Automatic plug tray loading equipment

Abstract

The present application discloses an automatic plug tray loading device, including a force control robot, a fork-shaped tool, a seedbed conveyor line and a belt conveyor line; the fork-shaped tool is detachably mounted on the end of the force control robot, the seedbed conveyor line is provided with a conveyor belt for transmitting the plug tray, the belt conveyor line and the seedbed conveyor line have different horizontal heights and are arranged to intersect, the force control robot drives the fork-shaped tool to move in the intersection area of ​​the belt conveyor line and the seedbed conveyor line, and the fork-shaped tool can be inserted into the bottom of the plug tray on the seedbed conveyor line and transfer the plug tray to the belt conveyor line. The present application transfers the plug tray on the seedbed conveyor line to the belt conveyor line by setting a force control robot to drive the fork-shaped tool, and the fork-shaped tool is detachably mounted on the end of the force control robot for easy replacement, which can realize automatic handling of the plug tray, improve processing efficiency and safety, and reduce labor intensity and cost.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural production, and in particular to an automatic plug tray loading device. Background Art

[0002] In modern farms, vegetables are planted in plug trays, which are placed in seedbeds. When harvesting vegetables, the placement of the plug trays in the seedbed is not precise, so currently, vegetable plug trays are placed manually on the harvesting production line to harvest vegetables.

[0003] When using manual loading of vegetable plug trays, the main problem usually encountered is the high workload of employees. When harvesting vegetables, two workers are usually required to carry the plug trays to the harvester conveyor line. People need to go back and forth between the seedbed and the conveyor line. In addition, the seedbed is relatively wide. There are certain safety risks when manually carrying the plug trays. The weather and early harvesting time will also affect the harvesting efficiency of the personnel.

[0004] Therefore, in the traditional production environment, there are some significant problems with manual loading:

[0005] 1. Low efficiency: Manual loading relies on the manual operation of the operator, and the speed is limited by human physiology, which makes it impossible to achieve continuous and efficient work. Especially in mass production, the efficiency problem is more prominent.

[0006] 2. Many human errors: Due to factors such as fatigue and lack of concentration, manual loading may result in material placement errors, omissions or damage, leading to unstable product quality and even production accidents.

[0007] 3. High safety risk: Frequent manual contact with materials and equipment may lead to safety risks of misoperation or physical injury, posing a threat to the personal safety of operators.

[0008] 4. High labor intensity: Long-term and repetitive material handling and positioning work puts a heavy physical and mental burden on operators, which may lead to occupational diseases and premature fatigue.

[0009] 5. High cost: Manual loading requires hiring a large number of workers. As labor costs rise, the operating costs of the enterprise increase. Summary of the invention

[0010] The embodiment of the present application provides an automatic plug tray loading device, which can solve the technical problems of low efficiency, many human errors, high safety risks, high labor intensity and high cost caused by current manual plug tray loading.

[0011] The embodiment of the present application provides an automatic plug tray loading device, including a force control robot, a fork-shaped tool, a seedbed conveyor line and a belt conveyor line;

[0012] The fork-shaped tool is detachably mounted on the end of the force-controlled robot, the seedbed conveyor line is provided with a conveyor belt for conveying plug trays, the belt conveyor line and the seedbed conveyor line have different horizontal heights and are arranged to intersect, the force-controlled robot drives the fork-shaped tool to move in the intersection area of ​​the belt conveyor line and the seedbed conveyor line, the fork-shaped tool can be inserted into the bottom of the plug tray on the seedbed conveyor line and transfer the plug tray to the belt conveyor line.

