An automatic seedling-supporting and soil-collecting device suitable for mechanical transplanting in multiple scenarios

Abstract

The present invention provides an automatic seedling-supporting and soil-collecting device suitable for mechanical transplanting in multiple scenarios, belonging to the technical field of agricultural transplanting machinery. The automatic seedling-supporting and soil-collecting device comprises a controller, a supporting mechanism for supporting, a determination system for determining the inclination angle and position information of the seedlings in the pot, a seedling-supporting and soil-collecting mechanism for supporting the seedlings and collecting the soil, and an adjustment mechanism arranged on the supporting mechanism and capable of adjusting the position and inclination angle of the seedling-supporting and soil-collecting mechanism by magnetic attraction. The seedling-supporting and soil-collecting device is suitable for both flat land and sloping cultivated land, and the adjustment mechanism can automatically adjust the position and angle of the seedling-supporting and soil-collecting mechanism according to the inclination posture of the seedlings in the pot based on the magnetic attraction, thereby effectively ensuring the uprightness of the planted seedlings in the pot, and having high stability and strong adaptability.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural transplanting machinery, and in particular to an automatic seedling-supporting and soil-collecting device suitable for mechanical transplanting in multiple scenarios. Background Art

[0002] Although the current mechanical transplanting of seedlings in pots can effectively improve the efficiency of transplanting compared to manual planting, it is prone to planting quality problems. Affected by the movement of the planting mechanism and the travel speed of the whole machine, the seedlings in pots after planting are easily tilted by the planting mechanism. If the uprightness of the seedlings in pots after planting cannot be guaranteed, it will directly lead to the stunted growth, uneven absorption of light and nutrients, and thus reduce the survival rate. At the same time, it will also increase the difficulty of subsequent management and maintenance, and ultimately cause economic losses. Therefore, through reasonable support and fixing measures to ensure that the seedlings in pots remain upright after transplanting, it will help the roots of the seedlings to take root firmly in the new soil and improve the survival rate and growth quality of the seedlings in pots after transplanting.

[0003] At present, there are many seedling-supporting devices. For example, the patent with publication number CN105474846A discloses a seedling-supporting and planting device for dryland vegetable transplanters. The device has the advantage of a seedling-pushing mechanism that pushes the seedlings into the ditch at zero speed. However, in actual operation, the efficiency and accuracy of transplanting are affected by many factors, such as the wear of mechanical parts, changes in soil conditions, the skill level of operators, and transplanting scenarios. The patent with publication number CN112740882A discloses a rotary automatic seedling-supporting device suitable for mechanical transplanting. The device has the advantage of multi-degree-of-freedom spatial seedling-supporting, but it cannot cover the soil well after supporting the seedlings, which easily causes the roots of the seedlings to be exposed above the surface. The patent with publication number CN117769938A discloses a new seedling-supporting and soil-holding device. The device has the advantages of straightening the seedlings and gathering and compacting the surrounding soil, but it only supports straightening the seedlings that are tilted on the left and right sides of the forward direction, and its versatility needs to be further improved.

[0004] Whether it is interfering with the movement trajectory of the planting mechanism during the planting process or adjusting the uprightness of the seedlings in the pot after planting, the existing technology still has certain shortcomings or limitations in terms of accuracy and stability, efficiency and cost, applicable scenarios and scope, etc. Summary of the invention

[0005] In view of the defects of the prior art, the present invention provides an automatic seedling supporting and soil gathering device suitable for mechanical transplanting in multiple scenarios in order to improve the planting effect of transplanters. The device is suitable for both flat land and sloping farmland. Through the direction adjustment mechanism based on the magnetic suction effect, the position and inclination angle of the seedling supporting and soil gathering mechanism can be automatically adjusted according to the inclination posture of the seedlings in the pot, thereby effectively ensuring the uprightness of the planted seedlings in the pot, with high stability and strong adaptability.

