Fully automatic nutrient pot paving machine and working method thereof

Abstract

The present invention discloses a fully automatic nutrient pot paving machine and a working method thereof, comprising a soil taking system, a soil dividing system, a nutrient pot storage device, a pot taking system, a soil filling and pot laying system, an electrical control system, and a walking system. The soil taking system is arranged in front of the entire machine, the soil dividing system is arranged on one side of the soil feeding auger, the nutrient pot storage device is arranged above the soil dividing box, the pot taking system is arranged between the soil storage box and the nutrient pot storage device, and the soil filling and pot laying system is arranged below the soil dividing system and the pot taking system. In addition to manually loading nutrient pots into the nutrient pot storage device in advance, the present invention realizes precise automated operations from soil taking, soil dividing, pot taking, pot placing, pot pushing, pot covering, and soil filling and pot laying, and can completely replace manual soil filling and pot laying, with a high degree of automation, significantly improving work efficiency, saving a large amount of manpower and working hours, and having stable quality, thereby being able to better adapt to the needs of agricultural modernization and having good application prospects.

Description

Technical Field

[0001] The invention relates to a machine for filling and laying nutrient pots and a working method of the machine, in particular to a full-automatic nutrient pot filling and laying machine and a working method thereof. Background Art

[0002] Nutrient pots are essential containers for experiments, seedling cultivation, and planting of flower seedlings, fruit tree trees, and crops. Currently, the filling of soil, sowing of seeds, and laying of seeds on the ground in nutrient pots are all done manually. One person can fill soil and lay 700-900 nutrient pots per hour at the fastest. This not only consumes a lot of manpower and working hours, but also results in a harsh working environment, low production efficiency, and unstable operation quality, making it unable to adapt to the needs of agricultural modernization. Summary of the Invention

[0003] In order to overcome the time-consuming and labor-intensive defects of manually filling and laying soil in nutrient pots, improve work efficiency, improve working conditions, and adapt to the development of agricultural mechanization and modernization, the present invention provides a fully automatic nutrient pot filling and laying machine and a working method thereof.

[0004] The technical solution of the present invention is that the fully automatic nutrient pot paving machine includes a soil taking system, a soil dividing system, a nutrient pot storage device, a pot taking system, a soil filling and paving system, an electrical control system, a walking system and a power source: the soil taking system includes a soil taking shovel, a soil taking shovel lifting motor, a soil taking auger, a soil lifting auger, a soil feeding bucket, a soil storage box, a soil storage auger, two soil storage amount sensors, and a soil feeding auger. The soil taking shovel is arranged at the lower front end of the whole machine, and the soil taking shovel is connected to the soil taking shovel lifting motor arranged on the front frame. The soil taking auger is horizontally arranged in the soil taking shovel, and the soil lifting auger is vertically installed at the outlet part behind the soil taking shovel. The soil feeding bucket is installed at the upper end of the soil lifting auger, and the soil storage box is arranged behind the soil lifting auger. The soil inlet of the soil storage box corresponds to the soil feeding bucket on the upper part of the soil lifting auger. The soil storage box is provided with a soil storage auger, and the two soil storage amount sensors are respectively arranged at the upper limit and lower limit positions of the inner wall of the soil storage box, and the front part of the soil feeding auger is connected to the soil outlet of the soil storage box;

[0005] The soil dividing system is arranged on one side of the rear part of the soil feeding auger, including a soil dividing box, two soil dividing amount sensors, a soil dividing auger, a groove roller with several grooves, a groove roller motor, a code disk with evenly distributed notches, a code disk sensor, a soil bin, a retaining plate, a retaining plate horizontal axis, and a soil retaining cylinder. One side of the soil dividing box has a soil inlet connected to the rear part of the soil feeding auger, two soil dividing amount sensors are respectively arranged at the upper limit and the lower limit of the inner wall of the soil dividing box, a soil dividing auger is arranged in the soil dividing box, a groove roller is arranged parallel to the bottom of the soil outlet under the soil dividing box, the groove roller is connected to the groove roller motor arranged at the rear part of the frame, a code disk is installed at the other end of the groove roller, and the code disk sensor is arranged at One side of the code disc is opposite to the code disc, and multiple soil bins are arranged side by side below the rounded groove. An openable and closable soil retaining plate is provided under each soil bin, and all the soil retaining plates are fixed on the horizontal axis of the soil retaining plate. The soil retaining cylinder is arranged on one side of the soil dividing box, and the head of the soil retaining cylinder is connected to the horizontal axis of the soil retaining plate through a connecting plate; the soil taking auger and the soil lifting auger are connected to a front auger motor arranged at the front of the frame through a transmission assembly, and the soil storing auger, the soil delivering auger and the soil dividing auger are connected to a rear auger motor arranged at the rear of the frame through transmission assemblies such as an auger coupling rod, and the auger coupling rod and other transmission assemblies transmit the power of the rear auger motor to the soil storing auger, the soil delivering auger and the soil dividing auger;

[0006] The soil dividing auger is used to evenly drop the soil entering from one side of the soil dividing box onto the entire groove roller to ensure that the amount of soil entering each soil bin is consistent;

[0007] The nutrient pot storage is arranged above the soil dividing box, and includes a row of downwardly inclined semi-cylinders and semi-cylinder brackets. The number and size of the semi-cylinders are determined according to the number and size of the nutrient pots.

[0008] The pot taking system is arranged between the soil storage box and the nutrient pot storage device, including a support frame, a boom cylinder fixing frame, a boom cylinder, a boom transverse axis, a boom upper connecting rod shaft, a boom, a boom connecting rod, a boom lower connecting rod shaft, a middle arm cylinder, a middle arm connecting rod shaft, a middle arm, a middle arm connecting rod, a small arm connecting rod shaft, a silicone finger, a small arm, a small arm connecting rod, a small arm cylinder, and a splint. The boom cylinder fixing frame on the support frame is connected to the boom cylinder, a boom transverse axis and a boom upper connecting rod shaft are installed in the middle of the support frame, a pair of booms are connected to both ends of the boom transverse axis, a boom connecting rod is provided on the boom upper connecting rod shaft, the upper end of the boom connecting rod is connected to the head of the boom cylinder, and the lower end of the boom connecting rod is connected to the head of the boom cylinder. The crossbeam in the middle of the two booms is connected by the boom lower connecting rod shaft, the upper part of one boom is connected with the middle arm cylinder, the lower heads of the two booms are connected to the middle arms through the middle arm connecting rod shafts respectively, a middle arm connecting rod is fixed on the head of one middle arm, the middle arm connecting rod is connected to the head of the middle arm cylinder, the waists of the two middle arms are movably equipped with forearm connecting rod shafts, a number of forearms with silicone fingers are fixed on the forearm connecting rod shafts, a forearm connecting rod is fixed on one end of the forearm connecting rod shaft, the forearm cylinder is arranged on the boom lower connecting rod shaft, the head of the forearm cylinder is connected to the forearm connecting rod, and a number of splints corresponding to the forearms and silicone fingers are fixed on the bottom plates at the lower ends of the two middle arms;

