A direct-drive electric motor-driven seedling collection device and its seedling collection method

Abstract

This invention discloses a direct-drive electric motor-driven seedling removal device and its method. The drive shaft is fixed to the seedling arm housing and driven by a drive motor. The drive shaft and the motor housing are connected via a conductive slip ring. Two planetary motors are located at both ends of the seedling arm housing. These two planetary motors drive the seedling claw housings of two seedling claws to rotate, and the planetary motors are connected to the seedling arm housing via a conductive slip ring. A push rod in the seedling claw forms a sliding pair with the seedling claw housing. One end of the push rod is fixed to a push-pull electromagnet core fixed inside the seedling claw housing, and the other end is fixed to a clamping plate. Sliding grooves at both ends of the clamping plate and two seedling needles hinged to the seedling claw housing form sliding pairs. The push-pull electromagnet, conductive slip ring, planetary motor, and conductive slip ring are electrically connected. This invention, while performing seedling removal and placement, can control the seedling's posture during placement, avoiding damage and preventing wiring entanglement.

Description

Technical Field

[0001] This invention belongs to the field of seedling transplanting technology, specifically relating to a direct-drive electric motor seedling taking device and its taking method. Background Technology

[0002] With the maturity and development of seedling cultivation technology, transplanting is now the most common method for vegetable planting in China. Vegetable seedling transplanters can be divided into semi-automatic and fully automatic types. Fully automatic transplanters reduce operator dependence compared to semi-automatic ones, as seedling picking, delivery, and planting are all done mechanically. Currently, most fully automatic vegetable seedling transplanters use rotary seedling picking and planting mechanisms, primarily employing non-circular planetary gear mechanisms. The seedling clamping device on the picking arm often uses a cam-linkage mechanism. The non-circular planetary gear mechanism in the picking mechanism drives the picking arm to rotate the clamping device at a non-uniform speed, causing it to move along a designated trajectory for picking and releasing seedlings. However, because the non-circular planetary gear mechanism operates continuously, and the planting mechanism also rotates, the clamping device cannot guarantee that the seedling will fall into the planting mechanism, potentially causing seedling damage. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a direct-drive electric motor seedling extraction device and its extraction method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A direct-drive electric motor-driven seedling picking device includes a drive shaft, a picking arm, a picking claw, and a conductive slip ring.

[0006] The seedling arm includes a seedling arm housing and a planetary motor; a horizontally arranged drive shaft is fixed to the middle of the seedling arm housing and is driven to rotate by the drive motor; two planetary motors are symmetrically arranged about the drive shaft at both ends of the seedling arm housing. The planetary motor includes a permanent magnet rotor, a stator coil, a gear ring, a sun gear, planet gears, a planet carrier, and an output shaft. The planet carrier and a circular hole in the seedling arm housing form a revolute pair. The output shaft is parallel to the drive shaft and is coaxially fixed to the side of the planet carrier located outside the seedling arm housing. Multiple planet gears are hinged to the side of the planet carrier located inside the seedling arm housing, evenly distributed circumferentially. The gear ring is sleeved on the outside of each planet gear and meshes with each planet gear, and is fixed inside the seedling arm housing. The stator coil is located on the outside of the gear ring and is fixed inside the seedling arm housing. The permanent magnet rotor is sleeved on the outside of the stator coil, and a coaxially arranged rotating shaft is fixed in the middle of the permanent magnet rotor, along with a coaxially arranged sun gear. The rotating shaft and the seedling arm housing form a revolute pair. The sun gear is located inside each planet gear and meshes with each planet gear.

