An automatic seedling cup planting robot and its planting method

Abstract

The present invention discloses a seedling cup automatic planting robot and its planting method. The seedling cup automatic planting robot includes a vehicle frame, and a hole drilling and soil storing module, a soil flushing module, a soil pressing module, and a seedling cup storage and transportation module installed on the vehicle frame; the seedling cup storage and transportation module includes a sapling storage and conveying channel and a sapling conveying tray; a pushing component is arranged at the output port of the sapling storage and conveying channel; the soil flushing module includes a flushing pipe, a soil flushing driving component, a seesaw, and a soil lifting driving component; the soil pressing module is located directly below the soil flushing module and includes two opening and closing pressing plates; in the present invention, the pushing component realizes the pushing of the seedling cup by the rotation of the crank wheel in cooperation with the gear-rack structure; by utilizing the quick-return characteristic of the pushing component, the present invention can switch the pushing action of the seedling cup between fast pushing and slow returning and slow pushing and fast returning by changing the rotation direction of the crank wheel, so as to provide an optimal pushing method for seedling cups with different center of gravity heights.

Description

Technical Field

[0001] The present invention belongs to the technical field of greening equipment, and particularly relates to an automatic seedling cup planting robot and a planting method thereof. Background Art

[0002] When the existing seedling cup planting equipment is in operation, first, a tree planting trench or hole is dug in the land by a furrow opener, and saplings are put into the trench at a certain plant spacing by manual or seedling laying equipment, and then the root soil of the saplings is covered and compacted by a soil covering and compaction device; this process involves multiple different devices, making it difficult to achieve high automation, and thus a large amount of manpower and material resources are consumed during the tree planting process. In addition, due to the need for multiple devices to cooperate, it is also an important factor restricting the survival rate of saplings of the existing tree planters that it is difficult to achieve precise repeated positioning between multiple devices.

[0003] In addition, the seedling cup pushing speed of some existing seedling cup planting equipment is single, and it is difficult to adjust the pushing speed according to different centers of gravity and bottom widths, resulting in the situation that the seedling cups are prone to tipping or jamming during the output stage. There are also some seedling cup planting equipment that need to adjust the pushing speed of the seedling cups by regulating the motor speed, resulting in complex equipment control logic, high costs and failure rates; therefore, it is necessary to design a robot that can automatically complete all the processes of seedling cup planting at the same position and can adjust the pushing speed of the seedling cups by the forward and reverse rotation of the motor. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic seedling cup planting robot and a planting method thereof.

[0005] The automatic seedling cup planting robot includes a vehicle frame, and a hole drilling and soil storing module, a soil flushing module, a soil pressing module, and a seedling cup storage and transportation module installed on the vehicle frame; the hole drilling and soil storing module is used to create a hole required for sapling planting in the land; the seedling cup storage and transportation module includes a sapling storage and conveying channel and a sapling conveying tray; the sapling storage and conveying channel is installed on the vehicle frame; the horizontally arranged sapling conveying tray is rotatably connected to the vehicle frame; the arc-shaped sapling storage and conveying channel is fixed on the vehicle frame and is located above the sapling conveying tray; the seedling cups located in the sapling storage and conveying channel are supported on the sapling conveying tray; along the sapling conveying direction, the width of the sapling storage and conveying channel gradually decreases; the sapling conveying tray is driven to rotate by a power element.

[0006] A pushing assembly is provided at the output port of the seedling storage and conveying channel; the pushing assembly includes a push rod, a pendulum gear and a crank wheel; the push rod is slidably connected to the output port of the seedling storage and conveying channel; a rack section is provided on the side of the push rod; the pendulum gear is rotatably connected to the seedling storage and conveying channel; a gear section is provided on the pendulum gear; the gear section on the pendulum gear meshes with the rack section on the push rod; a slide groove is provided on the side of the pendulum gear away from the gear section; the crank wheel is rotatably connected to the seedling storage and conveying channel; a convex column is eccentrically provided on the side of the crank wheel; the convex column extends into the slide groove; the rotation of the crank wheel drives the push rod to slide back and forth, pushing the seedling cup at the output port of the seedling storage and conveying channel out of the seedling storage and conveying channel; during operation, by adjusting the steering direction of the crank wheel, the push rod is switched between the fast-out and slow-return mode and the fast-out and slow-return mode to adapt to different seedling cups.

[0007] The soil flushing module comprises a flushing pipe, a soil flushing driving assembly, a seesaw and a soil lifting driving assembly; the vertically arranged flushing pipe is slidably connected to the frame and is lifted and lowered under the drive of the soil flushing driving assembly; the bottom surface of the flushing pipe is inclined; the top edge of the seesaw is rotatably connected to the upper edge of the bottom surface of the flushing pipe; the seesaw is turned over under the drive of the soil lifting driving assembly; when the flushing pipe is lowered to the lower limit position, the seedling cup output by the seedling storage and conveying channel falls into the flushing pipe;

[0008] The soil compacting module is located directly below the soil flushing module, and includes two opening and closing pressure plates; both opening and closing pressure plates can be lifted and lowered and moved laterally under the drive of a power element; the opposite side edges of the two opening and closing pressure plates are provided with clearance gaps; when the two clearance gaps are butt-jointed together, a closed-loop bayonet is formed; the size of the closed-loop bayonet is adjusted by moving the two opening and closing pressure plates toward or away from each other.

