41results about How to "Realize automatic transplanting" patented technology

The invention discloses a seedling transplanting system based on machine vision and consists of components of seedling transportation, machine vision identification, control and transplanting. A conveyor belt of the seedling transportation component can convey seedling plates to the transplanting positions and automatically convey after the completion of the transplanting; color images obtained from the machine vision system are used for detecting a plurality of appearance growth indicators such as the size, the number of leaves of the seedlings so as to comprehensively judge whether the seedlings are suitable for transplanting and meanwhile determine the location information of the seedlings to be transferred to the control system by a computer through a serial communication interface RS-232; then the PLC of the control system sends commands to an end effector to realize automatic transplantation of the seedlings through the control system; the end effector adopts shovel-shaped fingers driven by a linear cylinder and meets the seedling transplanting demand for seedling plates with different sizes through regulating the angle of fingers. The invention utilizes the vision system to obtain the growth and location information of the seedlings and realizes the transplantation through the control of the computer and the PLC.

The invention discloses a free second-order non-circular gear-deformation ellipse gear pot seedling transplantation and clamping type seedling taking mechanism. A soil clamping type seedling taking mode causes the irregularity of a non-circular gear or the increase of a 'probing type' seedling needle; melon, fruit and vegetable crops permit a clamping type seedling taking mode. A central shaft and a planet carrier are fixedly arranged; a free second-order central non-circular gear is hollowly arranged on the central shaft in a sleeved manner; a fist middle shaft, a second middle shaft, a first planet shaft and a second planet shaft are connected with the planet carrier through a bearing; the first planet shaft and the second planet shaft are fixedly arranged on a housing provided with a seedling taking paw; the free second-order central non-circular gear is meshed with a first free second-order middle non-circular gear and a second free second-order middle non-circular gear; a first middle deformation ellipse gear and a first planet deformation ellipse gear are meshed; a second middle deformation ellipse gear and a second planet deformation ellipse gear are meshed; a sharp point of the head of the seedling taking paw is in favor of forming a clamping type seedling taking track. The seedling taking track is in favor of achievement of mechanisms, and the fully automatic transplantation of melons, fruits and vegetables can be achieved.

The invention discloses a nursery seedling plate for polygonatum odoratum. The nursery seedling plate comprises a connection frame, wherein the connection frame is connected with a wall of a planting greenhouse in a sliding manner; the connection frame is positioned above a planting disc; a plurality of openings are formed in the connection frame; a nursery seedling cylinder is fixedly connected below each opening; a spring for closing a cylinder bottom is connected inside each nursery seedling cylinder; a fermentation plate for receiving and fermenting insect body powder from the planting greenhouse is arranged above the connection frame; a stirring cavity into which root stocks of the polygonatum odoratum are cut and fed is formed between the fermentation plate and the connection frame. The invention further discloses a nursery seedling method for the polygonatum odoratum. The problem that seedlings need to be manually transplanted is effectively solved.

The invention discloses a design method for forming a transplanting track by using a five-rod driving mechanism with two degrees of freedom. The existing transplanting mechanism track is not suitable for transplanting flowers. According to the design method, the angular speed w1 of a first crank is set through a normal-speed motor, and a speed-adjustable motor is adjusted through a control circuit, so that the angular speed of a second crank is shown in the specification, wherein w1 is a constant value selected from 50r / min to 70r / min, and theta is a constant value selected from pi / 4 to pi / 2; the direction of the angular speed w2 meets the following change rule under the condition that the period T=2pi, namely that the direction of the angular speed w2 is kept consistent with the direction of the angular speed w1 when the time t is from 0 to T / 3 and is opposite to the direction of the angular speed w1 when the time t is from T / 3 to T, so that a double-buckle transplanting track is formed at the sharp point of the free end of a second connecting rod. The double-buckle transplanting track is achieved by using the five-rod driving mechanism with two degrees of freedom, so that not only can the transplanting tracks of flowers be achieved, but also the fully-automatic transplanting of various crops such as melons, fruits and vegetables can be realized.