[0006] In order to achieve the above object, the specific scheme adopted by the present invention is:

[0007] An automatic seedling-supporting and soil-collecting device suitable for mechanical transplanting in multiple scenarios, comprising a controller, a supporting mechanism for supporting, a determination system for determining the tilt angle and position information of a seedling in a pot, a seedling-supporting and soil-collecting mechanism for supporting the seedling and collecting the soil, and a direction adjustment mechanism provided on the supporting mechanism and connected to the seedling-supporting and soil-collecting mechanism, wherein the position and tilt angle of the seedling-supporting and soil-collecting mechanism can be adjusted by the direction adjustment mechanism;

[0008] The direction adjustment mechanism includes an annular toothed guide rail with a circle of meshing teeth on the outer wall fixed in the support mechanism, a hemispherical shell is buckled in the middle of the upper surface of the annular toothed guide rail, the axis of the hemispherical shell is consistent with the axis of the annular toothed guide rail, a tray is provided on the annular toothed guide rail on the outer side of the hemispherical shell, and a chain motor electrically connected to the controller is provided on the tray; two arc-shaped baffles arranged at intervals are closely attached to the outer peripheral surface of the hemispherical shell side by side, the upper end of the arc-shaped baffle extends to the vertex of the hemispherical shell or slightly beyond the vertex, and the lower end extends to the bottom surface of the hemispherical shell, and the upper ends of the two arc-shaped baffles are hinged to the support mechanism through a connecting rod The upper and lower ends are both arranged on the output shaft of the chain motor, and the outer sides of the two arc-shaped baffles are each provided with a sprocket chain assembly connected to the chain motor. The two sprocket chain assemblies are fixed with an electromagnetic block through an L-shaped connecting plate. The electromagnetic block is arranged between the two arc-shaped baffles and the bottom surface abuts against the outer peripheral surface of the hemispherical shell. The electromagnetic block is attracted to the electromagnetic ball arranged in the hemispherical shell through magnetic force, and the seedling-supporting and soil-collecting mechanism is fixed under the electromagnetic ball; the chain motor drives the sprocket chain assembly to transmit, which can drive the electromagnetic block and the electromagnetic ball to move along the arc surface of the hemispherical shell between its vertex and bottom surface, thereby driving the seedling-supporting and soil-collecting mechanism to move synchronously;

[0009] The tray is also provided with a guide rail motor electrically connected to the controller, and the output shaft of the guide rail motor is provided with a guide rail gear that can mesh with the annular toothed guide rail. Under the action of the guide rail motor, the guide rail gear meshes and rotates with the annular toothed guide rail, driving the tray to perform circumferential rotation around the hemispherical shell, thereby driving the electromagnetic block, the electromagnetic ball and the seedling supporting and soil gathering mechanism to perform circumferential rotation around the hemispherical shell;

[0010] The determination system is electrically connected to the controller, and includes a central processing unit and a high-definition camera arranged on a supporting mechanism. The height of the high-definition camera is adjustable and rotatable. The high-definition camera can capture images of the seedlings in pots in real time and transmit the captured images to the central processing unit. The central processing unit can determine the inclination angle and position information of the seedlings in pots by analyzing the image content. The central processing unit transmits the determined information to the controller, and the controller analyzes the target position and rotation angle that the seedling supporting and soil gathering mechanism needs to reach based on the determined information.

[0011] Furthermore, the supporting mechanism includes a frame formed by a fixed plate and columns arranged at the four corners of the fixed plate, a wheel is provided at the bottom end of the column, an electric push rod is provided at the center of the lower surface of the fixed plate, a bearing plate is provided at the end of the piston rod of the electric push rod, and two U-shaped rods with openings facing each other are symmetrically provided on the bearing plate. The adjustment mechanism is arranged in the space surrounded by the two U-shaped rods, and the annular toothed guide rail is fixed on the two U-shaped rods.

[0012] Furthermore, a spherical bearing is installed below the center of the bearing plate, and two connecting rods are hinged on both sides below the spherical bearing respectively.

[0013] Furthermore, the bottom surface of the electromagnetic block is an arc-shaped surface, and the curvature is consistent with the curvature of the hemispherical shell.

[0014] Furthermore, an annular slide rail is provided on the annular toothed guide rail at the outer side of the hemispherical shell, and a sliding block cooperating with the annular slide rail is provided at the lower part of the tray.

