comprises a posture adjusting seedling taking unit and a seedling conveying unit;
the seedling conveying unit comprises a guide rail side baffle (14), a rack (15), a conveying gear (16), a guide rod (17), a conveying motor (19) and a conveying sliding block (25);
the lower surface of a horizontally arranged rack (15) is provided with a plurality of teeth, the front end and the rear end of the rack (15) are fixedly connected with a guide rail side baffle (14) respectively, and the upper end of the guide rail side baffle (14) is fixedly connected with the rack (15); a guide rod (17) parallel to the rack (15) is fixedly connected between the two guide rail side baffles (14); the conveying sliding block (25) is arranged on the guide rod (17) in a free sliding manner; a conveying motor (19) is installed on the conveying sliding block (25), and a conveying gear (16) meshed with the teeth on the lower surface of the rack (15) is arranged on a power output shaft of the conveying motor (19);
the posture adjustment seedling taking unit comprises a clamping paw (7), a clamping plate (10), an adjustment upright post (11), an adjustment plate (12), a driven gear (13), a clamping adjustment motor (20), a driving gear (21) and a clamping adjustment mounting seat (26);
the upper end of the clamping adjustment mounting seat (26) is fixedly connected to the lower end face of the conveying sliding block (25);
the clamping plate (10) and the adjusting plate (12) are positioned on the same horizontal plane and vertically intersected in the middle to form a cross-shaped structure; the intersection point of the clamping plate (10) and the adjusting plate (12) divides the clamping plate (10) into two clamping sections which are symmetrical relative to the intersection point and have the same length, and divides the adjusting plate (12) into two adjusting sections which are symmetrical relative to the intersection point and have the same length; a rotating shaft (35) is vertically and fixedly connected to the intersection point of the clamping plate (10) and the adjusting plate (12), the rotating shaft (35) is rotatably connected to the lower end of the clamping adjusting mounting seat (26), and a driven gear (13) is arranged on the rotating shaft (35); the clamping adjusting motor (20) is fixedly connected to the side face of the clamping adjusting mounting seat (26), and a power output shaft of the clamping adjusting motor (20) is provided with a driving gear (21) meshed with the driven gear (13); the clamping adjusting motor (20) intermittently drives the driving gear (21) to rotate, so that the driving gear (21) rotates 90 degrees in each movement period, and further the clamping plate (10) and the adjusting plate (12) rotate 90 degrees in each movement period;
the lower end faces of the two clamping sections of the clamping plate (10) are respectively provided with a plurality of clamping claws (7) which can extend downwards and clamp alfalfa pot seedlings (23);
the lower end faces of the two adjusting sections of the adjusting plate (12) are vertically and fixedly connected with a plurality of adjusting upright columns (11), and the lower ends of the adjusting upright columns (11) are provided with adjusting tail ends (34) which can extend downwards;
the maximum outer diameter of the adjusting tail end (34) is equal to the distance between two adjacent clover pot seedlings (23);
the seedling throwing mechanism comprises a seedling throwing pretightening spring (2), a seedling throwing motor (3), a belt (4), a seedling throwing baffle (5), a seedling throwing side plate (6) and an outer side plate (36);
the front ends and the rear ends of the two outer side plates (36) which are horizontally and symmetrically arranged are respectively provided with a transmission shaft, and the belt (4) is sleeved on the two transmission shafts; the belt (4) and the pot seedling tray (24) on the uppermost layer of the seedling tray conveying mechanism (22) are in the same horizontal plane; the front end of the belt (4) corresponds to the seedling falling channel (1);
a power output shaft of the seedling throwing motor (3) is connected with a conveying shaft arranged on an outer side plate (36), a driving belt (4) moves towards the seedling falling channel (1) from a seedling tray conveying mechanism (22), and alfalfa pot seedlings (23) are thrown into the seedling falling channel (1);
two outer side plates (36) are respectively fixedly connected with a seedling throwing side plate (6); a pair of symmetrically arranged seedling throwing baffles (5) are respectively and rotatably connected to the two seedling throwing side plates (6) at the front end of the belt (4) and are pre-tightened through seedling throwing pre-tightening springs (2) arranged on the outer side surfaces of the seedling throwing side plates (6), so that the two seedling throwing baffles (5) are mutually contacted;
each clamping section of the clamping plate (10) and each adjusting section of the adjusting plate (12) are provided with four stopping positions in a horizontal plane; the four stopping positions comprise two working positions, wherein one working position is positioned above the seedling tray conveying mechanism (22) and corresponds to a row of alfalfa pot seedlings (23) of one pot seedling tray (24) on the uppermost layer; the other working position is positioned above the belt (4);
when one clamping section of the clamping plate (10) rotates to the position above the seedling tray conveying mechanism (22) and corresponds to one row of alfalfa pot seedlings (23) of one pot seedling tray (24) on the uppermost layer, each clamping paw (7) on the clamping section corresponds to one alfalfa pot seedling (23) respectively;
when one adjusting section of the adjusting plate (12) rotates to the position above the seedling tray conveying mechanism (22) and corresponds to one row of alfalfa pot seedlings (23) of one pot seedling tray (24) on the uppermost layer, each adjusting upright column (11) on the adjusting section corresponds to a gap between two adjacent alfalfa pot seedlings (23) respectively.