[0009] The soil loading and bowl spreading system includes a main drum, a main drum lifting frame, a main drum lifting motor, an ascending position sensor, a descending position sensor, a soil container mounting plate, a soil container, a main drum servo motor, a sub-drum, a bowl container mounting plate, a bowl container, a sub-drum servo motor, and a bowl delivery mechanism. The main drum is arranged on the main drum lifting frame and is located below the soil distribution system. The main drum lifting motor is arranged on the rear frame and drives the main drum lifting frame to rise and fall through a connecting rod. The ascending position sensor and the descending position sensor are respectively arranged at the upper limit position and the lower limit position on the frame, and are respectively connected to the main drum lifting frame. The upper and lower edges of the rear plate correspond to each other. The main drum is a hexagonal drum. Six soil container mounting plates are installed on the six sides of the main drum respectively. A row of soil containers equal to the number of soil bins, semi-cylinders, and bowl containers are installed on each soil container mounting plate. The main drum servo motor is provided in the hollow part of the main drum. The auxiliary drum is located in front of the main drum below the bowl taking system. The auxiliary drum is a quadrilateral drum. Bowl container mounting plates are installed on the four sides of the auxiliary drum respectively. A row of bowl containers are installed on each bowl container mounting plate with the bowl container opening facing outward. The auxiliary drum servo motor is provided in the hollow part of the auxiliary drum.

[0010] The bowl-feeding mechanism includes a bowl-feeding device, a bowl-feeding horizontal shaft, a bowl-feeding connecting rod, and a bowl-feeding cylinder. The bowl-feeding device is a fan-shaped annular body that surrounds the outer periphery of the auxiliary roller and is inserted into the gaps between the two bowl-receiving devices on the auxiliary roller. Two bowl-feeding devices are inserted into the two gaps of each bowl-receiving device. The lower end of each bowl-feeding device is fixed to the bowl-feeding horizontal shaft below the auxiliary roller. A bowl-feeding connecting rod is fixed to the bowl-feeding horizontal shaft. The head of the bowl-feeding connecting rod is connected to the head of the bowl-feeding cylinder. The bowl-feeding cylinder is arranged next to the auxiliary roller. The bowl-pushing side of the bowl-feeding device in the standby state is close to the auxiliary roller and located at the bottom of the bowl-receiving device. The bowl-pushing side of the bowl-feeding device in the pushing state is away from the auxiliary roller and located at the mouth of the bowl-receiving device.

[0011] The electrical control system is installed in the electrical control box on the upper front of the machine, including a PLC control unit with a human-machine interface and related control components. The PLC control unit provides control instructions according to the preset program and realizes various controls through related control components.

[0012] The walking system includes crawler tracks and their walking mechanism. The crawler tracks can reduce the pressure of the wheels on the ground, making it suitable for various terrains. The vehicle body is stable, and the walking servo motor is responsible for the walking, parking and turning of the entire machine according to the control instructions.

[0013] The power source is arranged below the soil storage box and provides power for all cylinders, motors and related electrical equipment.

[0014] The soil scraper is a metal bucket parallel to the ground, which can be lifted off the ground by the soil scraper lifting motor, or lowered to the ground to scrape soil during operation;

[0015] The semi-cylinder of the nutrient pot storage device is filled with stacked nutrient pots with the pot opening facing downwards to facilitate taking out the pots. Since the outlet diameter of the semi-cylinder is slightly smaller than the diameter of the nutrient pot, the outlet of the semi-cylinder is provided with anti-slip burrs, so the nutrient pots will not slip out;

[0016] The soil container is used to store a fixed amount of soil rolled into the groove so as to be put into the nutrient pot;

[0017] The bowl is a cup-shaped three-piece split structure with a gap between every two pieces, so each bowl has two longitudinal gaps;

[0018] The bowl container is used to store the nutrient bowl placed by the silicone finger;

[0019] The soil container and the bowl container can be disassembled and replaced from their respective mounting plates to adapt to nutrient pots of different sizes. The soil container mounting plate and the bowl container mounting plate can be disassembled and assembled on the main drum and the auxiliary drum respectively;

[0020] The number of notches on the code disc is equal to the number of grooves on the rounded grooves;

[0021] The two soil storage sensors and the two soil distribution sensors adopt RY-R1820 series capacitive proximity switches;

[0022] The rising position sensor and the falling position sensor adopt RF-1805N series inductive proximity switches;

[0023] The code disc sensor adopts LJ12A3-8 inductive proximity switch.

[0024] The working method of the fully automatic nutrient pot paving machine includes the following steps:

[0025] a. Equipment startup and potting: Power on the equipment, confirm the initial status of each unit, and place the stacked nutrient pots with the mouth facing downwards into the semi-cylinder of the nutrient pot storage;

[0026] b. Take soil into the soil storage box: When the soil storage volume sensor at the lower limit of the soil storage box determines that the soil storage volume in the soil storage box is too low, the soil shovel descends to the ground and shovels the soil on the ground as the equipment moves forward. At the same time, the soil auger and the soil lifting auger rotate, and the soil auger continuously pushes the shoveled soil to the soil lifting auger, which continuously lifts the soil into the soil storage box. When the soil storage volume in the soil storage box reaches the upper limit, the soil storage volume sensor at the upper limit of the soil storage box sends a signal, and the soil auger and the soil lifting auger stop taking soil;

[0027] c. Send soil to the soil distribution box: The soil storage auger pushes the soil to the side connected to the soil delivery auger. When the soil distribution volume sensor at the lower limit position in the soil distribution box determines that there is no soil in the soil distribution box, the soil delivery auger rotates to send the soil in the soil storage box to the soil distribution box until the soil distribution volume sensor at the lower limit position in the soil distribution box sends a soil full signal and stops sending soil;

[0028] d. Quantitative soil division: When the soil dividing box is full of soil, the soil dividing auger rotates, and the groove roller motor drives the groove roller and the code disc to rotate. When the groove roller rotates one groove, the code disc rotates one notch. The code disc sensor switches once, which counts once. The switch signal is transmitted to the control system to calculate the number of soil pots. When the groove of the groove roller rotates to the soil outlet below the soil dividing box, the soil enters the groove. When the groove roller rotates 180 degrees, the soil in the groove falls into the soil bin.

[0029] e. Release soil into the soil container: When the main drum and the soil distribution system receive the signal allowing soil release, the main drum rotates to the soil storage position, and the row of soil containers to be released are in a parallel state with their openings facing upwards. The main drum rises until the upper edge of the rear plate of the main drum lifting frame approaches the rising position sensor and stops, so that the soil container is under the soil bin of the soil distribution system. The retaining cylinder is activated to open the soil bin, and the soil falls into the soil container. After the soil bin is released, the retaining plate closes.

