Automatic planting system

Abstract

The invention discloses an automatic planting system which comprises a robot precise sowing mechanism, an automatic seedling separating mechanism, a robot transplanting mechanism, a robot automatic vegetable pulling, soil removing and root cutting mechanism, a robot automatic soil loosening and sterilizing mechanism, a greenhouse intelligent vaporization and atomization temperature control system and a planting box automatic reciprocating circulation mechanism. The device is small in occupied area, high in working efficiency and convenient to use.

Description

Technical Field

[0001] The invention relates to an agricultural machine, which is a planting system. Background Art

[0002] The existing crop planting generally adopts the method of large-scale field manual planting or ordinary mechanical planting, which occupies a large area, has high work intensity and low work efficiency, and needs to be further improved. Summary of the invention

[0003] The purpose of the present invention is to provide an automated planting system with small footprint and high working efficiency.

[0004] The technical solution of the present invention is: An automated planting system, characterized by: including a robot precision sowing mechanism, an automatic seedling separation mechanism, a robot transplanting mechanism, a robot automatic vegetable pulling, soil removal and root cutting mechanism, a robot automatic soil loosening and sterilization mechanism, a greenhouse intelligent vaporization and atomization temperature control system and an automatic reciprocating circulation mechanism for planting boxes; The robot precision seeding mechanism includes a robot, a robot connecting plate fixed on the robot end flange, an air pipe joint mounting plate fixed on the robot connecting plate through a connecting rod, an airway connected to the air pipe is provided in the air pipe joint mounting plate, the airway is provided with a plurality of air holes, each air hole is connected to an air pipe joint, a suction nozzle mounting tube is installed on the air pipe joint, and a soft suction nozzle is sleeved on the suction nozzle mounting tube; working method: the robot inserts the soft suction nozzle into the seed box containing seeds according to a set program, and the negative pressure gas is connected to the upper air pipe joint through the air pipe, and the negative pressure gas passes through The upper air pipe joint, air pipe, air pipe joint mounting plate, air pipe joint, and nozzle mounting tube reach the end of the soft nozzle; in order to ensure that N soft nozzles can pick up a seed, the robot swings in multiple directions with a certain amplitude, and picks up the seeds by relying on the negative pressure gas and the soft deformation of the soft nozzle. The picked-up seeds are driven by the robot to the place where they need to be sown. At this time, the negative pressure gas in the soft nozzle is switched to positive pressure, and the seeds are blown into the seedling pot to achieve precise sowing; after the seeds are sucked, the seed box vibrates under the drive of the vibration table, so that the seeds in the box are evenly spread; The automatic seedling separation mechanism includes a lifting part and a retracting and unfolding part; the lifting part includes a workbench, a lifting airbag or a lifting cylinder, a retracting and unfolding platform support column, and a lifting plate guide column are installed on the workbench, the push rod is fixed to the lifting plate through a push rod fixing plate, the retracting and unfolding platform is installed at the end of the retracting and unfolding platform support column and the lifting plate guide column, and the seedling pot positioning column support plate is installed on the upper surface of the retracting and unfolding platform; the retracting and unfolding part includes a guide column mounting plate, a guide column mounting plate and an electric slide are installed on the retracting and unfolding platform, and the guide column is installed on the guide column mounting plate. The guide bar fixing plate is installed on the guide column, the seedling pot guide bar is installed on the guide bar fixing plate, the adjacent guide bar fixing plates are connected with the short hinge rod and the long hinge rod by step bolts, and the short hinge rod, the long hinge rod and the shaft pin form a scissor fork type equidistant variable distance structure; the traction connecting plate is fixed on the sliding seat of the electric slide and is connected to the guide bar fixing plate at the end; working method: during operation, in the initial state of the seedling separator mechanism, the seedling pot positioning columns are gathered at one corner of the mechanism, and when each seedling pot positioning column is placed on the seedling pot The electric slides on the left and right sides drive the horizontal guide strip fixing plate in the guide strip fixing plate to move, and the electric slide composed of the scissor fork type equidistant variable pitch structure and the servo motor and the ball screw ensures the accuracy of the distance. When the horizontal seedling pot guide strip in the seedling pot guide strip is in place, the electric slides on the front and rear sides drive the longitudinal guide strip fixing plate in the guide strip fixing plate to move, and the longitudinal seedling pot guide strip in the seedling pot guide strip moves into place; after the seedling pot is unfolded into place under the drive of the seedling pot positioning column, the axis of the top rod and the seedling pot positioning column The axis and the axis of the seedling pot coincide with each other, and the lifting airbag begins to inflate at this time. As the amount of inflation continues to increase, the lifting plate is gradually lifted up, or the lifting cylinder gradually lifts the lifting plate. When the lifting plate rises, it drives the push rod to move upward, and finally the magnet at the end of the push rod pushes the seedling pot gasket to push the seedlings out of the seedling pot; after the seedlings are removed, the lifting airbag begins to exhaust, or the lifting cylinder retracts, and the lifting plate descends under the action of gravity, and the magnet absorbs the seedling pot gasket when descending, thus ensuring that the seedling pot gasket is finally at the bottom of the seedling pot; The robot transplanting mechanism includes a robot, a transplanting gripper and a locking and screwing mechanism; the transplanting gripper part includes a robot flange connecting plate connected to the robot, the gripper frame is fixed to the robot flange connecting plate, the linear guide and the electric cylinder are installed on the gripper frame, the dragging bracket is connected to