[0015] Furthermore, the seedling-supporting and soil-collecting mechanism includes a gear box, a clamp motor, a driving gear, a driven gear, a clamp and an inclination sensor, wherein two driven gears and two clamps are provided; the gear box is arranged below the electromagnetic ball, the inclination sensor electrically connected to the controller is located outside the gear box, the clamp motor electrically connected to the controller is fixed on the gear box, the driving gear, the driven gear and the upper part of the clamp are all arranged in the gear box, the connecting shafts of the two driven gears are fixed on the gear box, the two clamps are respectively fixed on the driven gears on the corresponding sides, the output shaft of the clamp motor is connected to the driving gear, the driving gear is meshed with one of the driven gears, the two driven gears are meshed, and the clamp motor drives the driving gear to rotate, thereby driving the clamp to open and close, and perform seedling-supporting and soil-collecting operations.

[0016] Furthermore, the clamp includes a fixed section, a seedling supporting section and a soil gathering section. The upper end of the fixed section is fixed on the driven gear, and the fixed section and the soil gathering section located therebelow form an outwardly convex arc structure. The seedling supporting section is located on the inner side of the middle part of the arc structure and is inclined downward, and the end of the seedling supporting section is arc-shaped.

[0017] Furthermore, the seedling supporting section is made of rubber, and the soil gathering section is made of aluminum alloy.

[0018] Furthermore, each clamping jaw is provided with a suppression assembly, which includes a suppression motor, a lead screw, a rolling joint and a suppression plate. The suppression motor electrically connected to the controller is fixed on the outer wall of the clamping jaw. One end of the lead screw is fixedly connected to the output shaft of the suppression motor, and the other end passes through the clamping jaw and is connected to the rolling joint through a cylinder with a built-in thread. The rolling joint is fixed above the suppression plate.

[0019] Furthermore, both upper and lower end surfaces of the suppression plate are arc-shaped concave surfaces, the upper end surface is close to the end of the seedling supporting section, and the lower end faces the lower inner wall of the soil gathering section.

[0020] Beneficial effects:

[0021] (1) The automatic seedling-supporting and soil-collecting device of the present invention can straighten and collect soil for the tilted seedlings in the pot after the operation of the transplanter. It is not affected by the operation process of the transplanter and the topography, has strong adaptability, and can effectively ensure that the seedlings in the pot quickly and accurately reach the predetermined upright state.

[0022] (2) The present invention connects the direction adjustment mechanism with the seedling supporting and soil gathering mechanism by means of magnetic attraction. By controlling the strength and direction of the magnetic field, the electromagnetic block and the electromagnetic ball cooperate to drive the clamping claws to rotate at multiple angles and in multiple directions, thereby reaching the tilted position of the seedling pot, thereby ensuring that the seedling supporting section can straighten the seedling pot in any position.

[0023] (3) The clamp of the present invention includes a seedling-supporting section and a soil-collecting section. The seedling-supporting section straightens the seedlings while the soil-collecting section gathers the soil around the seedlings, which can effectively ensure the uprightness and survival rate of the seedlings, and has high stability and strong adaptability. The seedling-supporting section is made of rubber, and the part that fits the seedlings is arc-shaped, which can effectively reduce damage to stems and leaves and improve the survival rate of seedlings transplanting.

[0024] (4) The automatic seedling-supporting and soil-collecting device of the present invention further comprises a pressing component arranged on the clamping claw, which can press the soil after the clamping claw straightens the seedling in the pot, thereby effectively preventing the root of the seedling from growing exposed. Moreover, the seedling-supporting and soil-collecting mechanism of the present invention has the functions of supporting the seedling, collecting the soil and pressing at the same time, has a compact structure, a simple transmission method and high stability.

[0025] (5) Compared with the traditional seedling supporting device, the automatic seedling supporting and soil gathering device of the present invention has a compact overall structure, can cope with various terrain conditions, has better working effect, and is easy to promote and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the automatic seedling supporting and soil gathering device of the present invention.

[0027] Figure 2 It is a front view of the direction adjusting mechanism and the seedling supporting and soil gathering mechanism in the present invention.

[0028] Figure 3 It is a top view of the direction adjustment mechanism in the present invention.

[0029] Figure 4 It is a schematic diagram of the driving gear, the driven gear and the clamping claw in the present invention.

[0030] Figure 5 It is a front view of the seedling supporting and soil gathering mechanism of the present invention.