[0030] f. Take out and put down the bowl: When the silicone finger is in standby state, first the upper arm cylinder extends, and drives the upper arm to rotate clockwise upward with the upper arm horizontal axis as the rotation point through the upper arm connecting rod, then the middle arm cylinder extends, and drives the middle arm to continue to rotate clockwise upward with the middle arm connecting rod axis as the rotation point to the bottom of the semi-cylinder of the nutrient bowl storage through the middle arm connecting rod, and finally the forearm cylinder extends, and rotates the forearm connecting rod axis through the forearm connecting rod, thereby driving the silicone finger to insert into the lowest nutrient bowl along the inclined direction of the semi-cylinder, at this time the middle arm cylinder is retracted, and the middle arm The upper arm cylinder is then retracted, and the upper arm rotates counterclockwise until the mouth of the nutrient bowl clamped by the silicone fingers and the splint is facing downward and is located above the bowl container on the auxiliary roller. The lower arm cylinder is extended again to release the clamping state of the silicone fingers and the splint, and the released nutrient bowl slides down into the bowl container under its own weight.

[0031] g. Covering and spreading the pots: When the soil container on the main drum is filled with soil and the nutrient pots are placed in the pot container on the auxiliary drum, the main drum and the auxiliary drum are rotated to the covering pot working position by the servo motor according to the control instruction. At this time, the pot container on the auxiliary drum is just aligned with the soil container on the main drum, and the pot-feeding cylinder drives the pot-feeding cylinder to swing outward through the pot-feeding connecting rod. While the pot-feeding side of the pot-feeding cylinder at the bottom of the pot-feeding cylinder moves outward from the gap of the pot-feeding cylinder, the nutrient pots in each pot-feeding cylinder are pushed out and just covered on the corresponding soil container. The pot-feeding cylinder is retracted to make the pot-feeding cylinder swing back to the standby position; then the main drum is driven by the main drum lifting motor. The main drum automatically descends, and when it descends to a certain height from the ground, the lower edge of the rear plate of the main drum lifting frame approaches the descending position sensor, the descending position sensor light is on, the main drum stops descending and rotates an angle, at this time, the soil container with nutrient pots and soil is perpendicular to the ground, so that the soil in the soil container flows into the nutrient pots, and then the nutrient pots with soil fall on the ground and are automatically laid out in a row, then the main drum rises until the upper edge of the rear plate of the main drum lifting frame approaches the ascending position sensor, and stops at the soil filling position when the ascending position sensor light is on, thus completing one soil filling and pot laying. The walking system travels a certain distance according to the control parameters and repeats the above soil filling and pot laying work.

[0032] Except for manually loading nutrient pots into the nutrient pot storage device in advance, the present invention realizes precise and automated operations from taking soil, dividing soil, taking pots, placing pots, pushing pots, inserting pots, and filling soil and spreading pots. The whole machine is reasonably designed, compact in structure, stable and reliable in operation, with close coordination between various systems and accurate connection between various processes. It can complete 12,000 to 15,000 filling and spreading of soil pots per hour, which is 15 times the hourly workload of one manual worker. The beneficial effects of the present invention are that it completely replaces manual filling of soil and spreading of pots, has a high degree of automation, can significantly improve work efficiency, saves a lot of manpower and working hours, and has stable quality. Therefore, it can better adapt to the needs of agricultural modernization and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1A 、 Figure 1B It is a schematic diagram of the whole machine of the present invention from two different angles;

[0034] Figure 2 This is a schematic diagram of the soil shovel and soil lifting auger;

[0035] Figure 3 This is a schematic diagram of the soil storage box and the soil storage auger;

[0036] Figure 4 It is a schematic diagram of the soil division system;

[0037] Figure 5 This is a schematic diagram of the nutrient pot storage;

[0038] Figure 6 This is a diagram of the bowl-taking system. The left side panel of the support frame is not shown to show the completeness.

[0039] Figure 7 It is a side view of the bowl taking system;

[0040] Figure 8 This is a schematic diagram of the main drum and soil container;

[0041] Figure 9 This is a schematic diagram of the auxiliary roller and bowl delivery mechanism;

[0042] Figure 10 This is a diagram of the structure of the bowl container;

[0043] Figure 11 This is a schematic diagram of the bowl-delivering mechanism.

[0044] Soil shovel 101, soil shovel lifting motor 102, soil auger 103, soil lifting auger 104, soil delivery bucket 105, soil storage box 106, soil storage auger 107, soil delivery auger 108, upper limit soil storage amount sensor 109-1, lower limit soil storage amount sensor 109-2;

[0045] Soil dividing box 201, soil dividing auger 202, groove roller 203, groove roller motor 204, encoder 205, soil bin 206, soil retaining plate 207, soil retaining plate horizontal shaft 208, soil retaining cylinder 209, rear auger motor 210, auger connecting rod 211, upper limit soil dividing amount sensor 212-1, lower limit soil dividing amount sensor 212-2, encoder sensor 213;

[0046] Semi-cylinder 301, semi-cylinder bracket 302;

[0047] Boom cylinder fixing frame 401, boom cylinder 402, boom transverse axis 403, boom upper connecting rod shaft 404, boom 405, boom connecting rod 406, boom lower connecting rod shaft 407, middle arm cylinder 408, middle arm connecting rod shaft 409, middle arm 410, middle arm connecting rod 411, forearm connecting rod shaft 412, silicone finger 413, forearm 414, forearm connecting rod 415, forearm cylinder 416, splint 417, support frame 418;

[0048] Main drum 501, main drum lifting motor 502, soil container mounting plate 503, soil container 504, auxiliary drum 505, bowl container mounting plate 506, bowl container 507, bowl delivery device 508, bowl delivery horizontal shaft 509, bowl delivery connecting rod 510, bowl delivery cylinder 511, main drum lifting frame 512, rising position sensor 513, and falling position sensor 514;

[0049] Electrical control box 601, power source 602, and travel system 603. DETAILED DESCRIPTION

[0050] The present invention will be described in detail below through embodiments with reference to the accompanying drawings.

