Self-propelled electric transplanting machine based on automatic seedling taking by robot and operation method thereof

Abstract

The application discloses a self-propelled electric transplanter based on automatic seedling taking of a manipulator and an operation method thereof, and relates to the technical field of transplanter. The self-propelled electric transplanter based on automatic seedling taking of a manipulator comprises a vehicle frame, a tray conveying mechanism, a seedling taking manipulator, a seedling supply bin and a transplanting mechanism, a walking system is installed on the vehicle frame, the tray conveying mechanism is installed on the rear side of the vehicle frame and is used for conveying a seedling tray to a supporting plate installed below the seedling taking manipulator, the seedling taking manipulator is installed on the vehicle frame and is located above the front side of the tray conveying mechanism and is used for conveying seedlings in the seedling tray to two seedling supply bins, the two seedling supply bins are installed on the vehicle frame on the left and right sides of the supporting plate, a transplanting mechanism is installed below the seedling supply bin, and the transplanting mechanism is connected to the vehicle frame. The application realizes automatic transplanting of seedlings through the design of the seedling taking manipulator and the seedling supply bin, the control system program is fixed, the mechanical structure is compact and orderly, and the application is simple and reliable. The application is suitable for transplanting of pepper seedlings and seedlings of various common vegetables.

Description

Technical Field

[0001] This invention belongs to the field of transplanter technology, and relates to a self-propelled electric transplanter based on a robotic arm for automatic seedling picking, and also relates to an operation method of the self-propelled electric transplanter based on a robotic arm for automatic seedling picking. Background Technology

[0002] Vegetable transplanters on the market are generally categorized into small-to-medium-sized and large-sized models. Small-to-medium-sized transplanters are lighter and more flexible, mainly used for single-person operation, while large transplanters offer higher transplanting efficiency and are used for multi-person operation. Their widespread use is due to their stable and reliable mechanical structure and relatively low manufacturing cost. However, a common problem with traditional vegetable transplanters is their low level of automation. They require manual labor to place vegetable seedlings into chain-linked seedling cups, which then fall into the duckbill transplanting mechanism below to complete the transplanting. Small transplanters require one operator to simultaneously control the machine and place the seedlings, and the seedling placement speed must always be greater than or equal to the transplanting speed, resulting in a heavy workload. Large transplanters require one driver and several dedicated seedling placement personnel, leading to higher labor costs and placing a greater load on the large transplanter, resulting in higher energy consumption.

[0003] Automated transplanting machines include the Kubota vegetable transplanter from Japan, which uses robotic arms to automatically pick up seedlings for transplanting. Before transplanting, only manual placement of the entire tray of seedlings in the appropriate position is required. It boasts a high degree of automation, largely achieved through purely mechanical structures, and its functions are stable. The automated vegetable transplanter developed by the Hunan Provincial Agricultural Equipment Research Institute uses servo motors and cylinders to mimic traditional manual movements, picking up seedlings and placing them in feeding cups at the rear. While foreign transplanter technology is more mature, it is also more expensive. The automated transplanter developed by the Hunan Provincial Agricultural Equipment Research Institute has a high degree of automation, but its stability is insufficient, and its development cost is high, preventing its widespread adoption.

[0004] In summary, existing traditional vegetable transplanters have low levels of automation and require manual seedling placement, while the few available small-scale automated transplanters are either expensive or still in the research and development stage and have not yet been widely adopted. This invention aims to comprehensively consider the requirements of automation level, manufacturing cost, and practicality to create a low-cost, miniaturized, and automatically seedling-placed self-propelled electric transplanter. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide a self-propelled electric transplanter based on a robotic arm for automatic seedling picking and its operation method, which can achieve rapid transplanting, save time and labor, greatly improve efficiency, and ensure accurate transplanting.

[0006] The technical solution adopted in this invention is as follows: a self-propelled electric transplanter based on automatic seedling picking by a robotic arm, comprising a frame, a tray delivery mechanism, a seedling picking robotic arm, seedling supply bins, and a transplanting mechanism. A walking system is installed on the frame. The tray delivery mechanism is installed on the rear side of the frame and is used to deliver seedling trays onto a support plate installed below the seedling picking robotic arm. The seedling picking robotic arm is installed on the frame and located above and in front of the tray delivery mechanism, and is used to deliver seedlings from the seedling trays into two seedling supply bins. The two seedling supply bins are respectively installed on the frame on the left and right sides of the support plate. A transplanting mechanism is installed below the seedling supply bins and is connected to the frame.

[0007] Furthermore, the aforementioned tray feeding mechanism includes an X-shaped flange, a drive rod, a tray feeding motor, and a support plate. The support plate is fixedly connected to the frame and is not lower than the support plate. Two X-shaped flanges are used, and the four corresponding ends between the two X-shaped flanges are fixedly connected by four drive rods to form a drive frame. The drive frame is located between the support plate and the support plate, and rotating the drive frame can engage the drive rods into the slots at the bottom of the seedling trays to push the seedling trays forward. The rotating shafts at both ends of the drive frame are rotatably connected to the support base, which is fixedly connected to the frame. The rotating shafts are fixedly connected to the motor shaft of the tray feeding motor, and the tray feeding motor is fixedly connected to the frame through a tray feeding motor frame.

[0008] Furthermore, the aforementioned seedling-picking robot includes a servo-driven gripper, a horizontal linear movement mechanism, a vertical linear lifting mechanism, and a seedling-picking frame. The servo-driven gripper consists of two symmetrically mounted on the horizontal linear movement mechanism and can move horizontally left and right. The two ends of the horizontal linear movement mechanism are mounted on two sets of vertical linear lifting mechanisms and can move vertically up and down. The two sets of vertical linear lifting mechanisms are connected to the left and right sides of the frame through the seedling-picking frame.

[0009] Furthermore, the aforementioned servo-driven clamping jaws include multiple pairs of jaws, a palm plate, a first lever, a second lever, and a servo motor. Each pair of jaws is wider at the top and narrower at the bottom, allowing it to insert into the conical grooves on both sides of the seedling tray. The upper middle part of each pair of jaws is symmetrically hinged to the palm plate on the same side via a first hinge shaft. The upper end of the front jaw of each pair of jaws is hinged to the first lever via a second hinge shaft. The upper end of the rear jaw of each pair of jaws has a vertical strip-shaped hole. The first lever, directly opposite the vertical strip-shaped hole, has a large circular hole. The strip-shaped hole is inserted into one end of the hinge shaft three, and the other end of the hinge shaft three passes through the large round hole and is fixedly connected to the second lever. The top of the first lever is equipped with a rack one, and the rear side of the top of the second lever is equipped with a rack two that is directly opposite the rack one. The drive gear that meshes with both rack one and rack two is fixedly connected to the output shaft of the first servo motor. The first servo motor is fixedly connected to the palm plate. The top of the palm plate is equipped with a connecting part that connects to the sliding plate of the horizontal linear movement mechanism. The rotation of the drive gear drives each pair of grippers to open or close.