[0031] Graphic markings: 1. fixed plate, 2. electric push rod, 3. column, 4. wheel, 5. load-bearing plate, 6. connecting rod, 7. U-shaped rod, 8. joint bearing, 9. first sprocket, 10. second sprocket, 11. chain, 12. arc baffle, 13. chain motor, 14. guide rail motor, 15. guide rail gear, 16. hemispherical shell, 17. annular toothed guide rail, 18. electromagnetic block, 19. tray, 20. electromagnetic ball, 21. gear box, 22. inclination sensor, 23. clamping claw, 231. fixed section, 232. seedling supporting section, 233. soil gathering section, 24. clamping claw motor, 25. driving gear, 26. driven gear, 27. suppression motor, 28. lead screw, 29. rolling joint, 30. suppression plate. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it is necessary to understand that the terms "upper" and "lower" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0034] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0035] The present invention provides an automatic seedling-supporting and soil-collecting device suitable for mechanical transplanting in multiple scenarios. Figures 1 to 5 The automatic seedling-supporting and soil-collecting device includes a controller, a supporting mechanism for supporting, a determination system for determining the tilt angle and position information of the seedling pot, a seedling-supporting and soil-collecting mechanism for supporting the seedling and collecting the soil, and a direction adjustment mechanism provided on the supporting mechanism and capable of adjusting the position and tilt angle of the seedling-supporting and soil-collecting mechanism through magnetic attraction. Each mechanism is described in detail below in conjunction with the accompanying drawings.

[0036] <Support mechanism>

[0037] The support mechanism includes a fixed plate 1, an electric push rod 2, a column 3, a wheel 4, a bearing plate 5, a spherical bearing 8 and a U-shaped rod 7. The fixed plate 1 is located at the top, and one end of the four columns 3 is connected to the fixed plate 1, and the other end is connected to the wheel 4. The electric push rod 2 extends vertically and is fixed below the center of the fixed plate 1. The piston rod end of the electric push rod 2 is connected to the center of the bearing plate 5, and the bearing plate 5 can be driven to move up and down by the electric push rod 2. The spherical bearing 8 is installed in a circular groove below the center of the bearing plate 5, and two U-shaped rods 7 with openings arranged opposite to each other are symmetrically provided on the bearing plate 5, and the adjustment mechanism is arranged in the space surrounded by the two U-shaped rods 7.

[0038] <Transfer Organization>

[0039] The direction adjustment mechanism includes a sprocket chain assembly consisting of a sprocket and a chain, a connecting rod 6, an arc baffle 12, a chain motor 13, a guide motor 14, a guide gear 15, a hemispherical shell 16, an annular toothed guide 17, an electromagnetic block 18, a tray 19 and an electromagnetic ball 20.

[0040] The annular toothed guide rail 17 is fixed on the two U-shaped rods 7, and a hemispherical shell 16 is placed on the annular toothed guide rail 17. The axis of the hemispherical shell 16 is consistent with the axis of the annular toothed guide rail 17, and the diameter of the hemispherical shell 16 is equal to or slightly larger than the inner diameter of the annular toothed guide rail 17. In this way, the hemispherical shell 16 can be directly fixed in the inner hole of the annular toothed guide rail 17, or the hemispherical shell 16 can also be placed on the upper surface of the annular toothed guide rail 17, but the annular toothed guide rail 17 cannot block the space below the hemispherical shell 16 too much to avoid interfering with the movement of the seedling supporting and soil gathering mechanism. A tray 19 is provided on the annular toothed guide rail 17 on the outer side of the hemispherical shell 16, and a chain motor 13 is provided on the tray 19. Two spaced arc baffles 12 are closely attached to the outer peripheral surface of the hemispherical shell 16 side by side, and the upper end of the arc baffle 12 extends to the vertex of the hemispherical shell 16 or slightly beyond the vertex, and the lower end extends to the bottom surface of the hemispherical shell 16. A connecting rod 6 is provided on the upper ends of the two arc baffles 12, and one end of the connecting rod 6 away from the arc baffle 12 is hinged on both sides below the spherical bearing 8. The lower ends of the two arc baffles 12 are both arranged on the output shaft of the chain motor 13, and the first sprocket 9, the second sprocket 10 and the third sprocket (blocking) are equidistantly installed on the outer sides of the two arc baffles 12, and the chain 11 is installed on the sprocket on the same side. The two third sprockets at the lower end of the baffle 12 are connected to the output shaft of the chain motor 13. The chain plates of the two chains 11 are fixed with an electromagnetic block 18 through an L-shaped connecting plate (not shown in the figure). The electromagnetic block 18 is externally connected to a power supply. The electromagnetic strength of the electromagnetic block 18 can be adjusted by changing the current. The electromagnetic block 18 is arranged between the two arc-shaped baffles 12, and the bottom surface is always close to the hemispherical shell 16. The electromagnetic block 18 is attracted to the electromagnetic ball 20 arranged in the hemispherical shell 16 through the magnetic force, and the seedling supporting and soil gathering mechanism is fixed under the electromagnetic ball 20; the chain motor 13 drives the sprocket chain assembly to transmit, which can drive the electromagnetic block 18 and the electromagnetic ball 20 to move along the arc surface of the hemispherical shell 16 between its vertex and the bottom surface, thereby driving the seedling supporting and soil gathering mechanism to move synchronously.