[0051] Example 1: Figure 1A 、 Figures 1B-11 As shown, the fully automatic nutrient pot paving machine includes a soil taking system, a soil separation system, a nutrient pot storage device, a pot taking system, a soil filling and paving system, an electrical control system, a travel system and a power source:

[0052] The soil excavation system includes a soil excavation shovel 101, a soil excavation shovel lifting motor 102, a soil excavation auger 103, a soil excavation auger 104, a soil delivery bucket 105, a soil storage box 106, a soil storage auger 107, two soil storage amount sensors 109-1 and 109-2, and a soil delivery auger 108. The soil excavation shovel 101 is arranged at the bottom of the front end of the whole machine. The soil excavation shovel 101 is connected to the soil excavation shovel lifting motor 102 arranged on the front frame. The soil excavation shovel 101 is horizontally arranged with a soil excavation auger 103, and the outlet part at the rear of the soil excavation shovel 101 is installed vertically. There is a soil lifting auger 104, a soil feeding bucket 105 is installed at the upper end of the soil lifting auger 104, a soil storage box 106 is arranged behind the soil lifting auger 104, the soil inlet of the soil storage box 106 corresponds to the soil feeding bucket 105 on the upper part of the soil lifting auger 104, a soil storage auger 107 is arranged in the soil storage box 106, an upper limit soil storage amount sensor 109-1 and a lower limit soil storage amount sensor 109-2 are respectively arranged at the upper limit and lower limit of the inner wall of the soil storage box 106, and the front part of the soil feeding auger 108 is connected to the soil outlet of the soil storage box 106;

[0053] The soil dividing system is arranged on one side of the rear part of the soil feeding auger 108, including a soil dividing box 201, an upper limit soil dividing amount sensor 212-1, a lower limit soil dividing amount sensor 212-2, a soil dividing auger 202, a groove roller 203 with a plurality of grooves, a groove roller motor 204, a code disk 205 with evenly distributed notches, a code disk sensor 213, a soil bin 206, a retaining plate 207, a retaining plate horizontal axis 208, and a soil retaining cylinder 209. One side of the soil dividing box 201 has a soil inlet connected to the rear part of the soil feeding auger 108, and the upper limit soil dividing amount sensor 212-1 and the lower limit soil dividing amount sensor 212-2 are respectively arranged on the upper limit and lower limit of the inner wall of the soil dividing box 201. 01 is provided with a soil-dividing auger 202, and a groove roller 203 is provided parallel to the bottom of the soil-dividing box 201 below the unearthing port. The groove roller 203 is connected to the groove roller motor 204 provided at the rear of the frame. A code disk 205 is installed on the other end of the groove roller 203. The code disk sensor 213 is provided on one side of the code disk 205 and opposite to the code disk 205. A plurality of soil bins 206 are arranged side by side below the groove roller 203, and an openable and closable soil retaining plate 207 is provided below each soil bin 206. All soil retaining plates 207 are fixed on the soil retaining plate horizontal axis 208. A soil retaining cylinder 209 is provided on one side of the soil-dividing box 201, and the head of the soil retaining cylinder 209 is connected to the soil retaining plate horizontal axis 208 through a connecting plate.

[0054] The soil taking auger 103 and the soil lifting auger 104 are connected to a front auger motor arranged at the front of the frame through a transmission component (because the front auger motor is not exposed at the front of the frame, Figure 1A 、 Figure 1BThe soil storage auger 107, the soil delivery auger 108 and the soil separation auger 202 are connected to a rear auger motor 210 provided at the rear of the frame through transmission components such as the auger coupling rod 211. The auger coupling rod 211 and other transmission components transmit the power of the rear auger motor 210 to the soil storage auger 107, the soil delivery auger 108 and the soil separation auger 202;

[0055] The soil dividing auger 202 is used to evenly drop the soil entering from one side of the soil dividing box 201 onto the entire groove roller 203 to ensure that the amount of soil entering each soil bin 206 is consistent;

[0056] The nutrient pot storage is arranged above the soil dividing box 201 and includes a row of downwardly inclined semi-cylinders 301 and semi-cylinder brackets 302. The number and size of the semi-cylinders 301 are determined according to the size of the nutrient pots.

[0057] The pot taking system is arranged between the soil storage box 106 and the nutrient pot storage device, and includes a support frame 418, a big arm cylinder fixing frame 401, a big arm cylinder 402, a big arm horizontal axis 403, a big arm upper connecting rod shaft 404, a big arm 405, a big arm connecting rod 406, a big arm lower connecting rod shaft 407, a middle arm cylinder 408, a middle arm connecting rod shaft 409, a middle arm 410, a middle arm connecting rod 411, a small arm connecting rod shaft 412, a silicone finger 413, a small arm 414, The arm connecting rod 415, the arm cylinder 416, the splint 417, the arm cylinder fixing frame 401 on the support frame 418 is connected to the arm cylinder 402, the arm transverse axis 403 and the arm upper connecting rod shaft 404 are installed in the middle of the support frame 418, a pair of arms 405 are connected to the two ends of the arm transverse axis 403, the arm upper connecting rod shaft 404 is provided with a arm connecting rod 406, the upper end of the arm connecting rod 406 is connected to the head of the arm cylinder 402, and the arm is connected to the upper end of the arm cylinder 402. The lower end of the arm link 406 is connected to the crossbeam in the middle of the two big arms 405 through the big arm lower link shaft 407. The upper part of one big arm 405 is connected to the middle arm cylinder 408. The lower ends of the two big arms 405 are connected to the middle arms 410 through the middle arm link shaft 409. The head of one middle arm 410 is fixed with a middle arm link 411, which is connected to the head of the middle arm cylinder 408. The waist of the two middle arms 410 is movably installed with a small The arm connecting rod shaft 412 has several small arms 414 with silicone fingers 413 fixed on it. One end of the small arm connecting rod shaft 412 is fixed to the small arm connecting rod 415. The small arm cylinder 416 is set on the upper arm lower connecting rod shaft 407. The head of the small arm cylinder 416 is connected to the small arm connecting rod 415. Several splints 417 corresponding to the small arms 414 and the silicone fingers 413 are fixed to the bottom plate at the lower end of the two middle arms 410.

[0058] The soil loading and bowl spreading system includes a main drum 501, a main drum lifting frame 512, a main drum lifting motor 502, an ascending position sensor 513, a descending position sensor 514, a soil container mounting plate 503, a soil container 504, a main drum servo motor, an auxiliary drum 505, a bowl container mounting plate 506, a bowl container 507, an auxiliary drum servo motor, and a bowl delivery mechanism. The main drum 501 is arranged on the main drum lifting frame 512 below the soil distribution system, the main drum lifting motor 502 is arranged on the rear frame and drives the main drum lifting frame to rise and fall through a connecting rod, the ascending position sensor 513 and the descending position sensor 514 are respectively arranged at the upper limit position and the lower limit position on the frame, and are respectively connected to the rear of the main drum lifting frame 512. The upper and lower edges of the plates correspond to each other. The main drum 501 is a hexagonal drum. Six soil container mounting plates 503 are respectively installed on the six sides of the main drum 501. A row of soil containers 504 equal to the number of soil bins 206, semi-cylinders 301, and bowl containers 507 are installed on each soil container mounting plate 503. A main drum servo motor is provided in the hollow part of the main drum 501. The auxiliary drum 505 is located in front of the main drum 501 below the bowl taking system. The auxiliary drum 505 is a quadrilateral drum. The four sides of the auxiliary drum 505 are respectively installed with bowl container mounting plates 506. A row of bowl containers 507 are installed on each bowl container mounting plate 506, and the bowl container opening is facing outward. A auxiliary drum servo motor is provided in the hollow part of the auxiliary drum 505.