[0013] Furthermore, the force-controlled robot includes a robot mounting seat, a first rotating shaft mechanism, a second rotating shaft mechanism, a third rotating shaft mechanism and a fourth rotating shaft mechanism; the robot mounting seat is fixed on a base plate, the first rotating shaft mechanism is horizontally rotatably connected to the robot mounting seat, the second rotating shaft mechanism is rotatably connected to the end of the first rotating shaft mechanism, the rotation plane of the second rotating shaft mechanism is parallel to the first rotating shaft mechanism, the third rotating shaft mechanism is rotatably connected to the end of the second rotating shaft mechanism, the rotation plane of the third rotating shaft mechanism is parallel to the second rotating shaft mechanism, the fourth rotating shaft mechanism is rotatably connected to the end of the third rotating shaft mechanism, the rotation plane of the fourth rotating shaft mechanism is parallel to the third rotating shaft mechanism, and the fork-shaped tool is detachably mounted on the bottom of the fourth rotating shaft mechanism.

[0014] Furthermore, the fork-shaped tool includes a robot quick-change adapter plate, a spring plunger, an end quick-change adapter plate, an end main frame, an end reinforcing beam, a replaceable fork bar fixing plate and a fork bar; the robot quick-change adapter plate is rotatably installed at the bottom of the fourth rotating shaft mechanism, a socket is provided on one side of the robot quick-change adapter plate, and the spring plunger is provided on both sides of the socket, the end quick-change adapter plate is connected to the socket of the robot quick-change adapter plate through the spring plunger, the end main frame is L-shaped, the end quick-change adapter plate is connected between the upper ends of the two end main frames, the lower ends of the two end main frames are connected to the replaceable fork bar fixing plate, the end reinforcing beam is arranged between the two end main frames, the replaceable fork bar fixing plate and a plurality of fork bars are arranged at intervals and connected to the replaceable fork bar fixing plate, and a plurality of fork bars are located in the same plane to form a fork for inserting the hole tray.

[0015] Furthermore, the force-controlled robot also includes an electrical control cabinet, a touch screen and a signal light. The electrical control cabinet is fixed on the robot mounting base, the electrical control cabinet is connected to the first rotating shaft mechanism, the second rotating shaft mechanism, the third rotating shaft mechanism and the fourth rotating shaft mechanism, the touch screen is connected to the electrical control cabinet, the signal light is arranged on the robot mounting base, and the signal light is connected to the electrical control cabinet.

[0016] Furthermore, the width of the conveyor belt of the seedbed conveyor line is an integral multiple of the width or length of the plug tray, and the moving range of the force control robot is greater than the width of the conveyor belt.

[0017] Furthermore, the belt conveyor line includes a conveyor belt, a baffle and a blocking block, the width of the conveyor belt is equal to the width or length of the hole tray, the baffle and the blocking block are correspondingly arranged on both sides of the conveyor belt, the baffle is used to limit the fork-shaped tool to move the hole tray down and place it on the conveyor belt, the blocking block is provided with a notch for accommodating the fork strip, and the blocking block can block the side wall of the hole tray so that the fork-shaped tool can be pulled out from under the hole tray.

[0018] Furthermore, the belt conveyor line also includes side guards, which are arranged on both sides of the conveyor belt, and the hole tray is transmitted on the conveyor belt under the restriction of the side guards.

[0019] Furthermore, the belt conveyor line also includes a feeding sensor for detecting whether there is a hole tray between the baffle and the blocking block, and the feeding sensor is fixed on the baffle, and the feeding sensor is arranged adjacent to the baffle.

[0020] Furthermore, the belt conveyor line also includes a conveying drive motor, a pause sensor and a control box, wherein the control box is connected to the conveying belt, the feeding sensor and the pause sensor, and the pause sensor is arranged at the conveying end of the conveying belt; when the pause sensor detects the presence of a hole tray, the control box controls the conveying drive motor to pause so that the conveying belt stops; when the feeding sensor detects the absence of a hole tray, the control box controls the conveying drive motor to remain paused; when the feeding sensor detects the presence of a hole tray, the control box controls the conveying drive motor to drive the conveying belt to transfer the hole tray to the conveying end of the conveying belt.

[0021] Furthermore, the belt conveyor line also includes a soil sweeping mechanism, which is arranged below the conveying end of the conveyor belt and is used to sweep and collect the soil on the conveyor belt.