[0041] A circle of meshing teeth is provided on the outer peripheral wall of the annular toothed guide rail 17, and a guide rail motor 14 is also provided on the tray 19. The output shaft of the guide rail motor 14 is provided with a guide rail gear 15 that can mesh with the annular toothed guide rail 17. Under the action of the guide rail motor 14, the guide rail gear 15 meshes and rotates with the annular toothed guide rail 17, driving the tray 19 to perform circumferential rotational motion around the hemispherical shell 16, and then driving the arc baffle 12 and the electromagnetic block 18 to perform circumferential rotational motion around the hemispherical shell 16.

[0042] Specifically, the bottom surface of the electromagnetic block 18 is an arc surface, and its curvature is the same as the curvature of the upper surface of the hemispherical shell 16, which facilitates the close fit between the electromagnetic block 18 and the hemispherical shell 16. The curvature angle of the arc baffle 12 is the same as the curvature of the upper surface of the hemispherical shell 16, which facilitates the close fit between the arc baffle 12 and the hemispherical shell 16.

[0043] Specifically, in order to facilitate the movement of the tray 19 along the annular toothed guide rail 17, a slider (not shown in the figure) is provided under the tray 19, and an annular slide rail is provided on the annular toothed guide rail 17, and the two have the same curvature.

[0044] <Seedling support and soil gathering mechanism>

[0045] The seedling supporting and soil collecting mechanism is partially located in the hemispherical shell 16 and partially extends below the annular toothed guide rail 17. The seedling supporting and soil collecting mechanism includes a gear box 21, a clamping jaw motor 24, a driving gear 25, a driven gear 26, a clamping jaw 23 and an inclination sensor 22, wherein two driven gears 26 and two clamping jaws 23 are each provided.

[0046] The gear box 21 is fixed to the bottom of the electromagnetic ball 20 by bolts, the inclination sensor 22 is installed on the outside of the gear box 21, the clamp motor 24 is installed on the gear box 21, and the output shaft of the clamp motor 24 is connected to the driving gear 25; the connecting shafts of the two driven gears 26 pass through the clamp 23 and the driven gear 26 respectively and are fixed on the two side walls of the gear box 21, the two driven gears 26 are meshed, the driving gear 25 is meshed with one of the driven gears 26, the clamp 23 is fixed on both sides of the driven gear 26, the clamp motor 24 can drive the driving gear 25 to rotate, and the driving gear 25 drives the driven gear 26 to rotate, thereby driving the clamp 23 to open and close, and perform seedling supporting and soil gathering operations.

[0047] The clamp 23 includes a fixed section 231, a seedling-supporting section 232 and a soil-collecting section 233. The top of the fixed section 231 is fixedly connected to the driven gear 26. The fixed section 231 and the soil-collecting section 233 form an outwardly convex arc structure. The seedling-supporting section 232 is located on the inner side of the middle of the arc structure and is tilted downward. In order to ensure that the stems and leaves of the seedlings in the pot are not damaged and the soil is successfully collected, the seedling-supporting section 232 is made of soft rubber material, and the end shape of the seedling-supporting section 232 is arc-shaped; the soil-collecting section 233 is made of aluminum alloy material, and the end shape is conical.