The invention discloses a second-order Fourier joint curve non-circular gear pot seedling transplantation seedling-clamping-type seedling pick-up mechanism. The soil-clamping-type seedling pick-up can cause irregularity of the non-circular gear or increase of protruding seedling needles; and melons, fruits and vegetable crops allow the seedling-clamping-type seedling pick-up. A second-order Fourier central non-circular gear is sheathed on a central shaft; a first intermediate shaft, a second intermediate shaft, a first planet shaft and a second planet shaft are respectively connected with a planet carrier bearing; the first planet shaft and the second planet shaft are respectively fixed with a shell of a seedling pick-up claw; the second-order Fourier central non-circular gear meshes with a first second-order Fourier intermediate non-circular gear and a second second-order Fourier intermediate non-circular gear; the first second-order Fourier intermediate non-circular gear meshes with a first second-order Fourier planet non-circular gear, and the second second-order Fourier intermediate non-circular gear meshes with a second second-order Fourier planet non-circular gear; and the seedling pick-up claw forms a seedling-clamping-type seedling pick-up trajectory. The seedling pick-up trajectory is beneficial to implementing the mechanism, and can implement full-automatic transplantation of the melons, fruits and vegetables.

The invention discloses a multipurpose planting machine, and belongs to the technical field of agricultural machinery. The multipurpose planting machine includes a machine frame, a furrow opener, a soil pressing device, a flexible clamping device, a seedling separating device, a seedling bearing tank and a transmission device; the furrow opener is connected to the front part of the machine frame, the soil pressing device is connected to the rear part of the machine frame, the seedling bearing tank is arranged on the upper part of the middle part of the machine frame, and the seedling separating device is arranged below the end part of the machine frame; the flexible clamping device is arranged between the underneath of the seedling output end of the seedling separating device and the soil pressing device, is mounted on the machine frame and is in transmission connection with the soil pressing device; the soil pressing device and the seedling separating device are in transmission connection. Seedlings can be divided into single-seedlings by the seedling separating device, seedling leaf parts are clamped by the flexible clamping device, soil is pressed cooperatively by the soil pressing device, the devices are in mutual transmission connection through the transmission device, and seedling transplanting is carried out, so that the plant distances of the seedlings after transplanting and coherence of the transplanting process are ensured, and automatic seedling transplanting is achieved.

The invention discloses a design method for forming a flower transplanting track by a two-stage non-circular gear five-bar driving mechanism. An existing transplanting mechanism track is not suitable for flower transplantation. The design method specifically comprises the following steps: firstly, constructing a two-stage non-circular gear five-bar driving mechanism, and establishing a free end point of a second connecting rod, so as to form a mathematical model of a double-buckle track; then reversely determining angular velocity change rules of a first crank and a second crank through the established mathematical model, designing a two-stage non-circular gear, and verifying whether the two-stage non-circular gear five-bar driving mechanism satisfies existence conditions of the double cranks. According to the design method, the angular velocity ratio of the first crank to the second crank is changed by adopting the two-stage non-circular gear five-bar driving mechanism, the double-buckle track is realized, so as to realize seedling taking and planting motions, the flower transplanting track can be realized, and full automatic transplantation of various crops such as fruits and vegetables can be realized.

The invention discloses a free two-order non-circular gear-eccentric non-circular gear pot seedling transplanting and clamping type seedling pickling mechanism. A non-circular gear is irregular or a leading-out type seedling needle is additionally arranged can be caused by soil clamping type seedling pickling; melon, fruit and vegetable crops can be subjected to seedling clamping type seedling pickling. According to the free two-order non-circular gear-eccentric non-circular gear pot seedling transplanting and clamping type seedling pickling mechanism, a central shaft is fixedly connected with a planet carrier; the central shaft is hollowly sleeved with a free two-order central non-circular gear; a first middle shaft, a second middle shaft, a first planet shaft and a second planet shaft are connected with a planet carrier bearing; the first planet shaft and the second planet shaft are fixedly connected with a shell of a seedling pickling claw; the free two-order central non-circular gear is engaged with a first free two-order middle non-circular gear ad a second free two-order middle non-circular gear; a first middle eccentric circular gear is engaged with a first non-circular planet gear; a second middle eccentric circular gear is engaged with a second non-circular planet gear; a seedling clamping type seedling pickling track is formed by head sharp points of the seedling pickling claw. The seedling pickling track is good for achieving the mechanism and can realize the full-automatic transplanting of melons, fruits and vegetables.