2. The alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings according to claim 1, wherein: a cross bar (18) penetrating through the conveying sliding block (25) is further fixedly connected between the two guide rail side baffles (14), and the cross bar (18) is parallel to the guide rod (17) and is positioned on the same horizontal plane.
3. The alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings according to claim 1, wherein: the adjustment tip (34) is an inverted cone.
4. The alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings according to claim 1, wherein: the adjusting tail end (34) is made of rubber.
5. The alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings according to claim 1, wherein: and a hydraulic cylinder is arranged in the adjusting upright column (11), and a telescopic rod of the hydraulic cylinder is fixedly connected with the adjusting tail end (34).
6. The alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings according to claim 1, wherein: the clamping paw (7) adopts a cam structure to realize the extension and retraction along the vertical direction; the cam structure comprises a clamping mounting plate (8), a clamping pre-tightening spring (9), a cam (31), a boss (32) and a cam motor (33); the two clamping mounting plates (8) respectively corresponding to the two clamping sections of the clamping plate (10) are parallel to the clamping plate (10) and are respectively connected with the lower end face of the clamping section of the clamping plate (10) through a pair of clamping pre-tightening springs (9); the upper end face middle part of every centre gripping mounting panel (8) all the rigid coupling a boss (32), the equal rigid coupling in lower terminal surface middle part of two centre gripping sections of grip block (10) has a cam motor (33), be equipped with cam (31) on the power output shaft of cam motor (33), cam (31) are located between the upper surface of the lower terminal surface of the centre gripping section of grip block (10) and boss (32).
7. The alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings according to claim 6, wherein: an upper guide rod and a lower guide rod which are mutually sleeved and freely slide are arranged inside the clamping pre-tightening spring (9), the upper guide rod is fixedly connected to the lower end face of the clamping plate (10), and the lower guide rod is fixedly connected to the upper end face of the clamping mounting plate (8).
8. The alfalfa transplanter for adjusting the posture of transplanting alfalfa pot seedlings according to claim 6, wherein: the clamping paw (7) adopts a pneumatic slide block controlled by a pneumatic valve to realize a clamping function; the top end of a sliding rail (37) provided with a pneumatic sliding block (28) is fixedly connected to the clamping mounting piece (29), and the clamping mounting piece (29) is fixedly connected to the clamping mounting plate (8) through a clamping fastening nut (30); the bottom of slide rail (37) is a rigid coupling ring flange (27), every centre gripping finger of centre gripping hand claw (7) is equallyd divide and is articulated with pneumatic slider (28) and ring flange (27) respectively.
9. An alfalfa transplantation method for adjusting posture of transplanting alfalfa pot seedlings by using the alfalfa transplanter according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:
1. seedling supply
Placing a pot seedling tray (24) loaded with a plurality of alfalfa pot seedlings (23) in an array on a seedling tray conveying mechanism (22), and conveying the pot seedling tray (24) to a horizontal seedling supply position at the top of the seedling tray conveying mechanism (22) from bottom to top by the seedling tray conveying mechanism (22);
2. posture adjustment of pot seedlings
The conveying motor (19) drives the conveying gear (16) to rotate, the conveying sliding block (25) is driven to move along the axial direction of the guide rod (17), and then an adjusting section of an adjusting plate (12) of the posture adjusting seedling taking unit is moved to the position above the seedling tray conveying mechanism (22) and corresponds to a row of alfalfa pot seedlings (23) of a pot seedling tray (24) on the uppermost layer, and each adjusting upright column (11) on the adjusting section of the adjusting plate (12) corresponds to a gap between two adjacent alfalfa pot seedlings (23) respectively; the adjusting tail end (34) at the lower end of the adjusting upright post (11) extends downwards, and the inclined alfalfa pot seedlings (23) are righted and then retracted upwards;
3. seedling taking