[0009] Preferably, the soil-lifting drive assembly includes a synchronous wheel, a synchronous belt and a soil-lifting drive motor; the soil-lifting drive motor is fixed on the outside of the flushing pipe; synchronous wheels are fixed on the output shaft of the soil-lifting drive motor and the rotating shaft fixed on the top edge of the seesaw; the two sets of synchronous wheels are connected by a synchronous belt.

[0010] Preferably, the drilling and soil storage module comprises a drilling bracket, a second lead screw, a spiral drill bit, a drill bit mobile frame, a soil storage mobile frame and a soil storage pipe. The drilling bracket is fixed on the vehicle frame. Two second lead screws that are parallel to each other and spaced apart are both rotatably connected to the drilling bracket. The axis of the second lead screw forms an angle of 45° to 80° with the horizontal plane; the bottom end of the second lead screw is inclined toward the side close to the soil flushing module; the second lead screw rotates synchronously under the drive of the power element. The drill bit mobile frame and the soil storage mobile frame are both connected to the two lead screws by nuts; the top of the soil storage pipe is fixed to the soil storage mobile frame. The driving shaft of the spiral drill bit is rotatably connected to the drill bit mobile frame; the spiral drill bit is driven to rotate by the power element installed on the drill bit mobile frame.

[0011] Preferably, the nut between the soil storage moving frame and the two second lead screws is an open-close nut; the connection and separation between the open-close nut and the corresponding second lead screw are adjusted by the adjusting screws on the side of the soil storage moving frame. After separating the open-close nut on the soil storage moving frame from the corresponding second lead screw, the soil storage moving frame is slid, so that the spiral drill bit switches between the working state inside the soil storage pipe and the working state outside the soil storage pipe.

[0012] Preferably, the two second lead screws are connected by a belt drive mechanism; one of the second lead screws is driven to rotate by a motor.

[0013] Preferably, the spiral drill bit is a double-leaf spiral drill bit.

[0014] Preferably, both of the two open-close pressing plates are driven by two-axis soil pressing drive assemblies to move up and down and horizontally; the two-axis soil pressing drive assemblies include a horizontal movement drive assembly and a lifting drive assembly; the horizontal movement drive assembly includes a horizontal movement lead screw and a horizontal sliding block; the horizontal sliding block is slidably connected to the vehicle frame in the horizontal direction; the horizontal movement lead screw is supported on the vehicle frame and is driven to rotate by a motor; the horizontal sliding block and the horizontal movement lead screw form a screw pair; the lifting drive assembly includes a lifting block and a lifting lead screw; the two vertically arranged lifting lead screws are rotatably connected to the bottom of the horizontal sliding block; the two lifting blocks and the two lifting lead screws form screw pairs respectively; the bottoms of the two lifting blocks are respectively fixed to the two sides of the corresponding open-close pressing plate.

[0015] Preferably, the inclined bottom surface of the flushing pipe faces the side close to the drill hole soil storage module.

[0016] Preferably, the soil flushing drive assembly includes a first lead screw and a soil flushing drive motor. The vertically arranged first lead screw is rotatably connected to the vehicle frame. The nut fixed on the flushing pipe and the first lead screw form a screw pair. The first lead screw is driven by the soil flushing drive motor.

[0017] The planting method of the seedling cup automatic planting robot includes the following steps:

[0018] Step 1: Store the seedling cups in the seedling storage and conveying channel. Determine the working rotation direction of the crank wheel according to the ratio of the center of gravity height to the bottom width of the seedling cup; when the ratio of the center of gravity height to the bottom width of the seedling cup is greater than or equal to the preset value, the working rotation direction of the crank wheel is set so that the push rod operates in the slow-out and fast-return working mode; when the ratio of the center of gravity height to the bottom width of the seedling cup is less than the preset value, the working rotation direction of the crank wheel is set so that the push rod operates in the fast-out and slow-return working mode.

[0019] Step 2: The vehicle frame travels in the target direction, and the vehicle frame pauses every preset distance; after each pause of the vehicle frame, a planting action is performed. The specific process of the planting action is as follows:

[0020] 2-1. The hole-drilling and soil-preserving module creates planting holes on the ground.

[0021] 2-2. The flushing pipe moves downward and extends into the planting hole; after the flushing pipe extends into the planting hole, the seesaw flips from the closed state to the open state, stirring the soil in the planting hole.

