An automated facility agriculture planting system

Abstract

The present invention relates to the field of automated agricultural planting technology, and discloses an automated facility agricultural planting system, including a greenhouse, water and fertilizer facilities, a seedling raising area, a processing line, an equipment maintenance area, and a standard passage. A seedling raising rack is arranged inside the seedling raising area, a sowing mechanism is fixedly installed on the side of the seedling raising rack, a shifting machine body is fixedly installed on the side of the seedling raising rack close to the greenhouse, an actuator carrier is arranged on the inner wall of the greenhouse, and a seedling tray fork is slidably connected to the side of the actuator carrier, and a planting pot is fixedly installed on the inner wall of the seedling tray fork. A seedling raising matrix is ​​laid on a standard planting pot through a sowing mechanism and accurately sowed by an air suction seeding device. The planting pot and the seeding mechanism are positioned by a positioning structure to ensure the seeding accuracy. After seeding, the planting pot is moved by a shifting machine to the seedling raising rack for temperature and humidity control for germination, so that the temperature and humidity control is more accurate, the germination rate is higher, and the seedling raising space is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated agricultural planting, and in particular to an automated facility agricultural planting system. Background Art

[0002] Facility agriculture is gradually developing towards mechanization, automation, scale, diversification and refinement. Automated production equipment will improve the labor productivity of facility agriculture and solve the seasonal shortage of labor. At the same time, it is of great significance to improve the agricultural production environment, prevent the harm of pesticides and fertilizers to the human body, and improve the quality of operations.

[0003] Due to the increase in the types of crops grown in greenhouses and the complex working environment, the growth process requires more processes such as pinching and trimming branches and leaves, which requires a large amount of labor. The labor gap is getting bigger at this stage and in the future, and the contradiction is prominent. In addition, due to insufficient pre-production planning, the mismatch between agricultural machinery and agronomy is becoming increasingly obvious. Traditional agronomy, such as seedling goals and cultivation methods, focus on output without considering the applicability of agricultural machinery. It is very difficult to develop applicable agricultural machinery research and development technology simply from the agricultural machinery aspect. In order to enhance the degree of greenhouse automation operations and improve crop yield and quality, on the one hand, operating machinery should meet agronomic needs, be developed in combination with the effects of agronomic facilities, and closely cooperate with crop agronomy. On the other hand, due to the particularity of agronomic requirements and agricultural machinery research and development technology, greenhouse agricultural machinery cannot effectively achieve agronomic goals, and agronomic methods such as optimizing cultivation methods that are suitable for greenhouse agricultural machinery should be adopted. Model, to achieve the versatility of agricultural machinery in the facility agriculture environment, and enhance the integration of machinery and agronomy. The current agronomic planting plan generally only considers the effect of a single planting stage, and rarely makes a comprehensive automated operation plan for the entire plant from planting to harvesting and post-processing, resulting in a large amount of manual intervention in the conversion process of each planting link, which in turn leads to rising costs and unstable quality. If mechanical usage is to be used, the existing agricultural machinery generally has problems such as insufficient operating accuracy, unclear operating position benchmarks, and insufficient standardization of the planting process, resulting in many subsequent operations that can be completed by machinery cannot be accurately implemented, affecting the degree of automation in planting. Traditional industrial automation solutions are very complete in terms of accuracy, reliability and functionality, but have obvious disadvantages in terms of cost, and the investment recovery cycle is too long, which is not suitable for application in the agricultural field. Summary of the invention

[0004] The present invention provides an automated facility agriculture planting system to solve the problems raised by the above background technology.

[0005] The present invention provides the following technical solutions: an automated facility agriculture planting system, comprising a greenhouse, water and fertilizer facilities, a seedling raising area, a processing line, an equipment maintenance area, and a standard passage, wherein a seedling raising rack is arranged inside the seedling raising area, a sowing mechanism is fixedly mounted on the side of the seedling raising rack, a shifting machine body is fixedly mounted on the side of the seedling raising rack close to the greenhouse, an actuator carrier is arranged on the inner wall of the greenhouse, and a seedling tray fork is slidably connected to the side of the actuator carrier, a planting pot is fixedly mounted on the inner wall of the seedling tray fork, a seedling tray turnover rack is slidably connected to the inner wall of the greenhouse, a spraying module is fixedly mounted on the inner wall of the greenhouse, a transplanting module is slidably connected to the inner wall of the greenhouse, a tillage module is arranged on the inner wall of the greenhouse, a transport module is slidably connected to the inner wall of the greenhouse, a harvesting module is arranged on the side of the transporting module, and a shifting machine is arranged on the end of the transporting module away from the harvesting module.

