A multi-claw seedling transplanting machine

Abstract

The application discloses a multi-claw seedling transplanting machine. The multi-claw seedling transplanting machine comprises a conveying line mechanism, a visual recognition unit, a seedling transplanting hole disc pushing mechanism and a seedling transplanting manipulator. The conveying line mechanism is used for transferring and conveying the hole disc. The seedling transplanting hole disc pushing mechanism and the seedling conveying line mechanism are used for accurately conveying the hole disc row by row when the seedling transplanting hole disc pushing mechanism and the seedling conveying line mechanism are used for the seedling transplanting operation of the hole disc. The visual recognition unit is used for identifying the poor seedlings in the hole disc. The seedling transplanting manipulator is equipped with an end effector. The end effector is used for removing the poor seedlings in the hole disc, grabbing and transplanting the healthy seedlings into the seedling transplanting hole disc. The multi-claw seedling transplanting machine adopts the soft shaft envelope type end effector and the double-mover linear motor to drive the two-side parallel clamping claws to alternately work, effectively solves the problems that the conventional seedling transplanting machine is difficult to grab the loose substrate, the empty stroke exists when the seedling transplanting machine returns to take the seedlings, the waiting time is long and the like, and has the advantages of reliable substrate grabbing, high operation efficiency, stable operation and the like.

Description

Technical Field

[0001] This invention relates to a transplanter, which relates to the field of agricultural engineering, and more specifically to a multi-claw seedling transplanter. Background Technology

[0002] Transplanting of plug seedlings is an essential step in factory-scale seedling production. Currently, this transplanting and replanting process is primarily done manually. Manual transplanting suffers from high labor intensity, low efficiency, high labor costs, and uncontrolled transplanting quality. Therefore, developing efficient plug seedling transplanting machines is crucial for reducing labor burdens, lowering plant factory operating costs, improving production efficiency, and promoting the development of the vegetable industry. While automated equipment for plug seedling replanting and replanting is relatively mature abroad, this equipment is not compatible with my country's planting methods. Furthermore, the end effectors of foreign transplanting machines struggle to grasp loose substrate, requiring specialized replanting devices, which are expensive. Summary of the Invention

[0003] To address the problems existing in the background art, this invention provides a multi-claw seedling transplanting production line equipment. This invention aims to provide a highly efficient transplanting equipment to solve problems in the prior art such as discontinuous transplanting operations, idle strokes, long waiting times, and difficulty in grasping loose substrate.

[0004] The technical solution adopted in this invention is:

[0005] The multi-claw seedling transplanter of the present invention includes a feeding conveyor mechanism, a vision conveyor mechanism, a seedling tray pushing mechanism, a seedling picking robot, a transition conveyor mechanism, a seedling tray pushing mechanism, a seedling picking robot, and a discharging conveyor mechanism arranged sequentially along the conveying direction of the seedling trays. It also includes a vision recognition unit mounted on the vision conveyor mechanism, and a first seedling supply conveyor mechanism and a second seedling supply conveyor mechanism located between the seedling picking robot and the seedling picking robot. The first and second seedling supply conveyor mechanisms are respectively placed on the conveying lines of the transition conveyor mechanism and the seedling tray pushing mechanism. The conveying directions of the symmetrical sides are all the same as those of the seedling trays. The conveying directions of the feeding conveyor, vision conveyor, seedling tray pushing mechanism, transition conveyor, and unloading conveyor are all the same as those of the seedling trays. The feeding conveyor, vision conveyor, seedling tray pushing mechanism, seedling picking robot, transition conveyor, seedling replenishment tray pushing mechanism, first seedling supply conveyor, second seedling supply conveyor, seedling replenishment robot, and unloading conveyor are all electrically connected to an external control unit. The vision recognition unit is electrically connected to an external industrial control computer, and the industrial control computer is electrically connected to the control unit.

[0006] The feeding conveyor, vision conveyor, and unloading conveyor are all mounted on their respective conveyor frames. The seedling tray pushing mechanism is mounted on the conveyor frame of the vision conveyor. The seedling manipulator, transition conveyor, seedling tray pushing mechanism, first seedling supply conveyor, and second seedling supply conveyor are all mounted on the main frame. A touch screen is also mounted on the main frame. The touch screen is electrically connected to the control unit and is used for manual control, parameter setting, and display of equipment operation information.

[0007] The feeding conveyor, vision conveyor, transition conveyor, and unloading conveyor mechanisms all include four mounted bearings, a drive roller, a conveyor motor, several pairs of photoelectric switches for disc detection, a conveyor belt, two guide rods, a driven roller, and a tensioning device. The conveyor motor is mounted on the main frame or conveyor frame. Both ends of the drive roller's central shaft are mounted on the main frame or conveyor frame via mounted bearings. One end of the drive roller's central shaft is synchronously connected to the output shaft of the conveyor motor. The conveyor motor and drive roller are connected by a key; chain drive or synchronous belt drive can also be used depending on the actual situation. The drive roller and driven roller... The cylinders are located at the inlet and outlet sides of the seedling trays, respectively. Both ends of the driven roller's central shaft are mounted on the main frame or conveyor frame via bearing seats. One end of the tensioning device is mounted on the main frame or conveyor frame, and the other end is connected to one end of the driven roller's central shaft. A conveyor belt connects the driving and driven rollers. Two guide rods are connected to the main frame or conveyor frame via connecting strips. The two guide rods are parallel and spaced apart, horizontally arranged on symmetrical sides directly above the conveyor belt, parallel to the conveying direction of the belt. The seedling trays are conveyed on the conveyor belt between the two guide rods. The guide rod is used to restrict the left and right degrees of freedom of the seedling trays, preventing them from tilting during transport and ensuring they are properly conveyed to the next station. The loading, transition, and unloading conveyor mechanisms each include two pairs of seedling tray detection photoelectric switches arranged opposite each other on both sides of the conveyor belt, mounted on the main frame or conveyor frame. One pair of photoelectric switches is located on the inlet side of the seedling trays, and the other pair is located on the outlet side. Each pair of photoelectric switches includes a transmitter and a receiver, used to detect in real time whether the seedling trays are in place, and then control the conveyor belt based on the signals from the photoelectric switches. The feeding line is started and stopped; the vision recognition unit is installed on the main frame or conveyor frame and is located directly above the conveyor belt and two guide rods. The vision conveyor mechanism includes a pair of acupoint detection photoelectric switches, which are installed on the main frame or conveyor frame and are arranged symmetrically on both sides of the vision recognition unit and the conveyor belt. The vision recognition unit will not block the pair of acupoint detection photoelectric switches. The feeding conveyor mechanism, vision conveyor mechanism, transition conveyor mechanism and unloading conveyor mechanism are asynchronous motor conveyor lines used for the transfer and conveying of acupoints. The conveyor motor and each acupoint detection photoelectric switch are electrically connected to an external control unit.

[0008] The visual recognition unit includes a unit frame, a light shield, two light sources, and a camera. The unit frame is mounted on the conveyor frame of the visual conveyor mechanism and is located directly above the conveyor belt and two guide rods. The light shield covers the top and sides of the unit frame to prevent external light from affecting the visual recognition effect. The two light sources and the camera are mounted on the upper part of the unit frame via optical axes and shaft supports. The two light sources are located on both sides of the camera and face the conveyor belt directly below the camera. The camera is vertically facing the conveyor belt directly below, and the height, position, and angle of the two light sources and the camera can be adjusted. The visual recognition unit is used to identify inferior seedlings in the seedling trays on the visual conveyor mechanism. The camera is electrically connected to an industrial control computer. When the photoelectric switches on both sides of the visual recognition unit detect that the seedling tray has been conveyed to the area directly below the camera, the control unit controls the conveyor motor of the visual conveyor mechanism to stop running. The camera acquires an image of the seedling tray and transmits it to the industrial control computer. The industrial control computer identifies the location of the inferior seedlings in the seedling tray and transmits it to the control unit. The industrial control computer can identify inferior seedlings using artificial intelligence image processing algorithms.

[0009] Both the seedling tray pushing mechanism and the seedling tray pushing mechanism include a linear module, two seedling tray limiting strips, a seedling tray support plate, a linear module mounting base, four support plate rods, a linear module slider, a slider connecting plate, two seedling pushing cylinder mounting plates, four seedling pushing devices, and two linear module photoelectric switches. Each seedling pushing device includes a seedling pushing rod cylinder, a seedling pushing rod mounting plate, and a seedling pushing rod. The linear module is horizontally mounted on the main frame or conveyor frame via the linear module mounting base. The length direction of the linear module is parallel to the conveying direction of the seedling trays. The slider connecting plate is slidably mounted on the linear module via the linear module slider. The two seedling pushing cylinders are mounted on the linear module. The mounting plates are horizontally installed on both sides of the slider connecting plate and symmetrically on both sides of the length direction of the linear module. Each pushing cylinder mounting plate has one pushing device installed on each side. The four pushing devices are arranged in pairs, symmetrically on both sides of the length direction of the linear module. The cylinder body of the pushing rod cylinder of each pushing device is mounted on the pushing cylinder mounting plate. The piston rod of the pushing rod cylinder is horizontally connected to the bottom side of the vertically arranged pushing rod mounting plate. The pushing rod mounting plates of the two opposing pushing devices are parallel to each other and located on the side away from the linear module. On the opposite side of each of the two opposing pushing rod mounting plates, a horizontally arranged device perpendicular to the linear module is installed. The unit consists of a pusher rod along its length; the seedling tray support plate is horizontally mounted on the main frame or conveyor frame via support rods at its four corners. The seedling tray support plate is located directly above the linear module and above the four pusher rod cylinders. Four pusher rod mounting plates are symmetrically arranged on both sides of the seedling tray support plate. All four pusher rods are located directly above the top surface of both sides of the seedling tray support plate. Two seedling tray limiting strips are horizontally spaced and parallel to each other on the top surface of the seedling tray support plate. These limiting strips have countersunk holes and are fixed to the seedling tray support plate with bolts. The length direction of the two limiting strips is parallel to the length direction of the linear module. The four pusher rod cylinders... The rods are located on both sides of the length of the two seedling tray limiting strips; two linear module photoelectric switches are installed on the side of the linear module and are respectively close to the inlet and outlet sides of the seedling tray. The two linear module photoelectric switches are horizontally oriented away from and perpendicular to the linear module, serving as the origin switch or limit switch of the linear module; the seedling tray is placed on four pushing rods and two seedling tray limiting strips; the seedling removal tray pushing mechanism and the seedling replenishment tray pushing mechanism are servo motor conveyor lines, used to accurately convey the seedling tray row by row during the seedling removal and replenishment operation; the pushing rod cylinders of the linear module and the four pushing devices are all electrically connected to an external control unit.

