Vegetable Automatic Transplanting Robot with Adjustable Row Spacing and Variable Hill Spacing in Facilities

Abstract

The present invention relates to the field of agricultural machinery, and specifically to a vegetable autonomous transplanting robot in facilities with adjustable row spacing and variable plant spacing. The purpose is to provide a vegetable autonomous transplanting robot in facilities with adjustable row spacing and variable plant spacing, which should be able to effectively improve the intelligent level of vegetable transplanting in facilities and reduce labor costs. The technical solution is: a vegetable autonomous transplanting robot in facilities with adjustable row spacing and variable plant spacing, characterized in that: the robot includes a walking platform, a transplanting power device, a seedling box device, a seedling picking device, a variable plant spacing seedling planting device, an image recognition device, and an electric control box.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and specifically to a vegetable autonomous transplanting robot with adjustable row spacing and variable plant spacing in facilities. Background Art

[0002] In recent years, single-row and double-row fully automatic transplanting machines developed have shown good test results and significantly improved transplanting efficiency. However, the current intelligent level of existing transplanting machines is still not high and far from meeting the needs of farmers. At present, manual transplanting is mainly used for facility vegetable planting, which has high labor intensity and low operation efficiency, and it is difficult to achieve large-scale planting and standardized management, being a shortcoming in agricultural modernization. Moreover, due to the high labor cost remaining high, the total cost of facility vegetable planting gradually increases, and various factors restrict the development of the facility vegetable planting industry. Therefore, vigorously developing the technology of transplanting pot seedlings of facility vegetables and realizing mechanized and intelligent transplanting of facility vegetables is an inevitable trend.

[0003] Generally speaking, for domestic fully automatic transplanting machines, current research mainly focuses on the optimization and improvement of the seedling feeding mechanism, seedling picking mechanism, and manipulator. Most of the existing facility transplanting machines on the market do not have a mobile chassis, the walking mechanism is connected to the upper planting mechanism, and each set of planting mechanisms is only suitable for planting with fixed row spacing and plant spacing. At the same time, when the transplanting machine works in a facility vegetable greenhouse, it needs to adapt to ridge conditions with different widths and heights to ensure the continuity of work. For different types of transplanted crops in the facility, the agronomic requirements for row spacing and plant spacing of crop planting are different, and the versatility of the transplanting machine is poor. To promote the intelligent development of facility vegetable greenhouses, by carrying machine vision technology, determining the vegetable planting position, planning the transplanting plant spacing, and controlling the rotation speed of the variable plant spacing planting mechanism, realizing the adaptive adjustment and walking of the transplanting machine and variable plant spacing planting, it is necessary to invent a vegetable autonomous transplanting robot with adjustable row spacing and variable plant spacing to adapt to the autonomous transplanting work of different vegetables in the facility. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies of the prior art and provide a vegetable autonomous transplanting robot with adjustable row spacing and variable plant spacing in facilities, which can effectively improve the intelligent level of facility vegetable transplanting and reduce labor costs.

[0005] The technical solution of the present invention is as follows:

[0006] A vegetable automatic transplanting robot with adjustable row spacing and variable plant spacing in a facility, characterized in that: the robot includes a walking platform, a transplanting power device, a seedling box device, a seedling picking device, a variable plant spacing seedling planting device, an image recognition device, and an electric control box; the walking platform includes a vehicle frame, a telescopic mechanism for adjusting the width of the vehicle frame, a lifting mechanism for adjusting the height of the vehicle frame, and a walking mechanism for steering and moving; the transplanting power device includes a first motor, a second motor, a first transmission shaft driven by the first motor, a second transmission shaft and a third transmission shaft connected to the first transmission shaft through a first gear set, a fourth transmission shaft and a fifth transmission shaft connected to the third transmission shaft through a second gear set, a sixth transmission shaft connected to the fifth transmission shaft through a third gear set, and a seventh transmission shaft driven by the second motor and coaxially arranged with the fourth transmission shaft; the seedling picking device includes a seedling picking rotary arm rotatably positioned on the vehicle frame, two seedling picking hands arranged on the seedling picking rotary arm, and a seedling picking transmission mechanism for driving the movement of the seedling picking rotary arm and the seedling picking hands; the variable plant spacing seedling planting device includes a seedling planting rotary arm rotatably positioned on the vehicle frame, two seedling planting hands arranged on the seedling planting rotary arm, and a seedling planting transmission mechanism for driving the movement of the seedling planting rotary frame and the seedling planting hands.

[0007] The vehicle frame includes a main vehicle frame and a sub-vehicle frame slidably positioned laterally on the main vehicle frame; the telescopic mechanism includes a telescopic motor fixed on the sub-vehicle frame, a telescopic driving wheel driven by the telescopic motor, a telescopic lead screw rotatably positioned on the sub-vehicle frame, a telescopic driven wheel fixed to the telescopic lead screw, a telescopic transmission belt connecting the telescopic driving wheel and the telescopic driven wheel, and a telescopic nut meshing with the telescopic lead screw and fixed to the main vehicle frame; the lifting mechanism is respectively on the main vehicle frame and the sub-vehicle frame, and includes an electric push cylinder fixed to the main vehicle frame or the sub-vehicle frame, two four-bar assemblies respectively arranged at the front and rear ends of the main vehicle frame or the sub-vehicle frame, and a linkage rod for transmitting the power of the electric push cylinder to drive the movement of the two four-bar assemblies; the walking mechanism includes a steering motor arranged on the four-bar assembly, a wheel frame driven by the steering motor, and a walking motor and walking wheels arranged on the wheel frame.

[0008] The four-bar assembly includes a lifting fixed frame, a first lifting rod, a second lifting rod, and a lifting connecting frame; the lifting fixed frame is fixed to the main vehicle frame or the sub-vehicle frame, the first lifting rod and the second lifting rod are rotatably hinged between the lifting fixed frame and the lifting connecting frame, the steering motor is fixed to the lifting connecting frame, a linkage chute is provided on the linkage rod, and one end of the first lifting rod is slidably positioned in the linkage chute through a linkage bearing.