[0006] As a preferred technical solution of the present invention, the inner wall of the greenhouse is fixedly equipped with a steel track, the side of the steel track is fixedly equipped with a rack 1, the side of the steel track is slidably connected with a carrier walking mechanism, the inner wall of the carrier walking mechanism is fixedly equipped with a carrier beam, the side of the carrier beam is fixedly equipped with a rack 2, the side of the carrier beam is slidably connected with a Y-axis module, the side of the Y-axis module is slidably connected with a Z-axis module, and the inner wall of the steel track is fixedly equipped with a position sensor.

[0007] As a preferred technical solution of the present invention, the side of the Z-axis module is fixedly equipped with a motor and a reducer, the output shafts of the motor and the reducer are fixedly sleeved with a screw slider, the bottom of the screw slider is fixedly equipped with a screw body, the side of the screw slider is rotatably connected to a connecting rod body, the side of the Z-axis module is fixedly equipped with a positioning system, the side of the positioning system is provided with a guide rail groove, the inner wall of the guide rail groove is slidably connected with a positioning pin, and the side of the positioning pin is fixedly assembled with the side of the connecting rod body, the bottom of the positioning system is provided with a limiting groove, the bottom of the positioning system is provided with a standard connecting block, the side of the standard connecting block is provided with an inclined surface, and the bottom of the inner wall of the standard connecting block is fixedly equipped with a hook.

[0008] As a preferred technical solution of the present invention, a screw guide rail shifting mechanism is fixedly installed on the bottom of the inner wall of the greenhouse, a positioning mechanism is slidably connected to the top of the screw guide rail shifting mechanism, a square frame is slidably connected to the inner wall of the positioning mechanism, a planting pot 2 is fixedly installed on the top of the square frame, and a V-shaped groove is provided on the bottom of the planting pot 2.

[0009] As a preferred technical solution of the present invention, the side of the standard connecting block is fixedly equipped with an automatic seedling transplanting mechanism, the side of the automatic seedling transplanting mechanism is fixedly equipped with a seedling pushing mechanism, and the top of the greenhouse is fixedly equipped with a V-shaped planting pot and a transfer mechanism.

[0010] As a preferred technical solution of the present invention, the interior of the seedling pushing mechanism is fixedly equipped with a reduction motor, the output shaft of the reduction motor is fixedly sleeved with a cam-linkage mechanism, the inner wall of the seedling pushing mechanism is fixedly equipped with an X-axis linear optical axis, the outer edge of the X-axis linear optical axis is slidably sleeved with an X-axis linear bearing, the side of the X-axis linear bearing is fixedly equipped with an X-axis motion module, the side of the X-axis motion module is slidably connected with a Z-axis linear guide, the side of the X-axis motion module is provided with a base, the inner wall of the base is rotatably connected with a boss, and the inner wall of the base is fixedly equipped with a Y-axis motion module.

[0011] As a preferred technical solution of the present invention, the side of the X-axis linear optical axis is fixedly equipped with a Y-axis cylinder, the side of the Y-axis cylinder is fixedly equipped with a Y-axis linear optical axis, the outer edge of the Y-axis linear optical axis is slidably sleeved with a Y-axis linear bearing, the output shaft of the cam-linkage mechanism is fixedly equipped with a cam connecting body, the side of the cam connecting body is fixedly equipped with a rod pushing seedling plate connecting rod, the side of the rod pushing seedling plate connecting rod is fixedly equipped with a seedling pushing plate connecting rod shaft, the bottom of the seedling pushing plate connecting rod shaft is fixedly equipped with a seedling pushing plate body, and the bottom of the seedling pushing plate body is fixedly equipped with an insert.

[0012] As a preferred technical solution of the present invention, the side of the standard connecting block is fixedly equipped with a cross guide rod, the side of the cross guide rod is fixedly equipped with a slideway, the inner wall of the cross guide rod is fixedly equipped with a position driving cylinder, the inner wall of the cross guide rod is fixedly equipped with a limiting structure, the side of the limiting structure is slidably connected with a transplanting module 2, and the bottom of the cross guide rod is fixedly equipped with a soil breaking mechanism.

[0013] As a preferred technical solution of the present invention, a guide slider is slidably sleeved on the outer edge of the slideway, a cylinder body is fixedly assembled on the side of the guide slider, the output end of the cylinder body is fixedly assembled with a cross guide rod, a fixing frame is fixedly assembled on the side of the cross guide rod, a baffle is fixedly assembled on the side of the fixing frame, a guide shaft is fixedly assembled on the top of the baffle, and a limiting ring is fixedly assembled on the side of the cylinder body.

