Greenhouse low-plant cultivation operating robot

Abstract

The present application belongs to the technical field of low-value planting, in particular to a greenhouse low-planting cultivation operation mechanical hand, comprising a driving vehicle, further comprising a rack with driving wheels installed on the rear of the driving vehicle, a feeding device, a clamping device and a planting device. The greenhouse low-planting cultivation operation mechanical hand can hold multiple groups of trays with seedlings through the feeding device, convey the trays, hold multiple groups of trays on the holding rack, reduce the feeding frequency, switch the holding rack through rotation, switch the rack position of the holding rack through the lifting of the holding rack, conveniently convey the trays to the conveyor belt, rotate the holding rack through the rotating motor, lift the holding rack through the switching chain, the lifting of multiple holding racks does not interfere with each other, and multiple groups of holding racks on both sides of the conveyor belt can better hold the trays, solving the technical problem that the existing planting machine transports seedlings through manual operation, causing the planting machine to be empty, and reducing the planting efficiency.

Description

Technical Field

[0001] This invention relates to the field of low-value planting technology, and in particular to a robotic arm for greenhouse low-planting cultivation. Background Technology

[0002] Low-planting cultivation is a specific agricultural planting technique whose main purpose is to achieve efficient planting and management by controlling the growth height and shape of plants. Low-planting cultivation is commonly used for the cultivation of crops such as vegetables, herbs, and fruits, aiming to increase yield, save space, conserve resources, and facilitate management and harvesting.

[0003] Existing seedling transplanters rely on manual labor to remove seedlings from storage bins or seedbeds and transport them to the planting area. These machines are typically equipped with conveyor belts or wheels to move seedlings from the supply system to the planting area. At the planting area, a planting device is usually installed to accurately place the seedlings into the soil. Workers sit on the machine and transport the seedlings from the trays to the planting area. This requires fast hand speed to keep up with the planting device, often necessitating multiple workers. Prolonged work can lead to fatigue and hand injuries. Furthermore, manual transport can result in missed plantings, making it easy for the machine to miss some seedlings. Additionally, existing transplanters have limited space and cannot hold too many trays, requiring reloading after a period of planting, impacting the planting progress. The planting speed of the machine depends on the speed of manual placement; the next seedling can only be transported after the planting device has planted it, further reducing the planting speed. Summary of the Invention

[0004] To address the technical problems of existing planting machines that rely on manual seedling delivery, which can easily lead to gaps and empty planting, and the inability to hold too many trays and require planting the next seedling before the next can be delivered, thus reducing planting efficiency, this invention proposes a robotic arm for greenhouse low-planting cultivation.

[0005] The present invention proposes a greenhouse low-planting cultivation operation robot, which includes a drive vehicle, a frame with drive wheels installed at the rear of the drive vehicle, a feeding device, a clamping device, and a planting device.

[0006] The outer surface of the frame is fixedly installed on the outer surface of the drive vehicle.

[0007] A feeding device is located on the upper surface of the frame and conveys trays containing seedlings. The feeding device includes a holding rack, a rotating mechanism, a switching mechanism, and a conveying mechanism. The rotating mechanism includes a rotating frame that drives multiple sets of holding racks to rotate. The switching mechanism includes a sliding frame that drives the holding racks to move vertically up and down. The conveying mechanism includes a conveyor belt that transports the trays on the holding racks to directly below the clamping device.

[0008] A clamping device is located on the upper surface of the frame and clamps and transports seedlings in a tray on the conveyor belt. The clamping device includes pneumatic grippers that grip the seedlings in the tray on the conveyor belt.

[0009] A planting device is located on the outer surface of the frame. The planting device includes a conveying mechanism and a planting mechanism. The conveying mechanism includes a support plate that supports and conveys seedlings conveyed by the pneumatic grippers. The planting mechanism includes a planting spreader that opens to plant the seedlings conveyed by the support plate.

[0010] Preferably, the rotating mechanism further includes a rotary motor, which is fixedly installed on the lower surface of the frame, with one end of the conveying shaft passing through the upper surface of the frame. A support rod is fixedly installed on the upper surface of the frame, and the inner wall of the rotating frame is rotatably connected to the outer surface of the support rod. The output shaft of the rotary motor drives the rotating frame to rotate through a gear set.