[0009] The seedling box device, the seedling picking device, the variable plant spacing seedling planting device, the transplanting power device, and the electric control box are arranged on the sub-vehicle frame of the walking platform; the seedling picking device and the seedling planting device are arranged up and down and are arranged on the sub-vehicle frame through a connecting seat; the transplanting power mechanism is used to drive the seedling picking device, the seedling planting device, and the seedling box device to move.

[0010] The seedling-taking rotary arm is rotatably positioned on the connecting seat, and the seedling-taking transmission mechanism is arranged in the seedling-taking rotary arm; the seedling-taking transmission mechanism includes a seedling-taking sun gear rotatably positioned in the seedling-taking rotary frame, two seedling-taking first intermediate gears, two seedling-taking second intermediate gears, and two seedling-taking planetary gears; the seedling-taking sun gear meshes with the two seedling-taking first intermediate gears simultaneously, each seedling-taking first intermediate gear is coaxially connected with a seedling-taking second intermediate gear, and each seedling-taking second intermediate gear meshes with a seedling-taking planetary gear; the seedling-taking sun gear is coaxially arranged with the sixth transmission shaft, the seedling-taking sun gear is fixed to the connecting seat, and the sixth transmission shaft is fixed to the seedling-taking rotary arm; the seedling-taking sun gear, the seedling-taking first intermediate gears, the seedling-taking second intermediate gears, and the seedling-taking planetary gears are all non-circular gears.

[0011] The seedling-taking hand includes a seedling-taking support frame fixed to the seedling-taking rotary arm, a seedling-taking outer shell rotatably positioned on the seedling-taking support frame, a seedling-taking transmission shaft fixed to the seedling-taking planetary gear and the seedling-taking outer shell, a seedling-taking clamping assembly, and a seedling-taking transmission assembly for driving the clamping assembly to move; the seedling-taking clamping assembly includes two clamping bowl pieces swingably positioned on the seedling-taking outer shell and a seedling-pushing block slidably positioned on the clamping bowl pieces; the seedling-taking transmission assembly includes a seedling-taking driving gear and a seedling-taking driven gear rotatably positioned in the seedling-taking outer shell and meshing with each other, a seedling-taking cam arranged in the seedling-taking outer shell and fixed to the seedling-taking support frame, a push rod axially slidably positioned in the seedling-taking outer shell, a rear seat fixed to the push rod, a seedling-taking spring with both ends abutted against the rear seat and the seedling-taking outer shell, and a lever fixed to the seedling-taking driven gear for pushing the rear seat.

[0012] The seedling-taking cam is provided with a notch for cooperating with the seedling-taking driving gear; the seedling-pushing block is fixed to the front end of the push rod, the seedling-pushing block is provided with a protruding portion and a sliding sleeve slidably matched with the clamping bowl piece, and the protruding portion is located between the two clamping bowl pieces; the seedling-taking driving gear and the seedling-taking driven gear are both fan-shaped non-circular gears.

[0013] The seedling-planting rotary arm is rotatably positioned on the connecting seat, and the seedling-planting transmission mechanism is arranged in the seedling-planting rotary arm; the seedling-planting transmission mechanism includes a seedling-planting sun gear rotatably positioned in the seedling-planting rotary frame, two seedling-planting intermediate gears, and two seedling-planting planetary gears; the seedling-planting sun gear meshes with the two seedling-planting intermediate gears simultaneously, and each seedling-planting intermediate gear meshes with a seedling-planting planetary gear; the seedling-planting sun gear is fixed to the seventh transmission shaft, and the fourth transmission shaft is fixed to the seedling-planting rotary arm.

[0014] The seedling planting hand includes a seedling planting support frame fixed to the seedling planting slewing arm, a duckbill rotating frame rotatably positioned on the seedling planting support frame, a pair of duckbill planters swingably positioned on the duckbill rotating frame, a duckbill transmission assembly for driving the opening and closing of the duckbill planters, and a seedling planting transmission shaft connecting the duckbill rotating frame and the seedling planting planet gear; the duckbill transmission assembly includes a duckbill cam fixed to the seedling planting support frame, a duckbill spring connecting the two duckbill planters, a duckbill link fixed to one of the duckbill planters, and a duckbill linkage plate fixed to the other duckbill planter; a linkage groove is provided on the duckbill linkage plate, one end of the duckbill link is slidably positioned in the linkage groove through a duckbill link bearing, and a convex platform cooperating with the duckbill cam is also provided on the duckbill linkage plate.

[0015] The electric control box and the image recognition device are both arranged on the sub-frame, and the image recognition device is arranged directly in front of the frame; the electric control box is electrically connected to the walking platform, the transplanting power device, and the image recognition device respectively.

[0016] The beneficial effects of the present invention are:

[0017] The present invention can realize autonomous walking, independent steering, adaptive chassis lifting, and full-automatic planting work with adjustable row spacing and variable plant spacing; the image recognition device of the present invention is used to accurately position the transplanting robot. During the driving process along the path, the walking platform can correct the driving posture according to the deviation angle and deviation amount to maintain driving along the path; at the same time, the image recognition device can, for the planting working condition of the facility vegetable substrate bag, determine the planting position and plan the plant spacing by recognizing the contour line of the facility vegetable substrate bag, so as to control the driving speed of the walking platform and cooperate with the variable plant spacing seedling planting device to realize the variable plant spacing transplanting work. The versatility of the facility vegetable transplanting robot is improved. The walking platform of the present invention can not only adjust the expansion and contraction of the expansion mechanism according to different ridge width working conditions to achieve single-row planting in one ridge, double-row planting in one ridge, and multi-row planting in one ridge, but also can adaptively lift and level unilaterally for different ridge heights between ridges in different regions, and individually control each walking wheel, so that the walking platform can turn and walk independently and flexibly.