The invention discloses a transplantation control system and a transplantation control method for a robot for column cultivation. The transplantation control system for the robot for column cultivation comprises a control interface, a bottom-layer program and a track library. The track library contains seedling cultivating travel tracks from optional plug seedling fetching positions to optional seedling cultivating positions on cultivation columns, return travel tracks from the optional seedling cultivating positions on the cultivation columns to the optional plug seedling fetching positions and corresponding movement laws of various joints and an end actuator of a manipulator. During continuous transplantation operation, a serial number of an initial seedling fetching position and a serial number of an initial seedling cultivating position are inputted from the control interface, the bottom-layer program automatically and continuously invokes the corresponding seedling cultivating travel track, the corresponding return travel track and the corresponding movement laws of the various joints and the end actuator of the manipulator from the track library according to a preset seedling fetching and cultivating sequence, and plug seedlings are continuously transplanted on the cultivation columns. The transplantation control system and the transplantation control method have the advantages that calculation in a control procedure is greatly simplified, the flexibility, the instantaneity and the reliability of the control system are improved, and the plug seedlings can be automatically, quickly and reliably transplanted on the cultivation columns.

The invention is suitable for the technical field of agricultural equipment, and provides a water filling and ridging transplanter for seedlings. The transplanter comprises a frame; the frame is provided with a ditching component, a seedling throwing component, a covering blade, a ridging component, a water filling component and land wheels arranged on two sides; wherein the seedling throwing component is in transmission connection with the land wheels; the seedling throwing component includes a supporting disk installed on the frame; the supporting disk is provided with a rotation mounting member; a plurality of seedling cups are arranged in an array on the mounting member; the supporting disk is provided with a gap for seedlings in the plurality of seedling cups to intermittently pass; and a seedling guide tube is fixedly installed under the gap. The transplanter realizes automatic transplanting and is convenient to use.

The invention discloses arid desert soil haloxylon ammodendron planting auxiliary apparatus based on water pressure slotting. The apparatus comprises a supporting carrier plate, wherein the right sideof the top of the supporting carrier plate is fixedly connected with a driving side frame, a limiting rail is fixedly connected with the middle of the front face of the driving side frame, a limitingsliding block is connected with a vertical position inside the limiting rail in a slide manner, a transmission connecting rod is fixedly connected with the outer side of the front face of the limiting sliding block, one end, away from the limiting sliding block, of the transmission connecting rod is fixedly connected with a supporting bearing, an auxiliary tunneling mechanism is rotationally connected with the inside of the supporting bearing in a penetration manner, a limiting pipe insertion mechanism is fixedly connected with the bottom of the transmission connecting rod, a storage arc groove is formed in the top of a supporting frame, and a force storage inclined plate is fixedly connected with the right side of the top of the supporting frame. The invention relates to the technical field of planting. According to the arid desert soil haloxylon ammodendron planting auxiliary apparatus based on water pressure slotting, the operation of workers is facilitated, dry sandy soil adheresand condenses together through water, and thereby the high-strength wrapping performance of soil and plant roots is guaranteed.

The invention, which belongs to the technical field of the control system, relates to a robot control system, especially to a control system of a potted seedling transplanting robot. The provided control system has advantages of simple structure, low cost, and small size. The system comprising a kinematic inverse solution model, a PID controller, a servo motor, a dynamic inverse solution model, a potted seedling transplanting mechanism, a kinematic positive solution model is characterized in that a signal is inputted into a signal input port of the kinematic inverse solution model; the kinematic inverse solution model carries out inverse solution conversion and modeling is carried out; the processed signal is transmitted to a signal input port of the PID controller; an output port of the PID controller is connected with a control terminal of the servo motor; the output terminal of the servo motor is connected with the potted seedling transplanting mechanism; the potted seedling transplanting mechanism is connected with the servo motor by the kinematic inverse solution model; and one end of the potted seedling transplanting mechanism is connected with a signal input terminal of the kinematic positive solution model.