[0014] The present invention has the following beneficial effects:

[0015] 1. This automated facility agriculture planting system uses a sowing mechanism to lay the seedling matrix on a standard planting pot and sows accurately with an air suction seeding device. The planting pot and the seeding mechanism are positioned by a positioning structure to ensure seeding accuracy. After seeding, the planting pot is moved by a shifting machine to the seedling rack for temperature and humidity control for germination. In this way, temperature and humidity control is more precise, the germination rate is higher, and seedling space is saved.

[0016] 2. The automated facility agricultural planting system has steel tracks on the ground on both sides of each span of the greenhouse. A rack structure is processed (or assembled) on the track. The carrier walking mechanism is equipped with a gear mechanism driven by a servo motor, which meshes with the rack. It can drive the actuator carrier to move along the steel track and accurately transmit the movement position (X direction position) to the PLC. A position sensor is set at a certain distance on the track to calibrate the reference position.

[0017] 3. In the automated facility agricultural planting system, the actuator is rigidly connected to the standard connecting block, and the four surfaces of the standard connecting block and the limit slot are precisely matched surfaces; the guide rail on the limit slot is in an eight-shaped structure. When the positioning pin is at the bottom, it does not affect the movement of the hook. When the positioning pin is at the top, it just catches the hook. When the operation is completed and the actuator needs to be put down, just place the actuator on the designated bracket, and then drive the motor in reverse. The positioning pin is pushed to the lower end of the guide rail, and the limit slot can be moved up to release the actuator.

[0018] 4. The automated facility agricultural planting system has a planting pot structure with an equal-section V-groove and a square frame welded at the bottom. This structure is mainly for cooperating with the automatic transplanting mechanism, and has the advantages of simple structure, convenient and accurate positioning, low cost, and easy processing. When the planting pot needs to be positioned or accurately shifted, the planting pot can be dropped into the positioning mechanism. At this time, the lateral limit surface of the positioning mechanism and the V-groove are automatically guided and positioned, and the limit surfaces in the front and rear directions of the mechanism and the square frame are automatically guided and positioned.

[0019] 5. In this automated facility agriculture planting system, the screw guide rail shifting mechanism moves the V-shaped planting pot from the standard planting tray and the transfer mechanism to the seedling retrieval position. The seedling pushing mechanism is responsible for cutting the soil between the seedlings and pushing the seedlings into the transplanting mechanism one by one.

[0020] 6. In this automated facility agricultural planting system, the automatic seedling transplanting mechanism is fixedly connected to the positioning system through a standard connecting block. The movement of the transplanting mechanism in all directions is driven by the positioning system, which also provides power, air source and control signals.

[0021] 7. In the automated facility agricultural planting system, when releasing the transplanted seedlings, the cylinder pulls the cross guide rod, which drives the baffles on both sides to move along the guide axis direction, realizing the side-drawn release of the seedlings. Two guide rods are arranged obliquely on each side of the guide axis, and slide with the guide structure on the baffle. The cross guide rod slides with the guide structure on the baffle, and the guide slider and limit are used for guiding and limiting the lateral movement of the transplanting module. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the spraying module of the present invention;

[0024] Figure 3 This is a schematic diagram of the processing line structure of the present invention;

[0025] Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle;

[0026] Figure 5 This is a schematic diagram of the structure of the seedling pushing mechanism of the present invention;

[0027] Figure 6 For the present invention Figure 5 The enlarged structural diagram at B in the middle;

[0028] Figure 7 For the present invention Figure 5 The enlarged structural diagram at C in the middle;

[0029] Figure 8 This is a schematic diagram of the V-shaped planting pot and the transfer mechanism structure of the present invention;

[0030] Fig. 9 This is a schematic diagram of the insert structure of the present invention;

[0031] Fig.10 This is a schematic diagram of the standard connection block structure of the present invention;

[0032] Fig.11 It is a schematic diagram of the baffle structure of the present invention.