[0022] 2-3. The seedling conveying tray rotates, driving each seedling-raising cup to be gradually arranged; one of the seedling-raising cups is conveyed to the outlet of the seedling storage and conveying channel. The crank wheel in the pushing component rotates one week in the working direction, pushing out one seedling-raising cup at the outlet of the seedling storage and conveying channel; the seedling-raising cup falls into the planting hole under the guidance of the flushing pipe.

[0023] 2-4. The flushing pipe resets and rises upward.

[0024] 2-5. Two opening and closing pressing plates in the soil-pressing module descend, so that the two opening and closing pressing plates are sleeved outside the seedling-raising cup; then, the two opening and closing pressing plates in the soil-pressing module move towards each other, making the closed-loop bayonet gradually shrink to straighten the seedling-raising cup.

[0025] 2-6. The two opening and closing pressing plates move away from each other, separating the closed-loop bayonet from the seedling-raising cup; then, the two opening and closing pressing plates move downward to compact the soil around the seedling-raising cup.

[0026] 2-7. The two opening and closing pressing plates move upward to a position higher than the top of the seedling-raising cup.

[0027] The beneficial effects of the present invention are as follows:

[0028] 1. The flushing pipe assembly in the present invention can not only provide guidance for the seedling-raising cup, but also make the inclined bottom of the hole flat by the flipping of the seesaw, thereby improving the planting accuracy of the seedling-raising cup; in addition, the soil-pressing module in the present invention can straighten the seedling-raising cup through the closed-loop bayonet with adjustable opening size while compacting the soil.

[0029] 2. The pushing component in the present invention realizes the pushing out of the seedling-raising cup by the rotation of the crank wheel in cooperation with the gear-rack structure; by using the quick-return characteristic of the pushing component, the present invention can switch the pushing action of the seedling-raising cup between fast-out and slow-return and slow-out and fast-return by changing the rotation direction of the crank wheel, so as to provide the optimal pushing method for seedling-raising cups with different center-of-gravity heights.

[0030] 3. The present invention can create a hole directly below the flushing pipe by means of inclined drilling, so that the robot can automatically complete hole-drilling, punching and soil stirring, seedling-raising cup planting and soil backfilling during successive pauses, thereby improving the working efficiency of the automatic planting robot and avoiding the problem that it is difficult to ensure the positioning accuracy after the robot moves during one planting. In addition, inclined drilling can improve the soil-breaking ability of the drill bit, so as to realize automatic planting on harder soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0032] Figure 2 It is a schematic diagram of the combination of the seedling cup storage and transportation module and the soil flushing module in the present invention.

[0033] Figure 3 It is a schematic diagram of the soil flushing module in the present invention.

[0034] Figure 4 It is a schematic diagram of the structure of the drilling and soil storage module in the present invention.

[0035] Figure 5 It is a schematic structural diagram of the soil compression module in the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] like Figure 1 As shown, a seedling cup automatic planting robot includes a frame 1, and a drilling and soil storage module 2, a soil flushing module 3, a soil compacting module 4 and a seedling cup storage and transportation module 5 installed on the frame 1. Two motor-driven traveling wheels are arranged on both sides of the frame 1; the seedling cup storage and transportation module 5 is used to store and output the seedling cups (i.e., shrub seedlings) one by one. The drilling and soil storage module 2 is used to open holes in the land required for seedling planting; the soil flushing module 3 is used to impact the holes in the land and push away the redundant soil so that the bottom of the inclined hole is adjusted to a nearly horizontal state, and at the same time provide guidance for the fall of the seedlings. The soil compacting module 4 is used to straighten the seedlings planted in the soil and compact the soil, thereby improving the survival rate and aesthetics of the seedlings.

[0038] like Figure 2 As shown, the seedling cup storage and transportation module 5 includes a seedling storage and transportation channel 5-1, a seedling transportation tray 5-2 and a push-out assembly. The horizontally arranged seedling transportation tray 5-2 is rotatably connected to the frame 1. The seedling storage and transportation channel 5-1 is fixed to the frame 1 and contacts or is close to the top surface of the seedling transportation tray 5-2. The seedling storage and transportation channel 5-1 is a spiral channel formed by two seedling baffles arranged inside and outside. One end of the seedling storage and transportation channel 5-1 is closed, and the other end is open and provided with an output port. In the direction from the closed end to the open end, the width of the seedling storage and transportation channel 5-1 gradually decreases to the diameter of the seedling cup for storing shrub seedlings. The seedling storage and transportation channel 5-1 is designed as a spiral structure, which can move the seedlings in sequence through friction, reduce the possibility of getting stuck, and minimize the damage to the seedlings during transportation, thereby improving the survival rate of the seedlings.

