An intelligent workshop seedling transplanting robot

Abstract

The present invention relates to the field of automated planting technology, a kind of intelligent workshop seedling transplanting robot, including a mobile car and a U-shaped frame on the mobile car, the mobile car is also connected with a clamping box through a supporting device, one side of the clamping box is slidably connected with a clamping block for clamping the seedling stem, the clamping block is slidably connected with a sliding plate, the sliding plate is used to move the seedling stem to shake, an air pipe is installed on the clamping box, the air pipe is used to transmit high-pressure gas to drive the clamping block and the sliding plate to slide, the supporting device includes a sleeve installed on the U-shaped frame, the interior of the sleeve is connected to the shaft rod through a first spring. The present invention pushes the clamping box to move back and forth left and right after the extrusion block is squeezed by the rack, and then uses the reciprocating left and right movement of the clamping box to push the seedling stem to move, thereby loosening the connection between the rhizome and the soil, that is, avoiding the rhizome from breaking, which makes it difficult for the seedlings to survive after transplanting, and can quickly transplant the seedlings from the hole tray to the planting cup.

Description

Technical Field

[0001] The invention relates to the technical field of automated planting, and in particular to a smart workshop seedling transplanting robot. Background Art

[0002] The entire process of hole tray seedling cultivation, including filling, sowing, and germination, can be completed by machinery. The operation is simple and quick, and it is suitable for large-scale production. Due to unified sowing and management, the growth and development of seedlings are consistent, which improves the quality of seedlings and is conducive to large-scale production. When the seedlings are transplanted, the root system is not damaged, which can ensure a high survival rate of transplanting and a short seedling acclimatization period.

[0003] However, in order to ensure high efficiency during seedling transplanting, the existing intelligent workshop seedling transplanting robot will quickly pull up the seedlings, which can easily damage the root system. However, if the root seedlings are pulled up slowly and the rhizomes are slowly separated from the soil, high-efficiency seedling transplanting cannot be achieved. Therefore, it does not meet the existing needs. In this regard, we propose an intelligent workshop seedling transplanting robot. Summary of the invention

[0004] The present invention provides an intelligent workshop seedling transplanting robot, which has the beneficial effects of less damage to the root system and high efficiency, and solves the problem mentioned in the above background technology that the intelligent workshop seedling transplanting robot will quickly pull up the seedlings during seedling transplanting to ensure high efficiency, which can easily damage the root system, but will pull up the seedlings slowly, allowing the rhizomes to slowly separate from the soil, and thus cannot achieve high-efficiency seedling transplanting.

[0005] The present invention provides the following technical solutions: an intelligent workshop seedling transplanting robot, comprising a mobile vehicle and a U-shaped frame on the mobile vehicle, the mobile vehicle is also connected to a clamping box through a supporting device, one side of the clamping box is slidably connected to a clamping block for clamping a seedling stem, the clamping block is slidably connected to a sliding plate, the sliding plate is used to move the seedling stem to shake, an air pipe is installed on the clamping box, and the air pipe is used to transmit high-pressure gas to drive the clamping block and the sliding plate to slide;

[0006] The supporting device includes a sleeve installed on a U-shaped frame, the interior of the sleeve is connected to a shaft rod through a first spring, a supporting block is installed on the shaft rod, and the supporting block is connected to a clamping box through a telescopic column. An electric push rod is also installed on the U-shaped frame, a connecting plate is installed on the electric push rod, the shaft rod passes through the connecting plate, a rack is installed on the connecting plate, and an extrusion block is also installed on the clamping box, and the extrusion block abuts against the rack.

[0007] As an optional solution of the intelligent workshop seedling transplanting robot of the present invention, wherein: a first piston chamber is formed between the clamping block and the clamping box, the first piston chamber is used to store the gas sprayed by the air pipe, and the clamping block is connected to the clamping box through a second spring;

[0008] A gas delivery groove is also provided in the inner wall of the clamping box, and the gas delivery groove is connected to the air pipe. A pushing component is also provided in the clamping block, and the pushing component is used to drive the sliding plate to slide. A transmission pipe is also installed on the clamping block, and the transmission pipe is used to receive the gas sprayed from the gas delivery groove, and the transmission pipe is connected to the pushing component.