[0018] The swing arm of the seedling picking device of the present invention adopts a planetary gear train with non-circular gears, which can achieve progressive seedling clamping, avoid damage to the seedling bowl caused by too fast clamping speed, and avoid the pushing block directly advancing into the seedling hole during the seedling clamping process, resulting in too short a length of the seedling bowl picked by the clamping piece and affecting the seedling picking success rate. It can also achieve rapid elastic seedling pushing to ensure that the seedling bowl is pushed out at a certain initial speed, which is beneficial to the next-stage seedling receiving work. At the same time, since the force on the seedling picking cam during the seedling clamping process increases with the increase in the compression amount of the seedling picking spring, the unequal-speed transmission of the sector non-circular gear is used to change the force on the seedling picking cam to ensure more stable operation of the seedling picking device. The structure of the seedling picking device is simple, effective and small in size, effectively reducing the complexity of the device; the seedling planting device of the present invention is powered by a servo motor and a planetary differential gear train to complete the seedling planting work, and different plant spacings can be adjusted by motor speed regulation to adapt to the transplanting of different vegetable crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is one of the three-dimensional structure diagrams of the present invention.

[0020] Figure 2 is another three-dimensional structure diagram of the present invention.

[0021] Figure 3 is the front view structure diagram of the present invention.

[0022] Figure 4 is the right view structure diagram of the present invention.

[0023] Figure 5 is the three-dimensional structure diagram of the walking platform of the present invention.

[0024] Figure 6 is the three-dimensional structure diagram of the vehicle frame and telescopic mechanism of the present invention.

[0025] Figure 7 is Figure 6 the top view structure diagram of.

[0026] Figure 8 is the three-dimensional structure diagram of the lifting mechanism and walking mechanism of the present invention.

[0027] Figure 9 is the three-dimensional structure diagram of the transplanting power device, seedling box device, seedling picking device, and variable plant spacing seedling planting device of the present invention.

[0028] Figure 10 is Figure 9 the front view structure diagram of.

[0029] Figure 11 is the three-dimensional structure diagram of the transplanting power device of the present invention.

[0030] Figure 12It is a schematic perspective view of the seedling box device of the present invention.

[0031] Figure 13 It is a schematic perspective view of the seedling taking device of the present invention.

[0032] Figure 14 It is a schematic perspective view of the seedling taking transmission mechanism of the present invention.

[0033] Figure 15 It is one of the schematic perspective views of the seedling taking hand of the present invention.

[0034] Figure 16 It is another schematic perspective view of the seedling taking hand of the present invention.

[0035] Figure 17 It is an exploded view of the seedling taking outer shell of the present invention.

[0036] Figure 18 It is a schematic perspective view of the seedling taking transmission assembly of the present invention.

[0037] Figure 19 It is a schematic perspective view of the seedling taking support frame of the present invention.

[0038] Figure 20 It is a schematic perspective view of the rear seat of the present invention.

[0039] Figure 21 It is a schematic perspective view of the seedling taking driven gear and the shift lever of the present invention.

[0040] Figure 22 It is a schematic perspective view of the seedling pushing block of the present invention.

[0041] Figure 23 It is a schematic perspective view of the variable plant spacing seedling planting device of the present invention.

[0042] Figure 24 It is a schematic perspective view of the seedling planting transmission mechanism of the present invention.

[0043] Figure 25 It is a schematic perspective view of the seedling planting hand of the present invention.

[0044] Figure 26 It is a schematic perspective view of the duckbill transmission assembly of the present invention.

[0045] Figure 27 It is a schematic perspective view of the duckbill linkage plate of the present invention.

[0046] Figure 28 It is a schematic perspective view of the duckbill cam of the present invention.

[0047] Reference numerals: main frame 1.1, sub-frame 1.2, frame guide rail 1.11, frame slider 1.12, connecting seat 1.3, telescopic motor 2.1, telescopic driving wheel 2.2, telescopic driven wheel 2.3, telescopic lead screw 2.4, telescopic transmission belt 2.5, electric push cylinder 3.1, linkage rod 3.2, linkage chute 3.21, lifting fixed frame 3.3, first lifting rod 3.4, linkage bearing 3.41, second lifting rod 3.5, lifting connecting frame 3.6, electric push cylinder connecting plate 3.7, lifting connecting plate 3.8, steering motor 4.1, wheel frame 4.2, traveling motor 4.3, traveling wheel 4.4, traveling speed reducer 4.5, first motor 5.1, second motor 5.2, transplanting speed reducer 5.3, first transmission shaft 6.1, second transmission shaft 6.2, third transmission shaft 6.3, fourth transmission shaft 6.4, fifth transmission shaft 6.5, sixth transmission shaft 6.6, seventh transmission shaft 6.7, first transmission gear 7.1, second transmission gear 7.2, third transmission gear 7.3, fourth transmission gear 7.4, fifth transmission gear 7.5, sixth transmission gear 7.6, seventh transmission gear 7.7, eighth transmission gear 7.8, seedling picking rotary arm 8, first seedling picking intermediate wheel 9.1, second seedling picking intermediate wheel 9.2, seedling picking sun gear 9.3, seedling picking planet gear 9.4, seedling picking fixed shaft 9.5, seedling picking support frame 10, seedling picking transmission shaft 11, main seedling picking housing 12.1, side seedling picking baffle 12.2, front seedling picking baffle 12.3, seedling picking top cover 12.4, positioning rod 12.41, clamping bowl piece 13.1, seedling pushing block 13.2, protruding part 13.21, two sliding sleeves 13.22, clamping bowl piece connecting piece 13.3, notch 14.31, seedling picking driving gear 14.1, seedling picking driven gear 14.2, seedling picking cam 14.3, push rod 14.4, rear seat 14.5, positioning hole 14.51, sliding groove 14.52, seedling picking spring 14.6, dial rod 14.7, dial block 14.71, limit buffer bushing 14.8, seedling planting rotary arm 15, seedling planting sun gear 16.1, seedling planting intermediate wheel 16.2, seedling planting planet gear 16.3, seedling planting support frame 17, duckbill rotary frame 18, duckbill rotary frame connecting plate 18.1, duckbill planter 19, duckbill support 19.1, duckbill cam 21, duckbill connecting rod 22, duckbill connecting rod bearing 22.1, duckbill linkage plate 23, linkage groove 23.1, boss 23.2, seedling planting transmission shaft 24, electric control box 30, image recognition device 31. Detailed implementation manners

[0048] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] As Figure 1As shown in the figure, the vegetable automatic transplanting robot with adjustable row spacing and variable plant spacing in the facility includes a walking platform, a transplanting power device, a seedling box device, a seedling picking device, a variable plant spacing seedling planting device, an image recognition device, and an electric control box.