[0010] The cross-sectional area of ​​the seedling tray limiting strip is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. The two seedling tray limiting strips are respectively inserted into the two gaps at the bottom of the seedling tray, which plays a role in accurately positioning the seedling tray left and right. The width of the end of the seedling tray limiting strip near the entrance of the seedling tray is narrower than the width of the other parts of the seedling tray limiting strip, making it easier for the seedling tray to enter the two seedling tray limiting strips.

[0011] The aforementioned seedling pusher includes two horizontally parallel pusher rods arranged symmetrically on both sides of the top side of the seedling pusher rod mounting plate. One end of each pusher rod is connected to the seedling pusher rod mounting plate, and the other end is a free end facing the pusher rod of the opposite seedling pusher component. Both pusher rods are perpendicular to the seedling tray limiting strip. The cross-section of each pusher rod is trapezoidal, and the size of the trapezoid is consistent with the size of the gap at the bottom of the seedling tray. Each pusher rod is inserted into the gap at the bottom of the seedling tray, providing precise front-to-back positioning for the seedling tray. The width of the free end of the pusher rod is narrower than the width of the other parts of the pusher rod, facilitating insertion into the gap at the bottom of the seedling tray.

[0012] Both the first and second seedling supply conveyor mechanisms include four bearing seats, a drive roller, four photoelectric switches for detecting seedling trays, a conveyor belt, a driven roller, a tensioning device, a servo motor, two positioning rod support mounting plates, four positioning rod support blocks, two seedling tray positioning rods, and several seedling tray front and rear positioning blocks. The servo motor is mounted on the main frame. Both ends of the central shaft of the drive roller are mounted on the main frame via bearing seats. One end of the central shaft of the drive roller is synchronously connected to the output shaft of the servo motor. The servo motor is connected to the drive roller via chain drive for power transmission. The drive roller and driven roller are located on the inlet and outlet sides of the seedling trays, respectively. Both ends of the driven roller's central shaft are mounted on the main frame via bearing seats. One end of the tensioning device is mounted on the main frame, and the other end is connected to one end of the driven roller's central shaft. A conveyor belt connects the driving and driven rollers. Two positioning rod support plates are mounted on the main frame, located at the inlet and outlet sides of the seedling trays, respectively. Each of the two tray positioning rods is connected to the two positioning rod support plates via two positioning rod support blocks at both ends. The two tray positioning rods are parallel and spaced apart, horizontally arranged on symmetrical sides directly above the conveyor belt, parallel to the conveying direction of the conveyor belt. The seedling trays are placed on the two positioning rods as they are conveyed on the conveyor belt. On the seedling tray positioning rods, the two positioning rod support blocks are adjusted to be exactly in the center of the gap at the bottom of the seedling tray, so that the gap at the bottom of the seedling tray can be just locked onto the two seedling tray positioning rods, which can restrict the left and right movement of the seedling tray; four seedling tray detection photoelectric switches are arranged in pairs facing each other on both sides of the conveyor belt and are all mounted on the main frame. Two seedling tray detection photoelectric switches are located on the inlet side of the seedling tray, and the other two seedling tray detection photoelectric switches are located on the outlet side of the seedling tray. The seedling tray detection photoelectric switches are used to detect whether the seedling tray is in place in real time, and then control the start and stop of the conveyor line according to the signals of the seedling tray detection photoelectric switches; the front and rear positioning blocks of each seedling tray are evenly spaced and parallel to each other on the conveyor belt along the conveying direction. The front and rear positioning blocks of each seedling tray are perpendicular to the seedling tray positioning rod. The distance between any two adjacent front and rear positioning blocks is greater than the length of one seedling tray but less than the length of two seedling trays. The cross-section of the front and rear positioning blocks is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. Each front and rear positioning block is locked in the bottom gap of its respective seedling tray, which plays a role in the precise front and rear positioning of the seedling tray. The first and second seedling supply conveyor mechanisms are servo motor conveyor lines, which are used to precisely convey the seedling trays row by row during the seedling removal and replacement operation. The four seedling tray detection photoelectric switches and servo motors are all electrically connected to an external control unit.

[0013] Both the seedling removal robot and the seedling replenishment robot include a linear motor mounting plate, a linear motor, two multi-claw parallel robots, two bellows cover support plates, two bellows cover end plates, a cable chain bracket, two cable chains, and two origin switch sensors. The linear motor is horizontally mounted on the main frame via the linear motor mounting plate, with its length direction perpendicular to the conveying direction of the seedling trays. The two bellows cover support plates are mounted on the main frame and located on the upper and lower sides of the linear motor, while the two bellows cover end plates are mounted on the main frame and located on the left and right sides of the linear motor. The upper and lower bellows cover support plates are fixedly connected to the bellows cover end plates with bolts to form a bellows cover for the protection of the linear motor. Two movers are slidably mounted on the guide rail of the linear motor, and each mover is equipped with a multi-claw parallel robot. The two servo drives of the linear motor can independently control the two movers to drive the two multi-claw parallel robots to move along the guide rail of the linear motor. Each multi-claw parallel robot is equipped with a cable chain bracket, and one end of each cable chain is connected to... To the main frame, the other ends of the two cable chains are connected to their respective multi-claw parallel manipulators via cable chain brackets. External cables and air pipes are connected to the multi-claw parallel manipulators via cable chains. Two origin switch sensors are installed at both ends of the top surface of the main frame. When the two multi-claw parallel manipulators move to the position of their respective origin switch sensors, they are at their respective origin positions. The origin switch sensors are used for zero-return detection of the multi-claw parallel manipulators. The seedling removal manipulator and the seedling replenishment manipulator are multi-claw parallel manipulators driven by dual-actuator linear motors. Each manipulator is equipped with several end effectors, which are flexible shaft envelope end effectors. The end effectors of the seedling removal manipulator are used to remove inferior seedlings from the seedling trays, and the end effectors of the seedling replenishment manipulator are used to grab healthy seedlings from the full seedling trays on the first and second seedling supply conveyor mechanisms and transplant them to the seedling trays to be replenished on the seedling replenishment tray pushing mechanism. The linear motors and the two multi-claw parallel manipulators are electrically connected to the control unit.

[0014] The multi-claw parallel manipulator includes several solenoid valves, a manipulator mounting plate, an end effector mounting plate, multiple end effectors, a bellows cover mounting plate, a solenoid valve mounting plate, and a manifold. The manipulator mounting plate is mounted on the mover. Square through holes are located on the upper left and right sides of the manipulator mounting plate for the linear motor cable to pass through. Multiple end effectors are mounted on the manipulator mounting plate via end effector mounting plates. The multiple end effectors are evenly spaced and located directly above the conveyor belt, with the spacing between the end effectors being an integer multiple of the spacing between the seedling tray holes. The solenoid valve mounting plate is horizontally mounted on the top side of the end effector mounting plate. A home switch is also provided on the bottom surface of the solenoid valve mounting plate. When the multi-claw parallel manipulator moves to the home position, the home switch at the bottom of the solenoid valve mounting plate is located directly above the home switch sensor. Each solenoid valve is mounted on the solenoid valve mounting plate via the manifold. The air pipes in the cable chain are sequentially connected to the multiple end effectors through the manifold and each solenoid valve. Each solenoid valve, multiple end effectors, and the home switch are all electrically connected to the control unit.

[0015] The end effector includes a lifting cylinder, a flexible shaft cylinder, a cylinder mounting plate, four guide seat connecting rods, a floating joint, a flexible shaft cylinder connecting plate, a floating joint nut, two flexible shaft mounting seat connecting rods, a flexible shaft mounting seat, a flexible shaft guide seat, and several flexible shafts. The cylinder body of the lifting cylinder is mounted on the end effector mounting plate. The lifting cylinder is a slide cylinder. The cylinder mounting plate is horizontally arranged. The slide of the lifting cylinder is connected to one side of the top surface of the cylinder mounting plate and can drive the cylinder mounting plate to move up and down. The cylinder body of the flexible shaft cylinder is mounted on the other side of the top surface of the cylinder mounting plate. The upper part of the floating joint... Both the upper and lower parts are provided with external threads. The piston rod of the flexible shaft cylinder passes vertically downward through the cylinder mounting plate and is threaded to the upper end of the floating joint. The lower end of the piston rod of the flexible shaft cylinder has internal threads. The flexible shaft cylinder is located directly above the center of the four guide seat connecting rods. The four guide seat connecting rods are vertically spaced and symmetrically installed on the bottom end face of the cylinder mounting plate. The top ends of the four guide seat connecting rods are connected to the bottom end face of the cylinder mounting plate. The floating joint, flexible shaft cylinder connecting plate, floating joint nut, and two flexible shaft mounting seat connecting rods are installed directly below the cylinder mounting plate and between the four guide seat connecting rods. The cylinder connecting plate is horizontally arranged. The lower part of the floating joint passes through a through hole located at the center of the flexible shaft cylinder connecting plate. The external thread at the lower part of the floating joint is threaded to the floating joint nut, thus fixing the flexible shaft cylinder connecting plate to the floating joint. The flexible shaft cylinder connecting plate is connected to the top surface of the flexible shaft mounting seat via two vertically spaced and symmetrically arranged flexible shaft mounting seat connecting rods on its bottom end face. The flexible shaft mounting seat and the flexible shaft guide seat are horizontally spaced from top to bottom. The lower ends of the two flexible shaft mounting seat connecting rods are symmetrically connected to the upper end face of the flexible shaft mounting seat. The lower ends of the four guide seat connecting rods of the guide mechanism are... The flexible shaft is symmetrically inserted through the four corners of the flexible shaft mounting base and then connected to the four corners of the flexible shaft guide base. The flexible shaft mounting base has several vertical flexible shaft mounting through holes evenly spaced along its circumference. The upper end of each flexible shaft is connected to one of its own flexible shaft mounting through holes. The flexible shaft guide base has several inclined flexible shaft guide through holes evenly spaced along its circumference. The lower part of each flexible shaft passes through one of its own flexible shaft guide through holes directly below it. The lower end of each flexible shaft is a free end. The lifting cylinder and the flexible shaft cylinder are connected to the air pipe through their respective solenoid valves. Both the lifting cylinder and the flexible shaft cylinder are electrically connected to the control unit.