[0009] As an optional solution of the intelligent workshop seedling transplanting robot described in the present invention, wherein: the interior of the clamping block is provided with an outlet hole for circulating gas, the interior of the clamping block is also provided with a spring sheet, the pushing component includes a second piston chamber provided in the clamping block, the clamping block is also slidably connected with a piston plate, the piston plate is used to squeeze the spring sheet, the piston plate is provided with a deflation device for controlling gas circulation, the piston plate is connected to the clamping block through a third spring, a long rod is installed on the piston plate, the long rod is connected to the sliding plate through a connecting device, and the connecting device is used to adjust the position of the sliding plate;

[0010] The air release device includes an axial hole arranged on the piston plate, and circular grooves are symmetrically arranged on the piston plate. The axial hole is connected to the circular grooves, and the interior of the axial hole is connected to a shaft rod through a fourth spring. The first sealing disk and the second sealing disk are installed on the shaft rod in sequence, and the second sealing disk is used to seal the corresponding circular groove on the piston plate. A protrusion is installed on the first sealing disk.

[0011] As an optional solution to the intelligent workshop seedling transplanting robot described in the present invention, the clamping block is also provided with an adjusting component, which is used to limit the sliding distance of the piston plate, and the adjusting component includes a first one-way tooth rotatably connected to the push rod, and the push rod is also provided with a first baffle bar, the clamping block is connected with a gear through a short shaft, and the gear is meshed with the bar groove, and an eccentric gear is also connected to the short shaft, and the axis of the eccentric gear is away from the axis of the short shaft, and the clamping block is also slidably connected with a baffle bar, and the baffle bar is connected to the clamping block through a fifth spring, and meshing teeth are installed on the baffle bar, and the meshing teeth are meshed with the eccentric gear, and a limiting device is also provided inside the clamping block, and the limiting device is used to limit the position of the adjusting component.

[0012] As an optional solution of the intelligent workshop seedling transplanting robot described in the present invention, the gear bar is provided with a strip groove, and the gear bar is also provided with a square hole. The limiting device includes a slider slidably connected to the clamping block, and the slider is connected to the clamping block through a sixth spring. A strip column is installed at the lower end of the slider, and the strip column is slidably connected to the inside of the strip groove. A square block is installed at the lower end of the strip column, and the square block is snap-connected to the inside of the square hole.

[0013] As an optional solution of the intelligent workshop seedling transplanting robot described in the present invention, the connecting device includes a square sleeve mounted on one side of the push rod, the square sleeve is connected to the clamping block through a seventh spring, and sliding square grooves are arranged at the lower ends of the clamping block and the clamping box. A stirring shovel is installed at the lower end of the push rod, and the stirring shovel is slidably connected to the inside of the sliding square groove, and the stirring shovel is used for loosening the soil.

[0014] As an optional solution of the intelligent workshop seedling transplanting robot described in the present invention, wherein: an arc plate is also installed on the clamping block, a square frame is installed at one end of the square sleeve, the sliding plate is slidably connected to one end of the square frame, the sliding plate and the square frame are connected to each other through an eighth spring, and a resistance plate is installed on one side of the sliding plate, and the resistance plate is used to resist the U-shaped frame.

[0015] The present invention has the following beneficial effects:

[0016] 1. The intelligent workshop seedling transplanting robot pushes the clamping box to move back and forth after the extrusion block is squeezed by the rack, and then uses the reciprocating left and right movement of the clamping box to push the seedling stem to move, thereby loosening the connection between the rhizome and the soil, thereby avoiding rhizome breakage, which makes it difficult for the seedlings to survive after transplanting, and can quickly transplant the seedlings from the hole tray to the planting cup.

[0017] 2. The intelligent workshop seedling transplanting robot rubs the seedling stems to rotate through the sliding plate, so that the rhizomes rotate in a circle in the soil, thereby making the rhizomes separate from the soil more thoroughly. The cooperating extrusion block pushes the clamping box to move back and forth left and right after being squeezed by the rack, so that the rhizomes can rotate in a larger range in the soil and can better separate from the soil. By arranging an air outlet inside the clamping block, when the piston plate slides to the right, the piston plate pushes the gas on the right side to be discharged from the air outlet, so that the sliding speed of the piston plate is uniform, avoiding the rhizomes from breaking due to excessive sliding of the sliding plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention.

[0019] Figure 2 It is a schematic structural diagram of the clamping box and the shaft sleeve of the present invention.

[0020] Figure 3 It is a schematic diagram of the structure of the rack and the extrusion block of the present invention.