[0033] In the figure: 1. Greenhouse; 2. Water and fertilizer facilities; 3. Seedling area; 4. Processing line; 5. Equipment maintenance area; 6. Standard channel; 7. Seeding mechanism; 8. Seedling rack; 9. Limiting ring; 10. Shifter body; 11. Planting pot 1; 12. Seedling tray fork; 13. Actuator carrier; 14. Seedling tray turnover rack; 15. Spraying module; 16. Transplanting module 1; 17. Cultivation module; 18. Handling module; 19. Harvesting module; 20. Shifter; 21. Steel rail; 22. Rack 1; 23. Position sensor; 24. Carrier travel mechanism; 25. Carrier crossbeam; 26. Rack 2; 27. Y-axis module; 28. Z-axis module; 29. ​​Motor and reducer; 30. Limiting groove; 31. Guide groove; 32. Positioning pin; 33. Connecting rod body; 34. Standard connecting block; 35. Inclined surface; 36. Hook; 37. Screw body; 38. Screw slider; 39. Planting pot 2; 40. Square Frame; 41. V-shaped groove; 42. Positioning mechanism; 43. Screw guide rail displacement mechanism; 44. Seedling pushing mechanism; 45. V-shaped planting pot and transfer mechanism; 46. Seedling automatic transplanting mechanism; 47. Cam connecting rod mechanism; 48. Z-axis linear guide; 49. Fixed frame; 50. Seedling pushing plate body; 51. Y-axis linear optical axis; 52. X-axis linear bearing; 53. Y-axis linear bearing; 54. Base; 55. Y-axis cylinder; 56. X-axis linear optical axis ; 57. X-axis motion module; 58. reduction motor; 59. seedling pushing plate connecting rod shaft; 60. cam connecting body; 61. boss; 62. Y-axis motion module; 63. seedling pushing plate connecting rod; 64. insert; 65. positioning system; 66. guide slider; 67. horizontal guide rod; 68. transplanting module II; 69. limiting structure; 70. slideway; 71. position driving cylinder; 72. soil breaking mechanism; 73. cylinder body; 74. guide shaft; 75. baffle. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-Figure 11An automated facility agricultural planting system includes a greenhouse 1, a water and fertilizer facility 2, a seedling raising area 3, a processing line 4, an equipment maintenance area 5, and a standard channel 6. A seedling raising rack 8 is arranged inside the seedling raising area 3, a sowing mechanism 7 is fixedly mounted on the side of the seedling raising rack 8, a shifting machine body 10 is fixedly mounted on the side of the seedling raising rack 8 close to the greenhouse 1, an actuator carrier 13 is arranged on the inner wall of the greenhouse 1, and a seedling tray fork 12 is slidably connected to the side of the actuator carrier 13, and the seedling tray fork 12 The inner wall of the greenhouse 1 is fixedly equipped with a planting pot 11, the inner wall of the greenhouse 1 is slidably connected with a seedling tray turnover rack 14, the inner wall of the greenhouse 1 is fixedly equipped with a spraying module 15, the inner wall of the greenhouse 1 is slidably connected with a transplanting module 16, the inner wall of the greenhouse 1 is provided with a tillage module 17, the inner wall of the greenhouse 1 is slidably connected with a transport module 18, the side of the transport module 18 is provided with a harvesting module 19, and the end of the transport module 18 away from the harvesting module 19 is provided with a moving machine 20,

[0036] In the above structure, after the seedling tray germinates, it is moved by the shifting machine to the seedling tray turnover rack 14 (for varieties with low germination rate, they are first sent to the processing line 4 for seedling supplementation). The seedling tray turnover rack 14 moves the seedling tray to the greenhouse, and then the actuator carrier 13 drives the seedling tray fork 12 to place the seedling tray in the greenhouse according to the coordinate position to continue seedling cultivation. After the seedling cultivation is completed, the seedling tray fork 12 transfers the seedling tray to the seedling tray turnover rack 14, and the seedling tray turnover rack 14 transfers the seedling tray to the transplanting greenhouse, and then the actuator carrier 13 drives the transplanting module to transplant the seedlings to the preset position of the program. During the growth of transplanted crops, the actuator carrier 13 can tow the spraying module 15 to water and fertilize the crops (water and fertilizer integrated), spray pesticides and other plant protection operations, and can also carry the tillage module 17 to perform precise tillage and weeding operations on the ground. The function of the moving machine 20 is to allocate the actuator carrier 13 and various actuator modules between the greenhouses to improve the operation efficiency and equipment utilization.

[0037] In a preferred embodiment, the inner wall of the greenhouse 1 is fixedly equipped with a steel track 21, the side of the steel track 21 is fixedly equipped with a rack 1 22, the side of the steel track 21 is slidably connected with a carrier traveling mechanism 24, the inner wall of the carrier traveling mechanism 24 is fixedly equipped with a carrier beam 25, the side of the carrier beam 25 is fixedly equipped with a rack 26, the side of the carrier beam 25 is slidably connected with a Y-axis module 27, the side of the Y-axis module 27 is slidably connected with a Z-axis module 28, and the inner wall of the steel track 21 is fixedly equipped with a position sensor 23.