[0011] The above technical solution uses a rotary motor to drive a rotating frame to rotate, allowing for the switching of the holding racks. This facilitates the switching of trays containing seedlings. Multiple holding racks are vertically distributed, and the switching of the holding racks is achieved by raising and lowering the sliding frame. The holding rack that needs to be transported is kept on one side of the conveyor belt, making it easy for the tray to enter the conveyor belt.

[0012] Preferably, the outer surface of the sliding frame is slidably inserted into the inner wall of the rotating frame via a sliding rod, the outer surface of the holding frame is fixedly installed with the outer surface of the sliding frame, and the outer surface of the support rod is fixedly installed with a limiting tooth, the outer surface of the limiting tooth being slidably inserted into the outer surface of the sliding frame.

[0013] Through the above technical solution, the sliding frame can be switched by sliding up and down on the rotating frame. This makes it easy for the holding frame with the tray to be located on one side of the conveyor belt, so that the tray can be transported onto the conveyor belt. The limiting teeth are in the shape of toothed rings with notches, which can limit the sliding frame that is not located on the side of the conveyor belt and prevent the sliding frame from being displaced. The sliding frame that is located on the side of the conveyor belt and transports the tray can be vertically lifted and lowered at the notch position.

[0014] Preferably, a switching chain is fixedly installed on the outer surface of the sliding frame, and switching sprockets are fixedly installed on the outer surfaces of both ends of the rotating frame through bearing seats. The switching chain meshes with the switching sprockets. An automatic slide rail is fixedly installed on the upper surface of the frame. A switching motor with a sprocket is fixedly installed on the upper surface of the slider of the automatic slide rail. The output shaft of the switching motor drives the switching chain to rotate through the sprocket.

[0015] The above technical solution uses a switching motor drive to make the chain rotate and drive the sliding frame to rise and fall, thereby realizing the switching of the holding rack. The switching motor can move horizontally, which facilitates the switching of the sliding frame.

[0016] Preferably, the frame of the conveyor belt is fixedly installed on the upper surface of the machine frame, a support plate is fixedly installed on the outer surface of the frame of the conveyor belt, a pushing hydraulic cylinder is fixedly installed on the upper surface of the support plate, a pushing handle is fixedly installed at one end of the piston rod of the pushing hydraulic cylinder, the pushing handle is composed of a pushing plate, a spring plate and a pushing block, and a feeding hydraulic cylinder with a pushing plate is fixedly installed on the upper surface of the frame of the conveyor belt.

[0017] Through the above technical solution, the extension and retraction of the pusher hydraulic cylinder enables the pusher plate to push the pallet in the holding rack into the conveyor belt. The hinge between the pusher block and the pusher plate allows the pusher block to be squeezed and deflected when it moves towards the holding rack, and the spring sheet to deform. After encountering the gap between two pallets, it resets. Through the retraction of the pusher hydraulic cylinder, the pallet can be pushed away from the holding rack, thus achieving the purpose of feeding.

[0018] Preferably, the clamping device further includes an adjusting plate, the outer surface of which is fixedly installed on the upper surface of the frame, an adjusting rod slidably inserted into the inner wall of the adjusting plate, the lower end of which is fixedly installed with one end of the pneumatic gripper, a movable sleeve slidably inserted into the upper surface of the adjusting plate, the inner wall of which is slidably inserted into one end of the adjusting rod, and an adjusting hydraulic cylinder fixedly installed on the upper surface of the frame via a bracket, one end of the piston rod of which is fixedly installed with the outer surface of the movable sleeve.

[0019] Through the above technical solution, the moving sleeve is driven by the adjusting hydraulic cylinder. The moving sleeve drives the adjusting rod to move along the track in the groove of the adjusting plate, thereby adjusting the distance between the pneumatic grippers. This makes it easier for the pneumatic grippers to close and align with the seedlings in the tray, so that the seedlings in the tray can be picked up. Then, after separating along the track of the adjusting plate, they are aligned with the support plate, making it easier to put the seedlings into the planting device.

