阅读说明：本技术 一种自动分苗移栽机 (A kind of automatic seedling separation transplanter ) 是由 赵美卿 张晓凯 高勇 杨巨银 王宝新 芦家丰 康健 李超 于 2019-08-28 设计创作，主要内容包括：本发明属于旱地裸根苗移栽技术领域,具体是一种自动分苗移栽机。包括分拣器、u型开口盘、全轨道、半导轨和移栽机机架,移栽机机架上部并排安装若干组全轨道,上链条上间隔固定上机械手的一端,上机械手的机械手端沿全轨道移动,全轨道一端安装有固定在移栽机机架上的分拣器,分拣器的下方设置有u型开口盘,若干个u型开口盘固定在链条上,链条挂在U型板主动链轮和U型板从动链轮上并通过U型板主动链轮驱动；全轨道下方安装有固定在移栽机机架下部的半导轨,下链条上间隔固定下机械手的一端,下机械手的机械手端沿半导轨移动；移栽机机架底部设置开沟器、覆土器以及定距轮,定距轮与链条驱动机构连接,链条驱动机构驱动整个自动分苗移栽机。(The invention belongs to nonirrigated farmland bare-root seeding transplantation technique field, specifically a kind of automatic seedling separation transplanter.Including sorter, u-shaped vent disk, Star Simulator, half guide rail and transplant machine rack, several groups Star Simulator is mounted side by side in transplant machine rack top, one end of fixed upper manipulator is spaced on upper chain, it is moved along Star Simulator at the manipulator end of upper manipulator, Star Simulator one end is equipped with the sorter being fixed in transplant machine rack, u-shaped vent disk is provided with below sorter, several u-shaped vent disks are fixed on chain, and chain hangs on U-shaped board drive sprocket and U-shaped board driven sprocket and driven by U-shaped board drive sprocket；Half guide rail for being fixed on transplant machine rack lower part is installed, one end of the fixed lower manipulator in interval on lower chain, the manipulator end of lower manipulator is moved along half guide rail below Star Simulator；Transplant machine rack bottom setting plough, coverer and stitch marker, stitch marker are connect with chain drive mechanism, the entire automatic seedling separation transplanter of chain drive mechanism driving.)

1. a kind of automatic seedling separation transplanter, it is characterised in that: including sorter (1), u-shaped vent disk (2), Star Simulator (3), partly lead Several groups Star Simulator (3), each group of Star Simulator is mounted side by side in rail (6) and transplant machine rack (5), transplant machine rack (5) top (3) there are two the installations of center upper sprocket wheel (10.1), upper chain (11.1), upper chain are set between two upper sprocket wheels (10.1) (11.1) one end of fixed upper manipulator (4.1) is spaced on, the manipulator end of upper manipulator (4.1) is mobile along Star Simulator (3), entirely Track (3) one end is equipped with the sorter (1) being fixed on transplant machine rack (5), is provided with u-shaped below sorter (1) and opens Mouth disk (2), u-shaped vent disk (2) are equipped with several, several u-shaped vent disks (2) are fixed on chain, and chain hangs over U-shaped board master It is driven on movable sprocket (18) and U-shaped board driven sprocket (18.1) and by U-shaped board drive sprocket (18)；Peace below Star Simulator (3) Equipped with half guide rail (6) for being fixed on transplant machine rack (5) lower part, there are two the installations of half guide rail (6) center lower sprocket (10.2), and two Lower chain (11.2) are set between a lower sprocket (10.2), the one end of interval fixed lower manipulator (4.2) on lower chain (11.2), The manipulator end of lower manipulator (4.2) is mobile along half guide rail (6)；Plough (9), coverer are arranged in transplant machine rack (5) bottom (8) and stitch marker (7), stitch marker (7) are connect with chain drive mechanism, the entire automatic seedling separation transplanting of chain drive mechanism driving Machine.