[0007] Each output shaft is equipped with a seedling-grabbing claw. The seedling-grabbing claw includes a seedling-grabbing claw housing, a support plate, a seedling-grabbing needle, a push rod, a push-pull electromagnet, a conductive slip ring II, and a clamping plate. The seedling-grabbing claw housing is fixed to the corresponding output shaft. The rotor portion of the conductive slip ring II is fixed to the output shaft, and the stator portion is fixed to the seedling-grabbing arm housing. The support plate is fixed to the seedling-grabbing claw housing. The push-pull electromagnet is fixed inside the seedling-grabbing claw housing. The push rod is perpendicular to the drive shaft and passes through a through hole in the seedling-grabbing claw housing, forming a sliding pair with the through hole, and the push rod is located inside the seedling-grabbing claw housing. One end is fixed to the core of the push-pull electromagnet, and the other end is fixed to the clamping plate; one end of each of the two symmetrically arranged seedling needles is hinged to the support plate, and the other end passes through the sliding grooves opened at both ends of the clamping plate, forming a sliding pair with the two sliding grooves respectively; the distance between the two sliding grooves on the clamping plate is less than the distance between the ends of the two seedling needles near the support plate; in the initial state, the sliding grooves of the clamping plate are located in the middle of the two seedling needles, the two seedling needles are in the open state, and the distance between the two sliding grooves on the clamping plate is greater than the distance between the ends of the two seedling needles away from the support plate.

[0008] The rotor portion of the first conductive slip ring is fixed to the drive shaft, and the stator portion is fixed to the motor housing of the drive motor; wherein, the wire harnesses of the two stator coils are connected to the wire harnesses on the rotor portion of the first conductive slip ring; the wire harness of the push-pull electromagnet is connected to the wire harnesses on the rotor portion of the corresponding second conductive slip ring, and the wire harnesses on the stator portions of the two second conductive slip rings are connected to the wire harnesses on the rotor portion of the first conductive slip ring.

[0009] Preferably, the output shaft of the drive motor is connected to the drive shaft via a coupling.

[0010] Preferably, the rotating shaft and the retaining frame form a rotating pair, and the retaining frame is detachably fixed in the second round hole opened in the seedling arm housing.

[0011] Preferably, an end plate is fixed on the permanent magnet rotor, and the sun gear and the shaft are fixed on both sides of the end plate.

[0012] Preferably, the planetary gears are supported on a fixed shaft by bearings, and the fixed shaft is fixed to the planet carrier.

[0013] Preferably, the ring gear, sun gear, planet carrier, and planet gears constitute a planetary reducer.

[0014] The present invention discloses a method for retrieving seedlings using a direct-drive electric motor-driven seedling retrieving device, the specific details of which are as follows:

[0015] The middle part of the seedling-picking arm housing is rotatably connected to the frame, and the motor housing of the drive motor is fixed to the frame. Then the frame moves forward, and the controller controls the drive motor to drive the drive shaft to intermittently rotate the rotor part of the seedling-picking arm housing and the conductive slip ring. The seedling-picking arm housing drives each planetary motor and each seedling-picking claw to rotate. At the same time, the controller controls each planetary motor to drive the corresponding seedling-picking claw to rotate, so that the two seedling-picking needles of each seedling-picking claw move along the preset trajectory with the rotation of the seedling-picking arm housing. When the seedling-picking arm housing rotates one revolution, each seedling-picking claw completes one seedling picking and placing operation.

[0016] When one seedling-picking claw is picking up seedlings, the other is placing seedlings, and the seedling-picking arm housing stops rotating. When the seedling-picking claw is picking up seedlings, the ends of the two seedling-picking needles of the claw move to the seedling-picking point on the preset trajectory. The controller controls the corresponding push-pull electromagnet to be energized. The iron core of the push-pull electromagnet pulls the push rod, causing the clamping plate to move closer to the push-pull electromagnet. The two grooves of the clamping plate drive the ends of the two seedling-picking needles to move towards each other, so that the ends of the two seedling-picking needles close and clamp the seedling in the pot. When the seedling-picking claw is placing seedlings, the ends of the two seedling-picking needles of the claw move to the seedling-placement point on the preset trajectory. The controller controls the corresponding push-pull electromagnet to be de-energized. The spring of the push-pull electromagnet pushes the iron core back to its original position. The iron core pushes the push rod, causing the clamping plate to move away from the push-pull electromagnet. The two grooves of the clamping plate drive the ends of the two seedling-picking needles to move away from each other, so that the ends of the two seedling-picking needles open and release the seedling in the pot.