[0039] The nursery cups located in the seedling storage and conveying channel 5-1 are supported on the seedling conveying tray 5-2. The seedling conveying tray 5-2 is driven to rotate by a power element; as the seedling conveying tray 5-2 rotates, the nursery cups on the seedling conveying tray 5-2 are arranged in sequence along the seedling storage and conveying channel 5-1 and conveyed towards the outlet. The specific driving structure of the seedling conveying tray 5-2 is as follows: a conveying driving motor is fixed on the vehicle frame 1; a first gear is coaxially fixed to the output shaft of the conveying driving motor and the bottom of the seedling conveying tray 5-2; the two first gears are meshed with each other.

[0040] The pushing component is used to push the seedlings at the outlet out of the seedling storage and conveying channel 5-1. The pushing component includes a push rod 5-3, a swing gear 5-4 and a crank wheel 5-5. The push rod 5-3 is slidably connected to the outlet of the seedling storage and conveying channel 5-1, and its reciprocating sliding can push the nursery cups out of the seedling storage and conveying channel 5-1 one by one. A rack section is arranged on the side of the push rod 5-3; the swing gear 5-4 is rotatably connected to the seedling storage and conveying channel 5-1. A gear section of 120° is arranged on the swing gear 5-4. The gear section on the swing gear 5-4 is meshed with the rack section on the push rod 5-3. A chute is arranged on the side of the swing gear 5-4 away from the gear section. The axis of the chute passes through the center of the gear section. The crank wheel 5-5 is rotatably connected to the seedling storage and conveying channel 5-1; a convex column is eccentrically arranged on the side surface of the crank wheel 5-5; the convex column extends into the chute. The continuous rotation of the crank wheel 5-5 can drive the push rod 5-3 to reciprocate, and the push rod 5-3 in this structure has a quick-return characteristic. Therefore, by simply changing the rotation direction of the crank wheel 5-5, the push rod 5-3 can be switched between two working modes of fast out and slow return and slow out and fast return, so as to adjust the pushing method according to the size and center of gravity height of the seedlings in the nursery cups (for seedlings with a high center of gravity, the push rod 5-3 should slow out and fast return to avoid tipping; for seedlings with a low center of gravity, the push rod 5-3 should fast out and slow return to avoid the seedlings getting stuck and unable to fall).

[0041] When the moving direction of the side of the crank wheel 5-5 close to the push rod 5-3 is the pushing direction of the push rod 5-3, the pushing component is in the working mode of fast out and slow return; when the moving direction of the side of the crank wheel 5-5 close to the push rod 5-3 is the retracting direction of the push rod 5-3, the pushing component is in the working mode of slow out and fast return.

[0042] Such as Figure 2 、 3As shown in Figures 4 and 5, the soil flushing module 3 includes a fixed platform 3-1, a guide rod 3-2, a flushing pipe 3-3, a soil flushing drive assembly, a seesaw 3-4 and a soil flushing drive assembly. The fixed platform 3-1 is fixed on the frame 1; the four vertically arranged guide rods 3-2 are fixed on the frame 1. The flushing pipe 3-3 is slidably connected to the four guide rods 3-2. The soil flushing drive assembly includes a first lead screw 3-5 and a soil flushing drive motor. The two vertically arranged first lead screws 3-5 are both rotatably connected between the fixed platform 3-1 and the frame 1. The nuts fixed on both sides of the flushing pipe 3-3 and the two first lead screws 3-5 respectively form a screw pair. The two first lead screws 3-5 are respectively driven by two first motors (not shown in the figure).

[0043] The flushing pipe 3-3 is in the shape of a square tube, and the bottom surface is a rectangular inclined surface; the inclined bottom surface of the flushing pipe 3-3 faces the side close to the drilling and soil storage module 2. The shape of the seesaw 3-4 is consistent with the bottom surface contour of the flushing pipe 3-3; the top edge of the seesaw 3-4 is rotatably connected to the upper edge of the bottom of the flushing pipe 3-3; in the initial state, the seesaw 3-4 fits on the bottom surface of the flushing pipe 3-3. The soil-lifting drive assembly includes a synchronous wheel 3-6, a synchronous belt and a soil-lifting drive motor (not shown in the figure); the soil-lifting drive motor is fixed on the outside of the flushing pipe 3-3. The synchronous wheel 3-6 is fixed to the output shaft of the soil-lifting drive motor and the rotating shaft fixed to the top edge of the seesaw 3-4; the two sets of synchronous wheels 3-6 are connected by a synchronous belt to realize the flipping drive of the seesaw 3-4.

[0044] During the planting process of the seedling cup, the screw rotates to drive the nut and the flushing pipe 3-3 to flush downward. When reaching the bottom of the pit, the soil lifting drive motor drives the rocker 3-4 to open, push away part of the soil in the pit, adjust the inclined bottom of the hole to a nearly horizontal state, and complete the excavation of the soil pit.