[0020] Preferably, the conveying mechanism further includes an implantation tube, the outer surface of which is fixedly installed to the outer surface of the frame via a connecting plate. A rotating ring is installed on the outer surface of the implantation tube via a bearing seat. A conveying component distributed in a ring array is installed on the outer surface of the rotating ring. The conveying component includes a synchronous belt and a synchronous pulley. The support plate is fixedly installed on the outer surface of the conveying component.

[0021] Through the above technical solution, the supporting plates are distributed around the seedlings to be transported by the ring array conveyor components. After being transported by the synchronous belt, the supporting plates are deflected from below and move away from supporting the seedlings, so that the seedlings to be planted can enter the planting mechanism for planting.

[0022] Preferably, a transmission motor is fixedly installed on the outer surface of the planting tube, and the transmission motor drives the rotating ring to rotate through a gear set.

[0023] The above technical solution uses a single transmission motor to drive four sets of transmission components to rotate synchronously.

[0024] Preferably, a lifting hydraulic cylinder is fixedly installed on the outer surface of the frame via a connecting frame, the piston rod of the lifting hydraulic cylinder is fixedly installed on a lifting housing via a connecting frame, and an adjusting motor is fixedly installed on the inner wall of the lifting housing.

[0025] The above technical solution enables planting by adjusting the position of the planting area using a lifting hydraulic cylinder.

[0026] Preferably, the two ends of the two planting expansion pieces are rotatably connected, one end of the planting expansion piece is fixedly installed on the inner wall of the lifting housing by a bearing, one end of the conveying shaft of the adjusting motor drives the two planting expansion pieces to deflect through a bevel gear set, and a folding sleeve is fixedly installed on the lower surface of the planting tube, and the lower surface of the folding sleeve is fixedly installed with the upper surface of the planting expansion piece.

[0027] Through the above technical solution, by rotating the planting expansion sheet in the opposite direction, the seedlings inside the planting expansion sheet can enter the holes opened in the ground of the planting expansion sheet, thereby realizing planting. The folding sleeve can facilitate the raising and lowering of the planting expansion sheet.

[0028] The beneficial effects of this invention are as follows:

[0029] 1. By setting up a feeding device, multiple trays containing seedlings can be placed and transported. Multiple trays are placed on the holding racks, reducing the number of feeding operations. The holding racks are arranged in a circular array and can be switched by rotation. The lifting and lowering of the holding racks can switch the rack positions, facilitating the transfer of trays to the conveyor belt. The holding racks are rotated by a rotary motor and raised and lowered by switching chains. The lifting and lowering of multiple holding racks do not interfere with each other. Multiple holding racks on both sides of the conveyor belt can better realize the amount of trays that can be held. This solves the technical problems of existing planting machines that rely on manual feeding of seedlings, which easily leads to omissions and empty planting, and the planting machine cannot hold too many trays, thus reducing planting efficiency.

[0030] 2. By setting up a clamping device, the seedlings in the tray can be clamped and transported into the planting tube. The pneumatic grippers can adjust the distance under the action of the adjusting plate and the moving sleeve, so that multiple pneumatic grippers can come together to clamp a row of seedlings in the tray and then separate them to transport the seedlings into the planting tube, which is then transported by the support plate.

[0031] 3. By setting up a planting device, planting efficiency can be improved. The supporting plate rotates inside the supporting tube, which can transport the seedlings. The seedlings are transported into the planting expansion area by the rotation of the supporting plate. It is not necessary to wait until the planting expansion area has planted the seedlings before the next seedling can be transported. This speeds up the transport efficiency of the pneumatic gripper, thereby improving production efficiency. It solves the technical problem of the existing method of transporting the next seedling only after the seedling has been planted by the planting device, which reduces the planting efficiency. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a robotic arm for low-planting cultivation in a greenhouse, as proposed in this invention.

[0033] Figure 2 This is a perspective view of the frame structure of a greenhouse low-planting cultivation robot proposed in this invention;

[0034] Figure 3 This is a perspective view of the holding rack structure of a greenhouse low-planting cultivation operation robot proposed in this invention;

[0035] Figure 4 This is a perspective view of the rotating frame structure of a greenhouse low-planting cultivation operation robot proposed in this invention;

[0036] Figure 5 This is a perspective view of the switching motor structure of a greenhouse low-planting cultivation operation robot proposed in this invention.