[0038] In the above structure, a rack is processed on the carrier beam 25, and the Y-axis module 27 has a gear mechanism driven by a servo motor, which can move along the beam direction (Y direction) and accurately transmit the movement position (Y direction position) to the PLC. The Z-axis module 28 and the Y-axis module 27 are connected by a screw guide structure. The servo motor drives the screw to control the vertical direction (Z direction) movement of the Z-axis module 28 and accurately transmits the movement position (Z direction position) to the PLC.

[0039] In a preferred embodiment, the side of the Z-axis module 28 is fixedly assembled with a motor and a reducer 29, the output shaft of the motor and the reducer 29 is fixedly sleeved with a screw slider 38, the bottom of the screw slider 38 is fixedly assembled with a screw body 37, the side of the screw slider 38 is rotatably connected to the connecting rod body 33, and the side of the Z-axis module 28 is fixedly assembled with a positioning system 65, a guide rail groove 31 is opened on the side of the positioning system 65, the inner wall of the guide rail groove 31 is slidably connected with a positioning pin 32, and the side of the positioning pin 32 is fixedly assembled with the side of the connecting rod body 33, a limiting groove 30 is opened at the bottom of the positioning system 65, and a standard connecting block 34 is provided at the bottom of the positioning system 65, a slope 35 is opened on the side of the standard connecting block 34, and a hook 36 is fixedly assembled at the bottom of the inner wall of the standard connecting block 34.

[0040] In a preferred embodiment, a screw guide rail shifting mechanism 43 is fixedly installed at the bottom of the inner wall of the greenhouse 1, a positioning mechanism 42 is slidably connected to the top of the screw guide rail shifting mechanism 43, a square frame 40 is slidably connected to the inner wall of the positioning mechanism 42, a planting pot 39 is fixedly installed on the top of the square frame 40, and a V-shaped groove 41 is provided at the bottom of the planting pot 39.

[0041] In a preferred embodiment, the side of the standard connecting block 34 is fixedly equipped with an automatic seedling transplanting mechanism 46, the side of the automatic seedling transplanting mechanism 46 is fixedly equipped with a seedling pushing mechanism 44, and the top of the greenhouse 1 is fixedly equipped with a V-shaped planting pot and a transfer mechanism 45.

[0042] In a preferred embodiment, the interior of the seedling pushing mechanism 44 is fixedly equipped with a reduction motor 58, the output shaft of the reduction motor 58 is fixedly sleeved with a cam-linkage mechanism 47, the inner wall of the seedling pushing mechanism 44 is fixedly equipped with an X-axis linear optical axis 56, the outer edge of the X-axis linear optical axis 56 is slidably sleeved with an X-axis linear bearing 52, the side of the X-axis linear bearing 52 is fixedly equipped with an X-axis motion module 57, the side of the X-axis motion module 57 is slidably connected with a Z-axis linear guide 48, the side of the X-axis motion module 57 is provided with a base 54, the inner wall of the base 54 is rotatably connected with a boss 61, and the inner wall of the base 54 is fixedly equipped with a Y-axis motion module 62.

[0043] In a preferred embodiment, the side of the X-axis linear optical axis 56 is fixedly assembled with the Y-axis cylinder 55, the side of the Y-axis cylinder 55 is fixedly assembled with the Y-axis linear optical axis 51, the outer edge of the Y-axis linear optical axis 51 is slidably sleeved with the Y-axis linear bearing 53, the output shaft of the cam connecting rod mechanism 47 is fixedly assembled with the cam connecting body 60, the side of the cam connecting body 60 is fixedly assembled with the rod pushing seedling plate connecting rod 63, the side of the rod pushing seedling plate connecting rod 63 is fixedly assembled with the seedling pushing plate connecting rod shaft 59, the bottom of the seedling pushing plate connecting rod shaft 59 is fixedly assembled with the seedling pushing plate body 50, and the bottom of the seedling pushing plate body 50 is fixedly assembled with the insert 64.