[0022] The automatic plug tray loading equipment provided in the embodiment of the present application transfers the plug trays on the seedbed conveyor line to the belt conveyor line by setting a force-controlled robot to drive a fork-shaped tool, and the fork-shaped tool is detachably mounted on the end of the force-controlled robot for easy replacement, thereby realizing automatic transportation of the plug trays, improving processing efficiency and safety, and reducing labor intensity and costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0024] Figure 1 This is a schematic diagram of the structure of the automatic loading hole tray equipment provided in an embodiment of the present application when in use.

[0025] Figure 2 This is a structural schematic diagram of the force-controlled robot provided in an embodiment of the present application adjusting the posture of the fork-shaped tool at the end to align with the vertical hole tray.

[0026] Figure 3 A schematic diagram of the structure of a fork-shaped tool moving a hole tray provided in an embodiment of the present application.

[0027] Figure 4 A schematic diagram of the structure of a fork-shaped tool provided in an embodiment of the present application for placing a plug tray.

[0028] Figure 5 This is a schematic diagram of the structure of a fork-shaped tool provided on a force-controlled robot according to an embodiment of the present application.

[0029] Figure 6 A schematic diagram of the structure of a fork-shaped tool provided in an embodiment of the present application.

[0030] Figure 7 A schematic diagram of the structure of a belt conveyor line provided in an embodiment of the present application.

[0031] The markings in the figure are as follows:

[0032] Automatic feeding hole tray equipment 10, force control robot 1, robot mounting seat 11, first rotating shaft mechanism 12, second rotating shaft mechanism 13, third rotating shaft mechanism 14, fourth rotating shaft mechanism 15, electrical control cabinet 16, touch screen 17, signal light 18, fork tool 2, robot quick-change adapter plate 21, spring plunger 22, end quick-change adapter plate 23, end main frame 24, end reinforcing beam 25, replaceable fork bar fixing plate 26, fork bar 27, seedling bed conveyor line 3, belt conveyor line 4, conveyor belt 41, baffle 42, blocking block 43, feeding sensor 44, conveying drive motor 45, pause sensor 46, control box 47, soil sweeping mechanism 48, retaining edge 49, hole tray 20, bottom plate 30. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0034] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] like Figures 1 to 7 As shown, an embodiment of the present application provides an automatic plug tray loading device 10, including a force control robot 1, a fork-shaped tool 2, a seedbed conveyor line 3 and a belt conveyor line 4.

[0036] The fork-shaped tool 2 is detachably mounted on the end of the force control robot 1, the seedbed conveyor line 3 is provided with a conveyor belt for transmitting the plug tray 20, the belt conveyor line 4 and the seedbed conveyor line 3 are at different horizontal heights and are arranged to intersect, the force control robot 1 drives the fork-shaped tool 2 to move in the intersection area of ​​the belt conveyor line 4 and the seedbed conveyor line 3, the fork-shaped tool 2 can be inserted into the bottom of the plug tray 20 on the seedbed conveyor line 3 and transfer the plug tray 20 to the belt conveyor line 4.

[0037] Preferably, the intersection angle of the belt conveyor line 4 and the seedbed conveyor line 3 is 60°-120°, so that the seedbed can be placed on the plug tray 20 and transmitted at an angle of 60°-120°. When the belt conveyor line 4 and the seedbed conveyor line 3 are both transmitted in a straight line, the plug tray 20 can be transported to different horizontal heights by using the force control robot 1 and the fork tool 2, especially the plug tray 20 on the seedbed conveyor line 3 can be lifted onto the belt conveyor line 4, so as to avoid the seedbed liquid on the plug tray 20 from flowing out or sliding off due to the tilting.