[0048] As a preferred solution of the present invention, each clamping jaw 23 is provided with a pressing assembly, which includes a pressing motor 27, a lead screw 28, a rolling joint 29, and a pressing plate 30. The pressing motor 27 is fixed to the outer wall of the clamping jaw 23, one end of the lead screw 28 is fixedly connected to the output shaft of the pressing motor 27, and the other end passes through the clamping jaw 23 and is connected to the rolling joint 29 through a cylinder with built-in threads, and the rolling joint 29 is fixed above the pressing plate 30. When the pressing motor 27 rotates forward, it can drive the pressing plate 30 to move downward, and when it rotates reversely, it can drive the pressing plate 30 to move upward.

[0049] The upper and lower end surfaces of the pressing plate 30 are both arc-shaped concave surfaces, the upper end surface is close to the end of the seedling-supporting section 232, and can wrap the seedlings in the pot, and the lower end surface is close to the lower inner wall of the soil-collecting section 233. On the seedling-supporting and soil-collecting mechanism, the two seedling-supporting sections 232 are distributed in an inverted figure eight shape, and the two pressing plates 30 are distributed in an figure eight shape.

[0050] <Judgment system>

[0051] The determination system is electrically connected to the controller, and includes a central processing unit and a high-definition camera disposed on a supporting mechanism. The height of the high-definition camera is adjustable and can be rotated relative to the supporting mechanism. The high-definition camera is installed at a suitable position of the supporting mechanism. The high-definition camera captures the image of the seedling in the pot in real time, and transmits the captured image to the central processing unit. The central processing unit automatically analyzes the image content using a deep learning algorithm, determines the inclination angle of the seedling in the pot, and converts it into position information in the actual space based on the pixel coordinates in the image and the calibration parameters of the camera (such as focal length, pixel size, etc.), thereby determining the inclination angle and position information of the seedling in the pot. The central processing unit transmits the determined information to the controller, and the controller analyzes the target position and rotation angle that the clamp 23 needs to reach based on the determined information, and controls the actions of each component based on the analysis results, thereby moving the clamp 23 to the target position.

[0052] Among them, the determination process of the determination system and the analysis process of the controller belong to the prior art and will not be described in detail in the present invention.

[0053] The electric push rod 2, chain motor 13, guide rail motor 14, inclination sensor 22, clamping jaw motor 24, and suppression motor 27 in the present invention are all connected to the controller, so that the movement of each mechanism can be controlled by the controller.

[0054] The automatic seedling supporting and soil gathering device provided by the present invention can be applied to work on flat land or sloping cultivated land, and its specific method of use is: first, the determination system determines the inclination angle and position information of the seedling pot, and the controller analyzes the target position and rotation angle that the clamping claw 23 needs to reach according to the determined information, and then starts the electric push rod 2 to extend and retract the device to the vicinity of the inclined seedling pot. The controller controls the chain motor 13 to rotate forward according to the position to be reached, prompting the electromagnetic block 18 to make an arc motion between the two arc-shaped baffles 12 under the action of the sprocket chain assembly, and at the same time controls the guide rail motor 14 to rotate forward, driving the entire tray 19 and its upper parts to make a circular motion on the annular toothed guide rail 17, so as to move the clamping claw 23 to the target position; according to the required rotation angle, adjust the magnetic strength of the electromagnetic block 18 so that it drives the electromagnetic ball 20 to rotate, and then drives the clamping claw 23 to rotate as a whole. When the clamp 23 is located on the side where the seedling is tilted, the clamp motor 24 rotates forward to provide power, the driving gear 25 drives the driven gear 26 to rotate and then drives the clamp 23 to merge, the seedling support section 232 clamps the stems and leaves of the seedling, and the soil gathering section 233 gathers the soil. After the clamp 23 clamps the stems and leaves of the seedling, the controller controls the chain motor 13 and the guide motor 14 to reverse to perform the seedling support operation. After the controller confirms that the seedling has reached an upright state based on the inclination data sent back by the inclination sensor 22, the suppression motor 27 rotates forward to provide power, drives the lead screw 28 to rotate, and then causes the suppression plate 30 to move downward. After the suppression is completed, the suppression motor 27 and the clamp motor 24 reverse and reset. After the straightening and soil gathering and suppression operation is completed, the seedling is released, that is, the seedling support and soil gathering operation of the seedling is completed.