the electric cylinder through a connecting rod, each group of clamping jaw mounting plates are connected into one body through the dragging bracket and the connecting plate, the clamping jaws are installed on the clamping jaw mounting plate, and each clamping jaw mounting plate is installed on the slider of the linear guide; the locking and screwing mechanism includes a connecting seat, the connecting seat is fixed to the mounting plate, the lower end of the connecting seat is connected to the locking shaft, and the upper end is connected to the reducer, the reducer and the locking servo motor are fixed to the mounting plate through the connecting plate, the mounting plate is fixed to the mounting plate of the cylinder, and the cylinder Installed on a fixed bracket; the locking shaft is locked and linked with the transmission shaft under the drive of the locking servo motor. After the locking is completed, the servo motor is screwed to drive the locking shaft and the transmission shaft to complete the forward and reverse rotation, so that the rotation is transmitted through the transmission shaft; working method: during operation, the initial state of the clamp and the clamp mounting plate is that the two adjacent clamp mounting plates are staggered left and right, so that the two clamps of each group of clamps are in an unfolded state; when the gripper takes the seedlings, the clamp is directly above the seedling pot, and when the seedlings are pushed out of the seedling pot, the clamp will close together and wrap the seedlings. After the seedlings are taken, each group of clamps will wrap the seedlings. Before the gripper plants the seedlings, the electric cylinder works and will stagger the two adjacent rows of seedlings according to the set program, and finally the seedlings are placed in the planting hole to complete the planting; The robot automatic vegetable pulling, soil removal and root cutting mechanism includes a robot, which is connected to a gripper; the gripper includes a robot flange connecting plate connected to the robot, the robot flange connecting plate is connected to a gripper frame, a vibration plate is connected to the gripper frame through a connecting rod, a locker and a vibrator are fixed on the vibration plate, and a locking and screwing mechanism is installed on the gripper frame; correspondingly, a planting plate is arranged above the planting soil, a planting hole is arranged on the planting plate, the vegetable roots are located in the planting hole, the vegetables are located above the planting plate, and clamps that can realize closing and opening actions are arranged on the left and right sides of the planting hole, and a cutting knife is arranged in the clamp; working method: during operation, the gripper reaches the top of the planting plate under the drive of the robot, and the gripper The locking device is connected with the locking rod on the planting board and locked. After the locking is completed, the robot belt mechanism is lifted upward, and the vegetables planted on the planting board will be lifted up and pulled out of the soil together. When the vegetable roots are completely pulled out, the vibrator starts to vibrate. Since the locking device and the locking rod are locked at this time, the vibration force of the vibrator will be transmitted to the planting board through the vibration plate, the locking device and the locking rod when the vibrator vibrates, thereby driving the vegetables to vibrate. When the vegetables vibrate, the soil on the vegetable roots will naturally fall off with the vibration. After the soil on the vegetable roots is removed, the locking and screwing mechanism is locked with the transmission shaft and drives the transmission shaft to rotate, and finally drives the clamping plate on the planting board to move to achieve the action of closing and opening. The cutting knife set in the clamping plate moves synchronously with the clamping plate and cuts off the vegetable roots. The robot automatic soil loosening and sterilization mechanism comprises a robot, a robot flange mounting plate fixed on the robot end flange, a motor fixing seat and a soil leveling plate installed on the robot flange mounting plate, a speed regulating motor and a bearing mounting seat both installed on the motor fixing seat, a bearing installed in the bearing mounting seat, a soil loosening auger passing through the bearing and connected with the speed regulating motor, an ultraviolet lamp installed on the motor fixing seat, and a bacterial liquid spray pipe fixed on the side of the motor fixing seat; a working method: during operation, the robot carries the soil loosening mechanism to the top of the soil according to the trajectory set by the program, at which time the speed regulating motor and the ultraviolet lamp are powered on and start working, the soil loosening mechanism moves downward as a whole, the soil loosening auger penetrates into the soil and starts loosening the soil, after the soil is loosened along the set path, the ultraviolet lamp is turned off, and then the soil loosening is repeated, and the bacterial liquid spray pipe will spray the bacterial liquid during the second soil loosening, so that the synchronous soil loosening and bacterial spraying ensure that the bacterial liquid can be evenly distributed in the soil; after the second soil loosening is completed, the six-axis robot drives the soil leveling plate to smooth the soil surface; The greenhouse intelligent vaporization and atomization temperature control system includes a water pump that pumps groundwater into an insulation and heating water storage tank. The insulation and heating water storage tank is connected to a high-pressure water pump, which is connected to an atomizing nozzle. A temperature sensor and a humidity sensor are also provided. The temperature sensor is used to collect temperature information of plant roots and stems and leaves, and the humidity sensor is used to collect humidity information of soil at the roots of plants. The intelligent control system calculates the required temperature and spraying amount of atomized water based on the information collected by the temperature sensor and the humidity sensor. The insulation and heating water storage tank automatically adjusts the water temperature based on the information fed back by the intelligent control system. When the water level is adjusted to a suitable temperature, the high-pressure water pump automatically draws water from the insulation and heating water storage tank and sprays it to the corresponding planting area. The water sprayed by the atomizing nozzle improves the temperature of the plant soil and stem and leaf growth area to achieve the temperature most suitable for plant growth. The greenhouse is set in the entire growth area.