[0010] Furthermore, the aforementioned horizontal linear movement mechanism adopts synchronous belt linear double-sided guide rails, with the seedling-picking robot arm symmetrically and fixedly connected to the sliders on the front and rear sides. The vertical linear lifting mechanism includes two synchronous belt linear guide rails and a crossbeam. The two ends of the crossbeam are respectively fixedly connected to two sliders on the two synchronous belt linear guide rails. The lower ends of the two synchronous belt linear guide rails are fixedly connected to the seedling-picking machine frame. The two synchronous belt linear guide rails are driven by the same lifting motor, with a transmission rod connected in the middle.

[0011] Furthermore, the aforementioned seedling supply chamber includes a chamber body and a second servo motor. There are two chamber bodies, with a chamber body crossbeam fixedly connected to the inside of each chamber body. The two ends of the chamber body crossbeam are fixedly connected to the frame. The upper part of each chamber body is a strip frame structure with an open top, and the lower part is a V-shaped discharge port. The strip frame structure is divided into multiple feeding chambers by partitions. Each feeding chamber has a pull-out valve plate at the bottom. The pull-out valve plate moves through the inner wall panel of the feeding chamber and then moves into the guide groove. The guide groove is located inside the chamber body. A pull-out rod is hinged to the upper outer surface of the pull-out valve plate. The other end of the pull-out rod is hinged to one end of a crank. The crank simultaneously drives the pull-out valve plates on both sides. The middle part is fixedly connected to the output shaft of the second servo motor. The second servo motor is fixedly connected to the servo motor mounting plate, and the servo motor mounting plate is fixedly connected to the frame.

[0012] Furthermore, the aforementioned transplanting mechanism includes a feed cylinder, a duckbill plate, a cam, a duckbill arm, a bracket, and a transplanting drive shaft. The transplanting drive shaft is rotatably connected to two brackets near its two ends. The two brackets are respectively fixedly connected to the left and right sides of the bottom of the frame. The transplanting drive shaft is connected to a drive mechanism. Each end of the transplanting drive shaft is rotatably connected to a planetary drive gear, and this end extends beyond the planetary drive gear and is fixedly connected to the box cover. The inner side of the planetary drive gear is rotatably connected to an inner plate. The inner plate and the box cover are fixedly connected to form a box structure. Two intermediate gears, arranged vertically and simultaneously meshing with the planetary drive gear, are rotatably connected to the box structure. An external gear meshing with the intermediate gears is rotatably connected to the box structure via a rotating shaft, one end of which extends and is fixedly connected to the duckbill arm plate. A cam is fixedly connected to the outside of the box cover, and the axis of the cam is coaxial with the rotating axis of the external gear. The feed cylinder is vertically fixedly connected to the outside of the duckbill arm plate. The duckbill plate... Two duckbill plates are symmetrically arranged at the lower discharge port of the feed cylinder. The two duckbill plates are fixedly connected to two cantilever drive plates. A vertical plate is set at the inner end of the cantilever drive plate. The vertical plate is hinged to the duckbill arm plate near the upper end. The lower ends of the two vertical plates extend out of the duckbill arm plate and are respectively hinged to the lower right side of the front drive plate and the lower left side of the rear drive plate. Both the front drive plate and the rear drive plate are triangular plates. The upper left corner of the rear drive plate is hinged to the inner side of the duckbill arm plate, and the right side of the front drive plate is hinged to the inner side of the duckbill arm plate near the middle. A drive roller is rotatably connected to the upper right side of the front drive plate. The drive roller abuts against the cam arc surface. A linkage pin is fixedly connected to the left side of the front drive plate. The linkage pin is inserted into the horizontal strip hole on the right side of the rear drive plate. A tension spring is connected between the lower sides of the front drive plate and the rear drive plate near the middle. The cam drives the duckbill arm plate to open, and it closes under the elastic force of the tension spring.

[0013] Furthermore, the aforementioned self-propelled electric transplanter based on automatic seedling retrieval by a robotic arm also includes a seedling tray recovery chamber located below the front end of the support plate, which is fixedly connected to the frame.

[0014] Furthermore, the aforementioned walking system includes a front row of walking wheels and a rear row of walking wheels respectively arranged at the front and rear bottom of the frame. The front row of walking wheels is connected to a power motor, and the power motor is connected to the transplanting mechanism through multiple chain drive mechanisms.

[0015] The operation method of the self-propelled electric transplanter based on the automatic seedling picking by the robotic arm is as follows: After placing the n-column m-row seedling trays on the support plate, with one row in contact with the drive rod of the tray delivery mechanism, where m is a multiple of n, the tray delivery mechanism is used to send the seedling trays into the support plate. After positioning the seedling trays in the set position, the seedling picking robotic arm uses one side to grab n seedlings at a time and place them into the corresponding seedling supply chamber. After receiving the signal from the limit switch installed on the seedling supply chamber, the two chamber doors at the corresponding positions on both sides open at one time to supply seedlings to the transplanting mechanism. The transplanting mechanism completes the fixed-distance transplanting under the movement of the walking system.

[0016] The beneficial effects of this invention are as follows: Compared with the prior art, this invention achieves automated seedling transplanting through the design of a robotic arm and seedling supply bin. Furthermore, the control system program is fixed, and the mechanical structure operates in a compact, orderly, simple, and reliable manner. This invention is applicable to the transplanting of chili peppers and many other common vegetable seedlings. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a self-propelled electric transplanter;

[0018] Figure 2 This is a three-dimensional structural diagram of a self-propelled electric transplanter (from another perspective);

[0019] Figure 3 This is a side view of the structure of a self-propelled electric transplanter;

[0020] Figure 4 This is a schematic diagram of the left-side structure of a self-propelled electric transplanter;

[0021] Figure 5 This is a top view of the structure of a self-propelled electric transplanter;

[0022] Figure 6 yes Figure 3 Schematic diagram of the cross-sectional structure of the middle AA section;

[0023] Figure 7 yes Figure 3 Schematic diagram of the cross-sectional structure of the middle BB section;

[0024] Figure 8 yes Figure 3 Schematic diagram of the cross-sectional structure of the middle CC section;

[0025] Figure 9 yes Figure 5 Schematic diagram of the cross-sectional structure of the middle DD;

[0026] Figure 10 yes Figure 6 Schematic diagram of the cross-sectional structure of the EE;

[0027] Figure 11 This is a three-dimensional structural diagram of the tray feeding mechanism;

[0028] Figure 12 This is a side view of the tray feeding mechanism.