[0050] The walking platform includes a vehicle frame, a telescopic mechanism, a lifting mechanism, and a walking mechanism. The telescopic mechanism is used to adjust the width of the vehicle frame ( Figure 4 in the horizontal direction), the lifting mechanism is used to adjust the height of the vehicle frame ( Figure 4 in the vertical direction), and the walking mechanism is used to drive the vehicle frame to turn and move.

[0051] The vehicle frame includes a main vehicle frame 1.1 and a sub-vehicle frame 1.2. As Figure 6 shown, the sub-vehicle frame is horizontally slidably positioned on the main vehicle frame through a vehicle frame guide rail 1.11 and a vehicle frame slider 1.12. The seedling box device is arranged on the sub-vehicle frame. A connecting seat 1.3 is also provided on the sub-vehicle frame. The seedling picking device and the variable plant spacing seedling planting device are arranged on the connecting seat and are arranged vertically. The seedling box device is arranged at the rear part of the walking platform ( Figure 3 on the left side), and the seedling picking device and the variable plant spacing seedling planting device are arranged at the front part of the walking platform ( Figure 3 on the right side). A plurality of inclination sensors (omitted in the figure) are also provided on the main vehicle frame and the sub-vehicle frame.

[0052] The telescopic mechanism includes a telescopic motor 2.1, a telescopic driving wheel 2.2, a telescopic driven wheel 2.3, a telescopic lead screw 2.4, a telescopic transmission belt 2.5, and a telescopic nut. As Figure 6 shown, the telescopic motor is fixed to the sub-vehicle frame. The telescopic lead screw is rotatably positioned on the sub-vehicle frame. The telescopic driving wheel is coaxially connected to the telescopic motor shaft. The telescopic driven wheel is coaxially connected to the telescopic lead screw. The telescopic transmission belt is sleeved on the telescopic driving wheel and the telescopic driven wheel. The telescopic nut meshes with the telescopic lead screw and is fixed to the main vehicle frame. The telescopic transmission belt is a chain, and the telescopic driving wheel and the telescopic driven wheel are sprockets, so as to realize the adjustment of the vehicle frame row spacing to adapt to the planting situations of single row per ridge and multiple rows per ridge.

[0053] Lifting mechanisms are provided on both the main frame and the sub-frame. The lifting mechanism includes an electric push cylinder 3.1, a four-bar assembly, and a linkage rod 3.2. The electric push cylinder is fixed to the main frame or the sub-frame. Four-bar assemblies are provided at both the front and rear ends of the main frame or the sub-frame. The linkage rod is used to transmit the power of the electric push cylinder to drive the two four-bar assemblies to move simultaneously. The electric push cylinder is fixed to the side of the main frame or the sub-frame through an electric push cylinder connecting plate 3.7. The moving axis of the telescopic rod of the electric push cylinder is arranged vertically. The telescopic rod of the electric push cylinder is fixed to the linkage rod through a lifting connecting plate 3.8. The four-bar assembly is a parallelogram mechanism, including a lifting fixed frame 3.3, a first lifting rod 3.4, a second lifting rod 3.5, and a lifting connecting frame 3.6. The lifting fixed frame is fixed to the main frame or the sub-frame. The first lifting rod and the second lifting rod are arranged in parallel, and the first lifting rod and the second lifting rod are also rotatably hinged to the lifting fixed frame and the lifting connecting frame. The two ends of the linkage rod are provided with linkage chutes 3.21. One end of the first lifting rod of the two four-bar assemblies on both sides is slidably positioned in the linkage chute through a linkage bearing 3.41.

[0054] The traveling mechanism is provided on the four-bar assembly. The traveling mechanism includes a steering motor 4.1, a traveling motor 4.3, a wheel frame 4.2, traveling wheels 4.4, and a traveling speed reducer 4.5. The wheel frame is rotatably positioned on the lifting connecting frame. The traveling wheels are rotatably positioned on the wheel frame. The steering motor is fixed to the lifting connecting frame to drive the wheel frame to rotate. The traveling motor and the traveling speed reducer are fixed to the wheel frame. The traveling speed reducer is used to transmit the power of the traveling motor to drive the traveling wheels to rotate.

[0055] The seedling box device, the seedling taking device, the variable plant spacing seedling planting device, the transplanting power device, the image recognition device 31, and the electric control box 30 are provided on the sub-frame of the traveling platform. The seedling box device is used to continuously supply seedlings to the seedling taking device (the pot seedling tray is installed on the seedling box device). The seedling taking device takes seedlings from the seedling box device and puts the pot seedlings into the seedling planting device. The variable plant spacing seedling planting device can dig hole cavities in the ground or arrange organic substrate bags in sequence under different working conditions, and adjust its operating speed according to different planting spacings to transplant the pot seedlings into the hole cavities. The transplanting power device is used to provide power to drive the seedling box device, the seedling taking device, and the variable plant spacing seedling planting device to move. The seedling box device is a prior art and will not be described in detail here.

[0056] The image recognition device is used to obtain the front image of the walking platform, which can be used to accurately position the transplanting robot. During the process of traveling along the path, the walking platform can correct its traveling posture according to the offset angle and offset amount to maintain traveling along the path. At the same time, the image recognition device can, for the working condition of facility vegetable substrate bag planting, determine the planting position and plan the plant spacing by recognizing the contour line of the facility vegetable substrate bag, so as to control the traveling speed of the walking platform and cooperate with the variable plant spacing seedling planting device to achieve variable plant spacing transplanting work. The image recognition device is a camera with machine vision recognition function.

[0057] The transplanting power device is arranged on the sub-frame. As Figure 11 shown, the transplanting power device includes a first motor 5.1, a second motor 5.2, a transplanting reduction gear 5.3, a first transmission shaft 6.1, a second transmission shaft 6.2, a third transmission shaft 6.3, a fourth transmission shaft 6.4, a fifth transmission shaft 6.5, a sixth transmission shaft 6.6, a seventh transmission shaft 6.7, a first gear set, a second gear set, and a third gear set. The first motor and the second motor are servo motors.