[0016] The floating joint is stepped, with the upper and lower diameters smaller than the middle diameter, serving as an axial limit. The lower diameter of the floating joint is equal to the diameter of the central through-hole in the flexible shaft cylinder connecting plate, and the middle of the floating joint is located directly above the central through-hole in the flexible shaft cylinder connecting plate. The flexible shaft guide seat has the same number and corresponding positions of flexible shaft mounting through-holes on its upper and lower surfaces as the flexible shaft mounting seat. The flexible shaft passes through these guide through-holes. The guide through-holes on the flexible shaft guide seat have a certain inclination angle, consistent with the angle of the inner wall of the planting tray's holes. This ensures that the space formed by the flexible shaft (which has the same number of mounting through-holes as the flexible shaft mounting seat) moving downwards along the inclined guide holes on the flexible shaft guide seat maintains a shape consistent with the inner wall of the planting tray's holes. During the flexible shaft retraction process, the flexible shaft guide seat acts as a substrate compressor, achieving active separation between the substrate and the flexible shaft.

[0017] The number of flexible shafts is greater when the seedling substrate is loose and less when the substrate is compact. The number and distribution of flexible shafts can be adjusted according to the compactness of the seedling substrate. For compact substrates that are not easily loosened, fewer flexible shafts can be used, while for looser substrates, more flexible shafts are needed to reduce gaps between the shafts and ensure that the substrate does not leak out. The flexible shafts are made of universal steel wire drive or brake cable steel wire rope, or of materials with good smoothness, flexibility, toughness, and elasticity such as fiberglass or carbon fiber, which can return to their original shape after the flexible shaft cylinder retracts.

[0018] The end effector is a flexible shaft envelope type end effector. Under the action of the flexible shaft guide seat, the flexible shaft deforms to create a space that matches the shape of the hole in the pit, forming an envelope grip on the substrate, which can achieve the gripping of loose substrate.

[0019] The upper and lower ports of each flexible shaft guide hole in the flexible shaft guide seat are respectively far from and close to the center of the flexible shaft guide seat, thus forming inclined through holes. The inclination angle of each flexible shaft guide through hole is consistent with the angle of the inner wall of the planting tray's holes. The number of each flexible shaft guide through hole in the flexible shaft guide seat is consistent with the number of each flexible shaft mounting through hole in the flexible shaft mounting seat. The dimensions of the flexible shaft mounting seat and the flexible shaft guide seat, as well as the inclination angle of the flexible shaft guide through holes in the flexible shaft guide seat, can be designed according to the hole size of the planting tray so that the end effector can meet the grasping needs of seedling substrate in different sized seedling trays.

[0020] The beneficial effects of this invention are:

[0021] The multi-claw seedling transplanter provided by this invention uses a flexible shaft envelope-type end effector and a dual-actuator linear motor to drive the parallel grippers on both sides to work alternately. It effectively solves the problems of conventional seedling transplanters having difficulty grabbing loose substrate, having empty strokes during the return trip to pick up seedlings, and having long waiting time. It can reliably grab loose substrate and has the advantages of reliable substrate grabbing, high operating efficiency, and stable operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the complete assembly structure of an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the conveyor line assembly according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the assembly of the visual recognition unit according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the overall assembly of the acupoint pushing mechanism according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the linear module assembly of the acupoint pushing mechanism according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the overall assembly of the transplanting robot according to an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the guide rail assembly of the transplanting robot according to an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the assembly of the three-jaw parallel robot arm according to an embodiment of the present invention;

[0030] Figure 9 This is a schematic diagram of the seedling supply conveyor line assembly according to an embodiment of the present invention;

[0031] Figure 10 This is a schematic diagram of the end effector assembly according to an embodiment of the present invention;

[0032] In the diagram: 1. Feeding conveyor mechanism; 2. Vision conveyor mechanism; 3. Vision recognition unit; 4. Seedling removal tray pushing mechanism; 5. Seedling removal robot; 6. Transitional conveyor mechanism; 7. Replenishment tray pushing mechanism; 8. First seedling supply conveyor mechanism; 9. Second seedling supply conveyor mechanism; 10. Replenishment robot; 11. Feeding conveyor mechanism; 12. Main frame; 13. Touch screen; 14. Conveyor frame; 15. Bearing with seat; 16. Drive roller; 17. Conveyor cable. 18. Photoelectric switch for seedling tray detection; 19. Conveyor belt; 20. Guide rod; 21. Driven roller; 22. Tensioning device; 23. Light shield; 24. Light source; 25. Camera; 26. Industrial computer; 27. Linear module; 28. Seedling tray limit strip; 29. ​​Seedling tray support plate; 30. Linear module mounting base; 31. Support plate support rod; 32. Linear module slider; 33. Slider connecting plate; 34. Seedling pusher cylinder mounting plate; 35. Seedling pusher cylinder; 36. Seedling pusher mounting plate. 37. Mounting plate; 38. Seedling pusher; 39. Linear module photoelectric switch; 40. Linear motor mounting plate; 41. Linear motor; 42. Multi-claw parallel robot arm; 43. Bellows cover support plate; 44. Bellows cover end plate; 45. Cable chain bracket; 46. Cable chain; 47. Solenoid valve; 48. Origin switch induction plate; 49. Mover; 50. Guide rail; 51. Robot arm mounting plate; 52. End effector mounting plate; 53. End effector; 54. Bellows cover mounting plate; 55. Solenoid valve 55. Mounting plate, 56. Busbar, 57. Servo motor, 58. Positioning rod support mounting plate, 59. Positioning rod support block, 60. Acupuncture plate positioning rod, 61. Acupuncture plate front and rear positioning blocks, 62. Lifting cylinder, 63. Flexible shaft cylinder, 64. Cylinder mounting plate, 65. Guide seat connecting rod, 66. Floating joint, 67. Flexible shaft cylinder connecting plate, 68. Floating joint nut, 79. Flexible shaft mounting seat connecting rod, 70. Flexible shaft guide seat, 71. Flexible shaft. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be noted that all directional indications in the embodiments of the present invention, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly. Furthermore, descriptions involving "first," "second," etc., in the present invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. In the description of the present invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Moreover, the technical solutions of the various embodiments of the present invention can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0035] like Figure 1As shown, the multi-claw seedling transplanter of the present invention includes a feeding conveyor mechanism 1, a vision conveyor mechanism 2, a seedling tray pushing mechanism 4, a seedling picking robot 5, a transition conveyor mechanism 6, a seedling tray pushing mechanism 7, a seedling picking robot 10, and a discharging conveyor mechanism 11 arranged sequentially along the conveying direction of the seedling trays. It also includes a vision recognition unit 3, which is mounted on the vision conveyor mechanism 2. Furthermore, it includes a first seedling supply conveyor mechanism 8 and a second seedling supply conveyor mechanism 9 located between the seedling picking robot 5 and the seedling picking robot 10. Mechanism 9 is placed symmetrically on both sides of the conveyor lines of the transition conveyor line mechanism 6 and the seedling tray pushing mechanism 7, and the conveying direction is the same as the conveying direction of the seedling trays. The conveying directions of the feeding conveyor line mechanism 1, the visual conveyor line mechanism 2, the seedling tray pushing mechanism 4, the transition conveyor line mechanism 6, and the unloading conveyor line mechanism 11 are all the same as the conveying direction of the seedling trays. The feeding conveyor line mechanism 1, the visual conveyor line mechanism 2, the transition conveyor line mechanism 6, and the unloading conveyor line mechanism 11 are asynchronous motor conveyor lines used for the transfer and conveying of seedling trays. The seedling tray pushing mechanism 4, the seedling tray pushing mechanism 7, and the first The seedling supply conveyor mechanism 8 and the second seedling supply conveyor mechanism 9 are servo motor conveyor lines used for precise, row-by-row delivery of seedlings during the seedling removal and replanting process. The vision recognition unit 3 is used to identify substandard seedlings in the seedling trays on the vision conveyor mechanism 2. The seedling removal robot 5 and the replanting robot 10 are multi-claw parallel robots driven by dual-actuator linear motors. Each robot is equipped with several end effectors 52, which are flexible shaft envelope-type end effectors. The end effectors 52 of the seedling removal robot 5 are used to remove substandard seedlings from the seedling trays, and the end effectors of the replanting robot 10... 52 is used to grab healthy seedlings from the full-hole trays on the first seedling supply conveyor mechanism 8 and the second seedling supply conveyor mechanism 9 and transplant them to the seedling trays to be replaced on the seedling replacement tray pusher mechanism 7; the feeding conveyor mechanism 1, the vision conveyor mechanism 2, the seedling removal tray pusher mechanism 4, the seedling removal robot 5, the transition conveyor mechanism 6, the seedling replacement tray pusher mechanism 7, the first seedling supply conveyor mechanism 8, the second seedling supply conveyor mechanism 9, the seedling replacement robot 10 and the unloading conveyor mechanism 11 are all electrically connected to the external control unit. The vision recognition unit 3 is electrically connected to the external industrial control computer 26, and the industrial control computer 26 is electrically connected to the control unit.