The invention discloses a freedom second-order noncircular gear-Fourier gear pot seedling transplanting seedling clamping type seedling taking mechanism. The manner of soil clamping type seedling taking causes irregularity of a noncircular gear or requires an extra nose type seedling needle; amphisarca and vegetable crop allow seedlings to be taken in a clamped manner. According to the invention, a central shaft is fixed with a planet carrier; a freedom second-order center noncircular gear is loosely sleeved on the central shaft; a first intermediate shaft, a second intermediate shaft, a first planet shaft and a second planet shaft are all connected with the planet carrier through bearings; the first planet shaft and the second planet shaft are both fixed with a casing of a seedling taking claw; the freedom second-order center noncircular gear is meshed with a first freedom second-order intermediate noncircular gear and a second freedom second-order intermediate noncircular gear; a first first-order Fourier intermediate noncircular gear is meshed with a first first-order Fourier planet noncircular gear; a second first-order Fourier intermediate noncircular gear is meshed with a second first-order Fourier planet noncircular gear; the seedling taking claw forms a seedling clamping type seedling taking track. The mechanism can be implemented through the seedling taking track advantageously, and full-automatic transplanting of amphisarca and vegetables can be realized.

The invention relates to agricultural machinery, especially to an automatic transplanting manipulator for plug seedlings. The automatic transplanting manipulator is mainly composed of a horizontal cylinder, an elevating cylinder, a pedestal, a clamping cylinder and an end effector, wherein the end effector is a core part of the structure of the manipulator. The automatic transplanting manipulator has the characteristics of simple structure, low cost and reliable usage performance, and can conveniently carry out transplanting of plug seedlings and accomplish a series of continuous operations consisting of positioning of plugs, grabbing of pot seedlings, positioning of flowerpots and throwing of the pot seedlings, thereby realizing automatic transplanting of plug seedlings.

The invention discloses a cam-crank-rocker combined flower transplanting mechanism and a design method thereof. A planetary gear transplanting mechanism is limited in flexibility of realizing a trajectory; and a rod mechanism with a double-ring-buckle trajectory is difficult in design and parameter regulation. According to the mechanism provided by the invention, one ends of a cam and a crank are both hinged with a frame through a camshaft; the other end of the crank is hinged with the central part of a second connecting rod; a forked swing rod comprises a bottom-end-welded oscillating rod and a cam swing rod; two ends of a spring are separately connected with the forked swing rod and the frame; a roller is hinged with the top end of the cam swing rod and constitutes a cam pair with the cam; the top end of the oscillating rod is hinged with one end of a first connecting rod; and the other end of the first connecting rod is hinged with one end of the second connecting rod. The design method provided by the invention is as follows: the cam is reversely solved with a mathematical model of a single-ring-button trajectory formed by the terminal point of the free end of the second connecting rod, a coordinate of the hinge joint of the forked swing rod and the frame, and known conditions of rod lengths. According to the invention, through changing of the profile of the cam to control the movement law of a rocker, the single-ring-buckle trajectory is realized, and the mechanism is simple.

The invention discloses a novel green Chinese onion transplanter, and relates to the technical field of agricultural machine design. The novel green Chinese onion transplanter comprises a green onionseedling frame to be loaded, a first vertical seedling transporting device, a second seedling transporting device and a clamping device, wherein the green onion seedling frame to be loaded is used forplacing green onion seedlings; the first vertical seedling transporting device is a conveyor belt with several strip-shaped protrusions on the surface; and a second seedling transporting device is aconveyor belt with several strip-shaped protrusions on the surface; the second seedling transporting device comprises a second vertical seedling transporting device and a second horizontal seedling transporting device, and the second horizontal seedling transporting device is used for transporting the green onion seedlings on the green onion seedling frame to be loaded to positions between the first vertical seedling transporting device and the second vertical seedling transporting device; and the clamping device is used for planting the green onion seedlings clamped by the first vertical seedling transporting device and the second vertical seedling transporting device into soil. The novel green Chinese onion transplanter has the beneficial effects that the transplanter can operate 24 hours uninterruptedly, so that the transplanted crops such as the green onion seedlings can be transplanted uniformly and neatly, the depth can be adjusted, the production cost can be reduced, the work efficiency can be improved, the benefit can be improved, and the automated transplantation can be realized.