[0058] The first motor, the second motor, and the transplanting reduction gear are fixed on the sub-frame. The first transmission shaft is coaxially connected to the rotating shaft of the first motor through the transplanting reduction gear. The seventh transmission shaft is coaxially connected to the rotating shaft of the second motor. The first transmission shaft and the third transmission shaft are horizontally and coaxially arranged. The second transmission shaft is horizontally arranged and perpendicular to the first transmission shaft. The second transmission shaft, the fourth transmission shaft, and the sixth transmission shaft are parallelly arranged. The fifth transmission shaft is vertically arranged. The fourth transmission shaft and the seventh transmission shaft are coaxially arranged. The seventh transmission shaft is rotatably positioned in the fourth transmission shaft. The first transmission shaft connects the second transmission shaft and the third transmission shaft through the first gear set. The third transmission shaft connects the fourth transmission shaft and the fifth transmission shaft through the second gear set. The fifth transmission shaft connects the sixth transmission shaft through the third gear set. The second transmission shaft transmits power to the seedling box device. The fourth transmission shaft and the seventh transmission shaft transmit power to the seedling planting device. The sixth transmission shaft transmits power to the seedling taking device.

[0059] The first gear set includes a first transmission gear 7.1 fixed to the first transmission shaft, a second transmission gear 7.2 fixed to the second transmission shaft, and a third transmission gear 7.3 fixed to one end of the third transmission shaft. The second transmission gear meshes with the first transmission gear and the third transmission gear at the same time. The second gear set includes a fourth transmission gear 7.4 fixed to the other end of the third transmission shaft, a fifth transmission gear 7.5 fixed to the fourth transmission shaft, and a sixth transmission gear 7.6 fixed to one end of the fifth transmission shaft. The fifth transmission gear meshes with the fourth transmission gear and the sixth transmission gear at the same time. The third gear set includes a seventh transmission gear 7.7 fixed to the other end of the fifth transmission shaft and an eighth transmission gear 7.8 fixed to the sixth transmission shaft. The seventh transmission gear meshes with the eighth transmission gear.

[0060] The seedling picking device includes a seedling picking rotary arm 8, two seedling pickers, and a seedling picking transmission mechanism. The seedling picking rotary arm is rotatably positioned on the upper part of the connecting seat. The two seedling pickers are rotatably positioned at both ends of the seedling picking rotary arm. The seedling picking transmission mechanism is arranged in the seedling picking rotary arm and is used to transmit the power of the first motor to drive the movement of the seedling picking rotary arm and the seedling pickers.

[0061] The seedling picking transmission mechanism includes a seedling picking sun gear 9.3 rotatably positioned in the seedling picking rotary frame, two seedling picking first intermediate gears 9.1, two seedling picking second intermediate gears 9.2, and two seedling picking planetary gears 9.4. The seedling picking sun gear, the seedling picking first intermediate gears, the seedling picking second intermediate gears, and the seedling picking planetary gears are arranged in sequence along the power transmission direction. The seedling picking sun gear, the seedling picking first intermediate gears, and the seedling picking planetary gears are arranged from the middle to both sides in sequence. The seedling picking sun gear meshes with the two seedling picking first intermediate gears simultaneously. Each seedling picking first intermediate gear is coaxially connected to a seedling picking second intermediate gear, and each seedling picking second intermediate gear meshes with a seedling picking planetary gear. The seedling picking sun gear, the seedling picking first intermediate gears, the seedling picking second intermediate gears, and the seedling picking planetary gears are all non-circular gears. The seedling picking sun gear is fixed to the connecting seat through a seedling picking fixed shaft 9.5. The sixth transmission shaft is fixed to the seedling picking rotary arm. The seedling picking sun gear, the sixth transmission shaft, and the seedling picking fixed shaft are coaxially arranged.

[0062] The seedling picker includes a seedling picking support frame 10, a seedling picking transmission shaft 11, a seedling picking outer shell, a seedling picking clamping assembly, and a seedling picking transmission assembly. The seedling picking outer shell is rotatably positioned on the seedling picking support frame. The seedling picking transmission shaft is coaxially connected to the seedling picking planetary gear and is also fixed to the seedling picking outer shell. The rotation axis of the seedling picking outer shell is coaxially arranged with the rotation axis of the seedling picking transmission shaft. The power of the seedling picking planetary gear is transmitted to the seedling picking clamping assembly through the seedling picking transmission shaft and the seedling picking transmission assembly, so as to realize seedling picking and seedling pushing.

[0063] The seedling picking outer shell includes a seedling picking main outer shell 12.1, a seedling picking side baffle 12.2, a seedling picking front baffle 12.3, and a seedling picking top cover 12.4. The seedling picking main outer shell is rotatably positioned on the seedling picking support frame. The seedling picking front baffle and the seedling picking top cover are respectively fixed to the front and rear parts of the seedling picking main outer shell. The seedling picking side baffle is fixed to the side of the seedling picking main outer shell. The seedling picking transmission shaft passes through the seedling picking support frame and extends into the seedling picking main outer shell and is fixed to the seedling picking side baffle.

[0064] The seedling picking and clamping assembly includes clamping bowl pieces 13.1, seedling pushing blocks 13.2, and clamping bowl piece connectors 13.3. The clamping bowl piece connectors are fixed on the main seedling picking housing. Two clamping bowl pieces are swingably positioned on the clamping bowl piece connectors. The seedling pushing blocks are provided with protrusions 13.21 and two sliding sleeves 13.22. One sliding sleeve is slidably positioned on each clamping bowl piece, and the protrusions are located between the two clamping bowl pieces. When the seedling pushing blocks move, they can drive the clamping bowl pieces to open and close, realizing seedling clamping and seedling pushing. At the same time, the seedling pushing blocks can quickly push out the pot seedlings through the protrusions. The distance between the two sliding sleeves is smaller than the distance between the rotation axes of the two clamping bowl pieces. When the sliding sleeves approach the rotation axes, the two clamping bowl pieces close; when the sliding sleeves move away from the rotation axes, the two clamping bowl pieces open.