[0005] The water used for vaporization and atomization comes from groundwater, which is pumped into the insulation and heating water storage tank through a water pump; The automatic reciprocating flow mechanism of the planting box comprises a planting box planting-harvesting-tilling conveyor belt, a planting box shunt conveyor belt, a growing area planting box inlet conveyor belt, a growing area planting box outlet conveyor belt and a planting box; the vegetable growing area is composed of a plurality of planting box inlet conveyor belts and a planting box outlet conveyor belt, and the planting box planting-harvesting-tilling conveyor belt and the planting box shunt conveyor belt are arranged at the end of the vegetable growing area; during operation, after the planting box where the vegetable seedlings have been planted by the robot transplanting mechanism is located at the end of the planting box planting-harvesting-tilling conveyor belt, the planting box is pushed and pulled from the planting box planting-harvesting-tilling conveyor belt to the planting box shunt conveyor belt by the push-pull mechanism, and the planting box shunt conveyor belt transports the planting box to the designated planting box inlet conveyor belt The planting box is moved to the starting end of the belt, and then the push-pull mechanism pushes and pulls the planting box into the planting box conveyor belt, and the planting box at the end of the planting box conveyor belt is pushed and pulled by the push-pull mechanism to the planting box outlet conveyor belt; after the vegetables are mature, the planting box at the end of the planting box outlet conveyor belt is pushed and pulled by the push-pull mechanism to the planting box diversion conveyor belt, and after the planting box reaches the end of the planting box diversion conveyor belt, it is pushed and pulled by the push-pull mechanism to the planting-harvesting-tilling conveyor belt of the planting box, and the planting box completes the harvesting of vegetables implemented by the robot's automatic vegetable pulling, soil removal and root cutting mechanism on the planting box planting-harvesting-tilling conveyor belt, the tillage and sterilization of the soil in the planting box implemented by the robot's automatic soil loosening and sterilization mechanism, and the pressing of the planting holes, and the next step of transplanting the vegetable seedlings is carried out in a cycle.

[0006] The entire working process of the system is: the robot's precise sowing mechanism carries out sowing and seedling growth, and then the machine transports the seedling pots to the automatic seedling separation mechanism. After automatic seedling separation, the robot's transplanting mechanism transplants them and cuts them into planting boxes with soil. After the seedlings in the planting boxes grow up, the robot automatically pulls the vegetables out, removes the soil, and cuts the roots. After pulling the vegetables, the robot's automatic soil loosening and sterilization mechanism automatically turns the soil, sterilizes, smoothes, and presses holes in the planting box, waiting for the next automatic transfer of seedlings.

[0007] A seedling raising device is used for raising seedlings, which includes a seedling pot tray, in which multiple seedling pots are placed, each seedling pot is placed with a gasket, and the gasket and the bottom of the seedling pot are provided with drainage holes, and excess water flows away through the drainage holes. The seedlings are pushed out by lifting the gasket in the seedling pot with the help of other mechanisms or tools.

[0008] The invention occupies a small area, has high working efficiency and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0010] Figure 1 It is a structural schematic diagram of the robot precision seeding mechanism of the present invention.

[0011] Figure 2It is a schematic diagram of the local working state of the robot precision seeding mechanism of the present invention.

[0012] Figure 3 It is a structural diagram of the soft suction nozzle of the robot's precision seeding mechanism.

[0013] Figure 4 It is a structural schematic diagram of the automatic seedling separation mechanism of the present invention.

[0014] Figure 5 It is a structural schematic diagram of the lifting part of the automatic seedling separation mechanism.

[0015] Figure 6 It is a partial structural diagram of the folding and unfolding part of the automatic seedling separation mechanism.

[0016] Figure 7 It is a top view of the folded and unfolded part of the automatic seedling separation mechanism.

[0017] Figure 8 It is a schematic diagram of the retracted state of the retracted and extended part of the automatic seedling separation mechanism.

[0018] Fig. 9 It is a schematic diagram of the unfolded state of the retracted and unfolded part of the automatic seedling separation mechanism.

[0019] Fig.10 It is a schematic diagram of the working jacking state of the automatic seedling separation mechanism of the present invention.

[0020] Fig.11 It is a schematic diagram of the coordination status between the seedling pot body and the top rod of the automatic seedling separation mechanism.

[0021] Fig.12 It is a structural schematic diagram of the robot transplanting mechanism.

[0022] Fig.13 It is a structural schematic diagram of the transplanting gripper in the robot transplanting mechanism.

[0023] Fig.14 It is a structural diagram of the locking and screwing mechanism in the robot transplanting mechanism.

[0024] Fig.15 , Fig.16 , Fig.17 It is a schematic diagram of the gripper and the gripper mounting plate in the robot transplanting mechanism in different states.

[0025] Fig.18 , Fig.19 It is a schematic diagram of different states of the gripper and seedling pot in the robot transplanting mechanism.

[0026] Fig. 20 It is a schematic diagram of the structure of the robot's automatic vegetable pulling, soil removal and root cutting mechanism.

[0027] Fig.21It is a schematic diagram of the structure of the gripper in the robot's automatic vegetable pulling, soil removal and root cutting mechanism.

[0028] Fig. 22 It is a structural schematic diagram of the planting plate in the robot's automatic vegetable pulling, soil removal and root cutting mechanism.

[0029] Fig.23 This is a schematic diagram of the working status of the robot's automatic vegetable pulling, soil removal and root cutting mechanism.

[0030] Fig.24 It is a schematic diagram of the structure of the splint in the robot's automatic vegetable pulling, soil removal and root cutting mechanism.

[0031] Fig.25 It is a structural diagram of the robot's automatic soil loosening and sterilization mechanism.

[0032] Fig.26 It is a structural schematic diagram of the soil loosening mechanism in the robot's automatic soil loosening and sterilization mechanism.

[0033] Fig. 27 yes Fig.26 Side view of.