[0029] Figure 13 This is a schematic diagram of the three-dimensional structure of the seedling-retrieving robotic arm;

[0030] Figure 14 This is a front-view 3D structural diagram of the seedling-retrieving robotic arm;

[0031] Figure 15This is a top view schematic diagram of the seedling-retrieving robotic arm;

[0032] Figure 16 This is a schematic diagram of the right-side structure of the seedling-retrieving robotic arm;

[0033] Figure 17 yes Figure 14 Schematic diagram of the cross-sectional structure of the middle AA section;

[0034] Figure 18 This is a schematic diagram of the servo motor driven gripper structure.

[0035] Figure 19 This is a schematic diagram of the servo motor driven gripper structure (with the second paddle removed).

[0036] Figure 20 This is a side view of the servo motor-driven gripper structure.

[0037] Figure 21 yes Figure 20 Schematic diagram of the cross-sectional structure of the middle AA section;

[0038] Figure 22 yes Figure 20 Schematic diagram of the cross-sectional structure of the middle BB section;

[0039] Figure 23 This is a schematic diagram of the three-dimensional structure of the seedling storage area;

[0040] Figure 24 This is a top-down structural diagram of the seedling storage area;

[0041] Figure 25 This is a side view of the seedling storage structure;

[0042] Figure 26 This is a schematic diagram of the three-dimensional structure of the transplanting mechanism;

[0043] Figure 27 This is a three-dimensional structural diagram of the transplanting mechanism (with the box lid removed);

[0044] Figure 28 This is a side view of the transplanting mechanism.

[0045] Figure 29 This is a schematic diagram of the front view of the transplanting mechanism;

[0046] Figure 30 This is a top view of the transplanting mechanism.

[0047] Figure 31 yes Figure 28 Schematic diagram of the cross-sectional structure of the middle AA section;

[0048] Figure 32 yes Figure 29 Schematic diagram of the cross-sectional structure of the middle BB section;

[0049] Figure 33 yes Figure 30 Schematic diagram of the cross-sectional structure of the middle CC section;

[0050] Figure 34 This is a schematic diagram of the isometric structure of a self-propelled electric transplanter based on a robotic arm for automatic seedling picking;

[0051] Figure 35 This is a schematic diagram of the rear three-dimensional structure of a self-propelled electric transplanter based on a robotic arm for automatically picking up seedlings;

[0052] Figure 36 This is a schematic diagram of the front cross-sectional structure of the front wheel assembly;

[0053] Figure 37 This is a side view sectional structural diagram of the front wheel assembly;

[0054] Figure 38 This is a side view cross-sectional structural diagram of the rear wheel assembly. Detailed Implementation

[0055] The present invention will be further described below with reference to specific embodiments.

[0056] Example 1: As Figure 1-38 As shown, a self-propelled electric transplanter based on automatic seedling picking by a robotic arm includes a frame 1, a tray delivery mechanism 2, a seedling picking robotic arm 3, a seedling supply bin 4, and a transplanting mechanism 5. The frame 1 is equipped with a walking system. The tray delivery mechanism 2 is installed on the rear side of the frame 1 and is used to deliver the seedling trays 6 into the support plate 7 installed below the seedling picking robotic arm 3. The seedling picking robotic arm 3 is installed on the frame 1 and located above and in front of the tray delivery mechanism 2. It is used to deliver the seedlings in the seedling trays 6 into two seedling supply bins 4. The two seedling supply bins 4 are respectively installed on the left and right sides of the frame 1 on the support plate 7. The transplanting mechanism 5 is installed below the seedling supply bins 4 and is connected to the frame 1.

[0057] The aforementioned tray delivery mechanism 2 includes an X-shaped flange 201, a drive rod 202, a tray delivery motor 203, and a support plate 204. The support plate 204 has baffles on both sides and is fixedly connected to the top of the frame 1 at its bottom (actually fixed to the tray frame near the bottom, and the tray frame is fixedly connected to the frame). The baffles limit the movement of the seedling trays, enabling directional movement. The support plate 204 is not lower than the support plate 7. Two X-shaped flanges 201 are used, and the four corresponding ends between the two X-shaped flanges 201 are fixedly connected by four drive rods 202 to form a drive frame. The drive frame is located between the support plate 204 and the support plate 7, and rotating the drive frame can engage the drive rods at the bottom of the seedling trays 6. The slots are engaged and the seedling tray 6 is pushed forward. The rotating shafts at both ends of the drive frame are rotatably connected to two support seats 205 via two bearing seats 206. The two support seats 205 are fixedly connected to both sides of the frame 1. One end of the rotating shaft extends out of the bearing seat 206 and is fixedly connected to the motor shaft of the tray feeding motor 203. The tray feeding motor 203 is fixedly connected to the frame 1 via the tray feeding motor frame 207. The seedling tray 6 is placed on the support plate 204 and pushed forward. When it is pushed to the set position (i.e., when the first row of slots at the front end engages with the drive rod), the drive frame rotates, which can push the seedling tray forward. It pushes 4 slots in one revolution. The structure is simple, the pushing is stable, and the directional movement position is accurate.