[0044] In the above structure, the reduction motor 58 drives the cam connecting rod mechanism 47 to rotate, the seedling pushing plate is connected to the X-direction motion module 57 by a linear guide (Z-direction linear guide 48), and the seedling pushing plate body 50 can slide along the guide in the Z direction; the cam connecting rod and the seedling pushing plate connecting rod drive the seedling pushing plate to move in the Z direction, the slide groove on the cam contacts the boss 61 of the Y-direction motion module 62, and the Y-direction motion module 62 is connected to the X-direction motion module 57 by a linear guide (X-direction linear guide). The slide groove can drive the X-direction motion module 57 to move in the X direction, and a series of inserts 64 are installed on the seedling pushing plate for inserting and cutting the soil between the seedlings and pushing the seedlings. Movement, when the cam rotates to the lower dead center, the seedling pushing plate body 50 is inserted into the soil between the seedlings. At this time, the cam guide groove pushes the X-direction movement module 57 to drive the seedling pushing plate body 50 to push the seedlings forward one position (the outermost row is pushed into the seedling automatic transplanting mechanism 46). The cam continues to rotate until the seedling pushing plate moves to close to the upper dead center (the seedling pushing plate avoids the height of the seedlings). The cam guide groove pushes the X-direction movement module 57 to drive the seedling pushing plate back to the original position and start the next cycle. The Y-direction cylinder 55 is fixed on the base 54, which can push the Y-direction movement mechanism to move along the Y direction so as to push the entire mechanism to move the seedlings in different V-shaped grooves 41.

[0045] In a preferred embodiment, the side of the standard connecting block 34 is fixedly equipped with a cross guide rod 67, the side of the cross guide rod 67 is fixedly equipped with a slide 70, the inner wall of the cross guide rod 67 is fixedly equipped with a position driving cylinder 71, the inner wall of the cross guide rod 67 is fixedly equipped with a limiting structure 69, the side of the limiting structure 69 is slidably connected with a transplanting module 2 68, and the bottom of the cross guide rod 67 is fixedly equipped with a soil breaking mechanism 72.

[0046] In a preferred embodiment, the outer edge of the slide 70 is slidably sleeved with a guide slider 66, the side of the guide slider 66 is fixedly assembled with a cylinder body 73, the output end of the cylinder body 73 is fixedly assembled with a cross guide rod 67, the side of the cross guide rod 67 is fixedly assembled with a fixing frame 49, the side of the fixing frame 49 is fixedly assembled with a baffle 75, the top of the baffle 75 is fixedly assembled with a guide shaft 74, and the side of the cylinder body 73 is fixedly assembled with a limiting ring 9.

[0047] In the above structure, during transplanting, the positioning system 65 moves the automatic transplanting mechanism to the planting position, and inserts the transplanting module into the soil (or planting pot) to release the seedlings to complete the transplanting; the automatic transplanting mechanism is equipped with a soil breaking mechanism 72, which breaks the soil and makes grooves for the next transplanting position each time it transplants (the transplanting module is in a retracted state when making grooves for the first time).