[0037] Figure 6 This is a perspective view of the support rod structure of a greenhouse low-planting cultivation operation robot proposed in this invention;

[0038] Figure 7 This is a perspective view of the sliding frame structure of a greenhouse low-planting cultivation operation robot proposed in this invention.

[0039] Figure 8 This is a perspective view of the conveyor belt structure of a greenhouse low-planting cultivation robot proposed in this invention;

[0040] Figure 9 This is a perspective view of the adjustable plate structure of a greenhouse low-planting cultivation operation robot proposed in this invention.

[0041] Figure 10 This is a perspective view of the moving sleeve structure of a greenhouse low-planting cultivation operation robot proposed in this invention.

[0042] Figure 11 This is a perspective view of the adjustable rod structure of a greenhouse low-planting cultivation operation robot proposed in this invention.

[0043] Figure 12 This is a three-dimensional view of the planting tube structure of a greenhouse low-planting cultivation operation robot proposed in this invention.

[0044] Figure 13 This is a perspective view of the lifting hydraulic cylinder structure of a greenhouse low-planting cultivation operation robot proposed in this invention.

[0045] Figure 14 This is a perspective view of the conveying component structure of a greenhouse low-planting cultivation robot proposed in this invention;

[0046] Figure 15 This is a three-dimensional view of the seed-carrying blade structure of a greenhouse low-planting cultivation robot proposed in this invention.

[0047] In the diagram: 1. Drive vehicle; 11. Frame; 2. Loading rack; 3. Rotary motor; 31. Support rod; 32. Rotating frame; 33. Sliding frame; 34. Limiting tooth; 4. Switching chain; 41. Switching sprocket; 42. Automatic slide rail; 43. Switching motor; 5. Conveyor belt; 51. Support plate; 52. Pushing hydraulic cylinder; 53. Pushing handle; 54. Feeding hydraulic cylinder; 6. Adjusting plate; 61. Adjusting rod; 62. Pneumatic gripper; 63. Moving sleeve; 64. Adjusting hydraulic cylinder; 7. Planting tube; 71. Rotating ring; 72. Conveying component; 73. Support plate; 74. Conveying motor; 8. Lifting hydraulic cylinder; 81. Lifting outer shell; 82. Adjusting motor; 83. Planting expansion piece; 84. Folding sleeve. Detailed Implementation

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0049] Reference Figure 1-15 A greenhouse low-planting cultivation operation robot includes a drive vehicle 1, a frame 11 with drive wheels installed behind the drive vehicle 1, a feeding device, a clamping device, and a planting device.

[0050] like Figure 2 As shown, the outer surface of the frame 11 is fixedly installed on the outer surface of the drive vehicle 1.

[0051] like Figure 3-8 As shown, in order to automate the feeding process and reduce manual labor, a feeding device is installed. The feeding device is located on the upper surface of the frame 11 and conveys the trays with planted seedlings. The feeding device includes a holding rack 2, a rotating mechanism, a switching mechanism, and a conveying mechanism. The holding frame 11 is composed of multiple holding baskets that are evenly distributed from top to bottom and fixed on a plate. Each holding basket can hold at least two sets of trays. The rotating mechanism includes a rotating frame 32, which is composed of a polygonal sleeve and a cylindrical sleeve. The rotating frame 32 drives multiple sets of holding racks 2 to rotate. The switching mechanism includes a sliding frame 33, which drives the holding racks 2 to move vertically up and down. The conveying mechanism includes a conveyor belt 5, which conveys the trays on the holding racks 2 to the area directly below the clamping device.

[0052] Specifically, in order to drive the rotating frame 32 to rotate, the rotating mechanism also includes a rotating motor 3. The rotating motor 3 is fixedly installed on the lower surface of the frame 11, and one end of the conveying shaft passes through the upper surface of the frame 11. A support rod 31 is fixedly installed on the upper surface of the frame 11. The inner wall of the rotating frame 32 is rotatably connected to the outer surface of the support rod 31. The output shaft of the rotating motor 3 drives the rotating frame 32 to rotate through a gear set.