2. automatic seedling separation transplanter according to claim 1, it is characterised in that: the sorter (1) includes bracket (1.1), gear (1.2) and sorting ring gear (1.3) are sorted, sorting gear (1.2) and sorting ring gear (1.3) are co-axially located at bracket (1.1) on, sorting gear (1.2) setting is sorted and is set between gear (1.2) and sorting ring gear (1.3) in sorting ring gear (1.3) It is equipped with seedling feeder (1.5) and seedling outlet (1.4).

3. automatic seedling separation transplanter according to claim 2, it is characterised in that: the chain drive mechanism includes and ground The transmission chain (12) of coaxial drive sprocket (10) connection is taken turns, transmission chain (12) and the driven sprocket (7.2) of lower layer's manipulator connect It connects, the gear (7.1) of drive sprocket (13) coaxial arrangement is connected by idle pulley group (14) and upper layer manipulator drive sprocket (3.1) It connects, upper layer manipulator drive sprocket (3.1) is connect by upper chain (11. 1) with upper layer manipulator driven sprocket (3.2), upper layer Manipulator driven sprocket (3.2) is coaxially arranged with incomplete bevel gear (15), and incomplete bevel gear (15) is nibbled with bevel gear (16) It closes, bevel gear (16) drives U-shaped board drive sprocket (18), and bevel gear (16) is coaxially arranged with sprocket wheel (19), and sprocket wheel (19) passes through Chain (17) is connect with sorting gear (1.3).

4. automatic seedling separation transplanter according to claim 3, it is characterised in that: the upper manipulator (4.1) include with The fixed connecting plate (4.14) of upper chain (11.1), fixed connecting rod (4.13) on connecting plate (4.14), connecting rod (4.13) are another One end is provided with two pieces of arc panels (4.11) being hingedly connected to one another, and is provided with axis bullet at the articulated shaft of two pieces of arc panels (4.11) Spring, arc panel (4.11) surface are provided with tensioning rubber skin (4.12)；The lower manipulator (4.2) and upper manipulator (4.1) Structure is identical.

5. automatic seedling separation transplanter according to claim 4, it is characterised in that: the Star Simulator (3) include it is two rows of simultaneously The elliptical orbit of setting is arranged, two pieces of arc panels (4.11) of upper manipulator (4.1) are stuck in elliptical orbit arranged side by side Side, Star Simulator (3) and half guide rail (6) junction, the inside spacing of elliptical orbit meet two pieces of arcs of upper manipulator (4.1) Plate (4.11) fully opens, and the inside spacing of elliptical orbit meets two pieces of arc panels of manipulator (4.1) when other positions (4.11) it is closed；Half guide rail (6) includes the non-closed half elliptic track of two rows arranged side by side, half guide rail (6) Upper side opening is aligned with carrier chain center, and lower opening is aligned with the center of rear sprocket wheel.

6. automatic seedling separation transplanter according to claim 5, it is characterised in that: u-shaped vent disk (2) setting is going out Below seedling mouth (1.4), u-shaped vent disk (2) front is provided with square orifice.

Technical field

The invention belongs to nonirrigated farmland bare-root seeding transplantation technique field, specifically a kind of automatic seedling separation transplanter.