[0055] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any equivalent changes or modifications made according to the essence of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic seedling-supporting and soil-collecting device suitable for mechanical transplanting in multiple scenarios, characterized in that: The invention comprises a controller, a supporting mechanism for supporting, a determination system for determining the tilt angle and position information of the seedlings in the pot, a seedling-supporting and soil-collecting mechanism for supporting the seedlings and collecting the soil, and a direction-adjusting mechanism arranged on the supporting mechanism and connected to the seedling-supporting and soil-collecting mechanism, through which the position and tilt angle of the seedling-supporting and soil-collecting mechanism can be adjusted; The direction adjustment mechanism comprises an annular toothed guide rail (17) fixed on the outer wall of the support mechanism and provided with a circle of meshing teeth, a hemispherical shell (16) is buckled in the middle of the upper surface of the annular toothed guide rail (17), the axis of the hemispherical shell (16) is consistent with the axis of the annular toothed guide rail (17), a tray (19) is provided on the annular toothed guide rail (17) on the outer side of the hemispherical shell (16), and a chain motor (13) electrically connected to the controller is provided on the tray (19); two arc-shaped baffles (12) arranged at intervals are closely attached to the outer peripheral surface of the hemispherical shell (16), the upper end of the arc-shaped baffles (12) extends to the vertex of the hemispherical shell (16) or slightly beyond the vertex, and the lower end extends to the bottom surface of the hemispherical shell (16), and the upper ends of the two arc-shaped baffles (12) are connected to the support mechanism through a connecting rod (6). The mechanisms are hinged, and the lower ends are both arranged on the output shaft of the chain motor (13). The outer sides of the two arc-shaped baffles (12) are both provided with a sprocket chain assembly connected to the chain motor (13). The two sprocket chain assemblies are fixed with an electromagnetic block (18) via an L-shaped connecting plate. The electromagnetic block (18) is arranged between the two arc-shaped baffles (12) and the bottom surface abuts against the outer peripheral surface of the hemispherical shell (16). The electromagnetic block (18) is attracted to the electromagnetic ball (20) arranged in the hemispherical shell (16) through the action of magnetic force. The seedling-supporting and soil-collecting mechanism is fixed below the electromagnetic ball (20). The chain motor (13) drives the sprocket chain assembly to drive, and can drive the electromagnetic block (18) and the electromagnetic ball (20) to move along the arc surface of the hemispherical shell (16) between its vertex and bottom surface, thereby driving the seedling-supporting and soil-collecting mechanism to move synchronously. The tray (19) is also provided with a guide rail motor (14) electrically connected to the controller, and the output shaft of the guide rail motor (14) is provided with a guide rail gear (15) capable of meshing with the annular toothed guide rail (17). Under the action of the guide rail motor (14), the guide rail gear (15) meshes and rotates with the annular toothed guide rail (17), driving the tray (19) to perform circumferential rotational motion around the hemispherical shell (16), thereby driving the electromagnetic block (18), the electromagnetic ball (20) and the seedling supporting and soil gathering mechanism to perform circumferential rotational motion around the hemispherical shell (16); The determination system is electrically connected to the controller, and includes a central processing unit and a high-definition camera arranged on a supporting mechanism. The height of the high-definition camera is adjustable and rotatable. The high-definition camera can capture images of the seedlings in pots in real time and transmit the captured images to the central processing unit. The central processing unit can determine the inclination angle and position information of the seedlings in pots by analyzing the image content. The central processing unit transmits the determined information to the controller, and the controller analyzes the target position and rotation angle that the seedling supporting and soil gathering mechanism needs to reach based on the determined information.

2. According to claim 1, an automatic seedling supporting and soil gathering device suitable for multi-scenario mechanical transplanting is characterized in that: The support mechanism comprises a frame formed by a fixed plate (1) and columns (3) arranged at the four corners of the fixed plate (1); a wheel (4) is arranged at the bottom end of the column (3); an electric push rod (2) is arranged at the center of the lower surface of the fixed plate (1); a bearing plate (5) is arranged at the end of the piston rod of the electric push rod (2); two U-shaped rods (7) with openings facing each other are symmetrically arranged on the bearing plate (5); the direction adjustment mechanism is arranged in a space surrounded by the two U-shaped rods (7); and the annular toothed guide rail (17) is fixed on the two U-shaped rods (7).