[0034] Fig.28 It is a structural schematic diagram of the greenhouse intelligent vaporization and atomization temperature control system of the present invention.

[0035] Fig.29 It is a structural schematic diagram of a seedling raising device.

[0036] Fig.30 It is a structural schematic diagram of a seedling pot tray.

[0037] Fig.31 This is the appearance diagram of the seedling pot.

[0038] Fig.32 It is a schematic diagram of the structure of the seedling pot.

[0039] Fig.33 It is a structural diagram of the automatic reciprocating flow mechanism of the planting box. Implementation

[0040] An automated planting system, including a robot precision sowing mechanism, an automatic seedling separation mechanism, a robot transplanting mechanism, a robot automatic vegetable pulling, soil removal and root cutting mechanism, a robot automatic soil loosening and sterilization mechanism, a greenhouse intelligent vaporization and atomization temperature control system and an automatic reciprocating circulation mechanism for a planting box; The robot precision seeding mechanism includes a six-axis robot 1.1, a robot connecting plate 1.2, a connecting rod 1.3, a ventilation strip pressure plate 1.4, a ventilation strip 1.5, a sealing ring 1.6, a suction nozzle mounting tube 1.7, a soft suction nozzle 1.8, a metal air pipe joint 1.9, an air pipe joint mounting plate 1.10, an air pipe joint 1.11, an air pipe 1.12, and an air pipe joint 1.13; the robot connecting plate 1.2 is fixed to the end flange of the robot, the air pipe joint mounting plate 1.10 is fixed to the robot connecting plate 1.2 through the connecting rod 1.3, and the sealing ring 1.6 is placed on the air pipe In the sealing groove on the joint mounting plate, the vent strip 1.5 is installed above the sealing ring and fixed by the vent strip pressure plate 1.4, the metal air pipe joint 1.9 is fixed to the air pipe joint mounting plate 1.10 by threads, the suction nozzle mounting tube 1.7 is installed on the metal joint 1.9, the soft suction nozzle 1.8 is sleeved on the suction nozzle mounting tube 1.7, the air pipe joint 1.13 is fixed to the side of the robot link plate 1.2 by bolts, the air pipe joint 1.11 is installed at one end of the vent strip 1.5 by threads, and the air pipe joint 1.13 is connected to the air pipe joint 1.11 through the air pipe.

[0041] During operation, the six-axis robot 1.1 inserts the soft suction nozzle 1.8 into the seed box 1.14 containing the seeds 1.15 according to the set program, and the negative pressure gas is connected to the trachea connector 1.13 through the trachea, and the negative pressure gas reaches the end of the soft suction nozzle 1.8 through the trachea connector 1.13, the trachea 1.12, the trachea connector 1.11, the ventilation strip 1.5, the trachea connector mounting plate 1.10, the metal trachea connector 1.9, and the suction nozzle mounting tube 1.7. In order to ensure that N soft suction nozzles 1.8 can suck up a seed 1.15, the six-axis robot 1.1 will perform a certain amplitude of multi-directional swing, relying on the negative pressure gas and the soft deformation of the soft suction nozzle 1.8 to suck up the seed 1.15, and the sucked seed 1.15 is driven by the six-axis robot 1.1 to the place where it needs to be sown. At this time, the negative pressure gas in the soft suction nozzle 1.8 is switched to positive pressure, and the seeds are blown into the seedling pot to achieve precise sowing. After the seeds are absorbed, the seed box 1.14 is vibrated by the vibration table, so that the seeds in the box are evenly spread.

[0042] The invention can suck and sow N seeds at a time, greatly improving the sowing efficiency; and realizes equidistant sowing of seeds and accurate and controllable sowing depth. At the same time, the soft suction nozzle can deform with the shape of the seeds under the action of negative pressure gas when sucking seeds, so that the suction nozzle and the seeds are highly fitted.

[0043] The automatic seedling separation mechanism comprises a lifting part 2.1 and a retracting and unfolding part 2.2.

[0044] The lifting part includes a platform fixing part 2.11, a tooling table 2.12, a lifting airbag 2.13, a support column 2.14 for the retracting and unfolding platform, a lifting plate 2.15, a lifting plate guide column 2.16, an oil-free bushing 2.17, a top rod fixing plate 2.18, a top rod 2.19, a lifting limit block 2.110, a retracting and unfolding platform 2.111, a positioning column support plate support block 2.112, and a seedling pot positioning column support plate 2.113; a lifting airbag 2.13, a retracting and unfolding platform support 2.14, a lifting plate guide column 2.16 and a lifting The lower limit block 2.114 of the plate is installed on the workbench 2.12, the oil-free bushing 2.17 is fixed on the jacking plate 2.15, the jacking rod 2.19 is fixed on the jacking plate through the jacking rod fixing plate 2.18, the retracting and unfolding platform 2.111 is installed at the end of the retracting and unfolding platform support column 2.14 and the jacking plate guide column 2.16, the upper limit block 2.110 of the jacking plate is installed on the lower surface of the retracting and unfolding platform 2.111, and the seedling pot positioning column support plate 2.113 is installed on the upper surface of the retracting and unfolding platform 2.111 through the positioning column support plate support block.