Background technique

With the development of society, agrotechnical raising and progress, many crops and vegetables all with culturing and transplanting seedlings this One technology alleviates artificial anxiety, and the tight task heavy work intensity of crop transplanting time is big, it is necessary to could be complete in time with transplanting machine It is a kind of important technology for improving crop yield and quality at, crops transplantation technique, in recent years gradually to make plant setting field emerging It rises, it is deep to be welcome by vast farmers and agro-technician.Transplanting machine has bare-root seeding and non-bare-root seeding transplanting machine respectively, In bare-root seeding transplanter again to save the transplanting such as nutritive cube material, reduce planting cost, the raising for being conducive to crop quality etc. Advantage, and welcome by agriculture section personnel and peasant.Existing nonirrigated farmland bare-root seeding transplanter common are chain-clip type and flexible disk formula Two kinds, wherein chain-clip type bare-root seeding transplanter is more common at home, this chain-clip type bare-root seeding transplanter, in practical application It needs people to be sitting on planting machine, naked seedling is placed among chain folder by hand, chain folder constantly moves, narrow in the inlet chain double-layered quilt of slit Seam is forced to step up, and naked seedling is sandwiched in wherein to prevent therefrom sliding in advance, and the other end that seedling is clipped in slit is walked out, and seedling folder opens simultaneously Seedling is embedded in the ditch held successfully by soil, completes plant process.Vertical chain-clip type transplanter not can guarantee shifting when transplanting soft crop Self-support degree after cultivation, chain-clip type transplanter lack seedling-feeding device, it is low to result in machine efficiency.Existing chain-clip type transplanter is with group Arrangement is only applicable to the hard seedling replanting in plantation stem, root, using first seedlings plugging, the technology of rear earthing, and the seedling mistake row row of plantation Cloth is made troubles to later period weeding, and cannot be used for small line-spacing high density transplanting, and the new structure of the application can solve root It is soft, random, the transplanting of how this kind of naked shrub seedling of stock head, and is parallel arrangement, weeding is convenient, is suitble to small line-spacing high density Transplanting.

Summary of the invention

The present invention to solve the above-mentioned problems, provides a kind of automatic seedling separation transplanter.

The present invention takes following technical scheme: a kind of automatic seedling separation transplanter, including sorter, u-shaped vent disk, full track Road, half guide rail and transplant machine rack, transplant machine rack top are mounted side by side several groups Star Simulator, feel at ease in each group of Star Simulator Upper chain is arranged there are two upper sprocket wheel, between two upper sprocket wheels for dress, one end of the fixed upper manipulator in interval, upper machinery on upper chain The manipulator end of hand is moved along Star Simulator, and Star Simulator one end is equipped with the sorter being fixed in transplant machine rack, sorter Lower section is provided with u-shaped vent disk, and u-shaped vent disk is equipped with several, several u-shaped vent disks are fixed on chain, and chain hangs over U It is driven on template drive sprocket and U-shaped board driven sprocket and by U-shaped board drive sprocket；It is equipped with below Star Simulator and is fixed on shifting Lower chain, lower chain is arranged between two lower sprockets there are two lower sprocket in half guide rail of cultivation machine frame lower, the installation of half guideway centreline One end of fixed lower manipulator is spaced on item, the manipulator end of lower manipulator is moved along half guide rail；The setting of transplant machine rack bottom Plough, coverer and stitch marker, stitch marker are connect with chain drive mechanism, the entire automatic seedling separation of chain drive mechanism driving Transplanter.

Further, sorter includes bracket, sorting gear and sorting ring gear, sorts gear and sorting ring gear coaxial arrangement On bracket, the setting of sorting gear sorts in sorting ring gear and is provided with seedling feeder and seedling outlet between gear and sorting ring gear.

Further, the chain drive mechanism includes the transmission chain that the drive sprocket coaxial with land wheel is connect, transmission Chain is connect with the driven sprocket of lower layer's manipulator, and the gear of drive sprocket coaxial arrangement passes through idle pulley group and the active of upper layer manipulator Sprocket wheel connection, drive sprocket are connect by upper chain with upper layer manipulator driven sprocket, and upper layer manipulator driven sprocket is coaxially set It is equipped with incomplete bevel gear, incomplete bevel gear engages with bevel gear, bevel gear driving U-shaped board drive sprocket, and bevel gear is coaxial It is provided with sprocket wheel, sprocket wheel is connect by chain with sorting gear.

Further, upper manipulator includes the connecting plate fixed with upper chain, fixed connecting rod on connecting plate, and connecting rod is another One end is provided with two pieces of arc panels being hingedly connected to one another, and is provided with axis spring, arc panel table at the articulated shaft of two pieces of arc panels Face is provided with tensioning rubber skin；The lower manipulator is identical as upper robot manipulator structure.