[0021] Figure 4 It is a schematic structural diagram of the pushing component and the air release device of the present invention.

[0022] Figure 5 For the present invention Figure 4 Schematic diagram of the local structure at point A.

[0023] Figure 6 For the present invention Figure 5 Schematic diagram of the local structure at location B.

[0024] Figure 7 It is a schematic structural diagram of the connecting device and the sliding plate of the present invention.

[0025] In the figure: 1, mobile car; 2, U-shaped frame; 3, pushing component; 4, air release device; 5, connecting device; 6, adjusting component; 7, limiting device; 8, clamping box; 9, connecting plate; 10, rack; 11, air pipe; 12, clamping block; 13, arc plate; 14, first spring; 15, first piston chamber; 16, air delivery groove; 17, transmission pipe; 18, second spring; 19, electric push rod; 20, support block; 21, sliding plate; 22, shaft; 23, air outlet; 24, gear; 25, telescopic column; 26, stirring shovel; 27, contact plate; 28, extrusion block; 29, sleeve; 31, the first Second piston chamber; 32, third spring; 33, piston plate; 34, push rod; 41, shaft hole; 42, circular groove; 43, long rod; 44, first sealing disk; 45, second sealing disk; 46, fourth spring; 47, protrusion; 61, stop bar; 62, strip groove; 63, fifth spring; 64, first one-way tooth; 65, first stop bar; 66, meshing tooth; 67, square hole; 71, slider; 72, square block; 73, strip column; 74, sixth spring; 51, square sleeve; 52, seventh spring; 53, square frame; 54, eighth spring; 77, spring piece; 88, sliding square groove; 99, eccentric gear. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Example 1

[0028] See also Figure 1-3 , an intelligent workshop seedling transplanting robot, comprising a mobile vehicle 1 and a U-shaped frame 2 on the mobile vehicle 1, the mobile vehicle 1 is also connected with a clamping box 8 through a supporting device, one side of the clamping box 8 is slidably connected with a clamping block 12 for clamping the seedling stem, the clamping block 12 is slidably connected with a sliding plate 21, the sliding plate 21 is used to move the seedling stem to shake, and an air pipe 11 is installed on the clamping box 8, the air pipe 11 is used to transmit high-pressure gas to drive the clamping block 12 and the sliding plate 21 to slide;

[0029] The supporting device includes a sleeve 29 installed on the U-shaped frame 2, the interior of the sleeve 29 is connected to the shaft 22 through the first spring 14, a support block 20 is installed on the shaft 22, and the support block 20 is connected to the clamping box 8 through a telescopic column 25. An electric push rod 19 is also installed on the U-shaped frame 2, and a connecting plate 9 is installed on the electric push rod 19. The shaft 22 passes through the connecting plate 9, and a rack 10 is installed on the connecting plate 9. An extrusion block 28 is also installed on the clamping box 8, and the extrusion block 28 abuts against the rack 10.

[0030] In this embodiment:

[0031] Shake loose soil: according to Figure 2 As shown, the electric push rod 19 pushes the connecting plate 9 downward to move, and the connecting plate 9 presses the support block 20 downward to slide, and the support block 20 drives the clamping box 8 on the telescopic column 25 on one side to slide downward, so as to adjust the depth of the clamping box 8 to clamp the seedling stem, and then the high-pressure gas is transmitted through the air pipe 11 to drive the clamping block 12 to slide out from the inside of the clamping box 8 to clamp the seedling stem, and the electric push rod 19 is lifted upward to prepare to pull the seedling stem out of the hole tray, according to Figure 3 As shown, when the electric push rod 19 pulls the connecting plate 9 upward, since the connecting plate 9 no longer contacts the support block 20, the first spring 14 inside the sleeve 29 pulls the shaft 22 and the support block 20 upward, and then the support block 20 drives the clamping box 8 to rise to the initial position. At this time, the position of the clamping box 8 remains fixed, but the electric push rod 19 continues to pull the connecting plate 9 upward, and then squeezes the squeezing block 28 through the rack 10 at the lower end of the connecting plate 9. Figure 3 As shown, since the clamping box 8 is connected to the support block 20 by the telescopic column 25, the squeezing block 28 is squeezed by the rack 10 to push the clamping box 8 to move back and forth, and then the reciprocating left and right movement of the clamping box 8 is used to push the seedling stem to move, thereby loosening the connection between the rhizome and the soil, thereby avoiding rhizome breakage, which makes it difficult for the seedlings to survive after transplanting, and quickly transplanting the seedlings from the hole tray to the planting cup.