[0045] The stowage and extension part comprises a guide column mounting plate 2.21, an electric slide 2.22, a guide column 2.23, a short hinge rod 2.24, a long hinge rod 2.25, a seedling pot positioning column 2.26, a seedling pot guide strip 2.27, a traction connection plate 2.28, and a guide strip fixing plate 2.29; the guide column mounting plate 2.21 and the electric slide 2.22 are mounted on the stowage and extension platform 2.111, the guide column 2.23 is mounted on the guide column mounting plate 2.21, the guide strip fixing plate 2.29 is mounted on the guide column 2.23, the seedling pot guide strip is mounted on the guide strip fixing plate 2.29, the adjacent guide strip fixing plates 2.29 are connected with the short hinge rod 2.24 and the long hinge rod 2.25 by step bolts, the traction connection plate 2.28 is fixed on the slide seat of the electric slide 2.22 and is simultaneously connected with the guide strip fixing plate 2.29 at the end.

[0046] During operation, the initial state of the seedling separator mechanism is as follows: Figure 4 As shown, the seedling pot positioning column 2.26 is gathered at a corner of the mechanism, and when each seedling pot positioning column 2.26 is placed on the seedling pot 2.31, it is Figure 8 The electric slides 2.22 on the left and right sides drive the horizontal guide bar fixing plate 2.29 to move. The distance accuracy is ensured by the scissor-fork type equidistant variable distance structure composed of hinge rods 2.24, 2.25 and axle pins and the electric slide composed of private service motor and ball screw. When the horizontal seedling bowl guide bar 2.27 is in place, the electric slides 2.22 on the front and rear sides drive the longitudinal guide bar fixing plate 2.29 to move. The longitudinal seedling bowl guide bar 2.27 moves into place. Fig. 9 shown.

[0047] After the seedling pot 2.31 is deployed in place under the drive of the seedling pot positioning column 2.26, the axis of the push rod 2.19, the axis of the seedling pot positioning column 2.26, and the axis of the seedling pot coincide with each other, and the lifting airbag 2.13 begins to inflate. As the amount of inflation continues to increase, the lifting plate 2.15 will be gradually lifted up. While the lifting plate 2.15 is lifted up, it drives the push rod 2.19 to move upward, and finally the magnet 2.115 at the end of the push rod supports the seedling pot gasket 2.32 to push the seedlings out of the seedling pot. After the seedlings are removed, the lifting airbag 2.13 begins to exhaust, and the lifting plate 2.15 descends under the action of gravity. The magnet 2.115 will absorb the seedling pot gasket when it descends, thus ensuring that the seedling pot gasket 2.32 is finally at the bottom of the seedling pot 2.31. The lifting airbag here can be replaced by a lifting cylinder.

[0048] The robot transplanting mechanism comprises a six-axis robot 3.43, a transplanting gripper 3.44 and a locking and screwing mechanism 3.45.

[0049] The transplanting gripper part includes a robot flange connecting plate 3.21, a spacer 3.22, a gripper frame 3.23, a linear guide rail 3.24, a clamping jaw mounting plate 3.25, a clamping jaw 3.26, an electric cylinder 3.27, a connecting rod 3.28, a drag bracket 3.29, and a connecting plate 3.30; the clamping jaw 3.26 is mounted on the clamping jaw mounting plate 3.25, and each clamping jaw mounting plate 3.25 is mounted on the sliders of three linear guide rails 24, as shown in the figure, the clamping jaw mounting plate 3.25 is arranged according to (3.1, 3.5, 3.9, 3.13) (3.2, 3.6, The gripper mounting plate 3.25 of each group is connected as a whole through a drag bracket 3.29 and a connecting plate 3.30. The drag bracket 3.29 is connected to the electric cylinder 3.27 through a connecting rod 3.28. The linear guide rail 3.24 and the electric cylinder 3.27 are both installed on the gripper frame 3.23. The gripper frame 3.23 is fixed to the robot flange connecting plate 3.21 through a spacer 3.22.

[0050] The locking and screwing mechanism includes a fixed bracket 3.31, a cylinder 3.32, a mounting plate 3.33, a connecting plate 3.34, a reducer 3.35, a locking servo motor 3.36, a connecting seat 3.37, a screwing servo motor 3.38, and a locking shaft 3.39; the connecting seat 3.37 is fixed on the mounting plate 3.33, the lower end of the connecting seat 3.37 is connected to the locking shaft 3.39, and the upper end is connected to the reducer 3.35, the reducer 3.35 and the locking servo motor are fixed on the mounting plate 3.33 through the connecting plate 3.34, the mounting plate 3.33 is fixed on the mounting plate of the cylinder 3.32, and the cylinder 3.32 is installed on the fixed bracket 3.31.

[0051] During operation, the state of the clamping jaw 3.26 and the clamping jaw mounting plate 3.25 is as follows: Fig.15 As shown, two adjacent clamping jaw mounting plates 3.25 are staggered left and right, so that the two clamping jaws of each set of clamping jaws 3.26 are in an unfolded state. Fig.18 As shown, when the gripper takes the seedling, the clamping claw 3.26 will be directly above the seedling pot 3.42. When the seedling is pushed out of the seedling pot, the clamping claw 3.26 will close together and wrap the seedling. Fig.19 As shown, this state is the state after the seedlings are taken. Each set of grippers 3.26 will wrap the seedlings. Before the gripper plants the seedlings, the electric cylinder will interlace the seedlings in two adjacent rows according to the set program. Fig.17 As shown, the planting is finally completed by placing the seedlings into the planting holes.

[0052] The locking shaft 3.39 is driven by the locking servo motor 3.36 to realize locking connection with the transmission shaft 3.41. After the locking is completed, the servo motor 3.38 is turned to drive the locking shaft 3.39 and the transmission shaft 3.41 to complete the forward and reverse rotation at the same time, thereby transmitting the rotation through the transmission shaft 3.41.