[0017] Preferably, the process of the controller controlling the planetary motor to drive the seed-retrieving claw to rotate is as follows: the controller controls the current to pass through the stator coil to generate a rotating magnetic field. The magnetic field of the permanent magnet rotor interacts with the magnetic field generated by the stator coil, causing the permanent magnet rotor to rotate. The permanent magnet rotor drives the sun gear to rotate. The sun gear meshes with each planet gear, and each planet gear meshes with the gear ring, so that each planet gear rotates on its own axis while driving the planet carrier to revolve together. In turn, the planet carrier drives the output shaft to rotate. The output shaft drives the entire seed-retrieving claw to rotate through the seed-retrieving claw housing. The rotation speed of the permanent magnet rotor is controlled by changing the current passed through the stator coil, thereby changing the relative angle between the seed-retrieving claw housing and the seed-retrieving arm housing in real time.

[0018] The present invention has the following beneficial effects:

[0019] 1. This invention, while simultaneously performing the tasks of retrieving and releasing seedlings from pots, avoids seedling damage and wiring entanglement by controlling the posture of the seedlings during release through a motor-driven rotating seedling-retrieving claw. Specifically, the invention uses a drive motor to drive the drive shaft, rotating the seedling-retrieving arm housing, planetary motors, and seedling-retrieving claws. Two planetary motors drive two seedling-retrieving claws to rotate, ensuring that the ends of the two seedling-retrieving needles of each claw move along a preset trajectory. Furthermore, by controlling the on / off state of a push-pull electromagnet within each claw, the electromagnet's core drives a push rod, causing a clamping plate to move closer to or away from the electromagnet. This, in turn, causes the two sliding grooves of the clamping plate to drive the ends of the two seedling-retrieving needles to move towards or away from each other, thus achieving the task of retrieving or releasing seedlings from pots. In addition, the two planetary motors driving the rotation of the two seedling-retrieving claws control the posture of each claw, ensuring that the posture of the seedlings during release is controlled, thereby preventing seedling damage. In one step, this invention employs a first conductive slip ring, which, when the drive shaft rotates the seedling arm housing, drives the rotor portion of the first conductive slip ring and the stator coils of each planetary motor connected to the rotor portion of the first conductive slip ring via wiring harnesses to rotate together. This avoids the problem of the stator coil wiring harnesses of each planetary motor tangling. Simultaneously, when the planetary motor drives the seedling claw to rotate, it drives the rotor portion of a second conductive slip ring and the push-pull electromagnet connected to the rotor portion of the second conductive slip ring via wiring harnesses to rotate together. This avoids the problem of the push-pull electromagnet wiring harness tangling. The planetary motor controls the rotational speed of the permanent magnet rotor by changing the current flowing through the stator coils, thereby changing the relative angle between the seedling claw housing and the seedling arm housing in real time to ensure the posture requirements of the seedling claw when picking up and placing seedlings.

[0020] 2. In this invention, the planetary motor is located inside the seedling arm housing and is integrated with the seedling arm housing, so that the axial dimension of this invention can be as large as that of a conventional non-circular planetary gear mechanism; furthermore, the planetary motor is composed of a permanent magnet motor and a planetary reducer, which realizes the rotation of the seedling claw while reducing the speed and increasing the torque of the output shaft of the planetary motor. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the seedling-taking claw in this invention;

[0023] Figure 3 This is a schematic diagram of the structure of the seedling-retrieving claw after removing part of the seedling-retrieving claw shell in this invention;

[0024] Figure 4 This is a schematic diagram of the structure of the seedling arm after removing part of the seedling arm shell in this invention;

[0025] Figure 5 This is a schematic diagram of the overall structure of the conductive slip ring II in this invention when it is not fully assembled. Detailed Implementation

[0026] The present invention will now be further described with reference to the accompanying drawings.

[0027] like Figure 1 and Figure 5 As shown, a direct-drive electric motor seedling picking device includes a drive shaft, a seedling picking arm 2, a seedling picking claw, and a conductive slip ring 6.