[0032] Example 2

[0033] This embodiment is an improvement made on the basis of embodiment 1. Figure 1-5 As shown, a first piston chamber 15 is formed between the clamping block 12 and the clamping box 8, and the first piston chamber 15 is used to store the gas sprayed by the air pipe 11. The clamping block 12 is connected to the clamping box 8 through a second spring 18. A gas delivery groove 16 is also provided in the inner wall of the clamping box 8, and the gas delivery groove 16 is connected to the air pipe 11. A pushing component 3 is also provided in the clamping block 12, and the pushing component 3 is used to drive the sliding plate 21 to slide. A transmission pipe 17 is also installed on the clamping block 12, and the transmission pipe 17 is used to receive the gas sprayed by the gas delivery groove 16, and the transmission pipe 17 is connected to the pushing component 3;

[0034] The clamping block 12 is provided with an outlet hole 23 for circulating gas, and a spring piece 77 is also installed inside the clamping block 12. The pushing component 3 includes a second piston cavity 31 arranged in the clamping block 12, and a piston plate 33 is also slidably connected in the clamping block 12. The piston plate 33 is used to squeeze the spring piece 77, and a gas release device 4 for controlling gas circulation is provided on the piston plate 33. The piston plate 33 is connected to the clamping block 12 through a third spring 32, and a push rod 34 is installed on the piston plate 33. The push rod 34 is connected to the clamping block 12 through a connecting device 5. Connected to the sliding plate 21, the connecting device 5 is used to adjust the position of the sliding plate 21, the deflation device 4 includes an axial hole 41 arranged on the piston plate 33, and circular grooves 42 are also symmetrically arranged on the piston plate 33. The axial hole 41 is communicated with the circular grooves 42. The interior of the axial hole 41 is connected to a long rod 43 through a fourth spring 46. The long rod 43 is sequentially installed with a first sealing disk 44 and a second sealing disk 45. The second sealing disk 45 is used to seal the corresponding circular groove 42 on the piston plate 33. A bump 47 is installed on the first sealing disk 44.

[0035] In this embodiment:

[0036] Increase the shaking of the seedling stem: according to Figure 3 As shown, high-pressure gas is transmitted to the interior of the first piston chamber 15 through the air pipe 11, thereby driving the clamping block 12 to slide out from the interior of the clamping box 8 to clamp the seedling stem. When the clamping block 12 slides to the limit position, the transmission pipe 17 on the clamping block 12 will correspond to the gas transmission groove 16. At this time, since the gas inside the first piston chamber 15 is full, the gas transmitted by the air pipe 11 is transmitted to the interior of the transmission pipe 17 through the gas transmission groove 16, and then transmitted to the interior of the second piston chamber 31 through the transmission pipe 17. Figure 4 As shown, high pressure gas is filled between the piston plate 33 and the inside of the clamping block 12, and the piston plate 33 is pushed to slide by the gas, and the piston plate 33 is used to push the push rod 34 and the sliding plate 21 to slide. Figure 1 As shown, there are two sliding plates 21. When the two sliding plates 21 are pushed by the two piston plates 33 and the two sliding plates 21 move in opposite directions, the sliding plates 21 will rub the seedling stem to rotate, so that the rhizome rotates in a circle in the soil, thereby making the rhizome and the soil more completely separated. In addition, the cooperating extrusion block 28 pushes the clamping box 8 to move back and forth after being squeezed by the rack 10, so that the rhizome rotates in the soil in a larger range, which can better separate the rhizome from the soil. By setting the air outlet 23 inside the clamping block 12, according to Figure 5 As shown, when the piston plate 33 slides to the right, the piston plate 33 pushes the gas on the right side to be discharged from the gas outlet 23, so that the sliding speed of the piston plate 33 is uniform, and the root stem is prevented from breaking due to the sliding plate 21 sliding too fast;