[0045] like Figure 4As shown, the drilling and soil storage module 2 includes an upper drilling support 2-1, a lower drilling support 2-2, a second screw 2-3, an auger 2-4, a drill bit moving frame 2-5, a soil storage moving frame 2-6 and a soil storage pipe 2-7. The auger 2-4 is a double-leaf auger. The upper drilling support 2-1 and the lower drilling support 2-2 are both fixed on the vehicle frame 1. Two second screws 2-3 that are parallel to each other and spaced apart are both rotatably connected between the upper drilling support 2-1 and the lower drilling support 2-2. The axis of the second lead screw 2-3 forms an angle of 60° with the horizontal plane; the bottom end of the second lead screw 2-3 is inclined toward the side close to the soil flushing module 3; the two second lead screws 2-3 are connected by a belt transmission mechanism and driven by a motor; the drill bit moving frame 2-5 and the soil storage moving frame 2-6 are both connected to the two lead screws through nuts; the nuts between the soil storage moving frame 2-6 and the two second lead screws 2-3 are open and close nuts; the connection and separation of the open and close nuts and the corresponding lead screws are adjusted by the adjustment screws on the side of the soil storage moving frame 2-6. When the open and close nuts on the soil storage moving frame 2-6 are connected to the corresponding second lead screw, the drill bit moving frame 2-5 and the soil storage moving frame 2-6 can be driven by the power element to move synchronously along the length direction of the second lead screw 2-3. When the open and close nuts on the soil storage moving frame 2-6 are separated from the corresponding second lead screw, the soil storage moving frame 2-6 can be slid separately, thereby adjusting the relative position relationship between the soil storage pipe 2-7 and the spiral drill bit 2-4.

[0046] The top of the soil storage pipe 2-7 is fixed to the soil storage mobile frame 2-6. The soil storage pipe 2-7 passes through the lower drilling hole bracket 2-2; the spiral drill bit 2-4 is coaxially arranged in the soil storage pipe 2-7. The driving shaft of the spiral drill bit 2-4 is rotatably connected to the drill bit mobile frame 2-5; the spiral drill bit 2-4 is driven to rotate by a motor installed on the drill bit mobile frame 2-5.

[0047] By adjusting the opening and closing nut on the soil storage mobile frame 2-6, the soil storage pipe 2-7 can switch between the two states of "being placed on the outside of the spiral drill bit 2-4" and "upwardly separating from the spiral drill bit 2-4"; when the soil storage pipe 2-7 is separated from the spiral drill bit 2-4, the spiral drill bit 2-4 only drills holes; when the soil storage pipe 2-7 is placed on the outside of the spiral drill bit 2-4, the spiral drill bit 2-4 and the soil storage pipe 2-7 can cooperate to backfill the drilled soil after the hole is drilled and the seedling cup is placed.

[0048] Since the auger bit 2-4 is tilted, it can drill into the soil at an angle of 60°, so that the hole drilled by the auger bit 2-4 on the ground is located directly below the flushing pipe 3-3. In addition, the 60° tilt angle helps the auger bit 2-4 to cut into the soil obliquely. At the same time, the motor drives the auger bit 2-4 to rotate forward, and the conical head attacks the soil. The soil is rolled into the soil storage pipe 2-7 along the spiral line for short-term storage. When the auger bit 2-4 reverses, the soil is spit out to complete the backfilling.

[0049] likeFigure 5 As shown, the soil compacting module 4 is located directly below the soil flushing module 3, and includes an opening and closing pressure plate 4-1 and a two-axis soil compacting driving assembly. The two opening and closing pressure plates 4-1 are respectively installed at the bottom of the frame 1 through two independent two-axis soil compacting driving assemblies. The two-axis soil compacting driving assemblies respectively drive the two opening and closing pressure plates 4-1 to perform lifting and lowering movements and lateral opening and closing movements. A clearance groove is provided on the inner side of one of the opening and closing pressure plates 4-1; the inner side edge of the other opening and closing pressure plate 4-1 can extend into the clearance groove.

[0050] The two opening and closing pressure plates 4-1 are provided with semicircular clearance gaps on the opposite side edges; the two clearance gaps are butted together to form a closed-loop bayonet 4-2 for the seedling to pass through and straighten; the size of the closed-loop bayonet 4-2 is adjusted by the two opening and closing pressure plates 4-1 moving toward or away from each other, thereby straightening the seedling cup and supporting and gathering the cotyledons of the seedling in the seedling cup. In addition, the synchronous descending movement of the two opening and closing pressure plates 4-1 can compact the soil around the seedling cup.

[0051] The two-axis soil compaction drive assembly includes a transverse drive assembly and a lifting drive assembly; the transverse drive assembly includes a transverse screw 4-3 and a transverse sliding block 4-4. The transverse sliding block 4-4 is connected to the frame 1 in a sliding manner in the horizontal direction. The transverse screw 4-3 is supported on the frame 1 and driven to rotate by a motor. The transverse sliding block 4-4 and the transverse screw 4-3 form a screw pair. The lifting drive assembly includes a lifting block 4-5 and a lifting screw 4-6; the two vertically arranged lifting screws 4-6 are both rotatably connected to the bottom of the transverse sliding block 4-4. The two lifting blocks 4-5 and the two lifting screws 4-6 both form a screw pair. The bottoms of the two lifting blocks 4-5 are respectively fixed to the two sides of the corresponding opening and closing pressure plates 4-1.