[0036] like Figure 2As shown, the feeding conveyor mechanism 1, the vision conveyor mechanism 2, and the unloading conveyor mechanism 11 are all mounted on their respective conveyor frame 14. The seedling tray pushing mechanism 4 is mounted on the conveyor frame 14 of the vision conveyor mechanism 2. The seedling picking robot 5, the transition conveyor mechanism 6, the seedling tray pushing mechanism 7, the first seedling supply conveyor mechanism 8, and the second seedling supply conveyor mechanism 9 are all mounted on the main frame 12. The main frame 12 is also equipped with a touch screen 13, which is electrically connected to the control unit for manual control, parameter setting, and display of equipment operation information.

[0037] The feeding conveyor mechanism 1, vision conveyor mechanism 2, transition conveyor mechanism 6, and unloading conveyor mechanism 11 each include four bearings 15, a drive roller 16, a conveyor motor 17, several pairs of photoelectric switches for cavity tray detection 18, a conveyor belt 19, two guide rods 20, a driven roller 21, and a tensioning device 22. The conveyor motor 17 is mounted on the main frame 12 or the conveyor frame 14. Both ends of the central shaft of the drive roller 16 are mounted on the main frame 12 or the conveyor frame 14 via bearings 15. One end of the central shaft of the drive roller 16 is synchronously connected to the output shaft of the conveyor motor 17. The conveyor motor 17 and the drive roller 16 are connected by a key, or alternatively, depending on the actual situation. Chain drive or synchronous belt drive is adopted; the driving roller 16 and the driven roller 21 are located on the inlet and outlet sides of the seedling tray, respectively. Both ends of the central shaft of the driven roller 21 are mounted on the main frame 12 or the conveyor frame 14 through bearing seats 15. One end of the tensioning device 22 is mounted on the main frame 12 or the conveyor frame 14, and the other end of the tensioning device 22 is connected to one end of the central shaft of the driven roller 21. The conveyor belt 19 is driven between the driving roller 16 and the driven roller 21. Two guide rods 20 are connected to the main frame 12 or the conveyor frame 14 through connecting strips. The two guide rods 20 are parallel and spaced apart and horizontally arranged on both sides directly above the conveyor belt 19. 20 is parallel to the conveying direction of the conveyor belt 19. The seedling trays are conveyed on the conveyor belt 19 between two guide rods 20. The guide rods 20 restrict the left and right degrees of freedom of the seedling trays, preventing them from tilting during conveying and ensuring they are conveyed normally to the next station. The feeding conveyor mechanism 1, the transition conveyor mechanism 6, and the unloading conveyor mechanism 11 each include two pairs of seedling tray detection photoelectric switches 18 arranged opposite each other on both sides of the conveyor belt 19, and all are mounted on the main frame 12 or the conveyor frame 14. One pair of seedling tray detection photoelectric switches 18 is located on the inlet side of the seedling trays, and the other pair is located on the outlet side of the seedling trays. The pair of seedling tray detection photoelectric switches 18 includes... The system includes a transmitter and a receiver for real-time detection of whether the acupuncture trays are in place, and then controls the start and stop of the conveyor line based on the signal from the acupuncture tray detection photoelectric switch 18. The vision recognition unit 3 is installed on the main frame 12 or the conveyor line frame 14 and is located directly above the conveyor belt 19 and the two guide rods 20. The vision conveyor line mechanism 2 includes a pair of acupuncture tray detection photoelectric switches 18, which are installed on the main frame 12 or the conveyor line frame 14 and are arranged opposite each other on the symmetrical sides of the vision recognition unit 3 and the conveyor belt 19. The vision recognition unit 3 will not block the pair of acupuncture tray detection photoelectric switches 18. The conveyor motor 17 and each acupuncture tray detection photoelectric switch 18 are electrically connected to an external control unit.

[0038] For the feeding conveyor line 1, vision conveyor line 2, transition conveyor line 6, and unloading conveyor line 11, precise positioning is not required, and the conveyor motor 17 can be an asynchronous motor. The drive roller 16 rotates under the drive of the conveyor motor 17, driving the conveyor belt 19 to move. There is a support plate under the conveyor belt 19, which is installed on the main frame 12 or the conveyor line frame 14. The conveyor belt 19 is kept horizontal under the action of the drive roller 16, the driven roller 21, the tensioning device 22, and the support plate, and maintains a certain pretension with the drive roller 16 and the driven roller 21 to ensure that the conveyor belt 19 does not slip. It should be noted that the roller and belt transmission method is only one form in this example. In order to achieve the same conveying effect, other transmission methods such as synchronous pulleys, synchronous belts, or chain drives can also be used.

[0039] like Figure 3 As shown, the visual recognition unit 3 includes a unit frame, a light shield 23, two light sources 24, and a camera 25. The unit frame is mounted on the conveyor frame 14 of the visual conveyor mechanism 2 and is located directly above the conveyor belt 19 and two guide rods 20. The light shield 23 covers the top surface and all four sides of the unit frame to prevent external light from affecting the visual recognition effect. The two light sources 24 and the camera 25 are all mounted on the upper part of the unit frame via optical axes and shaft supports. The two light sources 24 are located on both sides of the camera and face the conveyor belt 19 directly below the camera 25. The camera 25 is vertically oriented downwards. The square conveyor belt 19 can adjust the height and angle of the two light sources 24 and the camera 25. The camera 25 is electrically connected to the industrial control computer 26. When the photoelectric switches 18 on both sides of the vision recognition unit 3 detect that the seedling tray is conveyed to the area directly below the camera 25, the control unit controls the conveyor motor 17 of the vision conveyor mechanism 2 to stop running. The camera 25 acquires the image of the seedling tray and transmits it to the industrial control computer 26. The industrial control computer 26 identifies the position of the inferior seedlings in the seedling tray and transmits it to the control unit. The industrial control computer 26 can identify the inferior seedlings through artificial intelligence image processing algorithms.

[0040] like Figure 4 and Figure 5As shown, both the seedling tray pushing mechanism 4 and the seedling tray pushing mechanism 7 include a linear module 27, two seedling tray limiting strips 28, a seedling tray support plate 29, a linear module mounting base 30, four support plate rods 31, a linear module slider 32, a slider connecting plate 33, two seedling pushing cylinder mounting plates 34, four seedling pushing devices, and two linear module photoelectric switches 38. Each seedling pushing device includes a seedling pushing rod cylinder 35, a seedling pushing rod mounting plate 36, and a seedling pushing rod. The linear module 27 is horizontally mounted on the main frame 12 or the conveyor line frame 14 via the linear module mounting base 30. The length direction of the linear module 27 is parallel to the conveying direction of the seedling trays. The slider connecting plate 33 is connected to the linear module... The slider 32 is slidably mounted on the linear module 27. Two seedling-pushing cylinder mounting plates 34 are horizontally mounted on both sides of the slider connecting plate 33 and are located on symmetrical sides of the linear module 27 along its length. Each seedling-pushing cylinder mounting plate 34 has a seedling-pushing device mounted on each side. The four seedling-pushing devices are arranged in pairs facing each other on symmetrical sides of the linear module 27 along its length. The cylinder body of the seedling-pushing rod cylinder 35 of the seedling-pushing device is mounted on the seedling-pushing cylinder mounting plate 34. The piston rod of the seedling-pushing rod cylinder 35 is horizontally connected to the bottom side of the vertically arranged seedling-pushing rod mounting plate 36. The seedling-pushing rod mounting plates 36 of the two facing seedling-pushing devices are parallel to each other and located on the side away from the linear module 27. On the opposite side of the seedling pusher mounting plate 36, there are horizontally arranged seedling pusher rods perpendicular to the length direction of the straight module 27; the seedling tray support plate 29 is horizontally mounted on the main frame 12 or the conveyor frame 14 by the support plate support rods 31 at the four corners of its bottom surface. The seedling tray support plate 29 is located directly above the straight module 27 and directly above the seedling pusher cylinders 35 of the four seedling pushers. The four seedling pusher mounting plates 36 are symmetrically arranged on both sides of the seedling tray support plate 29, and the four seedling pusher rods are all located directly above the top surface of both sides of the seedling tray support plate 29; two seedling tray limiting strips 28 are horizontally spaced and parallel installed on the top surface of the seedling tray support plate 29, and the seedling tray limiting strips 28 have countersunk ends. The holes are fixedly connected to the seedling tray support plate 29 by bolts. The length direction of the two seedling tray limiting strips 28 is parallel to the length direction of the linear module 27. The four seedling pushing rods are located on both sides of the length direction of the two seedling tray limiting strips 28. The two linear module photoelectric switches 38 are installed on the side of the linear module 27 and are close to the inlet and outlet sides of the seedling tray, respectively. The two linear module photoelectric switches 38 are horizontally oriented away from and perpendicular to the linear module 27, serving as the origin switch or limit switch of the linear module 27. The seedling tray is placed on the four seedling pushing rods and the two seedling tray limiting strips 28. The linear module 27 and the seedling pushing rod cylinders 35 of the four seedling pushing devices are all electrically connected to an external control unit.

[0041] The slider connecting plate 33 has four countersunk holes in its middle, which are fixedly connected to the linear module slider 32 by bolts. Each end of the slider connecting plate 33 has six threaded holes. The two seedling pusher cylinder mounting plates 34 have six through holes in their middle, which are fixedly connected to the ends of the slider connecting plate 33 by bolts. Each end of the seedling pusher cylinder mounting plate 34 has two threaded holes, which are used to fix the seedling pusher cylinder 35 to the seedling pusher cylinder mounting plate 34 by bolts. The lower part of the seedling pusher mounting plate 36 has two threaded holes, which are fixedly connected to the piston rod end plate of the seedling pusher cylinder 35.