The invention belongs to the technical field of vegetable cultivation, and particularly relates to a preparation method of a seedling medium block and an application of the seedling meidum block, wherein the method comprises the following steps: controlling the hydrolysis condition to obtain hydrolyzed protein of different spatial structures by using the soybean meal as a raw material with low cost and easy availability, synthesizing hydrolyzed protein-urea-formaldehyde segmented copolymer by an alkali acid-base method, and adding a water-soluble fertilizer, a foaming agent, a common medium and a curing agent after synthesis to prepare a seedling medium block. The seedling medium block prepared by the method of the invention not only increases the porosity but also regulates the moisture and nutrient content. At the same time, the foaming modified urea-formaldehyde resin is rich in elements such as nitrogen, phosphorus and potassium, and is also a whole biodegradable material to release nitrogen, phosphorus and potassium in the degradation process.

The invention discloses a closed-chain five-link transplanting mechanism for flowers and plants and a design method therefor. A planetary gear train transplanting mechanism can realize flexibility restriction to trajectories; and parameters of a link mechanism with dual-snap-ring trajectories are difficult in design and adjustment. According to the mechanism disclosed by the invention, the bottom end of a first crank and the bottom end of a second crank are welded; the top end of the first crank is hinged to one end of a second link, and the top end of the second crank is hinged to the middle part of a third link; a forked swing link comprises a first swing link and a second swing link, of which bottom ends are hinged; the bottom end of the forked swing link is hinged to a rack; the other end of the second link is hinged to the top end of the first swing link; one end of a first link is hinged to the top end of the second swing link, and the other end of the first link is hinged to one end of the third link; and the other end of the third link is arranged freely. According to the design method disclosed by the invention, the length of each of rest links is determined reversely under the condition of a single-snap-ring trajectory mathematical model formed at the endpoint of the free end of the third link, coordinates of a hinged point of the forked swing link and the rack and known link length. According to the closed-chain five-link transplanting mechanism for the flowers and plants and the design method therefor, a single-snap-ring trajectory is achieved, and the mechanism is simple and easy to control.

The invention discloses a conjugate cam, crank and rocker rod combined flower-plant transplanting mechanism and a designing method thereof. A planet gear system transplanting mechanism is limited in realizing track flexibility, and a rod mechanism with double stirrup tracks is difficult in parameter designing and adjusting. The conjugate cam, crank and rocker rod combined flower-plant transplanting mechanism is characterized in that one ends of a first conjugate cam, a second conjugate cam and a crank are all hinged to a rack through a cam shaft, the other end of the crank is hinged to the middle of a second connecting rod, a first cam swing rod, a second cam swing rod and a swing rod are fixedly connected, the first cam swing rod is connected with the first conjugate cam through a first roller, the second cam swing rod is connected with the second conjugate cam through a second roller, and the swing rod is hinged to the second connecting rod through a first connecting rod. The designing method includes: reversely solving the conjugate cams through a mathematic model of single stirrup tracks formed by an end point of the free end of the second connecting rod, coordinates of a hinged point of a fork-shaped swing rod and the rack and known rod length conditions. The single stirrup tracks are realized by changing profile of the conjugate cams to control movement laws of a rocker rod, and the conjugate cam, crank and rocker rod combined flower-plant transplanting mechanism is simple.

The invention belongs to the technical field of agricultural machinery and particularly discloses a crop transplantation device. The device comprises a vehicle body provided with walking wheels and apower mechanism, wherein the power mechanism can drive the vehicle body to move; the device also comprises a digging mechanism, an oblique block, a slider and a shifting fork; a vertical slide and a horizontal slide are arranged on the vehicle body; the digging mechanism comprises a plurality of first digging shovels, a plurality of second digging shovels and a plurality of connecting frames; thefirst digging shovels and the second digging shovels are matched and glidingly connected, a rack is vertically and glidingly connected onto the vehicle body, the oblique block is glidingly connected with the vertical slide, the slider is glidingly connected with the horizontal slide, and the oblique block is connected with the rack and abuts again the slider; a rotating shaft is glidingly connected with a connecting frame, the first digging shovels are fixedly connected with the connecting frames, supports are arranged in the connecting frames, the second digging shovels are connected with connecting rods, the connecting rods are glidingly connected with the supports, and the slider is contacted with the connecting frames and the connecting rods. The device can automatically transplant crops, reduce the labor intensity of farmers and improve the transplantation efficiency.