The clamping adjustment motor (20) drives the driving gear (21) to rotate, the clamping plate (10) and the adjusting plate (12) are driven to rotate by 90 degrees, then the clamping section of the clamping plate (10) of the posture adjustment seedling taking unit is rotated to the position above a row of alfalfa pot seedlings (23) which are subjected to posture adjustment, and each clamping paw (7) on the clamping section of the clamping plate (10) corresponds to one alfalfa pot seedling (23); the clamping paw (7) extends downwards to clamp the alfalfa pot seedlings (23) and then retracts upwards;
4. throwing seedling
The clamping adjusting motor (20) drives the driving gear (21) to rotate again to drive the clamping plate (10) and the adjusting plate (12) to rotate 90 degrees, the conveying motor (19) drives the conveying gear (16) to rotate to drive the conveying slider (25) to move along the axial direction of the guide rod (17), and then the clamping section of the clamping plate (10) of the posture adjusting seedling taking unit is rotated to be right above the belt (4) of the seedling throwing mechanism; the clamping paw (7) extends downwards, and after the clamped alfalfa pot seedlings (23) are placed on the belt (4) of the seedling throwing mechanism, the clamping paw (7) loosens the alfalfa pot seedlings (23) and retracts upwards; the belt (4) moves forwards under the driving of the seedling throwing motor (3), and alfalfa pot seedlings (23) are thrown into the seedling falling channel (1) one by one;
meanwhile, the other adjusting section of the adjusting plate (12) of the posture adjusting seedling taking unit rotates to the position above the pot seedling tray (24), the posture adjustment of the next row of alfalfa pot seedlings (23) is prepared, and the posture adjustment, seedling taking and seedling throwing operations of the alfalfa pot seedlings (23) are completed by repeating the steps (2) to (4).
10. The method of claim 9, wherein: in the step 4, the seedling throwing interval of the alfalfa pot seedlings (23) is adjusted by adjusting the pretightening force of the seedling throwing pretightening spring (2) of the seedling throwing baffle (5) arranged at the front end of the belt (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811066402.6A CN109197061B (en) | 2018-09-13 | 2018-09-13 | Alfalfa transplanter and method for adjusting transplanting posture of alfalfa pot seedlings |
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| CN201811066402.6A CN109197061B (en) | 2018-09-13 | 2018-09-13 | Alfalfa transplanter and method for adjusting transplanting posture of alfalfa pot seedlings |
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| CN112385447B (en) * | 2020-11-23 | 2022-09-27 | 湖南生物机电职业技术学院 | Rotary automatic seedling planting machine |
| CN112806247B (en) * | 2021-01-29 | 2022-04-08 | 仲恺农业工程学院 | Cup replacing device and cup replacing method for greenhouse crops |
| CN113207376B (en) * | 2021-05-27 | 2022-11-22 | 广西八桂种苗高科技集团股份有限公司 | Garden flower transplanting machine |
| CN114145141A (en) * | 2021-11-14 | 2022-03-08 | 北京工业大学 | Rotary woody branch cutting mechanism |
| CN114128488A (en) * | 2021-11-14 | 2022-03-04 | 北京工业大学 | Rotation type lily picking mechanism |
| CN114258767B (en) * | 2021-12-29 | 2022-12-02 | 山东省农业机械科学研究院 | Small bare seedling transplanting machine and method |
| CN115191191B (en) * | 2022-07-06 | 2023-07-14 | 河南科技大学 | Plug seedling transplanting mechanical claw with force feedback mechanism |
| CN117941592B (en) * | 2024-03-25 | 2024-06-14 | 中国农业科学院草原研究所 | Vegetation transplanting equipment for original ecological restoration of grasses and application method thereof |
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| EP1397034B1 (en) * | 2001-06-20 | 2004-10-27 | Silca Apparatenbouw B.V. | Device for placing plant matter onto or in a bed |
| NL1030277C2 (en) * | 2005-10-26 | 2007-04-27 | Jhl Group | Device and method for engaging crop. |
| CN201388408Y (en) * | 2009-02-19 | 2010-01-27 | 浙江理工大学 | Seedling feeding device of nutrition pot seedling grafting machine |
| CN205284125U (en) * | 2015-11-09 | 2016-06-08 | 石河子大学 | A set device is sent in automation of alms bowl seedling transplanter |
| CN207340502U (en) * | 2017-10-16 | 2018-05-11 | 西华大学 | A kind of cup type plant feed unit of putting a lodged plant upright of Sheng seedling for the transplanting of pot seedling celery |
| CN107852918A (en) * | 2017-12-15 | 2018-03-30 | 王友芳 | The pot seedling transplanter of more seed plates |
| CN108391491A (en) * | 2018-06-06 | 2018-08-14 | 中国农业大学 | A kind of full-automatic potted tray seedling transplanter of press-down type seedling taking send seedling seedling taking seedling launching mechanism |
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