[0028] like Figure 4 As shown, the seedling arm 2 includes a seedling arm housing and a planetary motor; a horizontally arranged drive shaft is fixed to the middle of the seedling arm housing and is driven to rotate by the drive motor 1; two planetary motors are symmetrically arranged about the drive shaft at both ends of the seedling arm housing. The planetary motor includes a permanent magnet rotor 11, a stator coil 13, a gear ring 14, a sun gear, planetary gears 15, a planet carrier 17, and an output shaft 18; the planet carrier 17 and the circular hole 1 inside the seedling arm housing form a rotating pair; the output shaft 18 is parallel to the drive shaft and coaxially fixed to the side of the planet carrier 17 located outside the seedling arm housing; the side of the planet carrier 17 located inside the seedling arm housing is hinged with multiple planetary gears 15 evenly distributed circumferentially; the gear ring 14 is sleeved on the outside of each planetary gear 15 and meshes with each planetary gear 15, and is fixed to the seedling arm housing. Inside the seedling arm housing; the stator coil 13 is located outside the gear ring 14 and fixed inside the seedling arm housing; the permanent magnet rotor 11 is sleeved outside the stator coil 13, and a coaxially arranged rotating shaft is fixed in the middle of the permanent magnet rotor 11, and a coaxially arranged sun gear is fixed thereon. The rotating shaft and the seedling arm housing form a rotating pair. The sun gear is located inside each planet gear 15 and meshes with each planet gear 15. Among them, the gear ring 14, the sun gear, the planet carrier 17 and each planet gear 15 constitute a planetary reducer, which can reduce the speed and increase the torque of the output shaft 18.

[0029] Each output shaft 18 is equipped with a seedling-grabbing claw. For example... Figure 1 , Figure 2 and Figure 3As shown, the seedling-picking claw includes a seedling-picking claw housing 3, a support plate 4, a seedling-picking needle 5, a push rod 8, a push-pull electromagnet 7, a conductive slip ring 2 19, and a clamping plate 9. The seedling-picking claw housing 3 is fixed to the corresponding output shaft 18. The conductive slip ring 2 19 is sleeved on the output shaft 18, and the rotor part of the conductive slip ring 2 19 is fixed to the output shaft 18, while the stator part is fixed to the seedling-picking arm housing. The rotor part and the stator part of the conductive slip ring 2 19 can rotate relative to each other. The support plate 4 is fixed to the seedling-picking claw housing 3. The push-pull electromagnet 7 is fixed inside the seedling-picking claw housing 3. The push rod 8 is perpendicular to the drive shaft and passes through the opening in the seedling-picking claw housing 3. A through hole forms a sliding pair with the through hole, and one end of the push rod 8 located inside the seedling claw housing 3 is fixed to the iron core of the push-pull electromagnet 7, and the other end is fixed to the clamping plate 9; one end of the two symmetrically arranged seedling needles 5 is hinged to the support plate 4, and the other end passes through the sliding grooves opened at both ends of the clamping plate 9, forming a sliding pair with the two sliding grooves respectively; the distance between the two sliding grooves on the clamping plate 9 is less than the distance between the ends of the two seedling needles 5 near the support plate 4; in the initial state, the sliding groove of the clamping plate 9 is located in the middle position of the seedling needles 5, so that the two seedling needles 5 are in the open state, and the distance between the two sliding grooves on the clamping plate 9 is greater than the distance between the ends of the two seedling needles 5 away from the support plate 4.

[0030] A conductive slip ring 6 is fitted onto the drive shaft, and the rotor portion of the conductive slip ring 6 is fixed to the drive shaft, while the stator portion is fixed to the motor housing of the drive motor 1. The rotor portion and stator portion of the conductive slip ring 6 can rotate relative to each other, and the wire harnesses of the two stator coils 13 are connected to the wire harnesses on the rotor portion of the conductive slip ring 6. The wire harness of the push-pull electromagnet 7 is connected to the wire harnesses on the rotor portion of the corresponding conductive slip ring 19, and the wire harnesses on the stator portions of the two conductive slip rings 19 are connected to the wire harnesses on the rotor portion of the conductive slip ring 6.