[0059] The bowl-feeding mechanism includes a bowl-feeding device 508, a bowl-feeding horizontal shaft 509, a bowl-feeding connecting rod 510, and a bowl-feeding cylinder 511. The bowl-feeding device 508 is a fan-shaped ring body that surrounds the outer periphery of the auxiliary roller 505 and is inserted into the gaps between the two bowl-receiving devices 507 on the auxiliary roller 505. Two bowl-feeding devices 508 are inserted into the two gaps of each bowl-receiving device 507. The lower end of each bowl-feeding device 508 is fixed to the lower part of the auxiliary roller 505. A bowl-feeding connecting rod 510 is fixed to the bowl-feeding horizontal axis 509. The head of the bowl-feeding connecting rod 510 is connected to the head of a bowl-feeding cylinder 511. The bowl-feeding cylinder 511 is arranged next to the auxiliary roller 505. When in the standby state, the bowl-pushing side of the bowl-feeding device 508 is close to the auxiliary roller 505 and located at the bottom of the bowl container 507. When in the bowl-pushing state, the bowl-pushing side of the bowl-feeding device 508 is away from the auxiliary roller 505 and located at the mouth of the bowl container 507.

[0060] The electrical control system is installed in the electrical control box 601 at the front upper part of the machine, including a PLC control unit with a human-machine interface and related control components. The PLC control unit provides control instructions according to the preset program and realizes various controls through related control components.

[0061] The walking system 603 includes crawler tracks and their walking mechanism. The crawler tracks can reduce the pressure of the wheels on the ground, making it suitable for various terrains and providing a stable vehicle body. The walking servo motor is responsible for the movement, parking and turning of the entire vehicle according to the control instructions.

[0062] The power source 602 is disposed below the soil storage box 106 and provides power to all cylinders, motors, and related electrical equipment.

[0063] The soil scraper 101 is a metal bucket parallel to the ground, which can be lifted off the ground by the soil scraper lifting motor 102, or lowered to the ground to scrape soil during operation;

[0064] The semi-cylinder 301 of the nutrient pot storage is filled with stacks of nutrient pots with the pot opening facing downwards, so that the silicone finger can easily take out the pots. Since the outlet diameter of the semi-cylinder 301 is slightly smaller than the diameter of the nutrient pot, the outlet of the semi-cylinder 301 is provided with anti-slip burrs, so the nutrient pots will not slip out.

[0065] The soil container 504 is used to store a fixed amount of soil placed in the groove roller 203 so as to be placed in the nutrient pot;

[0066] The bowl container 507 is a cup-shaped three-piece split structure, with a gap between every two pieces, so each bowl container 507 has two longitudinal gaps;

[0067] The bowl container 507 is used to store the nutrient bowls placed by the silicone fingers;

[0068] The soil container 504 and the bowl container 507 can be removed and replaced from their respective mounting plates to accommodate nutrient pots of different sizes. The soil container mounting plate 503 and the bowl container mounting plate 506 can be removed and installed on the main drum 501 and the auxiliary drum 505 respectively.

[0069] The number of notches in the code disc 205 is equal to the number of grooves in the groove roller 203;

[0070] The upper limit soil storage volume sensor 109-1, the lower limit soil storage volume sensor 109-2, the upper limit soil distribution volume sensor 212-1, and the lower limit soil distribution volume sensor 212-2 use RYR1820 series capacitive proximity switches. This capacitive proximity switch is used for automatic material level control. When the material position in the container changes, the capacitance between the sensor and the container also changes accordingly, thereby obtaining a corresponding control signal through the conversion circuit. The present invention triggers the opening and closing of the circuit according to the soil in the soil storage box or soil distribution box approaching or leaving the sensor, thereby controlling the corresponding mechanism to carry out or stop the soil extraction and supply operation;

[0071] The rising position sensor 513 and the falling position sensor 514 adopt RF-1805N series inductive proximity switches, which use the eddy current generated when conductors approach each other to cause the sensor oscillation to attenuate or stop, and convert it into a switch signal to control the action of the corresponding mechanism. In the present invention, the upper edge or lower edge of the rear plate of the main roller lifting frame approaches the rising position or the falling position sensor respectively to control the main roller lifting motor 502, thereby achieving the raising and lowering positioning of the main roller 501;

[0072] The code disc sensor 212 adopts LJ12A3-8 inductive proximity switch, and its working principle is the same as that of the rising position sensor 513 or the falling position sensor 514. It is used in the present invention to calculate the number of soil-filled pots by the number of times the sensor is switched.

[0073] Example 2: The working method of the fully automatic nutrient pot paving machine comprises the following steps:

[0074] a. Equipment startup and loading: Figure 1A 、 Figure 1B 、 Figure 5 As shown, the device is powered on, the initial state of each unit is confirmed, and the stacked nutrient pots are placed with the mouth facing downward into the semi-cylinder 301 of the nutrient pot storage;

[0075] b. Take soil into the soil storage box: Figures 1A-4 As shown, when the soil shovel 101 determines that the amount of soil stored in the soil storage box 106 is too low according to the soil storage amount sensor 109-2 at the lower limit, the soil shovel 101 is driven by the soil shovel lifting motor 102 to descend to the ground, and shovels the soil on the ground as the equipment moves forward. At the same time, the soil auger 103 and the soil lifting auger 104 rotate, and the soil auger 103 continuously pushes the shoveled soil to the soil lifting auger 104, and the soil lifting auger 104 continuously lifts the soil, and the soil flows into the soil storage box 106 from the soil feeding bucket 105. When the amount of soil stored in the soil storage box 106 reaches the upper limit, the upper limit soil storage amount sensor 109-1 sends a signal, and the soil auger 103 and the soil lifting auger 104 stop rotating, and soil extraction stops;

[0076] c. Sending soil to the soil distribution box: The soil storage auger 107 pushes the soil to the side connected to the soil delivery auger 108. When the lower limit soil distribution amount sensor 212-2 in the soil distribution box 201 determines that there is no soil in the soil distribution box 201, the soil delivery auger 108 rotates to send the soil in the soil storage box 106 to the soil distribution box 201 until the upper limit soil distribution amount sensor 212-1 sends a soil full signal, and the soil delivery auger 108 stops rotating and stops delivering soil;

[0077] d. Quantitative soil division: Figure 4As shown, when the soil dividing box 201 is full of soil, the soil dividing auger 202 rotates, and the groove roller motor 204 drives the groove roller 203 and the code disk 205 to rotate. When the groove roller 203 rotates one groove, the code disk 205 rotates one notch. The code disk sensor 213 switches once, that is, counts once, and the switch signal is transmitted to the control system to calculate the amount of soil in the nutrient pot. When the groove of the groove roller 203 rotates to the soil outlet below the soil dividing box 201, the soil enters the groove. When the groove roller 203 rotates 180 degrees, the soil in the groove falls into the soil bin 206. The control system instructs the groove roller 203 to rotate different times according to the information set by the nutrient pot model and the required amount of soil, so as to obtain an appropriate amount of soil from the soil dividing box 201 and put it into the soil bin 206;