[0065] The seedling picking transmission assembly includes a seedling picking driving gear 14.1, a seedling picking driven gear 14.2, a seedling picking cam 14.3, a push rod 14.4, a rear seat 14.5, a seedling picking spring 14.6, and a lever 14.7. The seedling picking driving gear and the seedling picking driven gear are rotatably positioned in the main seedling picking housing and mesh with each other. The push rod is axially slidably positioned in the main seedling picking housing. The front end of the push rod is fixed to the seedling pushing block, and the rear end of the push rod is fixed to the rear seat. The two ends of the seedling picking spring respectively abut against the rear seat and the seedling picking top cover. The rear seat is provided with a positioning hole 14.51, one end of the seedling picking spring extends into the positioning hole, and the seedling picking top cover is provided with a positioning rod 12.41, and the positioning rod extends into the other end of the seedling picking spring. The rear seat is provided with a sliding groove 14.52. The lever is fixed to the seedling picking driven gear and is provided with a slider 14.71 that slidably cooperates with the sliding groove. Both the seedling picking driving gear and the seedling picking driven gear are fan-shaped non-circular gears. The seedling picking cam is provided with a notch 14.31 that cooperates with the seedling picking driving gear, and the seedling picking driving gear closely abuts against the outer circumferential surface of the seedling picking cam. The main seedling picking housing is further provided with a limit and buffer bush 14.8 for limiting the sliding of the rear seat, ensuring that the entire seedling picking transmission assembly swings within a fixed range of angles, so that the seedling picking driving gear and the seedling picking driven gear maintain normal meshing.

[0066] The variable plant spacing seedling planting device includes a seedling planting rotary arm 15, two seedling planters, and a seedling planting transmission mechanism. The seedling planting rotary arm is rotatably positioned at the lower part of the connecting seat. Two seedling planters are rotatably positioned at both ends of the seedling planting rotary arm. The seedling planting transmission mechanism is arranged in the seedling planting rotary arm and is used to transmit the power of the first motor and the second motor to drive the seedling planting rotary arm and the seedling planters to move.

[0067] The seedling planting transmission mechanism includes a seedling planting sun gear 16.1 rotatably positioned in the seedling planting rotary frame, two seedling planting intermediate gears 16.2, and two seedling planting planetary gears 16.3. The seedling planting sun gear, the seedling planting intermediate gears, and the seedling planting planetary gears are arranged in sequence along the power transmission direction. The seedling planting sun gear, the seedling planting intermediate gears, and the seedling planting planetary gears are arranged in sequence from the middle to both sides. The seedling planting sun gear meshes with the two seedling planting intermediate gears simultaneously, and each seedling planting intermediate gear meshes with one seedling planting planetary gear. The seedling planting sun gear is fixed to the seventh transmission shaft, and the seedling planting rotary arm is fixed to the fourth transmission shaft.

[0068] The seedling planting hand includes a seedling planting support frame 17, a duckbill rotary frame 18, a pair of duckbill planters 19, and a duckbill transmission assembly. The seedling planting support frame is fixed to the seedling planting rotary arm. The duckbill rotary frame is rotatably positioned on the seedling planting support frame. The duckbill rotary frame is fixed to the seedling planting transmission shaft 24 through a duckbill rotary frame connecting plate 18.1. The seedling planting transmission shaft is coaxially connected to the seedling planting planetary gear. The duckbill planter is swingably positioned on the duckbill rotary frame through a duckbill support 19.1. The duckbill transmission assembly is used to drive the duckbill planter to open and close.

[0069] The duckbill transmission assembly includes a duckbill cam 21, a duckbill connecting rod 22, a duckbill linkage plate 23, and a duckbill spring (omitted in the figure). The duckbill cam is fixed to the seedling planting support frame. The duckbill connecting rod is fixed to the duckbill support of one of the duckbill planters. The duckbill linkage plate is fixed to the duckbill support of the other duckbill planter. The duckbill linkage plate is provided with a linkage groove 23.1 and a convex platform 23.2. The duckbill connecting rod is slidably positioned in the linkage groove through a duckbill connecting rod bearing 22.1. The convex platform abuts against the outer circumferential surface of the duckbill cam. The two ends of the duckbill spring are respectively fixed to the two duckbill planters.

[0070] The electric control box is electrically connected to the motors of the walking platform (telescopic motor, electric push cylinder, steering motor, walking motor, inclination sensor), the transplanting power device (first motor, second motor), and the image recognition device respectively. The electric control box is internally provided with a controller. The seedling box device, the image recognition device, and the electric control box are all prior arts. The present invention further includes a power supply (omitted in the figure) for power supply.

[0071] The working principle of the present invention is as follows:

[0072] The vegetable transplanting robot starts from the starting area in the greenhouse, identifies the ridge position through the image recognition device, and the electric control box controls the walking platform to move autonomously. The steering motor controls the walking mechanism to turn in all directions. The power of the walking motor drives the walking wheels to rotate through the walking speed reducer, and all four walking wheels can be independently controlled. When the walking platform moves to the position of the ridge to be transplanted, the image recognition device identifies the width of the ridge. According to the requirements of different ridge widths and row spacings, the telescopic motor of the telescopic mechanism starts to adjust the lateral width of the vehicle frame to meet the requirements of the ridge width and row spacing of different crops. According to the feedback signal of the inclination sensor, the electric push cylinder starts to adjust the height of the lifting mechanism, so that the walking platform remains horizontal and maintains a preset distance from the ridge, adapting to the situation where the ground on both sides of the ridge has a slope or the height of the ridge changes, which is convenient for subsequent transplanting operations;

[0073] In the seedling picking device: The sixth transmission shaft drives the seedling picking rotary arm to rotate. The seedling picking transmission mechanism in the seedling picking rotary arm drives the two seedling picking hands to move. The seedling picking hands revolve around the sixth transmission shaft and rotate around the seedling picking transmission shaft at the same time. The seedling picking hands rotate one circle to perform a clamping and pushing action once (the seedling picking hands pick up the pot seedlings from the seedling box device and transfer the pot seedlings to the seedling planting hands). The seedling picking transmission shaft drives the seedling picking hands to rotate around the seedling picking support frame. When the driving gear of seedling picking rotates to the notch position (the near rest angle of the seedling picking cam), the sector teeth of the driving gear of seedling picking are embedded in the notch, and the seedling picking spring pushes the push rod forward to extend, the clamping bowl pieces open, and the pushing block moves forward to push the seedlings. When the driving gear of seedling picking rotates to other positions (the far rest angle of the seedling picking cam), the driving gear of seedling picking exits the notch, causing the driving gear of seedling picking to rotate in the reverse direction, the push rod moves backward, and the seedling picking spring is compressed, and the clamping bowl pieces close to clamp the seedlings;