[0058] The aforementioned seedling-picking robot 3 includes a servo-driven gripper 301, a horizontal linear movement mechanism 302, a vertical linear lifting mechanism 303, and a seedling-picking frame 304. Two servo-driven grippers 301 are symmetrically mounted on the horizontal linear movement mechanism 302 and can move horizontally left and right. The two ends of the horizontal linear movement mechanism 302 are mounted on two sets of vertical linear lifting mechanisms 303 and can move vertically up and down. The two sets of vertical linear lifting mechanisms 303 are connected to the left and right sides of the frame 1 through the seedling-picking frame 304. Through horizontal movement, the servo-driven gripper 301 can be precisely moved to the top of the seedling in the seedling tray. Through vertical movement, the servo-driven gripper 301 can be inserted into the seedling slot to grip the seedling. Through horizontal and vertical movement again, the gripped seedling is sent into the seedling supply bin. The linear pushing mechanism moves smoothly and reliably, responds quickly, and moves horizontally and vertically simultaneously, enabling it to enter the seedling hole more quickly. The horizontal linear movement mechanism 302 uses synchronous belt linear double-sided guide rails. The connecting parts 314 of the seedling-picking robot 3 are symmetrically and alternately fixed to the sliders on the front and rear sides. The belts are arranged circumferentially. During circumferential movement, the two sliders move relative to each other, thereby realizing the horizontal linear relative movement of the two servo motor-driven grippers. The two ends of the frame of the horizontal linear movement mechanism 302 are fixedly connected to the middle of the crossbeam 316 by angle iron blocks. The vertical linear lifting mechanism 303 includes two synchronous belt linear guide rails 315 and a crossbeam 316. The two ends of the crossbeam 316 are respectively fixedly connected to two sliders on the two synchronous belt linear guide rails 315. The lower ends of the two synchronous belt linear guide rails 315 are fixedly connected to the seedling-picking machine frame 304. The two synchronous belt linear guide rails 315 are driven by the same lifting motor 321, with a transmission rod 317 connected in the middle. The structure uses a single motor. More compact, easier to install, simpler to control, better single-sided lifting synchronization, crossbeam made of profile material, easier to install, lighter weight, better rigidity and strength. Seedling picker frame 304 includes upper horizontal U-shaped frame 322, lower horizontal U-shaped frame 323 and uprights 324 fixedly connecting the upper horizontal U-shaped frame 322 and the lower horizontal U-shaped frame 323 at two corners. The two free ends of the upper horizontal U-shaped frame 322 are shorter than the two free ends of the lower horizontal U-shaped frame 323. Two long uprights 325 are fixedly connected to the upper side of the free ends of the lower horizontal U-shaped frame 323. The two long uprights 325 are also fixedly connected to the back of the frame of the two free ends of the upper horizontal U-shaped frame 322 and the two vertical linear lifting mechanisms 303. This frame structure facilitates the movement of the gripper claw, and has good structural strength and rigidity, and higher stability. A notch 326 is set at the bottom front side of the right side of the seedling picker frame 304 to avoid other components.

[0059] The servo-driven clamping jaws 301 include multiple pairs of jaws 305, a palm plate 306, a first paddle 307, a second paddle 308, and a servo motor 309. There are four pairs on one side in the figure. The jaws of each pair of jaws 305 are wider at the top and narrower at the bottom, allowing them to be inserted into the conical grooves on both sides of the seedling tray 6. The upper middle part of each pair of jaws 305 is symmetrically hinged to the palm plate 306 on the same side via a hinge shaft. The upper end of the front jaw 310 of each pair of jaws 305 is hinged to the first paddle 307 via a hinge shaft. The rear jaw 310 of each pair of jaws 305... 1. A vertical strip-shaped hole 318 is provided at the upper end. A large circular hole 319 is provided on the first pawl 307 directly opposite the vertical strip-shaped hole 318. One end of the third hinge shaft is movably inserted into the vertical strip-shaped hole 318. The other end of the third hinge shaft passes through the large circular hole 319 and is fixedly connected to the second pawl 308. A rack 320 is provided at the top of the first pawl 307. A rack 312 is provided on the rear side of the top of the second pawl 308, directly opposite the rack 320. A drive gear 313 that meshes with both the rack 320 and the rack 312 is fixedly connected to the output of the first servo motor 309. On the shaft, a servo motor 309 is fixedly connected to the palm plate 306. The top of the palm plate 306 has a connecting part 314 that connects to a sliding plate of the horizontal linear motion mechanism 302. The connecting part 314 includes a vertical mounting plate, on the back of which two symmetrical connecting square rods are fixedly connected. The two square rods are clamped and fixedly connected to the top of the palm plate, and a reinforcing rib is provided between the two connecting square rods. The reinforcing rib fits against the vertical mounting plate and the top of the palm plate. This connecting part structure ensures a stable and reliable connection. The drive gear 313 rotates to drive each pair of clamps... The claw 305 opens or closes, and the two gears move relative to each other via a servo motor. The two gears drive the first and second paddles to move relative to each other, which in turn drives each pair of grippers that are hinged to them to move relative to each other, ultimately achieving the clamping of the soil part of the seedling. The clamping is stable and reliable. Each pair of grippers 305 has anti-slip grooves on its clamping surface. Multiple anti-slip grooves are arranged along the length of the gripper to increase the clamping friction and make the clamping more stable. Each gripper consists of a clamping plate and a hinge plate that is vertically fixed to the upper part of the clamping plate. The hinge plate has a round hole or a vertical strip-shaped through hole.

[0060] The aforementioned seedling supply chamber 4 includes a chamber body 401 and a second servo motor 402. Two chamber bodies 401 are used, with a chamber body crossbeam 403 fixedly connected to the inner side of each chamber body 401. Both ends of the chamber body crossbeam 403 are fixedly connected to the frame 1. Each chamber body 401 has a strip-shaped frame structure with an open top and a V-shaped discharge port at the bottom. The strip-shaped frame structure is divided into multiple feeding chambers 405 by multiple partitions 404 (four in the figure). Each feeding chamber 405 has a pull-out valve plate 406 at its bottom. The pull-out valve plate 406 moves through the inner wall of the feeding chamber 405 and then engages with the guide groove 4. Inside 07, the guide groove 407 is set inside the bin body 401. The upper outer surface of the pull-out valve plate 406 is hinged with a pull-out rod 408. The other end of the pull-out rod 408 is hinged to one end of the crank 409. The crank 409 simultaneously drives the pull-out valve plates on both sides. The middle part is fixedly connected to the output shaft of the second servo motor 402. The second servo motor 402 is fixedly connected to the servo motor fixing plate 410. The servo motor fixing plate 410 is fixedly connected to the frame 1. When the crank rotates, it pulls the pull-out rods on both sides to pull the pull-out valve plates to open the feed chamber for feeding. Each time, one servo motor is controlled to move, so that both sides can move simultaneously with good synchronization.