[0038] like Figure 1 , Figure 3 , Figure 4 , Figure 5As shown, the force control robot 1 includes a robot mounting seat 11, a first rotating shaft mechanism 12, a second rotating shaft mechanism 13, a third rotating shaft mechanism 14 and a fourth rotating shaft mechanism 15; the robot mounting seat 11 is fixed on the base plate 30, the first rotating shaft mechanism 12 is horizontally rotatably connected to the robot mounting seat 11, the second rotating shaft mechanism 13 is rotatably connected to the end of the first rotating shaft mechanism 12, the rotation plane of the second rotating shaft mechanism 13 is parallel to the first rotating shaft mechanism 12, the third rotating shaft mechanism 14 is rotatably connected to the end of the second rotating shaft mechanism 13, the rotation plane of the third rotating shaft mechanism 14 is parallel to the second rotating shaft mechanism 13, the fourth rotating shaft mechanism 15 is rotatably connected to the end of the third rotating shaft mechanism 14, the rotation plane of the fourth rotating shaft mechanism 15 is parallel to the third rotating shaft mechanism 14, and the fork-shaped tool 2 is detachably mounted on the bottom of the fourth rotating shaft mechanism 15.

[0039] like Figure 6 As shown, the fork-shaped tool 2 includes a robot quick-change adapter plate 21, a spring plunger 22, an end quick-change adapter plate 23, an end main frame 24, an end reinforcing beam 25, a replaceable fork bar fixing plate 26 and a fork bar 27; the robot quick-change adapter plate 21 is rotatably installed at the bottom of the fourth rotating shaft mechanism 15, a socket is provided on one side of the robot quick-change adapter plate 21, and the spring plunger 22 is provided on both sides of the socket, and the end quick-change adapter plate 23 is connected to the robot quick-change adapter plate 23 through the spring plunger 22 In the socket of the connecting plate 21, the end main frame 24 is L-shaped, the end quick-change adapter plate 23 is connected between the upper ends of the two end main frames 24, the lower ends of the two end main frames 24 are connected to the replaceable fork bar fixing plate 26, the end reinforcing beam 25 is arranged between the two end main frames 24, the replaceable fork bar fixing plate 26 and a plurality of fork bars 27 are arranged at intervals and connected to the replaceable fork bar fixing plate 26, and the plurality of fork bars 27 are located in the same plane to form a fork for inserting the hole tray 20.

[0040] like Figure 5 As shown, the force control robot 1 further includes an electrical control cabinet 16, a touch screen 17 and a signal light 18, the electrical control cabinet 16 is fixed on the robot mounting seat 11, the electrical control cabinet 16 is connected to the first rotating shaft mechanism 12, the second rotating shaft mechanism 13, the third rotating shaft mechanism 14 and the fourth rotating shaft mechanism 15, the touch screen 17 is connected to the electrical control cabinet 16, the signal light 18 is arranged on the robot mounting seat 11, and the signal light 18 is connected to the electrical control cabinet 16. The first rotating shaft mechanism 12, the second rotating shaft mechanism 13, the third rotating shaft mechanism 14 and the fourth rotating shaft mechanism 15 can realize the control of the fork tool 2 for multi-angle adjustment and extension length adjustment.

[0041] Furthermore, the width of the conveyor belt of the seedbed conveyor line 3 is an integral multiple of the width or length of the plug tray 20, and the moving range of the force control robot 1 is larger than the width of the conveyor belt. This makes it easy to set multiple plug trays 20 in the seedbed conveyor line 3.

[0042] like Figure 7 As shown, the belt conveyor line 4 includes a conveyor belt 41, a baffle 42 and a blocking block 43. The width of the conveyor belt 41 is equal to the width or length of the hole tray 20. The baffle 42 and the blocking block 43 are correspondingly arranged on both sides of the conveyor belt 41. The baffle 42 is used to limit the fork-shaped tool 2 so as to move the hole tray 20 downward and place it on the conveyor belt 41. The blocking block 43 is provided with a notch for accommodating the fork bar 27. The blocking block 43 can block the side wall of the hole tray 20 so that the fork-shaped tool 2 can be pulled out from under the hole tray 20.

[0043] like Figure 7 As shown, the belt conveyor line 4 further includes side guards 49 , and the side guards 49 are arranged on both sides of the conveyor belt 41 . The hole tray 20 is transported on the conveyor belt 41 under the restriction of the side guards 49 .