[0052] In the soil pressing module 4, the lateral movement of the two opening and closing pressing plates 4-1 can gather the branches and leaves of the seedlings to avoid damaging the seedlings during the pressing process. The closed loop bayonet 4-2 formed by the two opening and closing pressing plates 4-1 can straighten and align the seedling cup in the desert and press the soil in all directions, reducing the possibility of seedlings falling over after planting and improving the survival rate.

[0053] The planting method of the automatic planting robot for the seedling cup comprises the following steps:

[0054] Step 1: The opening and closing nut on the soil storage mobile frame 2-6 is adjusted to a state where it is connected to the second lead screw 2-3 and the spiral drill head 2-4 is located in the soil storage pipe. The seesaw at the bottom of the flushing pipe is closed. The seedling cup is stored in the seedling storage and conveying channel 5-1.

[0055] Determine the working rotation direction of the crank wheel 5-5 according to the ratio of the center of gravity height to the bottom width of the seedling-raising cup; when the ratio of the center of gravity height to the bottom width of the seedling-raising cup is greater than or equal to the preset value, set the crank wheel 5-5 to rotate forward during work, and the push rod 5-3 operates in the working mode of slow out and fast return; when the ratio of the center of gravity height to the bottom width of the seedling-raising cup is less than the preset value, set the crank wheel 5-5 to rotate reversely during work, and the push rod 5-3 operates in the working mode of fast out and slow return. When the crank wheel 5-5 rotates forward, the moving direction of the side of the crank wheel 5-5 close to the push rod 5-3 is the direction in which the push rod 5-3 is pushed out. When the crank wheel 5-5 rotates reversely, the moving direction of the side of the crank wheel 5-5 close to the push rod 5-3 is the direction in which the push rod 5-3 retracts.

[0056] Step 2: The vehicle frame 1 travels in the target direction, and the vehicle frame 1 pauses every time it passes a preset distance; a planting action is performed every time the vehicle frame 1 pauses. The specific process of the planting action is as follows:

[0057] 2-1. The spiral drill bit 2-4 rotates forward and moves obliquely downward; after drilling an inclined planting hole, the spiral drill bit 2-4 moves obliquely upward to reset; the original soil in the planting hole is transferred to the soil storage pipe. The top opening of the planting hole is located directly below the flushing pipe.

[0058] 2-2. The flushing pipe moves downward and extends into the planting hole; after the flushing pipe extends into the planting hole, the seesaw flips from the closed state to the open state, stirring the soil in the planting hole.

[0059] 2-3. The seedling conveying disc 5-2 rotates, driving each seedling-raising cup to be gradually arranged and conveyed to the output port of the seedling storage and conveying channel 5-1. The crank wheel 5-5 in the pushing component rotates one week, pushing out a seedling-raising cup at the output port of the seedling storage and conveying channel 5-1; the seedling-raising cup falls into the planting hole under the guidance of the flushing pipe.

[0060] 2-4. The flushing pipe resets and rises upward. After the spiral drill bit 2-4 moves obliquely downward to a position close to the seedling-raising cup, the spiral drill bit 2-4 rotates reversely, sending the soil in the soil storage pipe back to the planting hole to cover the soil at the bottom of the seedling-raising cup.

[0061] 2-5. Two opening and closing pressing plates 4-1 in the soil pressing module descend, so that the two opening and closing pressing plates 4-1 are sleeved outside the seedling-raising cup; then, the two opening and closing pressing plates 4-1 in the soil pressing module move towards each other, causing the closed-loop bayonet 4-2 to gradually shrink and straighten the seedling-raising cup.

[0062] After the seedling-raising cup is aligned (the preset width is achieved through the closed-loop bayonet 4-2), the two opening and closing pressure plates 4-1 move away from each other, separating the closed-loop bayonet 4-2 from the seedling-raising cup. Then, the two opening and closing pressure plates 4-1 move downward to compact the soil around the seedling-raising cup, stabilizing the position of the seedling-raising cup and preventing it from tipping over.

[0063] 2-7. The two opening and closing pressure plates 4-1 move upward to a position higher than the top of the seedling-raising cup, completing the planting of one seedling-raising cup.