[0031] In a preferred embodiment, the output shaft 2 of the drive motor 1 is connected to the drive shaft via a coupling.

[0032] In a preferred embodiment, the rotating shaft and the retainer 10 form a rotating pair, and the retainer 10 is detachably fixed in the second round hole opened in the seedling arm housing.

[0033] In a preferred embodiment, an end plate 12 is fixed on the permanent magnet rotor 11, and the sun gear and the shaft are fixed on both sides of the end plate 12.

[0034] In a preferred embodiment, the planetary gear 15 is supported on a fixed shaft by a bearing 16, and the fixed shaft is fixed to the planet carrier 17.

[0035] The drive motor 1 is controlled by a controller, which controls the on / off state of the two push-pull electromagnets 7, and controls the on / off state and current magnitude of the two stator coils 13 (the wire harness on the stator part of the conductive slip ring 6 is connected to the controller).

[0036] The present invention discloses a method for retrieving seedlings using a direct-drive electric motor-driven seedling retrieving device, the specific details of which are as follows:

[0037] The middle part of the seedling-picking arm housing is rotatably connected to the frame (the frame has a walking mechanism at the bottom, such as two front wheel frames hinged to the bottom of the frame and two rear wheels driven by a rotary motor; the front wheel frames are driven to swing left and right by a swing motor, and the front wheels are hinged to the bottom of the front wheel frames). The motor housing of drive motor 1 is then fixed to the frame. Next, the frame moves forward, and the controller controls drive motor 1 to drive the drive shaft, causing the rotor of the seedling-picking arm housing and conductive slip ring 6 to rotate intermittently. The seedling-picking arm housing drives each planetary motor and each seedling-picking claw to rotate. Simultaneously, the controller controls each planetary motor to drive the corresponding seedling-picking claw to rotate (the rotation direction of the seedling-picking claw is opposite to the rotation direction of drive motor 1, which can be...). Figure 1 The drive motor 1 rotates clockwise, and each seedling claw rotates counterclockwise. When the seedling claws rotate, the rotor part of the conductive slip ring 2 rotates together, while the stator part of the conductive slip ring 2 remains stationary relative to the seedling arm housing. This causes the ends of the two seedling needles 5 of each seedling claw (the ends of the two seedling needles 5 that are away from the push-pull electromagnet 7) to move along the preset trajectory with the rotation of the seedling arm housing. When the seedling arm housing rotates one revolution, both seedling claws complete one seedling picking and placing operation.

[0038] The process of the controller controlling the planetary motor to drive the seed-retrieving claw to rotate is as follows: The controller controls the current to pass through the stator coil 13 to generate a rotating magnetic field. The magnetic field of the permanent magnet rotor 11 interacts with the magnetic field generated by the stator coil 13, causing the permanent magnet rotor 11 to rotate. The permanent magnet rotor 11 drives the sun gear to rotate. The sun gear meshes with each planet gear 15, and each planet gear 15 meshes with the gear ring 14. This causes each planet gear 15 to rotate on its own axis while driving the planet carrier 17 to revolve together. In turn, the planet carrier 17 drives the output shaft 18 to rotate. The output shaft 18 drives the corresponding entire seed-retrieving claw to rotate through the seed-retrieving claw housing 3. In addition, the speed of the permanent magnet rotor 11 is controlled by changing the current passed through the stator coil 13, thereby changing the relative angle between the seed-retrieving claw housing 3 and the seed-retrieving arm housing in real time.