[0061] The transplanting mechanism 5 includes a feed cylinder 501, a duckbill plate 502, a cam 503, a duckbill arm 504, a bracket 505, and a transplanting drive shaft 506. The transplanting drive shaft 506 is rotatably connected to two brackets 505 near its two ends. The two brackets 505 are respectively fixedly connected to the left and right sides of the bottom of the frame 1. The transplanting drive shaft 506 is connected to a drive mechanism. Each end of the transplanting drive shaft 506 is rotatably connected to a planetary drive gear 507, and the end extending beyond the planetary drive gear 507 is fixedly connected to the cover 509. The inner side of the planetary drive gear 507 is rotatably connected to the inner plate 5. On the upper part of box 508, the inner plate 508 and the box cover 509 are fixedly connected to form a box structure 511. Two intermediate gears 510, arranged vertically and meshing with the planetary drive gear 507, are rotatably connected to the box structure 511. An external gear 512, meshing with the intermediate gears 510, is rotatably connected to the box structure via a rotating shaft. One end of the rotating shaft extends out and is fixedly connected to the duckbill arm plate 504. A cam 503 is fixedly connected to the outside of the box cover. The axis of the cam 503 is coaxial with the rotating shaft of the external gear 512. The feed cylinder 501 is vertically fixedly connected to the outside of the duckbill arm plate 504. The duckbill plate 502... Two duckbill plates 502 are symmetrically arranged at the lower discharge port of the feed cylinder 501. The two duckbill plates 502 are fixedly connected to two cantilever drive plates 513. A vertical plate 514 is provided at the inner end of each cantilever drive plate 513. The vertical plate 514 is hinged to the duckbill arm plate 504 near its upper end. The lower ends of the two vertical plates 514 extend beyond the duckbill arm plate 504 and are respectively hinged to the lower right side of the front drive plate 515 and the lower left side of the rear drive plate 516. Both the front drive plate 515 and the rear drive plate 516 are triangular plates. The upper left corner of the rear drive plate 516 is hinged to the inner side of the duckbill arm plate 504. The drive plate 515 is hinged to the inside of the duckbill arm plate 504 near the middle on the right side. A drive roller 517 is rotatably connected to the upper right side of the front drive plate 515, and the drive roller 517 abuts against the arc surface of the cam 503. A linkage pin 518 is fixedly connected to the left side of the front drive plate 515. The linkage pin 518 is engaged in the horizontal strip hole 519 on the right side of the rear drive plate 516. A tension spring 520 is connected between the lower sides of the front drive plate 515 and the rear drive plate 516 near the middle. The cam drives the duckbill arm plate 504 to open, and it closes under the elastic force of the tension spring 520. A touch switch 521 is installed on the bracket 505. The probe of the touch switch 521 can elastically touch the housing structure 511, that is, the touch switch 521 is triggered after the housing structure rotates.

[0062] The transplanter drive shaft 506 adopts a double half-shaft structure, with external splines on the inner ends of the two sections. The external splines are connected by spline sleeves, and sprockets are fixedly connected to the spline sleeves. The sprockets are connected to the power mechanism through chains.

[0063] Working principle of planetary rotary transplanter:

[0064] When transplanting begins, the electromagnetic clutch on the transplanter's chassis engages, transmitting power to the transplanter's drive shaft 506 via the reducer output shaft, the electromagnetic clutch, and chain drive. The transplanter's rotating arm is a box-like structure 511, composed of an inner plate 508 and a cover 509 connected by screws. Both ends of the transplanter's drive shaft 506 are fixedly connected to the outer side of the cover 509 of the transplanter's rotating arm 511 using pins, enabling the drive shaft to rotate the transplanter's rotating arm 511. Because the sprocket drive of the transplanter's drive shaft maintains a constant transmission ratio with the transplanter's wheels, the planting spacing remains constant at 35cm.

[0065] The transplanter's rotating arm 511 is a planetary gear transmission system, consisting of one central wheel 507, two intermediate planetary gears 510, and two outer planetary gears 512. One side of the central wheel 507 has a bushing structure, with the entire central wheel loosely fitted onto the drive shaft 506. One side of the bushing of the central wheel 507 is fixed to a central wheel mounting bracket by set screws. The mounting bracket is fixed to a support 505 by screws, ensuring the central planetary gear 507 remains stationary with the frame. One side of the intermediate planetary gear 510 is connected to the inner plate 508, and the other side is connected to the cover 509. Gear 509 can rotate freely around its own axis. The outer gears 512 are fixed in a similar manner to the intermediate gears 510, except that one side of the gear 512's shaft is longer, extending beyond the cover 509 and fixed to the duckbill wall panel 504 by a pin. Gear 512 drives the duckbill wall panel 504 to rotate.

[0066] The transplanting arm 511 rotates under the drive of the drive shaft 506. The arm 511 then drives the intermediate gear 510 to rotate around the fixed center wheel 507. The two side gears 512 mesh with the intermediate gear 510. Driven by the gear 510, the two side gears 512 rotate, which in turn drives the duckbill wall plate 504 to rotate.

[0067] The principle behind maintaining a horizontal (i.e., a vertical) duckbill beam during transplanter rotation is as follows: The central, intermediate, and side gears within the transplanter's rotating arm 511 have identical tooth counts, modules, and tooth thicknesses. The central gear 507 is fixed, and the angle through which the intermediate gear 510 rotates around the central gear 507 is identical to the rotation angle of the transplanter's rotating arm 511 in real time. That is, for every one rotation of the transplanter's rotating arm 511, the intermediate gear 510 also rotates around the gear 507 one full rotation, with the same direction of rotation. Based on the characteristic of single-pole gear transmission with opposite directions, the meshing of the side gear 512 with the intermediate gear 510 achieves equal compensation for the magnitude and opposite direction of the transplanter's rotating arm's rotation angle, thus ensuring that the duckbill beam remains horizontal and the duckbill remains vertical during transplanter operation.

[0068] The feed cylinder 501 is fixedly connected to the duckbill wall plate 504 by screws. The duckbill is located directly below the feed cylinder 501 and has a two-piece structure 502. The two pieces of the duckbill are connected to the wall plate 504 by pins and can rotate freely. The automatic opening and closing of the duckbill is achieved through two triangular drive plates 515 and 516, a cam, and a tension spring 520. Each drive plate has two fixing holes; the lower hole is fixed to the duckbill by a pin, and the upper hole is fixed to a pin at the center of rotation of the duckbill, enabling the drive plate to rotate synchronously with the duckbill at the same angle. The drive plates 515 and 516 are connected by a slotted pin pair. The opening and closing of the duckbill is achieved by the swinging of the plate 515, and the tension spring 520 provides a restoring force for the duckbill's closure. The swinging of the plate 515 is achieved by the cam 503. The cam is fixedly connected to the rotating arm cover 509 by screws. The duckbill wall plate 504 rotates coaxially with the outer gear 512. Since there is a relative motion relationship between the cover 509 and the outer gear 512, there is also a relative motion relationship between the cam 503 and the duckbill wall plate 504. The rotating plate 515 and the cam 503 also have the same relative motion relationship. Therefore, the opening and closing of the duckbill is achieved by the cam periodically pushing the roller 517 on the rotating plate 515.