[0048] Working principle: the sowing mechanism 7 lays the seedling substrate on the standard planting pot and the air suction seeding device sows accurately. The planting pot and the seeding mechanism are positioned by a positioning structure to ensure the seeding accuracy. After the planting pot is seeded, it is moved by the shifting machine to the seedling rack 8 for temperature and humidity control for germination. In this way, the temperature and humidity control is more accurate, the germination rate is higher, and the seedling space is saved. After the seedling tray germinates, it is moved by the shifting machine to the seedling tray turnover rack 14 (for varieties with low germination rate, it is first sent to the processing line 4 for seedling supplementation). The seedling tray turnover rack 14 moves the seedling tray to the greenhouse, and then the execution The mechanism carrier 13 drives the seedling tray fork 12 to place the seedling tray in the greenhouse according to the coordinate position to continue seedling cultivation. After the seedling cultivation is completed, the seedling tray fork 12 transfers the seedling tray to the seedling tray turnover rack 14, and the seedling tray turnover rack 14 transfers the seedling tray to the transplanting greenhouse. Then, the actuator carrier 13 drives the transplanting module to transplant the seedlings to the position preset by the program (crops harvested once, such as lettuce, can be directly transplanted into the soil, and crops harvested multiple times, such as strawberries, can be transplanted into standard planting trays). During the growth of transplanted crops, the actuator The carrier 13 can tow the spraying module 15 to water and fertilize the crops (water and fertilizer integration), spray pesticides and other plant protection operations, and can also carry the tillage module 17 to perform precise tillage and weeding operations on the ground. The crops that are harvested once after maturity are driven by the actuator carrier 13 to complete the crop harvesting by the harvesting module 19, and are sorted and packaged and delivered to the processing line 4. The crops that are harvested multiple times are driven by the actuator carrier 13 to transfer the standard planting tray to the turnover vehicle and sent to the processing line 4 for picking (the staff does not move during the picking process). , the standard planting trays pass in front of the staff in turn), after picking, the crops are transported back to the greenhouse to continue growing and wait for the next round of picking, the screw guide rail shifting mechanism 43 moves the V-shaped planting pot from the standard planting tray and the transfer mechanism to the seedling picking position, the seedling pushing mechanism 44 is responsible for cutting the soil between the seedlings and pushing the seedlings into the transplanting mechanism in turn, the reduction motor 58 drives the cam connecting rod mechanism 47 to rotate, the seedling pushing plate and the X-direction motion module 57 are connected with a linear guide (Z-direction linear guide 48), and the seedling pushing plate can slide along the guide Z direction;The cam connecting rod and the seedling pushing plate connecting rod drive the seedling pushing plate to move in the Z direction. The slide groove on the cam contacts the boss 61 of the Y-direction motion module 62. The Y-direction motion module 62 is connected to the X-direction motion module 57 by a linear guide (X-direction linear guide). The slide groove can drive the X-direction motion module 57 to move in the X direction. A series of inserts 64 are installed on the seedling pushing plate for inserting and cutting the soil between the seedlings and pushing the seedlings to move. When the cam rotates to the lower dead center, the seedling pushing plate is inserted into the soil between the seedlings. At this time, the cam guide groove pushes the X-direction motion module 57 to drive the seedling pushing plate to push the seedlings forward by one position (the outermost row is pushed into the seedling automatic transplanting mechanism 46). The cam continues to rotate until the seedling pushing plate body 50 moves to a position close to the upper dead center (the height at which the seedling pushing plate avoids the seedling). The cam guide groove pushes the X-direction motion module 57 to drive the seedling pushing plate back to the original position to start the next cycle. The Y-direction cylinder 55 is fixed on the base 54, which can push the Y-direction The motion mechanism moves along the Y direction so as to push the entire mechanism to move the seedlings in different V-shaped grooves 41. When the seedlings need to be loaded into the automatic transplanting mechanism, the position driving cylinder 71 retracts, and the transplanting modules gather and are positioned by the limiting structure 69. At this time, the positioning system 65 aligns the transplanting mechanism with the planting pot, and the seedling pushing mechanism 44 pushes the seedling into the transplanting module. When the seedlings are loaded into the transplanting module, the position driving cylinder 71 extends, and the transplanting module is dispersed to the transplanting position and limited by the limiting structure 69. During transplanting, the positioning system 65 moves the automatic transplanting mechanism to the planting position, and inserts the transplanting module into the soil (or planting pot) to release the seedlings to complete the transplanting; the automatic transplanting mechanism is equipped with a soil breaking mechanism 72, which breaks the soil and grooves for the next transplanting position each time it transplants. When releasing the transplanted seedlings, the cylinder pulls the cross guide rod 67, and the cross guide rod 67 drives the baffles 75 on both sides to move along the direction of the guide shaft 74 to realize the side-drawing form of seedling release. The two guide shafts 74 are arranged obliquely on each side, and slide with the guide structure on the baffle 75. The transverse guide rod 67 slides with the guide structure on the baffle 75. The guide slider 66 and the limiter are used for guiding and limiting the lateral movement of the transplanting module.