[0039] When one of the seedling-picking claws is picking up a seedling, the other claw is placing the seedling, and the seedling-picking arm housing pauses rotation at this time. When the seedling-picking claw is picking up a seedling, the ends of the two seedling-picking needles 5 move to the seedling-picking point on the preset trajectory. The controller then energizes the corresponding push-pull electromagnet 7. The iron core of the push-pull electromagnet 7 pulls the push rod 8, causing the clamping plate 9 to move closer to the push-pull electromagnet 7. The two grooves of the clamping plate 9 drive the ends of the two seedling-picking needles 5 to move towards each other, causing the ends of the two seedling-picking needles 5 to close and clamp the seedling in the pot. When the seedling-picking claw is placing the seedling, the ends of the two seedling-picking needles 5 move to the seedling-placement point on the preset trajectory, and the controller... The device controls the corresponding push-pull electromagnet 7 to de-energize. The spring of the push-pull electromagnet 7 pushes the iron core back to its original position. The iron core pushes the push rod 8 to move the clamping plate 9 away from the push-pull electromagnet 7. The two sliding grooves of the clamping plate 9 drive the ends of the two seedling picking needles 5 to move in opposite directions, so that the ends of the two seedling picking needles 5 open and release the potted seedlings (a seedling planting mechanism can be set on the frame to catch the potted seedlings released by the seedling picking claws and plant the potted seedlings into the soil. The seedling planting mechanism can be an existing rotary seedling planting mechanism, such as the duckbill seedling planting mechanism described in the patent application number 201420194577.6. Of course, other seedling planting mechanisms such as multi-rod seedling planting mechanisms can also be used).

Claims

1. A direct-drive electric motor-driven seedling picking device, comprising a drive shaft, a picking arm, and a picking claw, characterized in that: It also includes a conductive slip ring; the seedling arm includes a seedling arm housing and a planetary motor; a horizontally arranged drive shaft is fixed to the middle of the seedling arm housing and is driven to rotate by the drive motor; two planetary motors are symmetrically arranged about the drive shaft at both ends of the seedling arm housing; the planetary motor includes a permanent magnet rotor, a stator coil, a gear ring, a sun gear, planet gears, a planet carrier, and an output shaft; the planet carrier and a circular hole in the seedling arm housing form a rotating pair; the output shaft is parallel to the drive shaft and coaxial with the side of the planet carrier located outside the seedling arm housing. The planetary carrier is located inside the seedling arm housing and is hinged to one side with multiple planetary gears evenly distributed circumferentially. The gear ring is sleeved on the outside of each planetary gear and meshes with each planetary gear, and is fixed inside the seedling arm housing. The stator coil is located on the outside of the gear ring and is fixed inside the seedling arm housing. The permanent magnet rotor is sleeved on the outside of the stator coil, and a coaxially arranged rotating shaft is fixed in the middle of the permanent magnet rotor, and a coaxially arranged sun gear is fixed thereon. The rotating shaft and the seedling arm housing form a rotating pair. The sun gear is located inside each planetary gear and meshes with each planetary gear. Each output shaft is equipped with a seedling-grabbing claw; the seedling-grabbing claw includes a seedling-grabbing claw housing, a support plate, a seedling-grabbing needle, a push rod, a push-pull electromagnet, a conductive slip ring II, and a clamping plate; the seedling-grabbing claw housing is fixed to the corresponding output shaft; the rotor portion of the conductive slip ring II is fixed to the output shaft, and the stator portion is fixed to the seedling-grabbing arm housing; the support plate is fixed to the seedling-grabbing claw housing; the push-pull electromagnet is fixed inside the seedling-grabbing claw housing; the push rod is perpendicular to the drive shaft and passes through a through hole in the seedling-grabbing claw housing, forming a sliding pair with the through hole, and the push rod is located at... One end of the seedling-taking claw housing is fixed to the iron core of the push-pull electromagnet, and the other end is fixed to the clamping plate; one end of each of the two symmetrically arranged seedling-taking needles is hinged to the support plate, and the other end passes through the sliding grooves opened at both ends of the clamping plate, forming a sliding pair with the two sliding grooves respectively; the distance between the two sliding grooves on the clamping plate is less than the distance between the ends of the two seedling-taking needles near the support plate; in the initial state, the sliding grooves of the clamping plate are located in the middle of the two seedling-taking needles, the two seedling-taking needles are in the open state, and the distance between the two sliding grooves on the clamping plate is greater than the distance between the ends of the two seedling-taking needles away from the support plate; The rotor portion of the first conductive slip ring is fixed to the drive shaft, and the stator portion is fixed to the motor housing of the drive motor; wherein, the wire harnesses of the two stator coils are connected to the wire harnesses on the rotor portion of the first conductive slip ring; the wire harness of the push-pull electromagnet is connected to the wire harnesses on the rotor portion of the corresponding second conductive slip ring, and the wire harnesses on the stator portions of the two second conductive slip rings are connected to the wire harnesses on the rotor portion of the first conductive slip ring.