[0069] A micro switch 521 is installed on the bracket 505. Whenever the transplanter arm rotates half a revolution, it touches the micro switch once. The trigger signal of the micro switch will be used as the control signal of the microcontroller to control the orderly supply of seedlings in the seedling supply chamber.

[0070] To facilitate the recycling of seedling trays, the aforementioned self-propelled electric transplanter based on the automatic seedling retrieval by a robotic arm also includes a seedling tray recycling bin 8 located below the front end of the support plate 7. The seedling tray recycling bin 8 is fixedly connected to the frame 1. The upper end of the seedling tray recycling bin is open. After the seedling tray is transplanted, it will automatically fall into the seedling tray recycling bin under the push of the next seedling tray. A retrieval door is provided on the front side of the recycling bin. The upper end of the retrieval door is hinged to the front end of the seedling tray recycling bin. By opening the retrieval door, the seedling tray can be taken out and recycled.

[0071] The aforementioned walking system includes a front row of walking wheel sets 9 and a rear row of walking wheel sets 10 respectively arranged at the front and rear bottom of the frame 1. The front row of walking wheel sets 9 are connected to a power motor 11, and the power motor 11 is connected to the transplanting mechanism 5 through multiple chain drive mechanisms 12. The front row of walking wheel sets 9 includes two front wheels 901, a front wheel frame 902, and a front wheel sprocket and chain mechanism 913. The two front wheels 901 are rotatably connected to two inclined front wheel frames 902 (rotatably connected to the inner side of the lower end). The upper end of each front wheel frame 902 is fixedly connected to a flange at one end of an inner tube 903 through a convex sleeve 915. The other end of the inner tube 903 is movably inserted into an outer tube 904. The outer tube 904 is fixedly connected to the motor frame 20 on the frame 1 through a tube seat 905. The front wheel frame 902 has one end of an inner square tube 906 hinged to its rear side. The other end of the inner square tube 906 is movably inserted into the lower end of the outer square tube 907 (locked with a set screw when no adjustment or extension is required). An adjusting nut 909 is installed at the inner end of the inner square tube 906. The adjusting nut 909 is screwed to an adjusting screw 908. A limiting platform 916 is installed near the outer end of the adjusting screw 908. The lower side of the limiting platform 916 abuts against the limiting plate inside the upper end of the outer square tube 907 via a thrust bearing 917. The upper side of the limiting platform 916 is covered by a cover plate 921 with a through hole in the middle, which covers the thrust bearing 917. A screw rotation handle 922 is rotatably connected to the outer end of the adjusting screw 908. The adjusting screw (which does not move axially under the limiting action of the limiting platform) can rotate. The axial extension and retraction of the inner square tube, with the inner and outer tubes able to rotate, drives the rear wheel frame to swing, thereby adjusting the rear wheel height. The upper rear part of the outer square tube 907 is hinged to the column frame 910. The front wheel 901 is connected to the drive shaft 911 near its outer end via the front wheel sprocket and chain mechanism 913. The outer end of the drive shaft 911 is rotatably connected to the rotating shaft 920 rotatably connected to the front wheel frame 902 via a bearing. The drive shaft 911 is located inside the inner tube 903 and the outer tube 904, with the inner end being a splined shaft structure. It is connected to an output shaft of the gearbox 912 via a matching inner spline sleeve 914, enabling extension and retraction. The input shaft of the gearbox 912 is fixedly connected to the power motor 11. The gearbox 912 and the power motor 11 are connected via a motor frame 20. Fixedly connected to the frame 1, the gearbox 912 adopts a two-stage transmission mechanism. The transplanting power output shaft, coaxial with the power motor 11, is connected to the chain drive shaft 19 via an electromagnetic clutch 18. The output side of the electromagnetic clutch 18 is fixedly connected to the chain drive shaft 19, which is rotatably connected to the motor frame 20 via a bearing seat. The column frame 910 includes a cantilever inner square tube 918 and a portal frame 919. The inner end of the cantilever inner square tube 918 is movably inserted into the transverse square tube at the top of the portal frame 919 and locked with a set screw. The inner tube 903, outer tube 904, power shaft with a spline shaft structure at the inner end, and matching inner spline sleeve 914, cantilever inner square tube 918, and portal frame can realize the spacing adjustment of the front wheel set, thereby adapting to different ridge transplanting.

[0072] The rear walking wheel assembly 10 includes two rear wheels 1001 and a rear wheel frame 1002. Each rear wheel 1001 is rotatably connected to a rear wheel frame 1002. The rear wheel frame 1002 has a triangular frame structure, with an inner square tube 1003 vertically rotatably connected to its top. The upper end of the inner square tube 1003 is movably inserted into the outer square tube 1004 and locked with a set screw. An adjusting nut 1006 is provided at the inner end of the inner square tube 1003. The adjusting nut 1006 is screwed to an adjusting screw 1005. The adjusting screw 1005 is rotatably connected to the top of the outer square tube 1004 via a limiting mechanism similar to that of the adjusting screw 908. The rear wheel outer square tube 1004 is fixedly connected to the rear wheel cantilever beam 1010 set on the side of the frame 1 by a clamp 1008. A groove 1009 is provided at the point where the rear wheel outer square tube fits into the clamp 1008. Multiple grooves 1009 are provided along the length of the rear wheel outer square tube, which can realize the rapid adjustment of the rear wheel height and the limiting function of the groove, resulting in higher connection reliability. A rotating handle 1007 is fixedly connected to the upper end of the adjusting screw 1005. Rotating the rotating handle can realize the rapid adjustment of the rear wheel extension length. After adjustment, the inner and outer square tubes are locked together by a set screw. The clamp connection to the rear wheel cantilever beam can also realize the adjustment of the rear wheel spacing.

[0073] Furthermore, the aforementioned self-propelled electric transplanter based on automatic seedling retrieval by a robotic arm also includes a seedling tray placement rack 13. The seedling tray placement rack 13 is equipped with multiple layers of placement plates 14, with the bottom layer being a support plate 204. Guide plates are provided on both sides of the support plate 204, enabling directional forward movement. An operation panel 15 and a handrail 16 are also provided at the rear end of the frame 1. A seedling tray recovery compartment 8 is provided on the front side of the bottom of the frame 1, and a battery installation compartment 17 is provided on the rear bottom. The battery installation compartment 17 contains multiple batteries. This arrangement structure enables the frame to move in a balanced manner, avoiding difficulty in controlling the stability of movement due to excessive force on one side.