[0074] The clamping speed of the clamping bowl pieces depends on the rotation speed of the seedling picking cam, and the pushing block does not enter the pot hole during the clamping process. When the seedling picking cam rotates to the specified position, the sector non-circular gear is disengaged, and under the action of the spring force, the pushing block is quickly pushed out, and at the same time the connecting piece of the clamping bowl pieces opens to achieve rapid seedling pushing. According to the fact that the force on the seedling picking cam increases with the increase of the spring compression amount during the clamping process, the force on the seedling picking cam is changed through the non-uniform transmission of the sector non-circular gear, making the force on the seedling picking mechanism more stable during operation;

[0075] In the variable plant spacing seedling planting device: The fourth transmission shaft drives the seedling planting rotary arm to rotate at a constant speed. The seventh transmission shaft drives two seedling planters to rotate at a variable speed through the seedling planting transmission mechanism and the sun gear of the seedling planting mechanism. The seedling planters revolve around the fourth transmission shaft and the seventh transmission shaft, and at the same time rotate around the seedling planting transmission shaft. When the seedling planter rotates one circle, the duckbill planter makes an opening and closing action (the seedling planter receives the pot seedlings from the seedling picking hand and plants the pot seedlings into the soil); the seedling planting transmission shaft drives the seedling planter to rotate around the seedling planting support frame. When the duckbill linkage plate rotates to the protruding part of the duckbill cam, the duckbill linkage plate drives the two duckbill planters to open. When the duckbill linkage plate rotates to other parts of the duckbill cam, the two duckbill planters close; the seedling planting transmission mechanism adopts a differential gear train of circular gears, and controls the speed difference between the fourth transmission shaft and the seventh transmission shaft through the motor speed regulation principle, forming different transmission ratios between the two, so as to achieve adjustable plant spacing seedling planting for different plant spacing working conditions;

[0076] After the seedling picking hand picks up the seedlings from the seedling box device once, the seedling box device drives the loaded pot seedling tray to horizontally translate one hole position synchronously, waiting for the seedling picking hand to pick up the seedlings next time; after all the seedlings in a row of holes of the pot seedling tray are picked up, the seedling box device drives the pot seedling tray to move down one row; this is repeated until the seedling picking hand finishes picking up the seedlings in the pot seedling tray; when the seedling picking hand takes out the pot seedlings and rotates to the seedling pushing position, the seedling planter reaches the position directly below the seedling picking hand, and the seedling picking hand pushes the pot seedlings into the duckbill planter; when the seedling planter rotates to the variable plant spacing seedling planting position (the variable speed rotation of the seedling planting transmission mechanism ensures that the duckbill planter maintains an upright posture), the seedling cam and the duckbill linkage plate are in the pushing stroke section, and the duckbill planter embeds into the soil and opens to dig out a hole, and the pot seedlings therein fall into the hole to complete the seedling planting; when the seedling planter returns to the seedling receiving position again, the seedling cam and the duckbill linkage plate are in the return stroke section, and the duckbill spring restoring force closes the two duckbill planters.

[0077] The preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

Claims

1. An autonomous vegetable transplanting robot in a facility with adjustable row spacing and variable plant spacing, characterized in that: The robot includes a walking platform, a transplanting power device, a seedling box device, a seedling picking device, a variable plant spacing seedling planting device, an image recognition device, and an electric control box; the walking platform includes a vehicle frame, a telescopic mechanism for adjusting the width of the vehicle frame, a lifting mechanism for adjusting the height of the vehicle frame, and a walking mechanism for steering and moving; the transplanting power device includes a first motor (5.1), a second motor (5.2), a first transmission shaft (6.1) driven by the first motor, a second transmission shaft (6.2) and a third transmission shaft (6.3) connected to the first transmission shaft through a first gear set, a fourth transmission shaft (6.4) and a fifth transmission shaft (6.5) connected to the third transmission shaft through a second gear set, a sixth transmission shaft (6.6) connected to the fifth transmission shaft through a third gear set, and a seventh transmission shaft (6.7) driven by the second motor and coaxially arranged with the fourth transmission shaft; the seedling picking device includes a seedling picking rotary arm (8) rotatably positioned on the vehicle frame, two seedling picking hands arranged on the seedling picking rotary arm, and a seedling picking transmission mechanism for driving the movement of the seedling picking rotary arm and the seedling picking hands; the variable plant spacing seedling planting device includes a seedling planting rotary arm (15) rotatably positioned on the vehicle frame, two seedling planting hands arranged on the seedling planting rotary arm, and a seedling planting transmission mechanism for driving the movement of the seedling planting rotary arm and the seedling planting hands. The vehicle frame includes a main vehicle frame (1.1) and a sub-vehicle frame (1.2) slidably positioned laterally on the main vehicle frame; the telescopic mechanism drives the sub-vehicle frame to slide laterally on the main vehicle frame. The seedling box device, the seedling picking device, the variable plant spacing seedling planting device, the transplanting power device, and the electric control box are arranged on the sub-vehicle frame of the walking platform. The seedling planting rotary arm is rotatably positioned on a connecting seat, and the seedling planting transmission mechanism is arranged in the seedling planting rotary arm; the seedling planting transmission mechanism includes a seedling planting sun gear (16.1) rotatably positioned in the seedling planting rotary frame, two seedling planting intermediate gears (16.2), and two seedling planting planetary gears (16.3); the seedling planting sun gear meshes with the two seedling planting intermediate gears simultaneously, and each seedling planting intermediate gear meshes with a seedling planting planetary gear; the seedling planting sun gear is fixed to the seventh transmission shaft, and the fourth transmission shaft is fixed to the seedling planting rotary arm. The seedling planting hand includes a seedling planting support frame (17) fixed to the seedling planting rotary arm, a duckbill rotary frame (18) rotatably positioned on the seedling planting support frame, a pair of duckbill planters (19) swingably positioned on the duckbill rotary frame, a duckbill transmission assembly for driving the opening and closing of the duckbill planters, and a seedling planting transmission shaft (24) connecting the duckbill rotary frame and the seedling planting planetary gear; the duckbill transmission assembly includes a duckbill cam (21) fixed to the seedling planting support frame, a duckbill spring connecting the two duckbill planters, a duckbill link (22) fixed to one of the duckbill planters, and a duckbill linkage plate (23) fixed to the other duckbill planter; a linkage groove (23.1) is provided on the duckbill linkage plate, one end of the duckbill link is slidably positioned in the linkage groove through a duckbill link bearing (22.1), and a convex platform (23.2) for cooperating with the duckbill cam is also provided on the duckbill linkage plate.