[0037] Reciprocating rhizome: according to Figure 5As shown, when the gas pushes the piston plate 33 to slide, the spring sheet 77 is used to resist the piston plate 33, so that the gas pressure between the piston plate 33 and the clamping block 12 is increased. When the piston plate 33 passes through the spring sheet 77, the gas pressure is relatively large, so that the sliding distance of the piston plate 33 is increased, thereby increasing the elastic potential energy of the third spring 32, which facilitates the third spring 32 to pull the piston plate 33 to reset. When the third spring 32 pulls the piston plate 33 to reset, the gas passing through the left side of the piston plate 33 impacts the first sealing disk 44. Since the first sealing disk 44 is equipped with a protrusion 47, the gas impacts the second sealing disk 45 from the gap between the protrusion 47 and the piston plate 33, so that the gas moves the second sealing disk 45 out of the inside of the circular groove 42, which facilitates the gas to flow from the left side of the piston plate 33 to the right side. The device is provided with a venting device 4 for one-way ventilation on the piston plate 33, so that the push rod 34 can slide back and forth, and then the push rod 34 drives the sliding plate 21 to slide back and forth.

[0038] Example 3

[0039] This embodiment is an improvement made on the basis of Embodiment 2. Figure 1-6 As shown, an adjusting component 6 is also installed inside the clamping block 12, and the adjusting component 6 is used to limit the sliding distance of the piston plate 33. The adjusting component 6 includes a first one-way tooth 64 rotatably connected to the push rod 34, and a first stop bar 65 is also installed on the push rod 34. The interior of the clamping block 12 is connected to a gear 24 through a short shaft, and the gear 24 is meshed with the strip groove 62. An eccentric gear 99 is also connected to the short shaft, and the axis of the eccentric gear 99 is away from the axis of the short shaft. A stop bar 61 is also slidably connected to the interior of the clamping block 12, and the stop bar 61 is connected to the clamping block 12 through a fifth spring 63. Meshing teeth 66 are installed on the stop bar 61, and the meshing teeth 66 are meshed with the eccentric gear 99. A limiting device 7 is also provided inside the clamping block 12, and the limiting device 7 is used to limit the position of the adjusting component 6;

[0040] A strip groove 62 is provided on the stop bar 61, and a square hole 67 is also provided on the stop bar 61. The limiting device 7 includes a slider 71 slidably connected to the clamping block 12. The slider 71 is connected to the clamping block 12 through a sixth spring 74. A strip column 73 is installed at the lower end of the slider 71. The strip column 73 is slidably connected to the inside of the strip groove 62. A square block 72 is installed at the lower end of the strip column 73. The square block 72 is snap-connected to the inside of the square hole 67.

[0041] In this embodiment:

[0042] Adjust the sliding distance of the piston plate 33: Since the piston plate 33 pushes the sliding plate 21 to slide too far, it may cause the roots and stems to break, so the piston plate 33 needs to gradually increase the sliding distance. By setting a stop bar 61 inside the clamping block 12, the stop bar 61 is used to block the sliding of the piston plate 33, and the position of the stop bar 61 can be adjusted to meet the needs of gradually increasing the sliding distance of the piston plate 33. Figure 5 As shown, when the piston plate 33 pushes the push rod 34 to slide for the first time, the stop bar 61 is used to block the piston plate 33, and then the push rod 34 is pulled back by the piston plate 33, and the first one-way tooth 64 on the push rod 34 is used to drive the gear 24 to rotate. Since the first stop bar 65 is only limited to the right side of the first one-way tooth 64, when the push rod 34 slides to the right, the first one-way tooth 64 cannot drive the gear 24 to rotate. Figure 6 As shown, the rotation of the gear 24 drives the short shaft to rotate, and the short shaft drives the eccentric gear 99 to make an eccentric movement, and then the eccentric movement of the eccentric gear 99 pushes the gear bar 61 upward, so that the square block 72 inserted in the square hole 67 is completely separated from the gear bar 61. At this time, the bar column 73 can be slidably connected to the inside of the bar groove 62. Since the eccentric gear 99 is meshed with the meshing teeth 66, the eccentric gear 99 drives the gear bar 61 to slide to the right, so that it completes the adjustment of the position of the gear bar 61. When the piston plate 33 slides for the second time, due to the rightward adjustment of the gear bar 61, the second sliding distance of the piston plate 33 is longer than the first sliding distance, thereby gradually increasing the sliding distance of the piston plate 33, and at the same time gradually increasing the sliding distance of the sliding plate 21 to ensure the integrity of the rhizome;

[0043] Fixing the stop bar 61: After the eccentric gear 99 rotates eccentrically, the eccentric gear 99 no longer contacts the stop bar 61, so that the height of the stop bar 61 is reset, and the square hole 67 wraps the square block 72 again, and the square block 72 is buckled inside the square hole 67, so that the stop bar 61 cannot slide, thereby ensuring that when the piston plate 33 slides to the right, the stop bar 61 can prevent the piston plate 33 from sliding under the action of the square block 72. Figure 2 As shown, when the seedling stem needs to be released, the clamping block 12 is reset. At this time, since the size of the slider 71 is larger than the space inside the clamping box 8, the slider 71 is squeezed on one side of the clamping box 8. Figure 6 As shown, the slider 71 drives the bar column 73 and the square block 72 to move out of the interior of the gear bar 61, and then the gear bar 61 is reset by the fifth spring 63, so that the device is convenient for next use.