[0074] The walking system is powered by a DC brushless motor. The two front wheels of the front walking wheel assembly are the driving wheels, and the two rear wheels of the rear walking wheel assembly are the driven swivel wheels. The height of all four wheels of the transplanter can be adjusted via the ground wheel lifting frame (screw and nut pair) on the transplanter. The drive wheel drive shaft is connected by a long spline, which allows for wheel spacing adjustment. The driven wheels can also have their wheel spacing adjusted. The transplanter's support frame can be adjusted in height and width to adapt to the local ridge shape.

[0075] The seedling tray conveying mechanism uses a stepper motor to drive a set of four rotating push rods to convey the seedling trays. Each rotation of the stepper motor shaft conveys four rows of seedling trays forward.

[0076] The seedling-picking robot consists of a two-axis XZ gantry frame constructed from synchronous belt linear modules, with a servo-driven rack and pinion gripper. Each gripper can grasp four seedlings at a time, picking them from the center outwards, meaning a single grab can hold eight seedlings. The robot's control program is simple and fixed, improving the stability and efficiency of automation.

[0077] The seedling supply compartment is opened and closed by a crank-slider mechanism driven by a servo motor. There are two seedling supply compartments in the whole machine, located directly above the two transplanting mechanisms. Each seedling supply compartment has four slots, which are responsible for storing the seedlings picked up by the robotic arm and placing the seedlings into the duckbill of the transplanter in sequence.

[0078] The transplanting mechanism is a planetary gear-type duckbill transplanting mechanism. Compared with traditional linkage mechanisms, this mechanism is more compact, has higher transplanting efficiency, and stronger high-speed stability. The power of the transplanter is transmitted from the output shaft of the reducer on the chassis through an electromagnetic clutch. When the electromagnetic clutch is engaged, the transplanter operates; when it is disengaged, the transplanter does not operate. Furthermore, a limit switch is installed in the transplanter. Whenever the transplanter's arm rotates to the point where it touches the limit switch, the seedling chamber is activated to supply seedlings.

[0079] Example 2: The operation method of the self-propelled electric transplanter based on the automatic seedling picking by the robotic arm is as follows: After placing the n-column m-row (4-column 8-row matching robotic arm structure in this embodiment) seedling trays on the support plate, with one row in contact with the drive rod of the tray delivery mechanism, m being a multiple of n, the tray delivery mechanism is used to send the seedling trays into the support plate. After positioning the seedling trays in the set position, the seedling picking robotic arm uses one side to grab n seedlings at a time and place them into the seedling supply bin on the corresponding side. After receiving the signal from the limit switch installed on the seedling supply bin, the seedling supply bin opens the two bin doors at the corresponding positions on both sides at one time to supply seedlings to the transplanting mechanism. The transplanting mechanism completes the fixed-distance transplanting under the movement of the walking system.

[0080] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection of the claims.

Claims

1. A self-propelled electric transplanter based on a robotic arm for automatic seedling picking, characterized in that: The system includes a frame (1), a tray delivery mechanism (2), a seedling retrieval robot (3), a seedling supply bin (4), and a transplanting mechanism (5). The frame (1) is equipped with a walking system. The tray delivery mechanism (2) is installed on the rear side of the frame (1) and is used to deliver the seedling trays (6) into the support plate (7) installed below the seedling retrieval robot (3). The seedling retrieval robot (3) is installed on the frame (1) and located above the front side of the tray delivery mechanism (2) and is used to deliver the seedlings in the seedling trays (6) into the two seedling supply bins (4). The two seedling supply bins (4) are respectively installed on the frame (1) on the left and right sides of the support plate (7). The transplanting mechanism (5) is installed below the seedling supply bins (4) and is connected to the frame (1). The transplanting mechanism (5) includes a material cylinder (501), a duckbill plate (502), a cam (503), a duckbill arm plate (504), a bracket (505), and a transplanting drive shaft (506). The transplanting drive shaft (506) is rotatably connected to two brackets (505) near both ends. The two brackets (505) are respectively fixedly connected to the left and right sides of the bottom of the frame (1). The transplanting drive shaft (506) is connected to the drive mechanism. Each end of the transplanting drive shaft (506) is rotatably connected to a planetary drive gear (507), and the end extends out of the planetary drive gear (507) and is fixedly connected to the box cover (509). The inner side of the planetary drive gear (507) is rotatably connected to the inner plate (509). On the upper part of the box (508), the inner plate (508) and the box cover (509) are fixedly connected to form a box structure. Two intermediate gears (510) arranged vertically and simultaneously meshing with the planetary drive gear (507) are rotatably connected to the box structure (511). The external gear (512) meshing with the intermediate gear (510) is rotatably connected to the box structure through a rotating shaft. One end of the rotating shaft extends out and is fixedly connected to the duckbill arm plate (504). A cam (503) is fixedly connected to the outside of the box cover. The axis of the cam (503) is coaxial with the rotating shaft of the external gear (512). The feed cylinder (501) is vertically fixedly connected to the outside of the duckbill arm plate (504). The duckbill piece (502) adopts two Two duckbill plates (502) are symmetrically arranged at the lower outlet of the feed cylinder (501). Two duckbill plates (502) are fixedly connected to two cantilever drive plates (513). A vertical plate (514) is provided at the inner end of the cantilever drive plate (513). The vertical plate (514) is hinged to the duckbill arm plate (504) near the upper end. The lower ends of the two vertical plates (514) extend out of the duckbill arm plate (504) and are respectively hinged to the lower right side of the front drive plate (515) and the lower left side of the rear drive plate (516). The front drive plate (515) and the rear drive plate (516) are both triangular plates. The upper left corner of the rear drive plate (516) is hinged to the inner side of the duckbill arm plate (504). The right side of the plate (515) is hinged to the inside of the duckbill arm plate (504) near the middle. The upper right side of the front drive plate (515) is rotatably connected to the drive roller (517). The drive roller (517) abuts against the arc surface of the cam (503). The left side of the front drive plate (515) is fixedly connected to the linkage pin (518). The linkage pin (518) is inserted into the horizontal strip hole (519) on the right side of the rear drive plate (516). The lower side of the front drive plate (515) and the rear drive plate (516) near the middle is connected to the tension spring (520). The cam drives the duckbill arm plate (504) to open, and closes under the elastic force of the tension spring (520).