Further, Star Simulator includes two rows of elliptical orbits arranged side by side, and two pieces of arc panels of upper manipulator are stuck in On the inside of elliptical orbit arranged side by side, Star Simulator and half rail attachment point, the inside spacing of elliptical orbit meet upper machinery Two pieces of arc panels of hand fully open, and two pieces of arc panels that the inside spacing of elliptical orbit meets manipulator when other positions close It closes；Half guide rail includes the non-closed half elliptic track of two rows arranged side by side, the upper side opening of half guide rail and conveying The alignment of chain center, lower opening are aligned with the center of rear sprocket wheel.

Further, u-shaped vent disk is arranged below seedling outlet, and u-shaped vent disk front is provided with square orifice.

Working principle:

Manually seedling is put into sorter, sorter realizes seedling sorting to be single by the cooperation of sorting gear and sorting ring gear Strain, falls into u-shaped vent disk, u-shaped vent disk and sorter by the effect intermittent movement of incomplete bevel gear and third chain, Upper manipulator is gone in u-shaped vent disk to grab by upper chain-driving after stopping, and the effect after crawl by Star Simulator makes upper manipulator Closure, the track to lower manipulator broaden, and continue to move with upper manipulator after the transmitting of lower manipulator, lower manipulator is by lower chain It drives and enters half guide rail, machine is always maintained under the traction of tractor and travels forward, plough trench digging, and lower manipulator arrival is opened In good seedling ditch, coverer earthing, manipulator de-orbits releases after the completion of earthing, completes to transplant.Upper and lower layer robot movement It is contrary.

Compared with prior art, the invention has the following advantages:

1. existing chela formula transplanter can not be matched with specific seeding separation, so using the double-deck manipulator transplanting mechanism By completing excessively to guarantee transplanting mechanism and sort inter-agency for seedling between upper layer manipulator and lower layer's manipulator and U-shaped disk Connection cooperation.

2. chela formula transplanter does not lead to its inefficiency for seedling mechanism, and the novel transplanter research and development that the present invention designs Mechanism for sorting, equivalent seedling is separated to single plant by the interaction of gear and ring gear.

3.U type vent disk connects sorter, opens a square mouth on U-shaped opening disk, be convenient for after the seedling sorted out in this way Manipulator enters to grab the root of seedling.

4. the mechanism of machine needs to be fitted close, so installing the knot of long steel plate additional using F type chain because planting density is big Structure.On the steel plate by manipulator dress, not only it is conducive to the adjusting of far and near distance, but also can satisfy highdensity plant.

5. chela elasticity when pressing from both sides seedling is not easy to control, it is easy seedling to press from both sides bad.Therefore we use U-shaped manipulator, U-shaped It installs sheet rubber on manipulator additional, is tensioned sheet rubber, not only can protect seedling in this way but also do not lose the control of clamping force.

Detailed description of the invention

Fig. 1 is automatic seedling separation transplanter overall construction drawing；

Fig. 2 is automatic seedling separation transplanter structure chart；

Fig. 3 is sorter perspective view；

Fig. 4 is sorter structural schematic diagram；

Fig. 5 is U-shaped opening dish structure figure；

Fig. 6 is upper robot manipulator structure figure；

Fig. 7 is Star Simulator structure chart；

Fig. 8 is half guide rail structure figure；

Fig. 9 is plough structure chart；

Figure 10 is coverer structure chart；

Figure 11 is kinematic scheme；

Figure 12 is u-shaped vent disk installation diagram；

1- sorter in figure, 2- u-shaped vent disk, 3- Star Simulator, the upper layer 3.1- manipulator drive sprocket, the upper layer 3.2- manipulator Driven sprocket, the upper manipulator of 4.1-, manipulator under 4.2-, 5- transplant machine rack, half guide rail of 6-, 7- stitch marker, 7.1- gear, 7.2- driven sprocket, 8- coverer, 9- plough, 10.1- upper sprocket wheel, 10.2- lower sprocket, the upper chain of 11.1-, chain under 11.2- Item, 12- transmission chain, the drive sprocket of 13- lower layer manipulator, 14- idle pulley group, the incomplete bevel gear of 15-, 16- bevel gear, 17- Chain, 18-U template drive sprocket, 18.1-U template driven sprocket, 19- mechanism for sorting drive sprocket.