[0044] Furthermore, the belt conveyor line 4 also includes a loading sensor 44 for detecting whether there is a hole tray 20 between the baffle 42 and the blocking block 43. The loading sensor 44 is fixed on the retaining edge 49, and the loading sensor 44 is arranged adjacent to the baffle 42.

[0045] Furthermore, the belt conveyor line 4 also includes a conveying drive motor 45, a pause sensor 46 and a control box 47, the control box 47 is connected to the conveying belt 41, the loading sensor 44 and the pause sensor 46, the pause sensor 46 is arranged at the conveying end of the conveying belt 41; when the pause sensor 46 detects the presence of the hole tray 20, the control box 47 controls the conveying drive motor 45 to pause so that the conveying belt 41 stops; when the loading sensor 44 detects the absence of the hole tray 20, the control box 47 controls the conveying drive motor 45 to remain paused; when the loading sensor 44 detects the presence of the hole tray 20, the control box 47 controls the conveying drive motor 45 to drive the conveying belt 41 to transfer the hole tray 20 to the conveying end of the conveying belt 41.

[0046] Furthermore, the belt conveyor line 4 also includes a soil sweeping mechanism 48, which is arranged below the conveying end of the conveyor belt 41. The soil sweeping mechanism 48 is used to sweep and collect the soil on the conveyor belt 41 to prevent the conveyor belt 41 from being blocked and slipping.

[0047] Among them, the operation process of the automatic feeding plug tray equipment 10 is:

[0048] S1, manually select and start the hole tray 20 loading program through the touch screen on the electrical control cabinet 16;

[0049] S2, control the electrical control cabinet 16 to control the seedbed conveying line 3 to transport the seedbed to the designated position through the plug tray 20;

[0050] S3, the force control robot 1 moves to the designated acupuncture tray 20, the force control robot 1 moves to the preset position, adjusts the posture of the fork-shaped tool 2 at the end, and makes the fork bar 27 at the tip of the fork-shaped tool 2 align with the long side direction of the vertical acupuncture tray 20, such as Figure 2 As shown;

[0051] S4, moving the fork-shaped tool 2 at the end of the control robot so that the fork bar 27 at the tip touches the plug tray 20 on the seedling bed to determine the position of the plug tray 20;

[0052] S5, the force control robot 1 moves the fork-shaped tool 2 at the end thereof to the height of the gap below the hole tray 20, and uses the force control search function of the force control robot 1 to find the gap between the hole cups of the hole tray 20;

[0053] S6, the force control robot 1 inserts the end fork tool 2 into the gap of the plug tray 20, scoops up the plug tray 20, and confirms whether the plug tray 20 is successfully scooped up through the force control sensing function of the robot. Figure 3 As shown;

[0054] S7, the force control robot 1 moves the scooped hole tray 20 to the designated loading position of the belt conveyor line 4, such as Figure 4 As shown;

[0055] S8, the force control robot 1 places the hole tray 20 at a designated position on the belt conveyor line 4;

[0056] S9, the loading position sensor of the plug tray 20 on the belt conveyor line 4 detects that the plug tray 20 has been loaded, and the control box 47 starts the conveyor line to transport the plug tray 20 to the connected harvesting equipment;

[0057] S10, repeating the process of the seedbed movement and the force control robot 1 shoveling the hole tray 20 to load the material.

[0058] like Figure 5 As shown, a program to be performed is manually selected on the touch screen 17 , the corresponding program in the electrical control cabinet 16 is started, the signal light 18 displays the corresponding light color, the force control robot 1 fixed on the bottom plate 30 starts to move, and the fork-shaped tool 2 is used to take and place the hole tray 20 .

[0059] like Figure 6As shown, if the fork tool 2 needs to be quickly replaced, the spring plungers 22 on both sides of the robot quick-change adapter plate 21 are pulled out, the fork tool 2 at the end is pulled out horizontally, and then the new fork tool 2 is horizontally inserted into the slot of the robot quick-change adapter plate 21, and the spring plungers 22 on both sides of the robot quick-change adapter plate 21 are loosened to complete the quick replacement of the end mechanism. If the fork bar fixing plate and the fork bar 27 are damaged, the fork tool 2 can also be replaced separately.