[0042] The cross-sectional area of ​​the seedling tray limiting strip 28 is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. The two seedling tray limiting strips 28 are respectively inserted into the two gaps at the bottom of the seedling tray, which plays a role in the precise left and right positioning of the seedling tray. The width of the end of the seedling tray limiting strip 28 near the entrance of the seedling tray is narrower than the width of the other parts of the seedling tray limiting strip 28, making it easier for the seedling tray to enter the two seedling tray limiting strips 28.

[0043] The seedling pusher includes two horizontally parallel pusher rods 37 arranged symmetrically on both sides of the top side of the pusher rod mounting plate 36. One end of the pusher rod 37 is connected to the pusher rod mounting plate 36, and the other end of the pusher rod 37 is a free end facing the pusher rod 37 of the opposite pusher component. Both pusher rods 37 are perpendicular to the seedling tray limiting strip 28. The cross-section of the pusher rod 37 is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. Each pusher rod 37 is inserted into the gap at the bottom of the seedling tray, which plays a role in the precise front and back positioning of the seedling tray. The width of the free end of the pusher rod 37 is narrower than the other parts of the pusher rod 37, which facilitates insertion into the gap at the bottom of the seedling tray.

[0044] like Figure 9As shown, both the first seedling supply conveyor mechanism 8 and the second seedling supply conveyor mechanism 9 include four bearings 15, a drive roller 16, four photoelectric switches for detecting seedling trays 18, a conveyor belt 19, a driven roller 21, a tensioning device 22, a servo motor 56, two positioning rod support mounting plates 57, four positioning rod support blocks 58, two seedling tray positioning rods 59, and several seedling tray front and rear positioning blocks 60. The body of the servo motor 56 is mounted on the main frame 12. Both ends of the central shaft of the drive roller 16 are mounted on the main frame 12 through bearings 15. One end of the central shaft of the drive roller 16 is synchronously connected to the output shaft of the servo motor 56. The servo motor 56 is connected to the drive roller 16 through a chain drive for power transmission. The driving roller 16 and driven roller 21 are located at the inlet and outlet sides of the seedling trays, respectively. Both ends of the central shaft of the driven roller 21 are mounted on the main frame 12 via bearings 15. One end of the tensioning device 22 is mounted on the main frame 12, and the other end is connected to one end of the central shaft of the driven roller 21. The conveyor belt 19 is connected between the driving roller 16 and the driven roller 21. Two positioning rod support mounting plates 57 are mounted on the main frame 12 and are located at the inlet and outlet sides of the seedling trays, respectively. Two tray positioning rods 59 are each connected to the two positioning rod support mounting plates 57 via two positioning rod support blocks 58 at both ends. The two tray positioning rods 59 are parallel, spaced apart, and horizontally arranged on the conveyor belt 19. On the symmetrical sides directly above, two seedling tray positioning rods 59 are parallel to the conveying direction of the conveyor belt 19. When the seedling trays are conveyed on the conveyor belt 19, they are placed on the two seedling tray positioning rods 59. The positions of the two positioning rod support blocks 58 are adjusted so that they are exactly in the center of the gap at the bottom of the seedling tray, allowing the gap to be precisely locked onto the two seedling tray positioning rods 59, thus restricting the left and right movement of the seedling trays. Four seedling tray detection photoelectric switches 18 are arranged in pairs facing each other on both sides of the conveyor belt 19 and are all mounted on the main frame 12. Two seedling tray detection photoelectric switches 18 are located on the inlet side of the seedling trays, and the other two are located on the outlet side of the seedling trays. The seedling tray detection photoelectric switches 18 are used to detect in real time whether the seedling trays are in place, and then, based on the seedling tray position, determine the location of the seedling trays. The signal from the photoelectric switch 18 controls the start and stop of the conveyor line; the front and rear positioning blocks 60 of each seedling tray are evenly spaced and parallel to each other on the conveyor belt 19 along the conveying direction of the conveyor belt 19. The front and rear positioning blocks 60 of each seedling tray are perpendicular to the seedling tray positioning rod 59. The distance between any two adjacent front and rear positioning blocks 60 is greater than the length of one seedling tray and less than the length of two seedling trays. The cross-section of the front and rear positioning blocks 60 of the seedling tray is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. Each front and rear positioning block 60 of the seedling tray is locked in the bottom gap of its own seedling tray, which plays a role in the precise front and rear positioning of the seedling tray; the four photoelectric switches 18 and the servo motor 56 are all electrically connected to the external control unit.

[0045] The first seedling supply conveyor mechanism 8 and the second seedling supply conveyor mechanism 9 are based on the feeding conveyor structure, with the addition of positioning mechanisms. Each end of the positioning rod support mounting plate 57 has two through holes, and the two positioning rod support mounting plates 57 are fixedly connected to the aluminum profiles at the front and rear ends of the main frame 12 by bolts. Positioning rod support blocks 58 are fixedly connected to the positioning rod support mounting plates 57 by bolts, and the two positioning rod support blocks 58 are symmetrically arranged in the middle of the positioning rod support mounting plates 57. The two seedling tray positioning rods 59 are fixedly connected at both ends to the two positioning rod support blocks 58 at the front and rear of the conveyor line by bolts.

[0046] like Figure 6 and Figure 7 As shown, both the seedling removal robot 5 and the seedling replenishment robot 10 include a linear motor mounting plate 39, a linear motor 40, two multi-claw parallel robots 41, two bellows cover support plates 42, two bellows cover end plates 43, a drag chain bracket 44, two drag chains 45, and two origin switch induction plates 47. The linear motor 40 is horizontally mounted on the main frame 12 via the linear motor mounting plate 39. The length direction of the linear motor 40 is perpendicular to the conveying direction of the seedling tray. The two bellows cover support plates 42 are mounted on the main frame 12 and located on the upper and lower sides of the linear motor 40. The two bellows cover end plates 43 are mounted on the main frame 12 and located on the left and right sides of the linear motor 40. The upper and lower bellows cover support plates 42 are fixedly connected to the bellows cover end plates 43 by bolts to form bellows covers for the protection of the linear motor 40. Two movers 48 are slidably mounted on the guide rail 49 of the linear motor 40. Each mover 48 is equipped with a multi-claw robot. The two servo drives of the linear motor 40 can independently control the two movers 48 to drive the two multi-claw parallel manipulators 41 to move along the guide rail 49 of the linear motor 40. Each multi-claw parallel manipulator 41 is equipped with a drag chain bracket 44. One end of each of the two drag chains 45 is connected to the main frame 12, and the other end of each drag chain 45 is connected to one of the multi-claw parallel manipulators 41 through the drag chain bracket 44. External cables and air pipes are connected to the multi-claw parallel manipulators 41 through the drag chains 45. Two origin switch induction plates 47 are respectively installed at both ends of the top surface of the main frame 12. When the two multi-claw parallel manipulators 41 move to the position of their respective origin switch induction plates 47, they are at their respective origin positions. The origin switch induction plates 47 are used for zero-return detection of the multi-claw parallel manipulators 41. The linear motor 40 and the two multi-claw parallel manipulators 41 are electrically connected to the control unit.

[0047] like Figure 8As shown, the multi-claw parallel manipulator 41 includes several solenoid valves 46, a manipulator mounting plate 50, an end effector mounting plate 51, multiple end effectors 52, a bellows cover mounting plate 53, a solenoid valve mounting plate 54, and a manifold 55. The manipulator mounting plate 50 is mounted on the mover 48. The upper left and right sides of the manipulator mounting plate 50 have square through holes for the cables of the linear motor 40 to pass through. The multiple end effectors 52 are mounted on the manipulator mounting plate 50 via the end effector mounting plate 51. The multiple end effectors 52 are evenly spaced and located directly above the conveyor belt 19. The spacing between the end effectors 52 is [missing information - likely a number]. The spacing between the holes in the acupoint plate is an integer multiple; the solenoid valve mounting plate 54 is horizontally mounted on the top side of the end effector mounting plate 51, and the bottom surface of the solenoid valve mounting plate 54 is also provided with an origin switch. When the multi-claw parallel manipulator 41 moves to the origin position, the origin switch at the bottom of the solenoid valve mounting plate 54 is located directly above the origin switch sensing plate 47; each solenoid valve 46 is mounted on the solenoid valve mounting plate 54 through the manifold 55, and the air pipe in the drag chain 45 is connected to multiple end effectors 52 through the manifold 55 and each solenoid valve 46 in sequence; each solenoid valve 46, multiple end effectors 52 and the origin switch are all electrically connected to the control unit.