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated facility agriculture planting system, comprising a greenhouse (1), water and fertilizer facilities (2), a seedling raising area (3), a processing line (4), an equipment maintenance area (5), and a standard channel (6), characterized in that: A seedling raising rack (8) is provided inside the seedling raising area (3), a sowing mechanism (7) is fixedly mounted on the side of the seedling raising rack (8), a shifting machine body (10) is fixedly mounted on the side of the seedling raising rack (8) close to the greenhouse (1), an actuator carrier (13) is provided on the inner wall of the greenhouse (1), and a seedling tray fork (12) is slidably connected to the side of the actuator carrier (13), a planting pot (11) is fixedly mounted on the inner wall of the seedling tray fork (12), and the inner wall of the greenhouse (1) is slidably connected to the inner wall of the greenhouse (1). A seedling tray turnover frame (14) is connected, a spraying module (15) is fixedly mounted on the inner wall of the greenhouse (1), a transplanting module (16) is slidably connected to the inner wall of the greenhouse (1), a tillage module (17) is arranged on the inner wall of the greenhouse (1), a transport module (18) is slidably connected to the inner wall of the greenhouse (1), a harvesting module (19) is arranged on the side of the transport module (18), and a moving machine (20) is arranged at one end of the transport module (18) away from the harvesting module (19); The inner wall of the greenhouse (1) is fixedly equipped with a steel track (21), the side of the steel track (21) is fixedly equipped with a rack 1 (22), the side of the steel track (21) is slidably connected to a carrier walking mechanism (24), the inner wall of the carrier walking mechanism (24) is fixedly equipped with a carrier crossbeam (25), the side of the carrier crossbeam (25) is fixedly equipped with a rack 2 (26), the side of the carrier crossbeam (25) is slidably connected to a Y-axis module (27), the side of the Y-axis module (27) is slidably connected to a Z-axis module (28), and the inner wall of the steel track (21) is fixedly equipped with a position sensor (23); The side of the Z-axis module (28) is fixedly equipped with a motor and a reducer (29), the output shafts of the motor and the reducer (29) are fixedly sleeved with a lead screw slider (38), the bottom of the lead screw slider (38) is fixedly equipped with a lead screw body (37), the side of the lead screw slider (38) is rotatably connected with a connecting rod body (33), and the side of the Z-axis module (28) is fixedly equipped with a positioning system (65), and the side of the positioning system (65) is provided with a guide rail groove ( 31), the inner wall of the guide groove (31) is slidably connected with a positioning pin (32), and the side of the positioning pin (32) is fixedly assembled with the side of the connecting rod body (33), the bottom of the positioning system (65) is provided with a limiting groove (30), the bottom of the positioning system (65) is provided with a standard connecting block (34), the side of the standard connecting block (34) is provided with an inclined surface (35), and the bottom of the inner wall of the standard connecting block (34) is fixedly assembled with a hook (36); A screw guide rail displacement mechanism (43) is fixedly mounted on the bottom of the inner wall of the greenhouse (1); a positioning mechanism (42) is slidably connected to the top of the screw guide rail displacement mechanism (43); a square frame (40) is slidably connected to the inner wall of the positioning mechanism (42); a planting pot (39) is fixedly mounted on the top of the square frame (40); and a V-shaped groove (41) is provided at the bottom of the planting pot (39); The side of the standard connection block (34) is fixedly equipped with an automatic seedling transplanting mechanism (46), the side of the automatic seedling transplanting mechanism (46) is fixedly equipped with a seedling pushing mechanism (44), and the top of the greenhouse (1) is fixedly equipped with a V-shaped planting pot and a transfer mechanism (45); The seedling pushing mechanism (44) is fixedly equipped with a reduction motor (58) inside, the output shaft of the reduction motor (58) is fixedly sleeved with a cam connecting rod mechanism (47), the inner wall of the seedling pushing mechanism (44) is fixedly equipped with an X-direction linear optical axis (56), the outer edge of the X-direction linear optical axis (56) is slidably sleeved with an X-direction linear bearing (52), the side of the X-direction linear bearing (52) is fixedly equipped with an X-direction motion module (57), the side of the X-direction motion module (57) is slidably connected with a Z-direction linear guide rail (48), the side of the X-direction motion module (57) is provided with a base (54), the inner wall of the base (54) is rotatably connected with a boss (61), and the inner wall of the base (54) is fixedly equipped with a Y-direction motion module (62); The side of the X-direction linear optical axis (56) is fixedly assembled with a Y-direction cylinder (55), the side of the Y-direction cylinder (55) is fixedly assembled with a Y-direction linear optical axis (51), the outer edge of the Y-direction linear optical axis (51) is slidably sleeved with a Y-direction linear bearing (53), the output shaft of the cam connecting rod mechanism (47) is fixedly assembled with a cam connecting body (60), the side of the cam connecting body (60) is fixedly assembled with a rod pushing seedling plate connecting rod (63), the side of the rod pushing seedling plate connecting rod (63) is fixedly assembled with a seedling pushing plate connecting rod shaft (59), the bottom of the seedling pushing plate connecting rod shaft (59) is fixedly assembled with a seedling pushing plate body (50), and the bottom of the seedling pushing plate body (50) is fixedly assembled with an insert (64).

2. The automated facility agriculture planting system according to claim 1, characterized in that: A transverse guide rod (67) is fixedly mounted on the side of the standard connection block (34), a slideway (70) is fixedly mounted on the side of the transverse guide rod (67), a position driving cylinder (71) is fixedly mounted on the inner wall of the transverse guide rod (67), a limiting structure (69) is fixedly mounted on the inner wall of the transverse guide rod (67), a transplanting module 2 (68) is slidably connected to the side of the limiting structure (69), and a soil breaking mechanism (72) is fixedly mounted on the bottom of the transverse guide rod (67).

3. The automated facility agriculture planting system according to claim 2, characterized in that: The outer edge of the slideway (70) is slidably sleeved with a guide slider (66), the side of the guide slider (66) is fixedly assembled with a cylinder body (73), the output end of the cylinder body (73) is fixedly assembled with a cross guide rod (67), the side of the cross guide rod (67) is fixedly assembled with a fixing frame (49), the side of the fixing frame (49) is fixedly assembled with a baffle (75), the top of the baffle (75) is fixedly assembled with a guide shaft (74), and the side of the cylinder body (73) is fixedly assembled with a limit ring (9).

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