[0078] e. Put the soil into the soil container: Figure 4 、 Figure 8 As shown, when the main drum 501 and the soil dividing system receive the signal allowing soil release, the main drum 501 rotates to the soil storing position, and a row of soil containers 504 that need to release soil are in a parallel state with their mouths facing upwards. The main drum lifting motor 502 drives the main drum lifting frame to move the main drum 501 to rise until the upper edge of the rear plate of the main drum lifting frame 512 is close to the rising position sensor 513 and stops, so that the soil container 504 is under the soil bin 206 of the soil dividing system, and then the soil retaining cylinder 209 is actuated to make the retaining plate 207 open the soil bin 206, and the soil falls into the soil container 504. After the soil bin 206 is released, the soil retaining cylinder 209 is actuated again to close the retaining plate 207, and the soil dividing and releasing process is repeated in cooperation with the main drum 501.

[0079] f. Take the bowl and put it down: Figure 6 、 Figure 7 、 Figure 9As shown, when there is no nutrient pot on the silicone finger 413 and it is in a standby state, first the upper arm cylinder 402 is extended, and the upper arm 405 is driven by the upper arm connecting rod 406 to rotate upward clockwise with the upper arm transverse axis 403 as the rotation point, then the middle arm cylinder 408 is extended, and the middle arm 410 is driven by the middle arm connecting rod 411 to continue to rotate upward clockwise with the middle arm connecting rod shaft 409 as the rotation point to the bottom of the semi-cylinder 301 of the nutrient pot storage, finally the small arm cylinder 416 is extended, and the small arm connecting rod shaft 412 is rotated by the small arm connecting rod 415, thereby driving the silicone finger 413 to be inserted into the lowest nutrient pot along the inclined direction of the semi-cylinder 301, at this time the middle arm cylinder 408 is retracted, and the middle arm 410 rotates downward, so that the silicone finger 413 uses its friction with the inner wall of the nutrient pot to move the lowest The upper arm cylinder 402 is then retracted and the upper arm 405 rotates counterclockwise until the mouth of the nutrient bowl clamped by the silicone fingers 413 and the splint 417 is facing downwards and is located above the bowl container 507 on the auxiliary roller 505. After receiving the signal from the auxiliary roller 505 to allow the bowl to be released, the lower arm cylinder 416 is extended again to release the clamping state of the silicone fingers 413 and the splint 417. The released nutrient bowl slides down into the bowl container 507 by its own weight. As the number of nutrient bowls in the semi-cylinder 301 decreases, the nutrient bowl will automatically slide down to the lower end of the semi-cylinder 301 by virtue of the inclination angle and the weight of the nutrient bowl itself.

[0080] g. Covering bowl, spreading bowl: such as Figures 8-11As shown, when the soil container 504 on the main drum 501 is filled with soil and the nutrient pot is placed in the bowl container 507 on the auxiliary drum 505, the main drum 501 and the auxiliary drum 505 are rotated to the bowl-covering working position by the servo motor according to the control instruction. At this time, the bowl container 507 on the auxiliary drum 505 is just aligned with the soil container 504 on the main drum 501, and the bowl-feeding cylinder 511 drives the bowl-feeding device 508 to swing outward through the bowl-feeding connecting rod 510. The bowl-feeding side of the bowl-feeding device 508 at the bottom of the bowl-feeding device 507 moves outward from the gap of the bowl-feeding device 507, and the nutrient pot in each bowl container 507 is pushed out and just put on the corresponding soil container 504. The bowl-feeding cylinder 511 is retracted to make the bowl-feeding device 508 swing back to the standby position; then the main drum 501 is driven by the main drum lifting motor 502 is driven to descend. When it descends to a certain height from the ground, the lower edge of the rear plate of the main roller lifting frame 512 approaches the descending position sensor 514, and the descending position sensor 514 light is on. The main roller 501 stops descending and rotates an angle. At this time, the soil container 504 with the nutrient pot and filled with soil is perpendicular to the ground. According to the principle of gravity and the centrifugal force during rotation, the soil in the soil container 504 flows into the nutrient pot, and then the nutrient pot filled with soil falls to the ground and is automatically laid out in a row. Then the main roller 501 rises to the upper edge of the rear plate of the main roller lifting frame 512 and approaches the ascending position sensor 513. When the ascending position sensor 513 light is on, it stops at the soil filling position, and one soil filling and pot laying is completed. Then the walking system 603 walks a certain distance according to the control parameters and repeats the above soil filling and pot laying work.