[0044] Example 4

[0045] This embodiment is an improvement made on the basis of Embodiment 2. Figure 1-7As shown, the connecting device 5 includes a square sleeve 51 which is sleeved on one side of the push rod 34. The square sleeve 51 is connected to the clamping block 12 through the seventh spring 52. The lower ends of the clamping block 12 and the clamping box 8 are both provided with a sliding square groove 88. The lower end of the push rod 34 is provided with a stirring shovel 26 which is slidably connected to the inside of the sliding square groove 88. The stirring shovel 26 is used for loosening the soil.

[0046] In this embodiment:

[0047] Stirring and loosening the soil: Figure 7 As shown, a stirring shovel 26 is installed at the lower end of the push rod 34. When the push rod 34 slides, the push rod 34 will drive the stirring shovel 26 to stir the soil, thereby stirring the soil in the hole tray to facilitate the removal of the seedlings. A square sleeve 51 is slidably connected to one side of the push rod 34, and one side of the square sleeve 51 is connected to the sliding plate 21 through the fifth spring 63, so that the push rod 34 first drives the stirring shovel 26 to loosen the soil. When the push rod 34 hits the inner wall of the square sleeve 51, the push rod 34 drives the square sleeve 51 to slide, so that the device can first loosen the soil through the stirring shovel 26, and then rub the seedlings through the sliding plate 21, so as to avoid the rhizome from breaking during rubbing.

[0048] Example 5

[0049] This embodiment is an improvement made on the basis of embodiment 4. Figure 1-7 As shown, an arc plate 13 is also installed on the clamping block 12, a square frame 53 is installed at one end of the square sleeve 51, the sliding plate 21 is slidably connected to one end of the square frame 53, the sliding plate 21 and the square frame 53 are connected by an eighth spring 54, and a resistance plate 27 is installed on one side of the sliding plate 21, and the resistance plate 27 is used to resist the U-shaped frame.

[0050] In this embodiment:

[0051] Maintain the shaking range: The arc plate 13 is used to clamp the seedling stem first. Since the clamping block 12 will drive the seedling stem to lift upward, the shaking range of the seedling stem will gradually decrease. Therefore, a resistance plate 27 is installed at the lower end of the sliding plate 21. Figure 2 As shown, the arc plate 13 fixes the seedling stem, and when the contact plate 27 contacts the U-shaped frame 2, the contact plate 27 pushes the sliding plate 21 down to achieve the same shaking range. Figure 7 As shown, one side of the sliding plate 21 is slidably connected to the inside of the square frame 53. When the sliding plate 21 descends, the other end of the sliding plate 21 will be slidably connected to the inside of the square frame 53, without affecting the square sleeve 51 driving the square frame 53 and the sliding plate 21 to slide back and forth left and right.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent workshop seedling transplanting robot, comprising a mobile vehicle (1) and a U-shaped frame (2) on the mobile vehicle (1), characterized in that: The mobile vehicle (1) is also connected to a clamping box (8) via a supporting device, a clamping block (12) for clamping the seedling stem is slidably connected to one side of the clamping box (8), a sliding plate (21) is slidably connected to the clamping block (12), and the sliding plate (21) is used to move the seedling stem to shake, and an air pipe (11) is installed on the clamping box (8), and the air pipe (11) is used to transmit high-pressure gas to drive the clamping block (12) and the sliding plate (21) to slide; The supporting device comprises a sleeve (29) mounted on a U-shaped frame (2), the interior of the sleeve (29) being connected to a shaft (22) via a first spring (14), a supporting block (20) being mounted on the shaft (22), the supporting block (20) being connected to a clamping box (8) via a telescopic column (25), an electric push rod (19) being mounted on the electric push rod (19), a connecting plate (9) being mounted on the shaft (22) penetrating the connecting plate (9), a rack (10) being mounted on the connecting plate (9), and an extrusion block (28) being mounted on the clamping box (8), the extrusion block (28) being in contact with the rack (10); A first piston chamber (15) is formed between the clamping block (12) and the clamping box (8), wherein the first piston chamber (15) is used to store gas sprayed by the gas pipe (11), and the clamping block (12) and the clamping box (8) are connected via a second spring (18); The inner wall of the clamping box (8) is also provided with a gas delivery groove (16), the gas delivery groove (16) is connected to the gas pipe (11), the clamping block (12) is also provided with a pushing component (3), the pushing component (3) is used to drive the sliding plate (21) to slide, and the clamping block (12) is also installed with a transmission pipe (17), the transmission pipe (17) is used to receive the gas sprayed by the gas delivery groove (16), and the transmission pipe (17) is connected to the pushing component (3); An outlet hole (23) for circulating gas is arranged inside the clamping block (12), a spring sheet (77) is also installed inside the clamping block (12), the pushing component (3) comprises a second piston chamber (31) arranged inside the clamping block (12), a piston plate (33) is also slidably connected inside the clamping block (12), the piston plate (33) is used to squeeze the spring sheet (77), a gas release device (4) for controlling gas circulation is arranged on the piston plate (33), the piston plate (33) is connected to the clamping block (12) via a third spring (32), a push rod (34) is installed on the piston plate (33), the push rod (34) is connected to the sliding plate (21) via a connecting device (5), and the connecting device (5) is used to adjust the position of the sliding plate (21); The air release device (4) comprises an axial hole (41) arranged on the piston plate (33), the piston plate (33) is also symmetrically provided with circular grooves (42), the axial hole (41) is in communication with the circular grooves (42), the interior of the axial hole (41) is connected to a long rod (43) via a fourth spring (46), a first sealing disk (44) and a second sealing disk (45) are sequentially mounted on the long rod (43), the second sealing disk (45) is used to seal the corresponding circular groove (42) on the piston plate (33), and a bump (47) is mounted on the first sealing disk (44); An adjusting component (6) is also installed inside the clamping block (12). The adjusting component (6) is used to limit the sliding distance of the piston plate (33). The adjusting component (6) includes a first one-way tooth (64) rotatably connected to the push rod (34). The push rod (34) is also installed with a first stop bar (65). The inside of the clamping block (12) is connected to a gear (24) via a short shaft. The gear (24) is meshed with the strip groove (62). The short shaft is also connected to an eccentric gear (99). The axis of the eccentric gear (99) is away from the axis of the short shaft. The inside of the clamping block (12) is also slidably connected to a stop bar (61). The stop bar (61) is connected to the clamping block (12) via a fifth spring (63). The gear bar (61) is provided with meshing teeth (66), the meshing teeth (66) meshing with the eccentric gear (99), and a limiting device (7) is also provided inside the clamping block (12), the limiting device (7) being used to limit the position of the adjusting component (6); The stop bar (61) is provided with a strip groove (62), and the stop bar (61) is also provided with a square hole (67). The limiting device (7) comprises a slider (71) slidably connected to the clamping block (12), and the slider (71) is connected to the clamping block (12) via a sixth spring (74). A strip column (73) is installed at the lower end of the slider (71), and the strip column (73) is slidably connected inside the strip groove (62). A square block (72) is installed at the lower end of the strip column (73), and the square block (72) is snap-connected inside the square hole (67). The connecting device (5) comprises a square sleeve (51) sleeved on one side of the push rod (34); the square sleeve (51) is connected to the clamping block (12) via a seventh spring (52); a sliding square groove (88) is provided at the lower ends of the clamping block (12) and the clamping box (8); a stirring shovel (26) is installed at the lower end of the push rod (34); the stirring shovel (26) is slidably connected to the inside of the sliding square groove (88); and the stirring shovel (26) is used for loosening soil.

2. The intelligent workshop seedling transplanting robot according to claim 1 is characterized in that: An arc-shaped plate (13) is also mounted on the clamping block (12); a square frame (53) is mounted on one end of the square sleeve (51); the sliding plate (21) is slidably connected to one end of the square frame (53); the sliding plate (21) and the square frame (53) are connected via an eighth spring (54); a resisting plate (27) is mounted on one side of the sliding plate (21); the resisting plate (27) is used to resist the U-shaped frame (2).

Images