2. The vegetable automatic transplanting robot with adjustable row spacing and variable plant spacing in the facility according to claim 1, characterized in that: The telescopic mechanism includes a telescopic motor (2.1) fixed to the sub-frame, a telescopic driving wheel (2.2) driven by the telescopic motor, a telescopic lead screw (2.4) rotatably positioned on the sub-frame, a telescopic driven wheel (2.3) fixed to the telescopic lead screw, a telescopic transmission belt (2.5) connecting the telescopic driving wheel and the telescopic driven wheel, and a telescopic nut that meshes with the telescopic lead screw and is fixed to the main frame; the lifting mechanism is respectively arranged on the main frame and the sub-frame, and includes an electric push cylinder (3.1) fixed to the main frame or the sub-frame, two four-bar assemblies respectively arranged at the front and rear ends of the main frame or the sub-frame, and a linkage rod (3.2) that transmits the power of the electric push cylinder to drive the two four-bar assemblies to move; the traveling mechanism includes a steering motor (4.1) arranged on the four-bar assembly, a wheel carrier (4.2) driven by the steering motor, and a traveling motor (4.3) and traveling wheels (4.4) arranged on the wheel carrier.

3. The vegetable automatic transplanting robot with adjustable row spacing and variable plant spacing in a facility according to claim 2, wherein: The four-bar assembly includes a lifting fixed frame (3.3), a first lifting rod (3.4), a second lifting rod (3.5), and a lifting connecting frame (3.6); the lifting fixed frame is fixed to the main frame or the sub-frame, the first lifting rod and the second lifting rod are rotatably hinged between the lifting fixed frame and the lifting connecting frame, the steering motor is fixed to the lifting connecting frame, a linkage chute (3.21) is provided on the linkage rod, and one end of the first lifting rod is slidably positioned in the linkage chute through a linkage bearing (3.41).

4. The vegetable autonomous transplanting robot in the facility with adjustable row spacing and variable plant spacing according to claim 3, characterized in that: The seedling picking device and the variable plant spacing seedling planting device are arranged up and down and are arranged on the sub-frame through a connecting seat (1.3); the transplanting power device is used to drive the seedling picking device, the variable plant spacing seedling planting device, and the seedling box device to move.

5. The vegetable automatic transplanting robot with adjustable row spacing and variable plant spacing in the facility according to claim 4, characterized in that: The seedling picking rotary arm is rotatably positioned on the connecting seat, and a seedling picking transmission mechanism is arranged in the seedling picking rotary arm; the seedling picking transmission mechanism includes a seedling picking sun gear (9.3) rotatably positioned in the seedling picking rotary frame, two seedling picking first intermediate gears (9.1), two seedling picking second intermediate gears (9.2), and two seedling picking planet gears (9.4); the seedling picking sun gear meshes with the two seedling picking first intermediate gears at the same time, each seedling picking first intermediate gear is coaxially connected to a seedling picking second intermediate gear, and each seedling picking second intermediate gear meshes with a seedling picking planet gear; the seedling picking sun gear is coaxially arranged with the sixth transmission shaft, the seedling picking sun gear is fixed to the connecting seat, and the sixth transmission shaft is fixed to the seedling picking rotary arm; the seedling picking sun gear, the seedling picking first intermediate gear, the seedling picking second intermediate gear, and the seedling picking planet gear are all non-circular gears.

6. The vegetable autonomous transplanting robot with adjustable row spacing and variable plant spacing in a facility according to claim 5, characterized in that: The seedling picking hand includes a seedling picking support frame (10) fixed to the seedling picking rotary arm, a seedling picking outer shell rotatably positioned on the seedling picking support frame, a seedling picking transmission shaft (11) fixed to the seedling picking planet gear and the seedling picking outer shell, a seedling picking clamping assembly, and a seedling picking transmission assembly for driving the clamping assembly to move; the seedling picking clamping assembly includes two clamping bowl pieces (13.1) swingably positioned on the seedling picking outer shell, and a seedling pushing block (13.2) slidably positioned on the clamping bowl pieces; the seedling picking transmission assembly includes a seedling picking driving gear (14.1) and a seedling picking driven gear (14.2) rotatably positioned in the seedling picking outer shell and meshing with each other, a seedling picking cam (14.3) arranged in the seedling picking outer shell and fixed to the seedling picking support frame, a push rod (14.4) axially slidably positioned in the seedling picking outer shell, a rear seat (14.5) fixed to the push rod, a seedling picking spring (14.6) with both ends abutted against the rear seat and the seedling picking outer shell, and a lever (14.7) fixed to the seedling picking driven gear for pushing the rear seat.

7. The vegetable automatic transplanting robot with adjustable row spacing and variable plant spacing in the facility according to claim 6, characterized in that: The seedling picking cam is provided with a notch (14.31) for cooperating with the seedling picking driving gear; the seedling pushing block is fixed to the front end of the push rod, the seedling pushing block is provided with a protrusion (13.21) and a sliding sleeve (13.22) slidably matched with the clamping bowl piece, and the protrusion is located between the two clamping bowl pieces; both the seedling picking driving gear and the seedling picking driven gear are fan-shaped non-circular gears.

8. The vegetable autonomous transplanting robot with adjustable row spacing and variable plant spacing according to claim 7, characterized in that: The electric control box (30) and the image recognition device (31) are both arranged on the auxiliary frame; the electric control box is electrically connected to the walking platform, the transplanting power device, and the image recognition device respectively.

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