Claims

1. Fully automatic nutrient pot paving machine, including soil taking system, soil separation system, nutrient pot storage, pot taking system, soil filling and pot paving system, electrical control system, travel system and power source, its characteristics are: The soil dividing system comprises a soil dividing box (201), wherein the upper limit and lower limit of the inner wall of the soil dividing box (201) are respectively provided with an upper limit soil dividing amount sensor (212-1) and a lower limit soil dividing amount sensor (212-2), a soil dividing auger (202) is provided in the soil dividing box (201), a groove roller (203) is provided in parallel below the soil discharge port below the soil dividing box (201), the groove roller (203) is connected to a groove roller motor (204) provided at the rear of the frame, a code disk (205) is provided at the other end of the groove roller (203), a code disk sensor (213) is provided on one side of the code disk (205), and a plurality of soil bins (206) are provided side by side below the groove roller (203). A retractable retaining plate (207) is provided below each soil bin (206), all retaining plates (207) are fixed on the retaining plate transverse axis (208), a retaining cylinder (209) is provided on one side of the soil dividing box (201), and the head of the retaining cylinder (209) is connected to the retaining plate transverse axis (208) through a connecting plate; The nutrient pot storage is arranged above the soil dividing box (201), and comprises a row of downwardly inclined semi-cylinders (301) and a semi-cylinder support (302); The bowl taking system includes a support frame (418), a boom cylinder fixing frame (401) on the support frame (418) is connected to a boom cylinder (402), a boom transverse axis (403) and a boom upper connecting rod axis (404) are installed in the middle of the support frame (418), a pair of booms (405) are connected to both ends of the boom transverse axis (403), a boom connecting rod (406) is provided on the boom upper connecting rod axis (404), the upper end of the boom connecting rod (406) is connected to the head of the boom cylinder (402), the lower end of the boom connecting rod (406) is connected to the cross beam in the middle of the two booms (405) through the boom lower connecting rod axis (407), the upper part of one side of the boom (405) is connected to the middle arm cylinder (408), the lower ends of the two booms (405) are connected to the middle arm connecting rod axis (409) respectively. ) is connected to the middle arm (410), a middle arm connecting rod (411) is fixed to the head of one middle arm (410), the middle arm connecting rod (411) is connected to the head of the middle arm cylinder (408), the waist of the two middle arms (410) is movably mounted with a small arm connecting rod shaft (412), a plurality of small arms (414) with silicone fingers (413) are fixed on the small arm connecting rod shaft (412), a small arm connecting rod (415) is fixed to one end of the small arm connecting rod shaft (412), a small arm cylinder (416) is arranged on the upper arm lower connecting rod shaft (407), the head of the small arm cylinder (416) is connected to the small arm connecting rod (415), and a plurality of splints (417) corresponding to the small arms (414) and the silicone fingers (413) are fixed to the bottom plates at the lower ends of the two middle arms (410); The soil-loading and potting system includes a main roller (501), which is arranged on a main roller lifting frame (512) and is located below the soil-dividing system. The main roller lifting motor (502) is arranged on the rear frame and drives the main roller lifting frame to rise and fall through a connecting rod. An ascending position sensor (513) and a descending position sensor (514) are respectively arranged at the corresponding limit points on the frame, and correspond to the upper edge and the lower edge of the rear plate of the main roller lifting frame (512). The main roller (501) is a hexagonal roller, and the six sides of the main roller (501) are respectively Six soil container mounting plates (503) are installed, and each soil container mounting plate (503) is installed with a row of soil containers (504) equal in number to the soil bin (206), the semi-cylinder (301), and the bowl container (507). The auxiliary roller (505) is located in front of the main roller (501) below the bowl taking system. The auxiliary roller (505) is a quadrilateral roller, and the four sides of the auxiliary roller (505) are respectively installed with a bowl container mounting plate (506). A row of bowl containers (507) is installed on each bowl container mounting plate (506), and the bowl container opening is facing outward. The bowl delivery mechanism includes a bowl delivery device (508), which is a fan-shaped annular body surrounding the outer periphery of the auxiliary roller (505) and inserted into the gaps between the two bowl containers (507) on the auxiliary roller (505). Two bowl delivery devices (508) are inserted into the two gaps of each bowl container (507). The lower end of each bowl delivery device (508) is fixed on the bowl delivery horizontal shaft (509) below the auxiliary roller (505). A bowl-feeding connecting rod (510) is fixed on the bowl-feeding connecting rod (510), the head of the bowl-feeding connecting rod (510) is connected to the head of the bowl-feeding cylinder (511), and the bowl-feeding cylinder (511) is arranged beside the auxiliary roller (505). The bowl-pushing side of the bowl-feeding device (508) in the standby state is close to the auxiliary roller (505) and is located at the bottom of the bowl container (507). The bowl-pushing side of the bowl-feeding device (508) in the bowl-pushing state is away from the auxiliary roller (505) and is located at the mouth of the bowl container (507).

2. The fully automatic nutrient pot paving machine according to claim 1, characterized in that: The soil taking system comprises a soil taking shovel (101), a soil taking shovel lifting motor (102), a soil taking auger (103), a soil lifting auger (104), a soil delivery bucket (105), a soil storage box (106), a soil storage auger (107), an upper limit soil storage amount sensor (109-1), a lower limit soil storage amount sensor (109-2), and a soil delivery auger (108). The soil taking shovel (101) is arranged below the front end of the whole machine, the soil taking shovel (101) is connected to the soil taking shovel lifting motor (102) arranged on the front frame, the soil taking auger (103) is horizontally arranged in the soil taking shovel (101), and the soil lifting auger (103) is vertically installed at the outlet portion of the rear of the soil taking shovel (101). The invention relates to a soil auger (104), wherein a soil delivery bucket (105) is installed at the upper end of the soil auger (104), a soil storage box (106) is arranged at the rear of the soil auger (104), a soil inlet of the soil storage box (106) corresponds to the soil delivery bucket (105) at the upper part of the soil auger (104), a soil storage auger (107) is arranged in the soil storage box (106), an upper limit soil storage amount sensor (109-1) and a lower limit soil storage amount sensor (109-2) are respectively arranged at the upper limit and lower limit of the inner wall of the soil storage box (106), and the front part of the soil delivery auger (108) is connected to the soil discharge port of the soil storage box (106); and the soil shovel (101) is a metal shovel parallel to the ground.

3. The fully automatic nutrient pot paving machine according to claim 2 is characterized in that The soil system is arranged on one side of the rear part of the soil delivery auger (108); and the pot taking system is arranged between the soil storage box (106) and the nutrient pot storage device.

4. The fully automatic nutrient pot paving machine according to claim 2, characterized in that: One side of the soil dividing box (201) is provided with a soil inlet, which is connected to the rear portion of the soil-feeding auger (108).

5. The fully automatic nutrient pot paving machine according to claim 2, characterized in that: The soil taking auger (103) and the soil lifting auger (104) are connected to a front auger motor arranged at the front of the frame through a transmission assembly, and the soil storing auger (107), the soil delivering auger (108) and the soil dividing auger (202) are connected to a rear auger motor (210) arranged at the rear of the frame through an auger connecting rod (211) transmission assembly.

6. The fully automatic nutrient pot paving machine according to claim 1, characterized in that: The semi-cylinder (301) of the nutrient pot storage device is filled with stacked nutrient pots with the pot opening facing downwards. The outlet diameter of the semi-cylinder (301) is slightly smaller than the diameter of the nutrient pot, and the outlet of the semi-cylinder (301) is provided with anti-slip burrs.

7. The fully automatic nutrient pot paving machine according to claim 1 is characterized in that: The bowl container (507) is a cup-shaped three-piece split structure, with a gap between every two pieces, so each bowl container (507) has two longitudinal gaps; The soil container (504) and the bowl container (507) can be disassembled and replaced from their respective mounting plates, and the soil container mounting plate (503) and the bowl container mounting plate (506) can be disassembled and assembled on the main drum (501) and the auxiliary drum (505) respectively; The hollow portion of the main drum (501) is provided with a main drum servo motor, and the hollow portion of the auxiliary drum (505) is provided with an auxiliary drum servo motor.

8. The fully automatic nutrient pot paving machine according to claim 1, characterized in that: The number of notches in the code disc (205) is equal to the number of grooves in the groove roller (203).

9. The fully automatic nutrient pot paving machine according to claim 2, characterized in that: The electrical control system is arranged in an electrical control box (601) at the upper front part of the machine, and includes a PLC control unit equipped with a human-machine interface and related control components; the walking system (603) includes a crawler and its walking mechanism, and the power source (602) is arranged below the soil storage box (106).