[0048] like Figure 10As shown, the end effector 52 includes a lifting cylinder 61, a flexible shaft cylinder 62, a cylinder mounting plate 63, four guide seat connecting rods 64, a floating joint 65, a flexible shaft cylinder connecting plate 66, a floating joint nut 67, two flexible shaft mounting seat connecting rods 68, a flexible shaft mounting seat 69, a flexible shaft guide seat 70, and several flexible shafts 71. The cylinder body of the lifting cylinder 61 is mounted on the end effector mounting plate 51. The lifting cylinder 61 is a slide cylinder. The cylinder mounting plate 63 is horizontally arranged. The slide of the lifting cylinder 61 is connected to one side of the top surface of the cylinder mounting plate 63 and can drive the cylinder mounting plate 63 to move up and down. The cylinder body of the flexible shaft cylinder 62 is mounted on the other side of the top surface of the cylinder mounting plate 63. On one side, the upper and lower parts of the floating joint 65 are provided with external threads. The piston rod of the flexible shaft cylinder 62 passes vertically downward through the cylinder mounting plate 63 and is threaded to the upper end of the floating joint 65. The lower end of the piston rod of the flexible shaft cylinder 62 has internal threads. The flexible shaft cylinder 62 is located directly above the center of the four guide seat connecting rods 64. The four guide seat connecting rods 64 are vertically spaced and symmetrically installed on the bottom surface of the cylinder mounting plate 63. The top ends of the four guide seat connecting rods 64 are connected to the bottom surface of the cylinder mounting plate 63. The floating joint 65, the flexible shaft cylinder connecting plate 66, the floating joint nut 67, and the two flexible shaft mounting seat connecting rods 68 are installed directly below the cylinder mounting plate 63 and located at the center of the four guide seats 64. Between the connecting rods 64, the flexible shaft cylinder connecting plate 66 is horizontally arranged. The lower part of the floating joint 65 passes through the through hole provided at the center of the flexible shaft cylinder connecting plate 66. The external thread of the lower part of the floating joint 65 is threadedly connected to the floating joint nut 67, so that the flexible shaft cylinder connecting plate 66 and the floating joint 65 are fixedly connected. The flexible shaft cylinder connecting plate 66 is connected to the top surface of the flexible shaft mounting seat 69 through two vertically spaced and symmetrically arranged flexible shaft mounting seat connecting rods 68 on its bottom end face. The flexible shaft mounting seat 69 and the flexible shaft guide seat 70 are arranged horizontally from top to bottom. The lower ends of the two flexible shaft mounting seat connecting rods 68 are symmetrically connected to the upper end face of the flexible shaft mounting seat 69. The four guide rods of the guide mechanism The lower end of the connecting rod 64 passes symmetrically through the four corners of the flexible shaft mounting seat 69 and connects to the four corners of the flexible shaft guide seat 70. The flexible shaft mounting seat 69 has several vertical flexible shaft mounting through holes evenly spaced along its circumference. The upper end of each flexible shaft 71 is connected to one of its own flexible shaft mounting through holes. The flexible shaft guide seat 70 has several inclined flexible shaft guide through holes evenly spaced along its circumference. The lower part of each flexible shaft 71 passes through one of its own directly below flexible shaft guide through holes. The lower end of each flexible shaft 71 is a free end. The lifting cylinder 61 and the flexible shaft cylinder 62 are connected to the air pipe through their respective solenoid valves 46. Both the lifting cylinder 61 and the flexible shaft cylinder 62 are electrically connected to the control unit.

[0049] The floating joint 65 is stepped, with the upper and lower diameters smaller than the middle diameter, serving as an axial limit. The lower diameter of the floating joint 65 is equal to the diameter of the central through hole in the flexible shaft cylinder connecting plate 66, and the middle of the floating joint 65 is located directly above the central through hole in the flexible shaft cylinder connecting plate 66. The flexible shaft guide seat 70 has flexible shaft guide holes on its upper and lower surfaces, the same number and corresponding positions as the flexible shaft mounting through holes on the upper and lower surfaces of the flexible shaft mounting seat 69. The flexible shaft 71 passes through the flexible shaft guide holes on the flexible shaft guide seat 70. The flexible shaft guide holes on the flexible shaft guide seat 70 have a certain inclination angle, consistent with the angle of the inner wall of the planting tray hole, ensuring that the space formed by the flexible shaft 71 (which has the same number of flexible shaft mounting through holes as the flexible shaft mounting seat 69) moving downwards along the inclination guide holes on the flexible shaft guide seat 70 remains consistent with the shape of the inner wall of the planting tray hole. During the retraction of the flexible shaft 71, the flexible shaft guide seat 70 can play the role of pressing and covering the substrate, so as to achieve the purpose of active separation between the substrate and the flexible shaft 71.

[0050] The number of flexible shafts 71 is greater when the seedling substrate is loose and less when the substrate is compact. The number and distribution of flexible shafts 71 can be adjusted according to the compactness of the seedling substrate. For compact substrates that are not easily loosened, fewer flexible shafts 71 can be used, while for looser substrates, more flexible shafts 71 are needed to reduce gaps between the flexible shafts 71 and ensure that the substrate does not leak out from the gaps between the flexible shafts 71. The flexible shafts 71 are made of universal steel wire drive flexible shafts or brake wire ropes, or of materials with good smoothness, flexibility, toughness, and elasticity such as glass fiber or carbon fiber, which can return to their original shape after the flexible shaft cylinder 62 retracts.

[0051] The end effector 52 is a flexible shaft envelope type end effector. Under the action of the flexible shaft guide seat, the flexible shaft deforms to create a space that matches the shape of the hole in the pit, forming an envelope grip on the substrate, which can achieve the gripping of loose substrate.

[0052] The upper and lower ports of each flexible shaft guide through hole in the flexible shaft guide seat 70 are respectively far away from and close to the center of the flexible shaft guide seat 70, thus forming inclined through holes. The inclination angle of each flexible shaft guide through hole is consistent with the angle of the inner wall of the planting tray hole. The number of each flexible shaft guide through hole in the flexible shaft guide seat 70 is consistent with the number of each flexible shaft mounting through hole in the flexible shaft mounting seat 69.

[0053] The dimensions of the flexible shaft mounting base 69 and the flexible shaft guide base 70, as well as the tilt angle of the flexible shaft guide through hole of the flexible shaft guide base 70, can be designed according to the hole size of the planting tray so that the end effector can meet the grasping needs of seedling substrate of different specifications of seedling trays.

[0054] When the end effector 52 is about to grab the seedling substrate, it drives the flexible shaft cylinder connecting plate 66 to move upward via the flexible shaft cylinder 62. This, in turn, drives the flexible shaft mounting base 69 and each flexible shaft 71 to move upward sequentially via the two flexible shaft mounting base connecting rods 68, until the lower end of each flexible shaft 71 is located in or directly below one of the flexible shaft guide holes in the flexible shaft guide seat 70. When one of the holes in the planting tray containing the seedling substrate moves to directly below the center position of the lower end of each flexible shaft 71, the lifting cylinder 61 controls the cylinder mounting plate 63 to move vertically, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move together. The body moves to directly above the hole, and the flexible shaft cylinder connecting plate 66 is driven to move downward by the flexible shaft cylinder 62. Each flexible shaft 71 bends and deforms along the flexible shaft guide holes of the flexible shaft guide seat 70. Each flexible shaft 71 always moves downward along the inner wall of the hole, eventually forming a space that is consistent with the shape of the inner wall of the hole. Each flexible shaft 71 wraps the seedling substrate, ensuring that as much substrate as possible is removed. The lifting cylinder 61 controls the cylinder mounting plate 63 to move vertically, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move upward as a whole, and finally removes the wrapped seedling substrate from the hole by fully enveloping it.

[0055] When the seedling substrate is to be placed, the flexible shaft envelope-type end effector 52 first clamps a seedling substrate. Then, one of the empty holes in the planting tray moves directly below the center of the lower end of each flexible shaft 71. The lifting cylinder 61 controls the vertical movement of the cylinder mounting plate 63, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move towards the hole until the lower end of each flexible shaft 71 is at the bottom of the inner wall of the hole. The flexible shaft cylinder 62 drives the flexible shaft cylinder connecting plate 66 to move upward, so that the lower end of each flexible shaft 71 moves upward until it is completely detached from the clamped seedling substrate. During the movement of each flexible shaft 71, the flexible shaft guide seat 70 is always pressed against the top surface of the seedling substrate. After the seedling substrate is completely placed into the hole, the lifting cylinder 61 drives the flexible shaft mechanism and the telescopic guide mechanism to move upward away from the hole, completing the placement of the seedling substrate.

[0056] The working process of this invention is as follows:

[0057] 1) Work preparation: Before each operation of the multi-claw transplanter, it is necessary to clean up the seedlings left on the conveyor line during the last operation of the multi-claw transplanter production line to ensure that the conveyor line is free of seedlings. Then press the reset button on the touch screen 13 to reset the whole machine before starting operation.

[0058] 2) Manual feeding: The manual person places the seedlings to be processed in the trays on the feeding conveyor mechanism 1, and at the same time places a full tray of healthy seedlings on the two seedling supply conveyor mechanisms 8 and 9 on the left and right. Then, press the start button on the touch screen 13 and the machine will start to run automatically.

[0059] 3) Feeding and conveying: The feeding conveyor 1 conveys the seedlings to be processed to the vision conveyor 2. When the seedling detection photoelectric switch 18 on the vision conveyor 2 detects the seedlings, the vision conveyor 2 stops running. At the same time, the seedling supply conveyor 8 and 9 on the left and right sides convey the full trays of healthy seedlings to the area directly below the seedling replenishment robot 10. When the seedling detection photoelectric switches 18 on the seedling supply conveyor 8 and 9 on the left and right sides detect the seedlings, the conveyor lines stop running.

[0060] 4) Inferior seedling identification: After the visual conveyor mechanism 2 delivers the seedling tray to the designated position, the control unit controls the camera 25 to take pictures and obtain images of the seedlings in the seedling tray. The industrial computer 26 processes the acquired images to obtain the location information of the holes where the inferior seedlings are located, and sends the acquired location to the control unit.

[0061] 5) Seedling removal operation: After visual recognition is completed, the visual conveyor line mechanism 2 transports the seedling tray to the seedling removal tray pushing mechanism 4. The seedling removal tray pushing mechanism 4 inserts and pushes the seedling tray to the bottom of the seedling removal robot 5. The seedling removal robot 5 controls the two multi-claw parallel robots 41 on the left and right sides to work alternately according to the position information sent by the control unit. In specific implementation, a three-multi-claw parallel robot is used to remove inferior seedlings in sequence according to the planned path. During the removal process, the seedling removal tray pushing mechanism 4 advances the tray row by row until the inferior seedlings of the whole tray are removed. Then the seedling tray is pushed to the transition conveyor line mechanism 6.

[0062] 6) Replanting operation: After the seedlings have been removed, the seedling trays are transported to the seedling tray pushing mechanism 7 via the transition conveyor mechanism 6. The seedling tray pushing mechanism 7 inserts and pushes the seedling trays below the seedling robot 10. The seedling robot 10 controls the two multi-claw parallel robots 41 on the left and right sides to work alternately according to the position information sent by the control unit, taking seedlings from the seedling trays on the seedling supply conveyor mechanisms 8 and 9 on both sides, and replanting healthy seedlings in the seedling trays that have been removed according to the planned path.