[0053] Specifically, in order to limit the position of the holding rack 2, the outer surface of the sliding rack 33 is slidably inserted into the inner wall of the rotating rack 32 through the sliding rod. The two sliding rods are fixedly installed in the groove of the rotating rack 32. The outer surface of the holding rack 2 is fixedly installed with the outer surface of the sliding rack 33. The outer surface of the support rod 31 is fixedly installed with a limiting tooth 34. The limiting tooth 34 is in the shape of a toothed ring with a notch. The outer surface of the limiting tooth 34 is slidably inserted into the outer surface of the sliding rack 33.

[0054] Specifically, in order to drive the holding rack 2 to rise and fall, a switching chain 4 is fixedly installed on the outer surface of the sliding rack 33. The two ends of the switching chain 4 are fixedly installed on the two end surfaces of the sliding rack 33. The two end outer surfaces of the rotating rack 32 are fixedly installed with switching sprockets 41 through bearing seats. The switching chain 4 meshes with the switching sprockets 41. In order to drive multiple sets of switching chains 4 to rotate, an automatic slide rail 42 is fixedly installed on the upper surface of the frame 11. The automatic slide rail 42 consists of a slide rail, a movable seat that slides into the slide rail, a rack fixedly installed on the outside of the slide rail, and a motor with gears fixedly installed on the movable seat. The motor drives the gears to rotate, and the gears mesh on the rack to drive the movable seat to move horizontally on the slide rail. A switching motor 43 with a sprocket is fixedly installed on the upper surface of the slider of the automatic slide rail 42. The output shaft of the switching motor 43 drives the switching chain 4 to rotate through the sprocket. The automatic slide rail 42 drives the switching motor 43 to move, thereby realizing the switching drive of multiple sets of switching chains 4.

[0055] Specifically, in order to convey the pallet to the pneumatic gripper 62, the frame of the conveyor belt 5 is fixedly installed on the upper surface of the frame 11. In order to move the pallet on the rack 2 onto the conveyor belt 5, a support plate 51 is fixedly installed on the outer surface of the frame of the conveyor belt 5. A pushing hydraulic cylinder 52 is fixedly installed on the upper surface of the support plate 51. A pushing handle 53 is fixedly installed at one end of the piston rod of the pushing hydraulic cylinder 52. The pushing handle 53 consists of a pushing plate, a spring plate, and a pushing block. The pushing plate and the pushing block are fixedly installed together by the spring plate, so that the pushing block can deflect in one direction. The pusher block can deflect and reset after passing the lower surface of the tray during movement. It is located between the two upper trays of the holding rack 2, so that the pusher handle 53 can push the tray when it moves. A feeding hydraulic cylinder 54 with a push plate is fixedly installed on the upper surface of the frame of the conveyor belt 5. The push plate is fixedly installed on one end of the piston rod of the feeding hydraulic cylinder 54, which can push the empty tray out of the conveyor belt 5. A collection frame can be set on the frame 11 to collect the empty tray. At the same time, it can push the tray to keep the seedlings directly under the pneumatic gripper 62 for easy gripping by the pneumatic gripper 62.

[0056] like Figure 9-11 As shown, a clamping device is provided to clamp the seedlings in the tray. The clamping device is located on the upper surface of the frame 11 and clamps and transports the seedlings in the tray on the conveyor belt 5. The clamping device includes a pneumatic gripper 62. The gripper of the pneumatic gripper 62 is covered with silicone material to prevent damage to the seedlings when clamping them. The pneumatic gripper 62 clamps the seedlings in the tray on the conveyor belt 5.

[0057] Specifically, in order to adjust the spacing after the pneumatic gripper 62 clamps the seedlings, the clamping device also includes a spacing adjustment plate 6. The outer surface of the spacing adjustment plate 6 is fixedly installed on the upper surface of the frame 11. A spacing adjustment rod 61 is slidably inserted into the inner wall of the spacing adjustment plate 6. The lower end of the spacing adjustment rod 61 is fixedly installed with one end of the pneumatic gripper 62. A movable sleeve 63 is slidably inserted into the upper surface of the spacing adjustment plate 6. The inner wall of the movable sleeve 63 is slidably inserted into one end of the spacing adjustment rod 61. A spacing adjustment hydraulic cylinder 64 is fixedly installed on the upper surface of the frame 11 through a bracket. One end of the piston rod of the spacing adjustment hydraulic cylinder 64 is fixedly installed with the outer surface of the movable sleeve 63.