The invention relates to a full-automatic sweet potato seedling transverse horizontal transplanting machine and a transplanting method. The full-automatic sweet potato seedling transverse horizontal sweet potato transplanting machine comprises a rack provided with land wheels, and a rotary tillage device, a ridging device and a seedling feeding device which are sequentially mounted on the rack from front to back; a seedling falling point of the seedling feeding device is matched with the ridging device; a seedling separating device is arranged above the seedling feeding device, and a seedling falling point of the seedling separating device is matched with the seedling feeding device. According to the full-automatic sweet potato seedling transplanting machine, sweet potato seedlings are automatically and sequentially put into the seedling clamps through the seedling separating device, the sweet potato seedlings are transversely and horizontally transplanted to ridges through opening and closing of the seedling clamps, full-automatic transplanting of the sweet potato seedlings is achieved, labor force is thoroughly liberated, and the sweet potato transplanting efficiency is greatly improved; the sweet potato seedlings are conveyed by the seedling conveying device, and due to the fact that the seedling clamps are perpendicular to the field ridges, transverse and horizontal planting of the sweet potato seedlings can be achieved, close planting of sweet potatoes can be achieved, the agricultural requirement of sweet potato planting is better met, and the economic benefit of sweet potato planting is improved.

The invention discloses a bevel gear-elliptical gear eccentric wheel rocking bar combined-type wide and narrow row spacing transplanting mechanism. In the prior art, seedling taking of a conventional seedling taking and transplanting integrated vegetable pot seedling transplanting mechanism is realized via direct clamping of seedlings, so that seedling roots are damaged; seedling taking and transplanting are realized via two mechanisms, and the mechanisms are complex. Each of the two ends of a center shaft of the bevel gear-elliptical gear eccentric wheel rocking bar combined-type wide and narrow row spacing transplanting mechanism is provided with a first-grade planetary gear train, and the two first-grade planetary gear trains are arranged to be symmetrically; the two ends of each first-grade planetary gear train is connected with a second-grade upper planetary gear train and a second-grade lower planetary gear train; each second-grade upper planetary gear train is provided with an upper transplanting arm, and each second-grade lower planetary gear train is provided with a lower transplanting arm; each first-grade planetary gear train comprises a first-grade gear case, a center elliptical gear, a first-grade upper planetary elliptical gear, a first-grade lower planetary elliptical gear, a first-grade upper planetary shaft, a first-grade lower planetary shaft, an upper eccentric wheel, an upper connecting rod, an upper rocking bar, a lower eccentric wheel, a lower connecting rod, and a lower rocking bar. The bevel gear-elliptical gear eccentric wheel rocking bar combined-type wide and narrow row spacing transplanting mechanism can be used for realizing in-pot soil-taking-type seedling taking, and in seedling taking period, translational motion of seedling claws is maintained, so that pot soil completeness is maintained as far as possible.

The invention discloses a multipurpose planting machine, and belongs to the technical field of agricultural machinery. The multipurpose planting machine includes a machine frame, a furrow opener, a soil pressing device, a flexible clamping device, a seedling separating device, a seedling bearing tank and a transmission device; the furrow opener is connected to the front part of the machine frame, the soil pressing device is connected to the rear part of the machine frame, the seedling bearing tank is arranged on the upper part of the middle part of the machine frame, and the seedling separating device is arranged below the end part of the machine frame; the flexible clamping device is arranged between the underneath of the seedling output end of the seedling separating device and the soil pressing device, is mounted on the machine frame and is in transmission connection with the soil pressing device; the soil pressing device and the seedling separating device are in transmission connection. Seedlings can be divided into single-seedlings by the seedling separating device, seedling leaf parts are clamped by the flexible clamping device, soil is pressed cooperatively by the soil pressing device, the devices are in mutual transmission connection through the transmission device, and seedling transplanting is carried out, so that the plant distances of the seedlings after transplanting and coherence of the transplanting process are ensured, and automatic seedling transplanting is achieved.