2. The direct-drive electric motor seedling extraction device according to claim 1, characterized in that: The output shaft of the drive motor is connected to the drive shaft via a coupling.

3. The direct-drive electric motor seedling extraction device according to claim 1, characterized in that: The rotating shaft and the retaining frame form a rotating pair, and the retaining frame is detachably fixed in the second round hole opened in the seedling arm housing.

4. The direct-drive electric motor-driven seedling extraction device according to claim 1, characterized in that: An end plate is fixed on the permanent magnet rotor, and the sun gear and the shaft are fixed on both sides of the end plate.

5. The direct-drive electric motor-driven seedling extraction device according to claim 1, characterized in that: The planetary gears are supported on a fixed shaft by bearings, and the fixed shaft is fixed to the planet carrier.

6. The direct-drive electric motor-driven seedling extraction device according to claim 1, characterized in that: The gear ring, sun gear, planet carrier, and planet gears constitute a planetary reducer.

7. A method for retrieving seedlings using a direct-drive electric motor seedling retrieving device according to any one of claims 1 to 6, characterized in that: Specifically as follows: The middle part of the seedling arm housing is rotatably connected to the frame, and the motor housing of the drive motor is fixed on the frame. Then the frame moves forward, and the controller controls the drive motor to drive the drive shaft to drive the rotor of the seedling arm housing and the first conductive slip ring to rotate intermittently. The seedling arm housing drives each planetary motor and each seedling claw to rotate. At the same time, the controller controls each planetary motor to drive the corresponding seedling claw to rotate, so that the two seedling needles of each seedling claw move along the preset trajectory with the rotation of the seedling arm housing. When the seedling arm housing rotates one revolution, the two seedling claws complete one seedling picking and placing operation. When one seedling-picking claw is picking up seedlings, the other is placing seedlings, and the seedling-picking arm housing stops rotating. When the seedling-picking claw is picking up seedlings, the ends of the two seedling-picking needles of the claw move to the seedling-picking point on the preset trajectory. The controller controls the corresponding push-pull electromagnet to be energized. The iron core of the push-pull electromagnet pulls the push rod, causing the clamping plate to move closer to the push-pull electromagnet. The two grooves of the clamping plate drive the ends of the two seedling-picking needles to move towards each other, so that the ends of the two seedling-picking needles close and clamp the seedling in the pot. When the seedling-picking claw is placing seedlings, the ends of the two seedling-picking needles of the claw move to the seedling-placement point on the preset trajectory. The controller controls the corresponding push-pull electromagnet to be de-energized. The spring of the push-pull electromagnet pushes the iron core back to its original position. The iron core pushes the push rod, causing the clamping plate to move away from the push-pull electromagnet. The two grooves of the clamping plate drive the ends of the two seedling-picking needles to move away from each other, so that the ends of the two seedling-picking needles open and release the seedling in the pot.

8. The method for retrieving seedlings using a direct-drive electric motor-driven seedling retrieving device according to claim 7, characterized in that: The process of the controller controlling the planetary motor to drive the seed-picking claw to rotate is as follows: The controller controls the current to pass through the stator coil to generate a rotating magnetic field. The magnetic field of the permanent magnet rotor interacts with the magnetic field generated by the stator coil, causing the permanent magnet rotor to rotate. The permanent magnet rotor drives the sun gear to rotate. The sun gear meshes with each planet gear, and each planet gear meshes with the gear ring, so that each planet gear rotates on its own axis and drives the planet carrier to revolve together. In turn, the planet carrier drives the output shaft to rotate. The output shaft drives the entire seed-picking claw to rotate through the seed-picking claw housing. The speed of the permanent magnet rotor is controlled by changing the current passed through the stator coil, thereby changing the relative angle between the seed-picking claw housing and the seed-picking arm housing in real time.

Images