3. According to claim 2, an automatic seedling-supporting and soil-collecting device suitable for multi-scenario mechanical transplanting is characterized in that: A spherical bearing (8) is installed below the center of the bearing plate (5), and two connecting rods (6) are respectively hinged on both sides below the spherical bearing (8).

4. The automatic seedling-supporting and soil-collecting device suitable for multi-scenario mechanical transplanting according to claim 1 is characterized in that: The bottom surface of the electromagnetic block (18) is an arc-shaped surface, and the curvature is consistent with the curvature of the hemispherical shell (16).

5. The automatic seedling-supporting and soil-collecting device suitable for multi-scenario mechanical transplanting according to claim 1 is characterized in that: An annular slide rail is provided on the annular toothed guide rail (17) at the outer side of the hemispherical shell (16), and a sliding block cooperating with the annular slide rail is provided at the lower part of the tray (19).

6. The automatic seedling-supporting and soil-collecting device suitable for multi-scenario mechanical transplanting according to claim 1 is characterized in that: The seedling supporting and soil gathering mechanism comprises a gear box (21), a clamping claw motor (24), a driving gear (25), a driven gear (26), a clamping claw (23) and an inclination sensor (22), wherein two driven gears (26) and two clamping claws (23) are provided; the gear box (21) is provided below the electromagnetic ball (20); the inclination sensor (22) electrically connected to the controller is located outside the gear box (21); the clamping claw motor (24) electrically connected to the controller is fixed on the gear box (21); the driving gear (25) and the driven gear (26) are provided with two inclination sensors (22); The upper part of the clamping jaw (23) is arranged in the gear box (21), the connecting shafts of the two driven gears (26) are fixed on the gear box (21), the two clamping jaws (23) are respectively fixed on the driven gears (26) on the corresponding sides, the output shaft of the clamping jaw motor (24) is connected to the driving gear (25), the driving gear (25) is meshed with one of the driven gears (26), the two driven gears (26) are meshed, the clamping jaw motor (24) drives the driving gear (25) to rotate, thereby driving the clamping jaw (23) to open and close, and perform seedling supporting and soil gathering operations.

7. The automatic seedling-supporting and soil-collecting device suitable for mechanical transplanting in multiple scenarios according to claim 6 is characterized in that: The clamping claw (23) comprises a fixed section (231), a seedling-supporting section (232) and a soil-collecting section (233); the upper end of the fixed section (231) is fixed to the driven gear (26); the fixed section (231) and the soil-collecting section (233) located below the fixed section (231) form an outwardly convex arc structure; the seedling-supporting section (232) is located on the inner side of the middle of the arc structure and is arranged obliquely downward; the end of the seedling-supporting section (232) is arc-shaped.

8. The automatic seedling-supporting and soil-collecting device suitable for multi-scenario mechanical transplanting according to claim 7 is characterized in that: The seedling supporting section (232) is made of rubber, and the soil gathering section (233) is made of aluminum alloy.

9. The automatic seedling-supporting and soil-collecting device suitable for multi-scenario mechanical transplanting according to claim 7 is characterized in that: Each clamping jaw (23) is provided with a suppression assembly, which includes a suppression motor (27), a lead screw (28), a rolling joint (29) and a suppression plate (30). The suppression motor (27) electrically connected to the controller is fixed on the outer wall of the clamping jaw (23). One end of the lead screw (28) is fixedly connected to the output shaft of the suppression motor (27), and the other end passes through the clamping jaw (23) and is connected to the rolling joint (29) through a cylinder with an internal thread. The rolling joint (29) is fixed above the suppression plate (30).

10. The automatic seedling-supporting and soil-collecting device suitable for multi-scenario mechanical transplanting according to claim 9, characterized in that: The upper and lower end surfaces of the pressing plate (30) are both arc-shaped concave surfaces, the upper end surface is close to the end of the seedling supporting section (232), and the lower end surface faces the lower inner wall of the soil gathering section (233).

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