Claims

1. An automatic seedling cup planting robot, characterized in that: It includes a frame (1), and a hole-drilling and soil-storing module (2), a soil-flushing module (3), a soil-pressing module (4), and a seedling-cup storage and transportation module (5) installed on the frame (1); the hole-drilling and soil-storing module (2) is used to create holes in the land for planting saplings. The described seedling-cup storage and transportation module (5) includes a sapling storage and conveying channel (5-1) and a sapling conveying tray (5-2); the sapling storage and conveying channel (5-1) is installed on the frame; the horizontally arranged sapling conveying tray (5-2) is rotatably connected to the frame (1); the arc-shaped sapling storage and conveying channel (5-1) is fixed to the frame (1) and is located above the sapling conveying tray (5-2); the seedling cups located in the sapling storage and conveying channel (5-1) are supported on the sapling conveying tray (5-2); along the sapling conveying direction, the width of the sapling storage and conveying channel (5-1) gradually decreases; the described sapling conveying tray (5-2) is driven to rotate by a power element. A pushing component is arranged at the output port of the sapling storage and conveying channel (5-1); the pushing component includes a push rod (5-3), a swing gear (5-4), and a crank wheel (5-5); the push rod (5-3) is slidably connected to the output port of the sapling storage and conveying channel (5-1); a rack section is arranged on the side of the push rod (5-3); the swing gear (5-4) is rotatably connected to the sapling storage and conveying channel (5-1); a gear section is arranged on the swing gear (5-4); the gear section on the swing gear (5-4) meshes with the rack section on the push rod (5-3); a chute is arranged on the side of the swing gear (5-4) away from the gear section; the crank wheel (5-5) is rotatably connected to the sapling storage and conveying channel (5-1); a convex post is eccentrically arranged on the side surface of the crank wheel (5-5); the convex post extends into the chute of the swing gear; the rotation of the crank wheel (5-5) drives the push rod (5-3) to reciprocate and slide, pushing the seedling cups at the output port of the sapling storage and conveying channel (5-1) out of the sapling storage and conveying channel (5-1); during the working process, by adjusting the rotation direction of the crank wheel (5-5), the push rod (5-3) is switched between a fast-out and slow-back mode and a slow-out and fast-back mode to adapt to different seedling cups. The described soil-flushing module (3) includes a flushing pipe (3-3), a soil-flushing driving component, a seesaw (3-4), and a soil-lifting driving component; the vertically arranged flushing pipe (3-3) is slidably connected to the frame and performs a lifting movement under the drive of the soil-flushing driving component; the bottom surface of the flushing pipe (3-3) is inclined; the top edge of the seesaw (3-4) is rotatably connected to the upper edge of the bottom surface of the flushing pipe (3-3); the seesaw (3-4) performs a flipping movement under the drive of the soil-lifting driving component; when the flushing pipe (3-3) descends to the lower limit position, the seedling cups output from the sapling storage and conveying channel (5-1) fall into the flushing pipe (3-3). The described soil pressing module (4) is located directly below the soil flushing module (3) and includes two opening and closing pressing plates (4-1); both of the two opening and closing pressing plates (4-1) can be lifted and horizontally moved under the drive of a power element; the opposite side edges of the two opening and closing pressing plates (4-1) are both provided with relief notches; when the two relief notches are butted together, a closed-loop bayonet (4-2) is formed; the size of the closed-loop bayonet (4-2) is adjusted by the approaching or separating movement of the two opening and closing pressing plates (4-1).

2. The automatic seedling cup planting robot according to claim 1, characterized in that: The described soil prying drive assembly includes a synchronous pulley (3-6), a synchronous belt and a soil prying drive motor; the soil prying drive motor is fixed on the outer side of the flushing pipe (3-3); synchronous pulleys (3-6) are fixed on both the output shaft of the soil prying drive motor and the rotating shaft fixed on the top edge of the prying plate (3-4); the two groups of synchronous pulleys (3-6) are connected by a synchronous belt.

3. The automatic seedling cup planting robot according to claim 1, characterized in that: The described hole drilling and soil storage module (2) includes a hole drilling support, a second lead screw (2-3), a spiral drill bit (2-4), a drill bit moving frame (2-5), a soil storage moving frame (2-6) and a soil storage pipe (2-7); the hole drilling support is fixed on the vehicle frame (1); two second lead screws (2-3) that are parallel to each other and arranged at intervals are both rotatably connected to the hole drilling support; the axis of the second lead screw (2-3) forms an angle of 45° to 80° with the horizontal plane; the bottom end of the second lead screw (2-3) is inclined towards the side close to the soil flushing module (3); the second lead screws (2-3) rotate synchronously under the drive of a power element; the drill bit moving frame (2-5) and the soil storage moving frame (2-6) are both connected to the two lead screws through nuts; the top end of the soil storage pipe (2-7) is fixed to the soil storage moving frame (2-6); the drive rotating shaft of the spiral drill bit (2-4) is rotatably connected to the drill bit moving frame (2-5); the spiral drill bit (2-4) is driven to rotate by a power element installed on the drill bit moving frame (2-5).