[0053] The robot automatically pulls out vegetables, removes soil and cuts roots, including a six-axis robot 4.1 and a gripper 4.2.

[0054] like Fig.21 As shown, the gripper 4.2 includes a robot flange connection plate 4.21, a gripper frame 4.22, a locking and screwing mechanism 4.23, a locker 4.24, a connecting rod 4.25, a vibrator 4.26, and a vibration plate 4.27; the vibration plate 4.27 is connected to the gripper frame 4.22 through a connecting rod 4.25, the locker 4.24 and the vibrator 4.26 are fixed on the vibration plate 4.27, the locking and screwing mechanism 4.23 is installed on the gripper frame 4.22, and the whole set of grippers is installed on the six-axis robot 4.1 through the robot flange connection plate 4.21. Correspondingly, a planting plate is set above the planting soil, a planting hole is set on the planting plate, the vegetable root is located in the planting hole, and the vegetable is located above the planting plate, and a clamping plate that can realize the closing and opening action is set on the left and right sides of the planting hole, and a cutting knife is set in the clamping plate.

[0055] During operation: the gripper 4.2 reaches the Fig. 22 As shown in the figure, the locking device 4.24 on the gripper 4.2 is connected with the locking rod 4.31 on the planting board and locked as shown in the figure. Fig.23After the locking is completed, the six-axis robot 4.1 is lifted upward with the mechanism, and the vegetables planted on the planting board will be lifted together and pulled out of the soil. When the vegetable roots are completely pulled out, the vibrator 4.26 starts to vibrate. Since the locker 4.24 and the locking rod 4.31 are locked at this time, the vibration force of the vibrator 4.26 will be transmitted to the planting board 4.33 through the vibration plate 4.27, the locker 4.24, and the locking rod 4.31, thereby driving the vegetables to vibrate. When the vegetables vibrate, the soil on the vegetable roots will naturally fall off with the vibration. After the vegetable roots are de-soiled, the locking and screwing mechanism 4.23 is locked with the transmission shaft 4.32 and drives the transmission shaft 4.32 to rotate, and finally drives the clamping plate 4.34 on the planting board 4.33 to move to achieve the action of closing and opening. The cutting knife 4.35 set in the clamping plate 4.34 will move synchronously with the clamping plate 4.34 and cut the vegetable roots.

[0056] The robot automatic soil loosening and sterilization mechanism comprises a six-axis robot 5.1, a robot flange mounting plate 5.21, a motor fixing seat 5.22, a bearing mounting seat 5.23, a soil loosening auger 5.24, a speed regulating motor 5.25, an ultraviolet lamp mounting bracket 5.26, a bearing 5.27, a bearing cover plate 5.28, a soil leveling plate 5.29, a bacterial liquid spray pipe 5.210, and an ultraviolet lamp 5.211; the robot flange mounting plate 5.21 is fixed on the end flange of the robot, the motor fixing seat 5.22 and the soil leveling plate 5 .29 is installed on the robot flange mounting plate 5.21, the speed regulating motor 5.25 and the bearing mounting seat 5.23 are both installed on the motor fixing seat 5.22, the bearing 5.27 is installed in the bearing mounting seat 5.23, the loosening auger 5.24 passes through the bearing 5.27 and is connected with the speed regulating motor 5.25, the ultraviolet lamp 5.211 is installed on the motor fixing seat 5.22 through the ultraviolet lamp mounting bracket, and the bacterial liquid nozzle 5.210 is fixed to the side of the motor fixing seat 5.22 through the bacterial liquid nozzle fixing plate 5.212.

[0057] During operation, the six-axis robot 1 carries the loosening mechanism to the top of the soil according to the trajectory set by the program. At this time, the speed regulating motor 5.25 and the ultraviolet lamp 5.211 are powered on and start working. The loosening mechanism moves downward as a whole, and the loosening auger 5.24 penetrates into the soil to start loosening. After the soil is loosened along the set path, the ultraviolet lamp 5.211 will be turned off, and then the loosening is repeated. When the soil is loosened for the second time, the bacterial liquid nozzle 5.210 will spray the bacterial liquid. In this way, the synchronous loosening and spraying of bacteria ensure that the bacterial liquid can be evenly distributed in the soil. After the second loosening is completed, the six-axis robot 1 drives the soil leveling plate 5.29 to smooth the soil surface.

[0058] The greenhouse intelligent vaporization and atomization temperature control system mainly includes: 6.1, water pump; 6.2, thermal insulation and heating energy storage tank; 6.3, high-pressure water pump; 6.4, atomizing nozzle; 6.5, intelligent control system; 6.6, temperature sensor; 6.7, humidity sensor.

[0059] The temperature sensor 6.6 is used to collect temperature information of plant roots and stems and leaves, and the humidity sensor 6.7 is used to collect humidity information of soil at the roots of plants. The intelligent control system 6.5 calculates the required temperature and spraying amount of atomized water based on the information collected by the temperature sensor 6.6 and the humidity sensor 6.7. The heat preservation and heating water storage tank automatically adjusts the water temperature based on the information fed back by the intelligent control system. When the water level is adjusted to a suitable temperature, the high-pressure water pump 6.3 will automatically draw water from the heat preservation and heating water storage tank 6.2 and spray it to the corresponding planting area. The water sprayed by the atomizing nozzle 6.4 improves the temperature of the plant soil and stem and leaf growth area to reach the temperature most suitable for plant growth.