[0058] like Figure 12-15 As shown, a planting device is provided for planting seedlings. The planting device is located on the outer surface of the frame 11. The planting device includes a conveying mechanism and a planting mechanism. The conveying mechanism includes a support plate 73, which supports and conveys the seedlings conveyed by the pneumatic gripper 62. The planting mechanism includes a planting expansion plate 83, which opens to plant the seedlings conveyed by the support plate 73.

[0059] Specifically, in order to transport the seedlings, the transport mechanism also includes a planting tube 7. The outer surface of the planting tube 7 is fixedly installed to the outer surface of the frame 11 via a connecting plate. A rotating ring 71 is installed on the outer surface of the planting tube 7 via a bearing seat. A transport component 72 distributed in a ring array is fixedly installed on the outer surface of the rotating ring 71. The transport component 72 includes a synchronous belt and a synchronous wheel. The synchronous wheel is fixedly installed on the outer surface of the planting tube 7 via a bearing seat. The synchronous belt is rotatably connected to the outer surface of the synchronous wheel. A support plate 73 is fixedly installed on the outer surface of the synchronous belt of the transport component 72. The support plates 73 on the multiple sets of transmission components are inclined downward inside the planting tube 7, which can facilitate the support of the soil embryo at the lower end of the planted seedling. When the synchronous belt drives the support plate 73 to rotate out of the planting tube 7, the support plate 73 can leave the soil embryo of the seedling, thereby allowing the seedling to descend.

[0060] Specifically, in order to drive the rotating ring 71 to rotate, a transmission motor 74 is fixedly installed on the outer surface of the planting tube 7, and the transmission motor 74 drives the rotating ring 71 to rotate through a gear set.

[0061] Specifically, in order to plant seedlings, a lifting hydraulic cylinder 8 is fixedly installed on the outer surface of the frame 11 via a connecting frame. The lifting hydraulic cylinder 8 can drive the planting spreader 83 to descend and insert into the soil to achieve planting. The piston rod of the lifting hydraulic cylinder 8 is fixedly installed with a lifting housing 81 via a connecting frame. An adjusting motor 82 is fixedly installed on the inner wall of the lifting housing 81.

[0062] Specifically, in order to achieve the deflection of the planting expansion piece 83 and facilitate its separation from the seedling, the two ends of the two planting expansion pieces 83 are rotatably connected. One end of the planting expansion piece 83 is fixedly installed on the inner wall of the lifting housing 81 through a bearing. One end of the conveying shaft of the adjusting motor 82 drives the two planting expansion pieces 83 to deflect through a bevel gear set. A folding sleeve 84 is fixedly installed on the lower surface of the planting tube 7, and the lower surface of the folding sleeve 84 is fixedly installed on the upper surface of the planting expansion piece 83.

[0063] Working principle: Place the trays containing seedlings one by one on the holding rack 2 until the holding rack 2 is full. The automatic slide rail 42 is started, which drives the sprocket on the switching motor 43 to approach the switching sprocket 41 below and engage with the switching chain 4. The switching motor 43 is started, which drives the switching chain 4 to rotate. The switching chain 4 pulls the sliding frame 33 to move downward on the slide bar of the rotating frame 32 until the tray at the top of the holding rack 2 is located on the horizontal side of the conveyor belt 5.

[0064] When the hydraulic cylinder 52 on the support plate 51 of the conveyor belt 5 is activated, it pushes the pusher 53 to move. After the pusher 53's top push block contacts the bottom of the tray on the rack 2, it is squeezed and deflected during the movement. After the pusher 53 moves between the two trays, it stops moving. At the same time, the top of the pusher 53 is released from pressure and resets under the action of the spring plate. The hydraulic cylinder 52 retracts, so that the top of the pusher 53 pushes the tray onto the conveyor belt 5. After the conveyor belt 5 is activated, it moves the tray to below the pneumatic gripper 62, and then the conveyor belt 5 stops moving.