10. The working method of the fully automatic nutrient pot paving machine as claimed in claim 2, characterized in that: The following steps are involved: a. Start the equipment and load the pots: The equipment is powered on and started, the initial state of each unit is confirmed, and the stacked nutrient pots are placed with the pots facing downwards into the semi-cylinder (301) of the nutrient pot storage; b. Taking soil into the soil storage box: When the soil shovel (101) determines that the amount of soil stored in the soil storage box (106) is too low according to the lower limit soil storage amount sensor (109-2), the soil shovel (101) is driven by the soil shovel lifting motor (102) to descend to the ground, and the soil on the ground is shoveled in as the equipment moves forward. At the same time, the soil auger (103) and the soil lifting auger (104) rotate, and the soil auger (103) continuously pushes the shoveled soil to the soil lifting auger (104), and the soil lifting auger (104) continuously lifts the soil, and the soil flows into the soil storage box (106) from the soil feeding bucket (105). When the amount of soil stored in the soil storage box (106) reaches the upper limit, the upper limit soil storage amount sensor (109-1) sends a signal, and the soil auger (103) and the soil lifting auger (104) stop rotating, and soil taking stops; c. Sending soil to the soil distribution box: the soil storage auger (107) pushes the soil to the side connected to the soil delivery auger (108). When the lower limit soil distribution amount sensor (212-2) in the soil distribution box (201) determines that there is no soil in the soil distribution box (201), the soil delivery auger (108) rotates to send the soil in the soil storage box (106) to the soil distribution box (201) until the upper limit soil distribution amount sensor (212-1) sends a soil full signal, and the soil delivery auger (108) stops rotating and stops delivering soil; d. Quantitative soil division: When the soil division box (201) is full of soil, the soil division auger (202) rotates, and the groove roller motor (204) drives the groove roller (203) and the code disc (205) to rotate. When the groove roller (203) rotates one groove, the code disc (205) rotates one notch. The code disc sensor (213) switches once, i.e., counts once. The switch signal is transmitted to the control system to calculate the amount of soil in the nutrient pot. When the groove of the groove roller (203) rotates to the soil outlet below the soil division box (201), the soil enters the groove. When the groove roller (203) rotates 180 degrees, the soil in the groove falls into the soil bin (206). The control system instructs the groove roller (203) to rotate different times according to the information set by the nutrient pot model and the required amount of soil, so as to obtain an appropriate amount of soil from the soil division box (201) and put it into the soil bin (206); e. Soil is released into the soil container: when the main drum (501) and the soil dividing system receive the signal allowing soil release, the main drum (501) rotates to the soil storage position, and a row of soil containers (504) to be released are in a parallel state with their mouths facing upwards, and the main drum lifting motor (502) drives the main drum lifting frame to move so that the main drum (501) rises until the upper edge of the rear plate of the main drum lifting frame (512) approaches the rising position sensor (513) and stops, so that the soil container (504) is below the soil bin (206) of the soil dividing system, and then the soil retaining cylinder (209) moves to make the retaining plate (207) open the soil bin (206), and the soil falls into the soil container (504). After the soil bin (206) is released, the soil retaining cylinder (209) moves again to close the retaining plate (207), and continues to cooperate with the main drum (501) to repeat the soil separation and release process; f. Take out the nutrient bowl and put it down: When there is no nutrient bowl on the silicone finger (413) and it is in a standby state, first the upper arm cylinder (402) is extended, and the upper arm (405) is driven by the upper arm connecting rod (406) to rotate upward clockwise with the upper arm horizontal axis (403) as the rotation point, and then the middle arm cylinder (408) is extended, and the middle arm connecting rod (411) is driven by the middle arm (410) to continue to rotate upward clockwise with the middle arm connecting rod shaft (409) as the rotation point until the nutrient bowl is reached. Under the semi-cylinder (301) of the nutrient pot storage, the last small arm cylinder (416) extends out, and the small arm connecting rod shaft (412) rotates through the small arm connecting rod (415), thereby driving the silicone finger (413) to be inserted into the lowest nutrient pot along the inclined direction of the semi-cylinder (301). At this time, the middle arm cylinder (408) is retracted, and the middle arm (410) rotates downward, so that the silicone finger (413) uses the friction between it and the inner wall of the nutrient pot to push the lowest The nutrient bowl on the surface is taken out, and at the same time, the small arm cylinder (416) is retracted, so that the nutrient bowl on the silicone finger (413) is close to the splint (417). The nutrient bowl is clamped by the cooperation of the silicone finger (413) and the splint (417) to prevent it from sliding. Then the upper arm cylinder (402) is retracted, and the upper arm (405) rotates counterclockwise until the mouth of the nutrient bowl clamped by the silicone finger (413) and the splint (417) is located above the bowl container (507) on the auxiliary roller (505) with the bowl opening facing downward. After receiving the signal from the auxiliary roller (505) to allow the bowl to be released, the small arm cylinder (416) is extended again to release the clamping state of the silicone finger (413) and the splint (417). The loosened nutrient bowl slides down into the bowl container (507) by its own weight. As the number of nutrient bowls in the semi-cylinder (301) decreases, the nutrient bowl will automatically slide down to the lower end of the semi-cylinder (301) by virtue of the inclination angle and the weight of the nutrient bowl itself. g. Covering the pot and laying the pot: When the soil container (504) on the main drum (501) is filled with soil and the nutrient pot is placed in the pot container (507) on the auxiliary drum (505), the main drum (501) and the auxiliary drum (505) are rotated to the covering pot working position by the servo motor according to the control instruction. At this time, the pot container (507) on the auxiliary drum (505) is just aligned with the soil container (504) on the main drum (501), and the pot cylinder (511) is pressed. ) drives the bowl-feeding device (508) to swing outwards through the bowl-feeding connecting rod (510), and the bowl-feeding side of the bowl-feeding device (508) at the bottom of the bowl-containing device (507) moves outwards from the gap of the bowl-containing device (507), while pushing out the nutrient pots in each bowl-containing device (507) and fitting them onto the corresponding soil-containing device (504), and the bowl-feeding cylinder (511) is retracted to make the bowl-feeding device (508) swing back to the standby position; then the main drum (5 01) is driven to descend by the main roller lifting motor (502). When it descends to a certain height from the ground, the lower edge of the rear plate of the main roller lifting frame (512) approaches the descending position sensor (514). The descending position sensor (514) lights up, and the main roller (501) stops descending and rotates an angle. At this time, the soil container (504) with the nutrient pot and filled with soil is perpendicular to the ground. According to the principle of gravity and the centrifugal force during rotation, the soil in the soil container (504) flows into the nutrient pot. Then the nutrient pot filled with soil falls on the ground and is automatically laid out in a row. Then the main roller (501) rises to the upper edge of the rear plate of the main roller lifting frame (512) and approaches the ascending position sensor (513). When the ascending position sensor (513) lights up, it stops at the soil filling position. So far, one soil filling and pot laying is completed. Then the walking system (603) walks a certain distance according to the control parameters and repeats the above soil filling and pot laying work.

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