[0063] 7) Manual feeding: After the seedling replenishment operation is completed, the seedling trays are sent to the end of the conveyor line via the feeding conveyor mechanism 11. When the seedling tray detection photoelectric switch 18 at the end of the conveyor line detects the seedling tray, the conveyor line stops running and waits for the seedling trays to be removed manually.

[0064] The above is the complete operation process of a single cycle of the multi-claw transplanting production line. Subsequent operations will be carried out in a cycle according to steps 2) to 7). During the operation of the whole machine, only one worker is needed to perform loading and unloading operations.

[0065] The operation of the end effector 52 of the present invention is as follows:

[0066] In the initial state, the piston rod of the lifting cylinder 61 is in the retracted state, and the flexible shaft cylinder 62 is in the retracted state.

[0067] 1) The end effector 52, driven by the transplanting robot, moves to the location directly above the seedling collection point.

[0068] 2) The piston rod of the lifting cylinder 61 extends, pushing the cylinder mounting plate 63 and other parts such as the flexible shaft cylinder 62 mounted on it to descend, so that the lower end face of the flexible shaft guide seat 70 is close to the upper surface of the cavity hole of the cavity plate.

[0069] 3) The piston rod of the flexible shaft cylinder 63 extends, pushing the flexible shaft 71 to be inserted into the matrix of the cavity along the inner wall of the cavity, thus enveloping the matrix.

[0070] 4) The piston rod of the lifting cylinder 61 retracts, driving the cylinder mounting plate 63 and other parts such as the flexible shaft cylinder 62 mounted on it to rise, and taking the seedling out of the hole.

[0071] 5) Driven by the transplanting robot, the end effector 52 and the seedling clump held by the flexible shaft 71 move to the position directly above the planting point.

[0072] 6) The piston rod of the lifting cylinder 61 extends, pushing the cylinder mounting plate 63 and other parts such as the flexible shaft cylinder 62 mounted on it to descend, and driving the seedlings clamped by the flexible shaft 71 to descend into the hole of the seedling tray.

[0073] 7) The piston rod of the flexible shaft cylinder 62 retracts, which drives the flexible shaft 71 to retract, causing the seedling to separate from the flexible shaft 71.

[0074] 8) The piston rod of the lifting cylinder 61 retracts, causing the cylinder mounting plate 63 and other parts such as the flexible shaft cylinder 62 mounted on it to rise, thereby separating the end effector 52 from the cavity plate.

[0075] 9) Driven by the transplanting robot, the end effector 52 moves to the next seedling picking point and begins the next work cycle according to steps 1) to 9). If the end effector 52 is used for seedling removal, in step 1), the end effector 52 moves to the location of the inferior seedlings, and in step 5), the end effector 52 moves to the inferior seedling discarding position, the piston rod of the flexible shaft cylinder 2 retracts, and the inferior seedlings are discarded.

[0076] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A multi-claw seedling transplanter, characterized in that: The system includes a feeding conveyor mechanism, a vision conveyor mechanism, a seedling removal tray pushing mechanism, a seedling removal robot, a transition conveyor mechanism, a seedling replenishment tray pushing mechanism, a seedling replenishment robot, and a discharging conveyor mechanism arranged sequentially along the conveying direction of the seedling trays. It also includes a vision recognition unit mounted on the vision conveyor mechanism, and a first and second seedling supply conveyor mechanism located between the seedling removal robot and the seedling replenishment robot. The first and second seedling supply conveyor mechanisms are respectively positioned symmetrically on opposite sides of the conveying lines of the transition conveyor mechanism and the seedling replenishment tray pushing mechanism. Furthermore, the conveying direction is the same as that of the seedling tray. The conveying directions of the feeding conveyor, vision conveyor, seedling tray pushing mechanism, transition conveyor, and unloading conveyor are all the same as those of the seedling tray. The feeding conveyor, vision conveyor, seedling tray pushing mechanism, seedling picking robot, transition conveyor, seedling replenishment tray pushing mechanism, first seedling supply conveyor, second seedling supply conveyor, seedling replenishment robot, and unloading conveyor are all electrically connected to an external control unit. The vision recognition unit is electrically connected to an external industrial computer, and the industrial computer is electrically connected to the control unit. Both the seedling tray pushing mechanism and the seedling tray pushing mechanism include a linear module, two seedling tray limiting strips, a seedling tray support plate, a linear module mounting base, four support plate rods, a linear module slider, a slider connecting plate, two seedling pushing cylinder mounting plates, four seedling pushing devices, and two linear module photoelectric switches. Each seedling pushing device includes a seedling pushing rod cylinder, a seedling pushing rod mounting plate, and a seedling pushing rod. The linear module is horizontally mounted on the main frame or conveyor frame via the linear module mounting base. The length direction of the linear module is parallel to the conveying direction of the seedling trays. The slider connecting plate is slidably mounted on the linear module slider. On the linear module, two seedling-pushing cylinder mounting plates are horizontally mounted on both sides of the slider connecting plate, symmetrically positioned along the length of the linear module. Each seedling-pushing cylinder mounting plate has a seedling-pushing device mounted on each side. The four seedling-pushing devices are arranged in pairs, symmetrically positioned along the length of the linear module. The cylinder body of the seedling-pushing rod cylinder of each seedling-pushing device is mounted on the seedling-pushing cylinder mounting plate. The piston rod of the seedling-pushing rod cylinder is horizontally connected to the bottom side of the vertically arranged seedling-pushing rod mounting plate. The seedling-pushing rod mounting plates of the two opposing seedling-pushing devices are parallel to each other and located on the side furthest from the linear module. On the opposite side of the mounting plate, horizontally arranged seedling pushers perpendicular to the length of the linear module are installed. The seedling tray is horizontally mounted on the main frame or conveyor frame via tray support rods at its four corners. The seedling tray is located directly above the linear module and above the four seedling pushers, specifically above the seedling pusher cylinders. The four seedling pusher mounting plates are symmetrically arranged on both sides of the seedling tray, and the four seedling pushers are located directly above the top surfaces of both sides of the seedling tray. Two seedling tray limiting strips are horizontally spaced and parallel to each other on the top surface of the seedling tray, with their lengths parallel to the linear module. Along the length of the linear module, four seedling pushers are located on both sides of the two seedling tray limiting strips; two linear module photoelectric switches are installed on the sides of the linear module and are respectively close to the inlet and outlet sides of the seedling tray, with the two linear module photoelectric switches facing horizontally away from and perpendicular to the linear module; the seedling tray is placed on the four seedling pushers and the two seedling tray limiting strips; the seedling removal tray pushing mechanism and the seedling replenishment tray pushing mechanism are used to precisely transport the seedling tray row by row during the seedling removal and replenishment operation; the pushing rod cylinders of the linear module and the four seedling pushers are all electrically connected to an external control unit; The cross-sectional area of ​​the seedling tray limiting strip is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. The two seedling tray limiting strips are respectively inserted into the two gaps at the bottom of the seedling tray. The width of the end of the seedling tray limiting strip near the entrance of the seedling tray is narrower than the width of the other parts of the seedling tray limiting strip.

2. The multi-claw seedling transplanter according to claim 1, characterized in that: The feeding conveyor, vision conveyor, and unloading conveyor are all mounted on their respective conveyor frames. The seedling removal tray pushing mechanism is mounted on the conveyor frame of the vision conveyor. The seedling removal robot, transition conveyor, seedling replenishment tray pushing mechanism, first seedling supply conveyor, and second seedling supply conveyor are all mounted on the main frame. The feeding conveyor mechanism, vision conveyor mechanism, transition conveyor mechanism, and unloading conveyor mechanism each include four bearings, a drive roller, a conveyor motor, several pairs of photoelectric switches for detecting seedling trays, a conveyor belt, two guide rods, a driven roller, and a tensioning device. The conveyor motor is mounted on the main frame or conveyor frame. Both ends of the drive roller's central shaft are mounted on the main frame or conveyor frame via bearings. One end of the drive roller's central shaft is synchronously connected to the output shaft of the conveyor motor. The drive roller and driven roller are located on the inlet and outlet sides of the seedling trays, respectively. Both ends of the driven roller's central shaft are mounted on the main frame or conveyor frame via bearings. One end of the tensioning device is mounted on the main frame or conveyor frame, and the other end is connected to one end of the driven roller's central shaft. The conveyor belt drives the drive roller and driven roller. The two guide rods are connected to the main frame or conveyor frame via connecting strips. The two guide rods are parallel, spaced apart, and horizontally arranged directly above the conveyor belt. On both sides of the square structure, two guide rods are parallel to the conveying direction of the conveyor belt. The seedling trays are conveyed on the conveyor belt between the two guide rods. The feeding conveyor mechanism, transition conveyor mechanism, and unloading conveyor mechanism each include two pairs of seedling tray detection photoelectric switches arranged opposite each other on both sides of the conveyor belt and mounted on the main frame or conveyor frame. One pair of seedling tray detection photoelectric switches is located on the inlet side of the seedling trays, and the other pair is located on the outlet side of the seedling trays. The vision recognition unit is mounted on the main frame or conveyor frame and is located directly above the conveyor belt and the two guide rods. The vision conveyor mechanism includes a pair of seedling tray detection photoelectric switches, which are mounted on the main frame or conveyor frame and arranged opposite each other on both sides of the vision recognition unit and the conveyor belt. The feeding conveyor mechanism, vision conveyor mechanism, transition conveyor mechanism, and unloading conveyor mechanism are used for the transfer and conveying of seedling trays. The conveyor motor and each seedling tray detection photoelectric switch are electrically connected to an external control unit.