2. The self-propelled electric transplanter based on a robotic arm for automatic seedling removal as described in claim 1, characterized in that: The tray feeding mechanism (2) includes an X-type flange (201), a drive rod (202), a tray feeding motor (203), and a support plate (204). The support plate (204) is fixedly connected to the frame (1). The support plate (204) is not lower than the support plate (7). Two X-type flanges (201) are used. The four corresponding ends of the two X-type flanges (201) are fixedly connected by four drive rods (202) to form a drive frame. The drive frame is located between the support plate (204) and the support plate (7) and The rotating drive frame can insert the drive rod into the slot at the bottom of the seedling tray (6) and push the seedling tray (6) forward. The rotating shafts at both ends of the drive frame are connected to the support seat (205) through the bearing seat (206). The support seat (205) is fixedly connected to the frame (1). A rotating shaft extends out of the bearing seat (206) and is fixedly connected to the motor shaft of the tray feeding motor (203). The tray feeding motor (203) is fixedly connected to the frame (1) through the tray feeding motor frame (207).

3. The self-propelled electric transplanter based on a robotic arm for automatic seedling removal as described in claim 1 or 2, characterized in that: The seedling picking robot (3) includes a servo-driven gripper (301), a horizontal linear movement mechanism (302), a vertical linear lifting mechanism (303), and a seedling picking frame (304). Two servo-driven grippers (301) are symmetrically installed on the horizontal linear movement mechanism (302) and can move horizontally left and right. The two ends of the horizontal linear movement mechanism (302) are installed on two sets of vertical linear lifting mechanisms (303) and can move vertically up and down. The two sets of vertical linear lifting mechanisms (303) are connected to the left and right sides of the frame (1) through the seedling picking frame (304).

4. The self-propelled electric transplanter based on a robotic arm for automatic seedling removal as described in claim 3, characterized in that: The servo-driven clamping jaws (301) include multiple pairs of jaws (305), a palm plate (306), a first lever (307), a second lever (308), and a servo motor (309). The jaws of each pair of jaws (305) are designed to be wider at the top and narrower at the bottom, allowing them to be inserted into the conical grooves on both sides of the seedling tray (6). The upper middle part of each pair of jaws (305) is symmetrically hinged to the palm plate (306) on the same side via a hinge shaft. The upper end of the front jaw (310) of each pair of jaws (305) is hinged to the first lever (307) via a hinge shaft. The upper end of the rear jaw (311) of each pair of jaws (305) is provided with a vertical strip hole (318). The first lever (307) directly opposite the vertical strip hole (318) is provided with a large round hole (319). Hole (318) is inserted into one end of hinge shaft three, and the other end of hinge shaft three passes through large round hole (319) and is fixedly connected to paddle two (308). Paddle one (307) is provided with rack one (320) at the top, and paddle two (308) is provided with rack two (312) facing rack one at the rear side of the top. Drive gear (313) that meshes with rack one (320) and rack two (312) is fixedly connected to the output shaft of servo motor one (309). Servo motor one (309) is fixedly connected to palm plate (306). Palm plate (306) is provided with a connecting part (314) of sliding plate connected to horizontal linear movement mechanism (302) at the top. Drive gear (313) rotates to drive each pair of grippers (305) to open or close.

5. The self-propelled electric transplanter based on a robotic arm for automatic seedling removal according to claim 3, characterized in that: The horizontal linear moving mechanism (302) adopts a synchronous belt linear double-sided guide rail, and the seedling picking robot (3) is symmetrically fixedly connected to the sliders on the front and rear sides. The vertical linear lifting mechanism (303) includes two synchronous belt linear guide rails (315) and a crossbeam (316). The two ends of the crossbeam (316) are fixedly connected to two sliders on the two synchronous belt linear guide rails (315). The lower ends of the two synchronous belt linear guide rails (315) are fixedly connected to the seedling picking machine frame (304). The two synchronous belt linear guide rails (315) are driven by the same lifting motor (321), and a transmission rod (317) is connected in the middle.

6. The self-propelled electric transplanter based on a robotic arm for automatic seedling removal according to claim 1, characterized in that: The seedling supply bin (4) includes a bin body (401) and a second servo motor (402). There are two bin bodies (401). Each bin body (401) is fixedly connected to a bin body crossbeam (403) on its inner side. The bin body crossbeam (403) is fixedly connected to the frame (1) at both ends. The upper part of each bin body (401) is a strip frame structure with an open top, and the lower part is a V-shaped discharge port. The strip frame structure is divided into multiple feeding chambers (405) by a partition (404). Each feeding chamber (405) is equipped with a pull-out valve plate (406) at the bottom. The pull-out valve plate (406) moves through the feed chamber. The material chamber (405) is inserted into the guide groove (407) on the inner side wall panel. The guide groove (407) is located inside the bin body (401). A pull rod (408) is hinged to the upper outer surface of the pull valve plate (406). The other end of the pull rod (408) is hinged to one end of the crank (409). The crank (409) drives the double-sided pull valve plates at the same time. The middle part is fixedly connected to the output shaft of the second servo motor (402). The second servo motor (402) is fixedly connected to the servo motor fixing plate (410). The servo motor fixing plate (410) is fixedly connected to the frame (1).

7. The self-propelled electric transplanter based on a robotic arm for automatic seedling removal according to claim 1, characterized in that: It also includes a seedling tray recycling bin (8) located below the front end of the support plate (7), which is fixedly connected to the frame (1).

8. The self-propelled electric transplanter based on a robotic arm for automatic seedling removal according to claim 1, characterized in that: The walking system includes a front walking wheel set (9) and a rear walking wheel set (10) respectively arranged at the front and rear bottom of the frame (1). The front walking wheel set (9) is connected to the power motor (11), and the power motor (11) is connected to the transplanting mechanism (5) through multiple chain drive mechanisms.

9. The operation method of the self-propelled electric transplanter based on automatic seedling picking by a robotic arm according to claim 2, characterized in that: The method is as follows: After placing an n-column, m-row seedling tray onto a support plate, with one row in contact with the drive rod of the tray delivery mechanism, where m is a multiple of n, the tray delivery mechanism is used to deliver the seedling tray into the support plate. After positioning the seedling tray in the set position, a seedling picking robot arm is used to grab n seedlings from one side at a time and place them into the corresponding seedling supply bin. After receiving a signal from the limit switch installed on the seedling supply bin, the seedling supply bin opens at the corresponding position on both sides at once to supply seedlings to the transplanting mechanism. The transplanting mechanism completes the fixed-distance transplanting under the movement of the walking system.

Images