4. The automatic seedling cup planting robot according to claim 3, characterized in that: The nuts between the soil storage moving frame (2-6) and the two second lead screws (2-3) adopt split nuts; the connection and separation of the split nuts and the corresponding second lead screws are adjusted by the adjustment screws on the side of the soil storage moving frame (2-6); the soil storage moving frame (2-6) is slid after separating the split nuts on the soil storage moving frame (2-6) from the corresponding second lead screws, so that the spiral drill bit (2-4) is switched between the working state inside the soil storage pipe (2-7) and the working state outside the soil storage pipe (2-7).

5. The automatic seedling cup planting robot according to claim 3, wherein: The two second lead screws (2-3) are connected by a belt drive mechanism; One of the second lead screws (2-3) is driven to rotate by a motor.

6. The automatic seedling cup planting robot according to claim 3, characterized in that: The described spiral drill bit (2-4) adopts a two-blade spiral drill bit.

7. The automatic seeding cup planting robot according to claim 1, wherein: The two opening and closing pressing plates (4-1) are both driven by two shaft soil pressing driving components to perform lifting and lateral movement; the two shaft soil pressing driving components include a transverse movement driving component and a lifting driving component; the transverse movement driving component includes a transverse movement lead screw (4-3) and a lateral sliding block (4-4); the lateral sliding block (4-4) is slidably connected to the vehicle frame (1) in the horizontal direction; the transverse movement lead screw (4-3) is supported on the vehicle frame (1) and is driven by a motor to rotate; the lateral sliding block (4-4) and the transverse movement lead screw (4-3) form a screw pair; the lifting driving component includes a lifting block (4-5) and a lifting lead screw (4-6); the two vertically arranged lifting lead screws (4-6) are both rotatably connected to the bottom of the lateral sliding block (4-4); the two lifting blocks (4-5) and the two lifting lead screws (4-6) both form screw pairs; the bottoms of the two lifting blocks (4-5) are respectively fixed to both sides of the corresponding opening and closing pressing plate (4-1).

8. The automatic seedling cup planting robot according to claim 1, characterized in that: The inclined bottom surface of the flushing pipe (3-3) faces the side close to the drilling hole soil storage module (2).

9. The automatic seedling cup planting robot according to claim 1, characterized in that: The soil flushing driving component includes a first lead screw (3-5) and a soil flushing driving motor; the vertically arranged first lead screw (3-5) is rotatably connected to the vehicle frame (1); the nut fixed on the flushing pipe (3-3) and the first lead screw (3-5) form a screw pair; the first lead screw (3-5) is driven by the soil flushing driving motor.

10. The planting method of an automatic seedling cup planting robot according to claim 1, characterized in that: It includes the following steps: Step 1: Store the seedling cups in the seedling storage and conveying channel (5-1); determine the working rotation direction of the crank wheel (5-5) according to the ratio of the center of gravity height to the bottom width of the seedling cup; when the ratio of the center of gravity height to the bottom width of the seedling cup is greater than or equal to the preset value, the working rotation direction of the crank wheel (5-5) is set so that the push rod (5-3) operates in the slow-out and fast-return working mode; when the ratio of the center of gravity height to the bottom width of the seedling cup is less than the preset value, the working rotation direction of the crank wheel (5-5) is set so that the push rod (5-3) operates in the fast-out and slow-return working mode; Step 2: The vehicle frame (1) travels in the target direction, and the vehicle frame (1) pauses every preset distance; after each pause of the vehicle frame (1), a planting action is performed; the specific process of the planting action is as follows: 2-1. The drilling hole soil storage module (2) opens planting holes on the ground; 2-2. The flushing pipe moves downward and extends into the planting pit; after the flushing pipe extends into the planting pit, the seesaw flips from the closed state to the open state, stirring the soil in the planting pit; 2-3. The seedling conveying disc (5-2) rotates, driving each seedling cup to be gradually arranged; one of the seedling cups is conveyed to the output port of the seedling storage and conveying channel (5-1); the crank wheel (5-5) in the pushing component rotates one week in the working rotation direction, pushing out one seedling cup at the output port of the seedling storage and conveying channel (5-1); the seedling cup falls into the planting pit under the guidance of the flushing pipe; 2-4. The flushing pipe resets and rises upward; 2-5. The two opening and closing pressing plates (4-1) in the soil pressing module descend, so that the two opening and closing pressing plates (4-1) are sleeved outside the seedling-raising cup; then, the two opening and closing pressing plates (4-1) in the soil pressing module move towards each other, so that the closed-loop bayonet (4-2) gradually shrinks to straighten the seedling-raising cup; 2-6. The two opening and closing pressing plates (4-1) move away from each other, so that the closed-loop bayonet (4-2) is separated from the seedling-raising cup; then, the two opening and closing pressing plates (4-1) move downward to compact the soil around the seedling-raising cup; 2-7. The two opening and closing pressing plates (4-1) move upward to a position higher than the top of the seedling-raising cup.

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