[0065] After the pneumatic gripper 62 descends, it holds the seedlings in the tray and releases them from the tray. The adjustable hydraulic cylinder 64 pulls the moving sleeve 63 to move. The moving sleeve 63 drives the adjustable rod 61 to move in the groove of the adjustable plate 6, causing the gathered pneumatic gripper 62 to disperse. After the pneumatic gripper 62 is above the planting tube 7, it releases the seedlings, which then enter the support plate 73 and are supported by the support plate 73. The conveyor motor 74 starts and drives the rotating ring 71 to rotate, which in turn drives the conveyor component 72 to rotate. The support plate 73 moves the seedlings downward. Another set of support plates 73 enters the planting tube 7 to support the next seedling. The feeding hydraulic cylinder 54 pushes the tray to move, so that the next set of seedlings in the tray is directly below the pneumatic gripper 62. After the seedlings in one tray are removed, the feeding hydraulic cylinder 54 pushes the tray out of the surface of the conveyor belt 5.

[0066] After the seedlings in the planting tube 7 move to the lower end, as the support plate 73 leaves, the seedlings enter the planting disc. The lifting hydraulic cylinder 8 is activated, which pushes the lifting housing 81 down, causing the folding sleeve 84 to stretch. The planting disc is inserted into the soil. The adjusting motor 82 in the lifting housing 81 is activated, which drives the two rotatingly connected planting discs to rotate in opposite directions through the transmission of the bevel gear set, opening the seedlings into the planting pit opened by the planting discs. At the same time, the lifting hydraulic cylinder 8 drives the lifting housing 81 to rise, and the planting discs are reset under the drive of the adjusting motor 82, so that the soil can cover the bottom of the seedlings, and the planting is completed.

[0067] After the first row of pallets on the holding rack 2 is transported, the switching chain 4 drives the holding rack 2 to rise, so that the second row of the holding rack 2 is located on the horizontal side of the conveyor belt 5. After all the pallets on the holding rack 2 have been transported, the rotary motor 3 starts and drives the rotating frame 32 on the support rod 31 to rotate through the gear set. The second set of holding racks 2 is located on the side of the conveyor belt 5, and at the same time, the sliding frame 33 is located at the notch of the limiting tooth 34, releasing the fixed state, and can be raised and lowered under the rotation of the switching chain 4.

[0068] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm for greenhouse low-planting cultivation, comprising a drive vehicle (1), characterized in that: It also includes a frame (11) with drive wheels installed behind the drive vehicle (1), a feeding device, a clamping device and a planting device; The outer surface of the frame (11) is fixedly installed on the outer surface of the drive vehicle (1); The feeding device is located on the upper surface of the frame (11) and conveys the trays with seedlings. The feeding device includes a holding rack (2), a rotating mechanism, a switching mechanism and a conveying mechanism. The rotating mechanism includes a rotating frame (32), which drives multiple sets of the holding racks (2) to rotate. The switching mechanism includes a sliding frame (33), which drives the holding racks (2) to move vertically up and down. The conveying mechanism includes a conveyor belt (5), which conveys the trays on the holding racks (2) to the area directly below the clamping device. The rotating mechanism also includes a rotary motor (3), which is fixedly installed on the lower surface of the frame (11). One end of the conveying shaft of the rotary motor (3) passes through the upper surface of the frame (11). A support rod (31) is fixedly installed on the upper surface of the frame (11). The inner wall of the rotating frame (32) is rotatably connected to the outer surface of the support rod (31). The output shaft of the rotary motor (3) drives the rotating frame (32) to rotate through a gear set. The outer surface of the sliding frame (33) is slidably inserted into the inner wall of the rotating frame (32) via a sliding rod. The outer surface of the holding rack (2) is fixedly installed with the outer surface of the sliding frame (33). The outer surface of the support rod (31) is fixedly installed with a limiting tooth (34), and the outer surface of the limiting tooth (34) is slidably inserted into the outer surface of the sliding frame (33). A switching chain (4) is fixedly installed on the outer surface of the sliding frame (33). Switching sprockets (41) are fixedly installed on the outer surfaces of both ends of the rotating frame (32) through bearing seats. The switching chain (4) meshes with the switching sprockets (41). An automatic slide rail (42) is fixedly installed on the upper surface of the frame (11). A switching motor (43) with a sprocket is fixedly installed on the upper surface of the slider of the automatic slide rail (42). The output shaft of the switching motor (43) drives the switching chain (4) to rotate through the sprocket. A clamping device is located on the upper surface of the frame (11) and clamps and transports the seedlings in the tray on the conveyor belt (5). The clamping device includes a pneumatic gripper (62) which clamps the seedlings in the tray on the conveyor belt (5). The planting device is located on the outer surface of the frame (11). The planting device includes a conveying mechanism and a planting mechanism. The conveying mechanism includes a support plate (73), which supports and conveys the seedlings conveyed by the pneumatic gripper (62). The planting mechanism includes a planting expansion plate (83), which opens to plant the seedlings conveyed by the support plate (73).