Specific embodiment

As shown in Figure 1, 2, a kind of automatic seedling separation transplanter, including sorter 1, u-shaped vent disk 2, Star Simulator 3, half guide rail 6 With transplant machine rack 5, several groups Star Simulator 3 is mounted side by side in 5 top of transplant machine rack, and each group of 3 center of Star Simulator is equipped with Upper chain 11.1 is arranged between two upper sprocket wheels 10.1 for two upper sprocket wheels 10.1, the fixed upper manipulator in interval on upper chain 11.1 The manipulator end of 4.1 one end, upper manipulator 4.1 is moved along Star Simulator 3, and 3 one end of Star Simulator, which is equipped with, is fixed on transplanter machine Sorter 1 on frame 5.As shown in figure 12, the lower section of sorter 1 is provided with u-shaped vent disk 2, and u-shaped vent disk 2 is equipped with several, Several u-shaped vent disks 2 are fixed on chain, and chain hangs on drive sprocket 18 and driven sprocket 18.1 and passes through drive sprocket 18 drivings；Half guide rail 6 for being fixed on 5 lower part of transplant machine rack is installed, there are two the installations of half guide rail, 6 center below Star Simulator 3 Lower chain 11.2 is arranged between two lower sprockets 10.2 for lower sprocket 10.2, the fixed lower manipulator 4.2 in interval on lower chain 11.2 It is moved along half guide rail 6 at the manipulator end of one end, lower manipulator 4.2；5 bottom of transplant machine rack be arranged plough 9, coverer 8 with And stitch marker 7, stitch marker 7 are connect with chain drive mechanism, the entire automatic seedling separation transplanter of chain drive mechanism driving.

As shown in Figure 3,4, sorter 1 include bracket 1.1, sorting gear 1.2 and sorting ring gear 1.3, sorting gear 1.2 with Sorting ring gear 1.3 is co-axially located on bracket 1.1, is sorted the setting of gear 1.2 in sorting ring gear 1.3, is sorted gear 1.2 and divide It picks and is provided with seedling feeder 1.5 and seedling outlet 1.4 between ring gear 1.3.By manually seedling is put into sorter seedling feeder 1.5, point Device is picked to realize by sorting gear 1.3 and the sorting cooperation of ring gear 1.4 and sort the singulating of more nursery stocks.

As shown in figure 11, chain drive mechanism includes the transmission chain 12 that the drive sprocket 10 coaxial with land wheel is connect, transmission Chain 12 is connect with the driven sprocket 7.2 of lower layer's manipulator, drive sprocket 13 be coaxially disposed gear 7.1 by idle pulley group 14 with it is upper Layer manipulator drive sprocket 3.1 connects, and drive sprocket 3.1 is connect by upper chain 11.1 with upper layer manipulator driven sprocket 3.2, Upper layer manipulator driven sprocket 3.2 is coaxially arranged with incomplete bevel gear 15, and incomplete bevel gear 15 engages with bevel gear 16, cone Gear 16 drives U-shaped board drive sprocket 18, and bevel gear 16 is coaxially arranged with sprocket wheel 19, and sprocket wheel 19 passes through chain 17 and sorting gear 1.3 connection.The drive sprocket 10 coaxial with land wheel passes motion to the drive sprocket with lower layer manipulator by transmission chain 12 13 coaxial driven sprockets 7.2 drive lower layer's robot movement；The gear 7.1 coaxial with drive sprocket 13 passes through idle pulley group 14 Upper layer manipulator drive sprocket 3.1 is passed to, upper layer robot movement is driven；Upper layer manipulator driven sprocket 3.2 is same by it Incomplete bevel gear 15, the bevel gear 16 of axis pass motion to sprocket wheel 18, drive U-shaped board movement；Sprocket wheel 19 passes through chain simultaneously 17 pass motion to mechanism for sorting.Wherein incomplete bevel gear 15 constitutes indexing mechanism with bevel gear 16, drives U-shaped board and divides It picks mechanism and does intermittent movement.