[0060] like Figure 7 As shown, after the robot places the hole tray 20 on the belt conveyor line 4, the baffle 42 and the blocking block 43 work together to limit the hole tray 20 within the range of the conveyor belt 41. The loading sensor 44 detects that the loading of the hole tray 20 is completed, and the control box 47 starts the conveyor belt 41 to transport the hole tray 20 to the next position. The hole tray 20 is restricted by the side guard 49 and is still in the conveyor belt 41. When it is transported to the position of the pause sensor 46, the conveyor belt 41 stops and waits for the next loading. During the operation of the conveyor belt 41, the soil sweeping mechanism 48 sweeps and collects the soil on the conveyor belt 41 to prevent the belt from slipping.

[0061] The automatic plug tray loading equipment provided in the embodiment of the present application transfers the plug trays on the seedbed conveyor line to the belt conveyor line by setting a force-controlled robot to drive a fork-shaped tool, and the fork-shaped tool is detachably mounted on the end of the force-controlled robot for easy replacement, thereby realizing automatic transportation of the plug trays, improving processing efficiency and safety, and reducing labor intensity and costs.

[0062] Compared with the prior art, the automatic plug tray loading device of the present application has the following advantages:

[0063] 1. Improve efficiency: Force Control Robot equipment can work 24 hours a day, significantly improve production efficiency and reduce labor costs.

[0064] 2. Improve precision: During manual operation, factors such as fatigue and individual differences may cause inaccurate feeding positions, affecting vegetable harvesting. The force control robot equipment can ensure the consistency of parameters such as the position, depth and density of each feeding through a precise control system.

[0065] 3. Reduce human errors and injuries: Agricultural operations, such as carrying heavy objects and repetitive movements, can easily cause worker injuries or occupational diseases. Force Control Robotic Equipment can replace these heavy and repetitive tasks, reducing human errors and occupational injuries.

[0066] 4. Strong environmental adaptability: Robot equipment is not affected by environmental factors such as light, temperature, humidity, etc., and can work stably under various conditions.

[0067] 5. Large-scale production: For large-scale agricultural planting, Likong robot equipment can achieve standardized and large-scale production, which helps to improve the level of agricultural modernization.

[0068] Therefore, automatic feeding tray equipment has broad application prospects in modern agriculture.