[0060] The water used for vaporization and atomization comes from groundwater, which is pumped into the heat preservation and heating water storage tank 6.2 through a water pump 6.1. The heat preservation and heating water storage tank 6.2 is provided with a liquid level sensor which can then feed back the water storage amount to the intelligent control system. The greenhouse is set in the entire growing area.

[0061] The automatic reciprocating flow mechanism of the planting box comprises a planting box planting-harvesting-tillage conveyor belt 8.1, a planting box diversion conveyor belt 8.2, a growing area planting box inlet conveyor belt 8.3, a growing area planting box outlet conveyor belt 8.4 and a planting box 8.5; the vegetable growing area is composed of a plurality of planting box inlet conveyor belts and a planting box outlet conveyor belt, and the planting box planting-harvesting-tillage conveyor belt and the planting box diversion conveyor belt are arranged at the end of the vegetable growing area; during operation, after the planting box where the vegetable seedlings have been planted by the robot transplanting mechanism is located at the end of the planting box planting-harvesting-tillage conveyor belt, the planting box is pushed and pulled from the planting box planting-harvesting-tillage conveyor belt to the planting box diversion conveyor belt by the push-pull mechanism, and the planting box diversion conveyor belt transports the planting box to the designated The planting box is at the starting end of the planting box inlet conveyor belt, and then the planting box is pushed and pulled by the push-pull mechanism into the planting box inlet conveyor belt. The planting box at the end of the planting box inlet conveyor belt is pushed and pulled by the push-pull mechanism to the planting box outlet conveyor belt. After the vegetables are ripe, the planting box at the end of the planting box outlet conveyor belt is pushed and pulled by the push-pull mechanism to the planting box diversion conveyor belt. After the planting box reaches the end of the planting box diversion conveyor belt, it is pushed and pulled by the push-pull mechanism to the planting-harvesting-tilling conveyor belt of the planting box. On the planting-harvesting-tilling conveyor belt of the planting box, the planting box completes the harvesting of vegetables implemented by the robot's automatic vegetable pulling, soil removal and root cutting mechanism, the tilling and sterilization of the soil in the planting box implemented by the robot's automatic soil loosening and sterilization mechanism, and the pressing of the planting holes, and the next step of transplanting the vegetable seedlings is repeated.

[0062] The seedling raising device is composed of a seedling raising pot tray 7.1, a seedling raising pot 7.2 (i.e., a seedling raising pot 3.42) and a gasket 7.3. A set of the device is composed of a seedling raising pot tray and a plurality of seedling raising pots and gaskets.

[0063] The entire working process of the system is: the robot's precise sowing mechanism carries out sowing and seedling growth, and then the machine transports the seedling pots to the automatic seedling separation mechanism. After automatic seedling separation, the robot's transplanting mechanism transplants them and cuts them into planting boxes with soil. After the seedlings in the planting boxes grow up, the robot automatically pulls the vegetables out, removes the soil, and cuts the roots. After pulling the vegetables, the robot's automatic soil loosening and sterilization mechanism automatically turns the soil, sterilizes, smoothes, and presses holes in the planting box, waiting for the next automatic transfer of seedlings.

[0064] The gasket 7.3 and the bottom of the seedling pot 7.2 are provided with drainage holes, and excess water will flow away through the drainage holes to prevent the seeds or vegetable roots from being soaked and damaged. At the same time, it also plays a role of ventilation. The seedlings can be pushed out by lifting the gasket 7.3 in the seedling pot 7.2 with the help of other mechanisms or tools. Therefore, the design of the gasket 7.3 plus the seedling pot 7.2 facilitates automatic seedling removal.