2. The greenhouse low-planting cultivation operation robot according to claim 1, characterized in that: The frame of the conveyor belt (5) is fixedly installed on the upper surface of the frame (11). A support plate (51) is fixedly installed on the outer surface of the frame of the conveyor belt (5). A pusher hydraulic cylinder (52) is fixedly installed on the upper surface of the support plate (51). A pusher handle (53) is fixedly installed at one end of the piston rod of the pusher hydraulic cylinder (52). The pusher handle (53) is composed of a pusher plate, a spring plate and a pusher block. A feeding hydraulic cylinder (54) with a pusher plate is fixedly installed on the upper surface of the frame of the conveyor belt (5).

3. The greenhouse low-planting cultivation operation robot according to claim 1, characterized in that: The clamping device also includes an adjusting plate (6), the outer surface of which is fixedly installed on the upper surface of the frame (11). An adjusting rod (61) is slidably inserted into the inner wall of the adjusting plate (6). The lower end of the adjusting rod (61) is fixedly installed with one end of the pneumatic gripper (62). A movable sleeve (63) is slidably inserted into the upper surface of the adjusting plate (6). The inner wall of the movable sleeve (63) is slidably inserted into one end of the adjusting rod (61). An adjusting hydraulic cylinder (64) is fixedly installed on the upper surface of the frame (11) by a bracket. One end of the piston rod of the adjusting hydraulic cylinder (64) is fixedly installed with the outer surface of the movable sleeve (63).

4. The greenhouse low-planting cultivation operation robot according to claim 1, characterized in that: The conveying mechanism also includes an implantation tube (7), the outer surface of which is fixedly installed to the outer surface of the frame (11) via a connecting plate. A rotating ring (71) is installed on the outer surface of the implantation tube (7) via a bearing seat. A conveying component (72) arranged in a ring array is installed on the outer surface of the rotating ring (71). The conveying component (72) includes a synchronous belt and a synchronous pulley. The support plate (73) is fixedly installed on the outer surface of the synchronous belt of the conveying component (72).

5. The greenhouse low-planting cultivation operation robot according to claim 4, characterized in that: A transmission motor (74) is fixedly installed on the outer surface of the planting tube (7), and the transmission motor (74) drives the rotating ring (71) to rotate through a gear set.

6. The greenhouse low-planting cultivation operation robot according to claim 5, characterized in that: The outer surface of the frame (11) is fixedly mounted with a lifting hydraulic cylinder (8) via a connecting frame. The piston rod of the lifting hydraulic cylinder (8) is fixedly mounted with a lifting housing (81) via a connecting frame. An adjusting motor (82) is fixedly mounted on the inner wall of the lifting housing (81).

7. The greenhouse low-planting cultivation operation robot according to claim 6, characterized in that: The two ends of the two planting expansion pieces (83) are rotatably connected. One end of the planting expansion piece (83) is fixedly installed on the inner wall of the lifting housing (81) through a bearing. One end of the conveying shaft of the adjusting motor (82) drives the two planting expansion pieces (83) to deflect through a bevel gear set. A folding sleeve (84) is fixedly installed on the lower surface of the planting tube (7). The lower surface of the folding sleeve (84) is fixedly installed with the upper surface of the planting expansion piece (83).

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