[0069] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0070] The above is a detailed introduction to an automatic loading hole tray device provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solution and its core idea of ​​the present application; ordinary technicians in this field should understand that: they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. An automatic plug tray loading device, characterized in that: Including force control robot, fork tool, seedbed conveyor line and belt conveyor line; The fork-shaped tool is detachably mounted on the end of the force control robot, the seedbed conveyor line is provided with a conveyor belt for conveying plug trays, the belt conveyor line and the seedbed conveyor line are at different levels and are arranged to intersect, the force control robot drives the fork-shaped tool to move in the intersection area of ​​the belt conveyor line and the seedbed conveyor line, and the fork-shaped tool can be inserted into the bottom of the plug tray on the seedbed conveyor line and transfer the plug tray to the belt conveyor line; The force control robot comprises a robot mounting seat, a first rotating shaft mechanism, a second rotating shaft mechanism, a third rotating shaft mechanism and a fourth rotating shaft mechanism; the robot mounting seat is fixed on a base plate, the first rotating shaft mechanism is horizontally rotatably connected to the robot mounting seat, the second rotating shaft mechanism is rotatably connected to the end of the first rotating shaft mechanism, the rotation plane of the second rotating shaft mechanism is parallel to the first rotating shaft mechanism, the third rotating shaft mechanism is rotatably connected to the end of the second rotating shaft mechanism, the rotation plane of the third rotating shaft mechanism is parallel to the second rotating shaft mechanism, the fourth rotating shaft mechanism is rotatably connected to the end of the third rotating shaft mechanism, the rotation plane of the fourth rotating shaft mechanism is parallel to the third rotating shaft mechanism, the fork tool is detachably mounted on the bottom of the fourth rotating shaft mechanism, and the fork tool comprises a robot quick-change adapter plate, a spring plunger, an end quick-change adapter plate, an end main frame, an end reinforcing beam, a replaceable fork bar fixing plate and a fork bar; The robot quick-change adapter plate is rotatably installed at the bottom of the fourth rotating shaft mechanism, a socket is provided on one side of the robot quick-change adapter plate, and the spring plungers are provided on both sides of the socket, and the end quick-change adapter plate is connected to the socket of the robot quick-change adapter plate through the spring plunger, the end main frame is L-shaped, the end quick-change adapter plate is connected between the upper ends of the two end main frames, the lower ends of the two end main frames are connected to the replaceable fork bar fixing plate, and the end reinforcing beam is arranged between the two end main frames; the replaceable fork bar fixing plate and a plurality of the fork bars are arranged at intervals and connected to the replaceable fork bar fixing plate, and the plurality of the fork bars are located in the same plane to form a fork for inserting the hole tray; The intersection angle of the belt conveyor line and the seedbed conveyor line is 60°-120°; the belt conveyor line includes a conveyor belt, a baffle and a blocking block, the width of the conveyor belt is equal to the width or length of the plug tray, the baffle and the blocking block are correspondingly arranged on both sides of the conveyor belt, the baffle is used to limit the fork-shaped tool so that the plug tray is moved down and placed on the conveyor belt, the blocking block is provided with a notch for accommodating the fork strip, and the blocking block can block the side wall of the plug tray so that the fork-shaped tool can be pulled out from under the plug tray; the belt conveyor line also includes a rib, which is arranged on both sides of the conveyor belt, and the plug tray is moved along the baffle. The conveyor belt is transmitted on the conveyor belt under the restriction of the edge; the belt conveyor line also includes a feeding sensor for detecting whether there is a plug tray between the baffle and the blocking block, the feeding sensor is fixed on the sidewall, and the feeding sensor is arranged adjacent to the sidewall; the width of the conveyor belt of the seedbed conveyor line is an integer multiple of the width or length of the plug tray, and the moving range of the force control robot is greater than the width of the conveyor belt; the belt conveyor line also includes a transmission drive motor, a pause sensor and a control box, the control box is connected to the conveyor belt, the feeding sensor and the pause sensor, and the pause sensor is arranged at the conveying end of the conveyor belt; When the pause sensor detects the presence of the hole tray, the control box controls the conveying drive motor to pause so as to stop the conveying belt; When the loading sensor detects that there is no hole tray, the control box controls the conveying drive motor to remain paused; when the loading sensor detects that there is a hole tray, the control box controls the conveying drive motor to drive the conveyor belt to transfer the hole tray to the conveying end of the conveyor belt; wherein, the force control robot moves the fork tool at the end to the height of the gap below the hole tray, and uses the force control search function of the force control robot to find the gap between the hole cups of the hole tray; the force control robot inserts the fork tool at the end into the gap of the hole tray, shovels up the hole tray, and confirms whether the hole tray is successfully scooped up through the force control sensing function of the force control robot.

2. The automatic plug tray loading device according to claim 1, characterized in that: The force-controlled robot also includes an electrical control cabinet, a touch screen and a signal light. The electrical control cabinet is fixed on the robot mounting base, and the electrical control cabinet is connected to the first rotating shaft mechanism, the second rotating shaft mechanism, the third rotating shaft mechanism and the fourth rotating shaft mechanism. The touch screen is connected to the electrical control cabinet, and the signal light is arranged on the robot mounting base, and the signal light is connected to the electrical control cabinet.

3. The automatic plug tray loading device according to claim 1, characterized in that: The belt conveyor line also includes a soil sweeping mechanism, which is arranged below the conveying end of the conveyor belt and is used to sweep and collect the soil on the conveyor belt.

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