As shown in fig. 6, upper manipulator 4.1 includes the connecting plate 4.14 with the fixation of upper chain 11.1, consolidate on connecting plate 4.14 Determine connecting rod 4.13,4.13 other end of connecting rod is provided with two pieces of arc panels 4.11 being hingedly connected to one another, two pieces of arc panels Axis spring is provided at 4.11 articulated shaft, 4.11 surface of arc panel is provided with tensioning rubber skin 4.12；The lower manipulator 4.2 is identical as upper 4.1 structure of manipulator.Manipulator one end is fixed on carrier chain, and the other end (arc panel end) is mounted on full track In road 4, orbital motion controls the folding of manipulator by spacing variation on the inside of track.Lower layer's robot manipulator structure and upper layer Manipulator is identical.But 6 inside spacing change direction of track is with upper layer track on the contrary, upper and lower layer robot movement is contrary.

Star Simulator 3 includes two rows of elliptical orbits arranged side by side, and two pieces of arc panels 4.11 of upper manipulator 4.1 are stuck in simultaneously On the inside of the elliptical orbit for arranging setting, 6 junction of Star Simulator 3 and half guide rail, the inside spacing of elliptical orbit meets upper machinery Two pieces of arc panels 4.11 of hand 4.1 fully open, and the inside spacing of elliptical orbit meets the two of manipulator 4.1 when other positions Block arc panel 4.11 is closed；Change the folding of control manipulator by inside spacing.Half guide rail 6 includes being arranged side by side Two rows of non-closed half elliptic tracks, the upper side opening of half guide rail 6 are aligned with carrier chain center, lower opening and rear sprocket wheel Center alignment.

As shown in figure 5, u-shaped vent disk 2 is arranged below seedling outlet 1.4,2 front of u-shaped vent disk is provided with square orifice.By one Fixed tilt angle is mounted below mechanism for sorting, is mainly used for accepting the seedling that mechanism for sorting sorts out, setting u-shaped mouth is convenient for Manipulator crawl.

Plough (see attached drawing 9)-be converted by iron plate is mainly used for outputing a bar ditch on soil, send to manipulator Seedling leaves plant space.

Coverer (see attached drawing 10)-is two pieces of iron plates placed with angle, and the soil that plough is outputed holds together back in ditch, will Seedling root is completely covered.

Seedling: being manually put into sorter by the working principle of transplanter, and sorter is by sorting gear and sorts ring gear Cooperation, which is realized, sort seedling as single plant, falls into u-shaped vent disk, and u-shaped vent disk and sorter do intermittent movement, moves stopping When on manipulator seedling taking from u-shaped vent disk, under the action of Star Simulator, upper manipulator closure reaches the track of lower manipulator Position, since spacing gradually broadens on the inside of track, the effect of the spring force in manipulator forces manipulator gradually to open, and On the contrary, lower machinery is closed under the action of track, wherein upper manipulator grabs seedling root, seedling is passed into lower manipulator, The top of lower manipulator crawl seedling, realizes the transmitting of seedling, and lower manipulator is driven by lower chain after seedlings picking enters half guide rail, Transplanter is always maintained under the traction of tractor and travels forward, and plough trench digging, lower manipulator is reached in the seedling ditch held successfully, covered Earthenware earthing, the manipulator folder symptom of a trend moves forward certain distance after the completion of earthing, complete by the release that de-orbits after seedling righting At plant.