3. The multi-claw seedling transplanter according to claim 2, characterized in that: The visual recognition unit includes a unit frame, a light shield, two light sources, and a camera. The unit frame is mounted on the conveyor frame of the visual conveyor mechanism and is located directly above the conveyor belt and two guide rods. The light shield covers the top surface and four sides of the unit frame. The two light sources and the camera are all mounted on the upper part of the unit frame. The two light sources are located on both sides of the camera and face the conveyor belt directly below the camera. The camera is vertically facing the conveyor belt directly below. The camera is electrically connected to an industrial control computer. The visual recognition unit is used to identify inferior seedlings in the seedling trays on the visual conveyor mechanism. When the photoelectric switches on both sides of the visual recognition unit detect that the seedling tray has been conveyed to the area directly below the camera, the control unit controls the conveyor motor of the visual conveyor mechanism to stop running. The camera acquires an image of the seedling tray and transmits it to the industrial control computer. The industrial control computer identifies the position of the inferior seedlings in the seedling tray and transmits it to the control unit.

4. The multi-claw seedling transplanter according to claim 1, characterized in that: The seedling pusher includes two horizontally parallel pusher rods arranged symmetrically on both sides of the top side of the seedling pusher rod mounting plate. One end of the pusher rod is connected to the seedling pusher rod mounting plate, and the other end of the pusher rod is a free end facing the pusher rod of the opposite seedling pusher component. Both pusher rods are perpendicular to the seedling tray limiting strip. The cross-section of the pusher rod is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. Each pusher rod is inserted into the gap at the bottom of the seedling tray. The width of the free end of the pusher rod is narrower than the size of the other parts of the pusher rod.

5. The multi-claw seedling transplanter according to claim 2, characterized in that: Both the first and second seedling supply conveyor mechanisms include four bearing seats, a drive roller, four photoelectric switches for seedling tray detection, a conveyor belt, a driven roller, a tensioning device, a servo motor, two positioning rod support mounting plates, four positioning rod support blocks, two seedling tray positioning rods, and several seedling tray front and rear positioning blocks. The servo motor body is mounted on the main frame. Both ends of the central shaft of the drive roller are mounted on the main frame via bearing seats. One end of the central shaft of the drive roller is synchronously connected to the output shaft of the servo motor. The drive roller and the driven roller are respectively... Located at the inlet and outlet sides of the seedling trays, both ends of the driven roller's central shaft are mounted on the main frame via bearing seats. One end of the tensioning device is mounted on the main frame, and the other end is connected to one end of the driven roller's central shaft. A conveyor belt connects the driving and driven rollers. Two positioning rod support plates are mounted on the main frame and located at the inlet and outlet sides of the seedling trays, respectively. Each of the two tray positioning rods is connected to the two positioning rod support plates via two positioning rod support blocks at both ends. The two tray positioning rods are parallel and spaced apart. Symmetrically positioned on both sides directly above the conveyor belt, with two tray positioning rods parallel to the conveyor belt's transport direction, the seedling trays are placed on the two positioning rods as they are conveyed on the conveyor belt. Four tray detection photoelectric switches are arranged in pairs facing each other on both sides of the conveyor belt and are all mounted on the main frame. Two tray detection photoelectric switches are located on the inlet side of the seedling trays, and the other two are located on the outlet side of the seedling trays. Positioning blocks before and after each tray are evenly spaced parallel to the conveyor belt along its transport direction, and are perpendicular to the tray's positioning rods. Positioning rods, the distance between the front and rear positioning blocks of each two adjacent seedling trays is greater than the length of one seedling tray but less than the length of two seedling trays. The cross-section of the front and rear positioning blocks of the seedling trays is trapezoidal, and the size of the trapezoid is the same as the size of the gap at the bottom of the seedling tray. Each front and rear positioning block of the seedling tray is locked in the bottom gap of its respective seedling tray. The first and second seedling supply conveyor mechanisms are used to accurately convey the seedling trays row by row during the seedling removal and replenishment operation. The four seedling tray detection photoelectric switches and servo motors are all electrically connected to an external control unit.

6. The multi-claw seedling transplanter according to claim 2, characterized in that: Both the seedling removal robot and the seedling replenishment robot include a linear motor mounting plate, a linear motor, two multi-jaw parallel robots, two bellows cover support plates, two bellows cover end plates, a cable chain bracket, two cable chains, and two origin switch sensors. The linear motor is horizontally mounted on the main frame via the linear motor mounting plate, with its length direction perpendicular to the conveying direction of the seedling trays. The two bellows cover support plates are mounted on the main frame and located on the upper and lower sides of the linear motor, while the two bellows cover end plates are mounted on the main frame and located on the left and right sides of the linear motor. Two movers are slidably mounted on the guide rail of the linear motor, and a multi-jaw parallel robot is mounted on each mover. A cable chain bracket is mounted on each multi-jaw parallel robot, and one end of each cable chain is connected to the main frame. One end of each is connected to a multi-claw parallel robot via a drag chain bracket. External cables and air pipes are connected to the multi-claw parallel robot via drag chains. Two origin switch induction plates are respectively installed at both ends of the top surface of the main frame. When the two multi-claw parallel robots move to the position of their respective origin switch induction plates, they are at their respective origin positions. Both the seedling removal robot and the seedling replenishment robot are equipped with several end effectors. The end effector of the seedling removal robot is used to remove inferior seedlings from the seedling trays. The end effector of the seedling replenishment robot is used to grab healthy seedlings from the full seedling trays on the first and second seedling supply conveyor mechanisms and transplant them to the seedling trays to be replenished on the seedling replenishment tray pushing mechanism. The linear motor and the two multi-claw parallel robots are electrically connected to the control unit.

7. The multi-claw seedling transplanter according to claim 6, characterized in that: The multi-claw parallel manipulator includes several solenoid valves, a manipulator mounting plate, an end effector mounting plate, multiple end effectors, a bellows cover mounting plate, a solenoid valve mounting plate, and a manifold. The manipulator mounting plate is mounted on the mover. Multiple end effectors are mounted on the manipulator mounting plate via the end effector mounting plate. The multiple end effectors are evenly spaced and located directly above the conveyor belt. The spacing between the end effectors is an integer multiple of the spacing between the holes in the seedling trays. The solenoid valve mounting plate is horizontally mounted on the top side of the end effector mounting plate. The bottom surface of the solenoid valve mounting plate is also equipped with a home switch. When the multi-claw parallel manipulator moves to the home position, the home switch at the bottom of the solenoid valve mounting plate is located directly above the home switch sensing plate. Each solenoid valve is mounted on the solenoid valve mounting plate via the manifold. The air pipes in the cable chain are connected to the multiple end effectors sequentially through the manifold and each solenoid valve. Each solenoid valve, multiple end effectors, and home switch are all electrically connected to the control unit.

8. The multi-claw seedling transplanter according to claim 7, characterized in that: The end effector includes a lifting cylinder, a flexible shaft cylinder, a cylinder mounting plate, four guide seat connecting rods, a floating joint, a flexible shaft cylinder connecting plate, a floating joint nut, two flexible shaft mounting seat connecting rods, a flexible shaft mounting seat, a flexible shaft guide seat, and several flexible shafts. The cylinder body of the lifting cylinder is mounted on the end effector mounting plate. The lifting cylinder is a slide cylinder. The cylinder mounting plate is horizontally arranged. The slide of the lifting cylinder is connected to one side of the top surface of the cylinder mounting plate and can drive the cylinder mounting plate to move up and down. The cylinder body of the flexible shaft cylinder is mounted on the other side of the top surface of the cylinder mounting plate. On the side, the upper and lower parts of the floating joint are provided with external threads. The piston rod of the flexible shaft cylinder passes vertically downward through the cylinder mounting plate and is threaded to the upper end of the floating joint. The flexible shaft cylinder is located directly above the center of the four guide seat connecting rods. The four guide seat connecting rods are vertically spaced and symmetrically installed on the bottom end face of the cylinder mounting plate. The top ends of the four guide seat connecting rods are connected to the bottom end face of the cylinder mounting plate. The floating joint, flexible shaft cylinder connecting plate, floating joint nut, and two flexible shaft mounting seat connecting rods are installed directly below the cylinder mounting plate and between the four guide seat connecting rods. The flexible shaft cylinder connecting plate is horizontally arranged. The lower part of the floating joint passes through the through hole located at the center of the flexible shaft cylinder connecting plate. The external thread at the lower part of the floating joint is threadedly connected to the floating joint nut. The flexible shaft cylinder connecting plate is connected to the top surface of the flexible shaft mounting seat through two vertically spaced and symmetrically arranged flexible shaft mounting seat connecting rods on its bottom end face. The flexible shaft mounting seat and the flexible shaft guide seat are horizontally spaced from top to bottom. The lower ends of the two flexible shaft mounting seat connecting rods are symmetrically connected to the upper end face of the flexible shaft mounting seat. The lower ends of the four guide seat connecting rods of the guide mechanism symmetrically pass through the flexible shaft mounting seat. The four corners of the mounting base are connected to the four corners of the flexible shaft guide seat; the flexible shaft mounting base has several vertical flexible shaft mounting through holes evenly spaced along its circumference, and the upper end of each flexible shaft is connected to its own flexible shaft mounting through hole; the flexible shaft guide seat has several inclined flexible shaft guide through holes evenly spaced along its circumference, and the lower part of each flexible shaft passes through its own flexible shaft guide through hole directly below it, and the lower end of each flexible shaft is a free end; the lifting cylinder and the flexible shaft cylinder are connected to the air pipe through their respective solenoid valves; both the lifting cylinder and the flexible shaft cylinder are electrically connected to the control unit.

9. The multi-claw seedling transplanter according to claim 8, characterized in that: The upper and lower ports of each flexible shaft guide through hole in the flexible shaft guide seat are respectively far away from and close to the center of the flexible shaft guide seat, thus forming inclined through holes. The inclination angle of each flexible shaft guide through hole is consistent with the angle of the inner wall of the planting tray hole. The number of each flexible shaft guide through hole in the flexible shaft guide seat is consistent with the number of each flexible shaft mounting through hole in the flexible shaft mounting seat.

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