Claims

1. An automated planting system, characterized by: Including robot precision sowing mechanism, automatic seedling separation mechanism, robot transplanting mechanism, robot automatic vegetable pulling, soil removal and root cutting mechanism, robot automatic soil loosening and sterilization mechanism, greenhouse intelligent vaporization and atomization temperature control system and planting box automatic reciprocating circulation mechanism; The robot precision seeding mechanism includes a robot, a robot connecting plate fixed on the robot end flange, an air pipe joint mounting plate fixed on the robot connecting plate through a connecting rod, an airway connected to the air pipe is provided in the air pipe joint mounting plate, the airway is provided with a plurality of air holes, each air hole is connected to an air pipe joint, a suction nozzle mounting tube is installed on the air pipe joint, and a soft suction nozzle is sleeved on the suction nozzle mounting tube; working method: the robot inserts the soft suction nozzle into the seed box containing seeds according to a set program, and the negative pressure gas is connected to the upper air pipe joint through the air pipe, and the negative pressure gas passes through The upper air pipe joint, air pipe, air pipe joint mounting plate, air pipe joint, and nozzle mounting tube reach the end of the soft nozzle; in order to ensure that N soft nozzles can pick up a seed, the robot swings in multiple directions with a certain amplitude, and picks up the seeds by relying on the negative pressure gas and the soft deformation of the soft nozzle. The picked-up seeds are driven by the robot to the place where they need to be sown. At this time, the negative pressure gas in the soft nozzle is switched to positive pressure, and the seeds are blown into the seedling pot to achieve precise sowing; after the seeds are sucked, the seed box vibrates under the drive of the vibration table, so that the seeds in the box are evenly spread; The automatic seedling separation mechanism includes a lifting part and a retracting and unfolding part; the lifting part includes a workbench, a lifting airbag or a lifting cylinder, a retracting and unfolding platform support column, and a lifting plate guide column are installed on the workbench, the push rod is fixed to the lifting plate through a push rod fixing plate, the retracting and unfolding platform is installed at the end of the retracting and unfolding platform support column and the lifting plate guide column, and the seedling pot positioning column support plate is installed on the upper surface of the retracting and unfolding platform; the retracting and unfolding part includes a guide column mounting plate, a guide column mounting plate and an electric slide are installed on the retracting and unfolding platform, and the guide column is installed on the guide column mounting plate. The guide bar fixing plate is installed on the guide column, the seedling pot guide bar is installed on the guide bar fixing plate, the adjacent guide bar fixing plates are connected with the short hinge rod and the long hinge rod by step bolts, and the short hinge rod, the long hinge rod and the shaft pin form a scissor fork type equidistant variable distance structure; the traction connecting plate is fixed on the sliding seat of the electric slide and is connected to the guide bar fixing plate at the end; working method: during operation, in the initial state of the seedling separator mechanism, the seedling pot positioning columns are gathered at one corner of the mechanism, and when each seedling pot positioning column is placed on the seedling pot The electric slides on the left and right sides drive the horizontal guide strip fixing plate in the guide strip fixing plate to move, and the electric slide composed of the scissor fork type equidistant variable pitch structure and the servo motor and the ball screw ensures the accuracy of the distance. When the horizontal seedling pot guide strip in the seedling pot guide strip is in place, the electric slides on the front and rear sides drive the longitudinal guide strip fixing plate in the guide strip fixing plate to move, and the longitudinal seedling pot guide strip in the seedling pot guide strip moves into place; after the seedling pot is unfolded into place under the drive of the seedling pot positioning column, the axis of the top rod and the seedling pot positioning column The axis and the axis of the seedling pot coincide with each other, and the lifting airbag begins to inflate at this time. As the amount of inflation continues to increase, the lifting plate is gradually lifted up, or the lifting cylinder gradually lifts the lifting plate. When the lifting plate rises, it drives the push rod to move upward, and finally the magnet at the end of the push rod pushes the seedling pot gasket to push the seedlings out of the seedling pot; after the seedlings are removed, the lifting airbag begins to exhaust, or the lifting cylinder retracts, and the lifting plate descends under the action of gravity, and the magnet absorbs the seedling pot gasket when descending, thus ensuring that the seedling pot gasket is finally at the bottom of the seedling pot; The robot transplanting mechanism includes a robot, a transplanting gripper and a locking and screwing mechanism; the transplanting gripper part includes a robot flange connecting plate connected to the robot, the gripper frame is fixed to the robot flange connecting plate, the linear guide and the electric cylinder are installed on the gripper frame, the dragging bracket is connected to the electric cylinder through a connecting rod, and each group of jaw mounting plates are connected into one body through the dragging bracket and the connecting plate, the jaws are installed on the jaw mounting plate, and each jaw mounting plate is installed on the slider of the linear guide; the locking and screwing mechanism includes a connecting seat, the connecting seat is fixed to the mounting plate, the locking shaft is connected to the lower end of the connecting seat, and the reducer is connected to the upper end, the reducer and the locking servo motor are fixed to the mounting plate through the connecting plate, the mounting plate is fixed to the mounting plate of the cylinder, and the cylinder is installed On the fixed bracket; the locking shaft is locked and linked with the transmission shaft under the drive of the locking servo motor. After the locking is completed, the servo motor is screwed to drive the locking shaft and the transmission shaft to complete the forward and reverse rotation, so that the rotation is transmitted through the transmission shaft; working method: during operation, the initial state of the clamp and the clamp mounting plate is that the two adjacent clamp mounting plates are staggered left and right, so that the two clamps of each group of clamps are in an unfolded state; when the gripper takes the seedlings, the clamp is directly above the seedling pot, and when the seedlings are pushed out of the seedling pot, the clamp will close together and wrap the seedlings. After the seedlings are taken, each group of clamps will wrap the seedlings. Before the gripper plants the seedlings, the electric cylinder works and will stagger the two adjacent rows of seedlings according to the set program, and finally the seedlings are placed in the planting holes in the planting box to complete the planting; The robot automatic vegetable pulling, soil removal and root cutting mechanism includes a robot, which is connected to a gripper; the gripper includes a robot flange connecting plate connected to the robot, the robot flange connecting plate is connected to a gripper frame, a vibration plate is connected to the gripper frame through a connecting rod, a locker and a vibrator are fixed on the vibration plate, and a locking and screwing mechanism is installed on the gripper frame; correspondingly, a planting plate is arranged above the planting soil, a planting hole is arranged on the planting plate, the vegetable roots are located in the planting hole, the vegetables are located above the planting plate, and clamps that can realize closing and opening actions are arranged on the left and right sides of the planting hole, and a cutting knife is arranged in the clamp; working method: during operation, the gripper reaches the top of the planting plate under the drive of the robot, and the gripper The locking device is connected with the locking rod on the planting board and locked. After the locking is completed, the robot belt mechanism is lifted upward, and the vegetables planted on the planting board will be lifted up and pulled out of the soil together. When the vegetable roots are completely pulled out, the vibrator starts to vibrate. Since the locking device and the locking rod are locked at this time, the vibration force of the vibrator will be transmitted to the planting board through the vibration plate, the locking device and the locking rod when the vibrator vibrates, thereby driving the vegetables to vibrate. When the vegetables vibrate, the soil on the vegetable roots will naturally fall off with the vibration. After the soil on the vegetable roots is removed, the locking and screwing mechanism is locked with the transmission shaft and drives the transmission shaft to rotate, and finally drives the clamping plate on the planting board to move to achieve the action of closing and opening. The cutting knife set in the clamping plate moves synchronously with the clamping plate and cuts off the vegetable roots. The robot automatic soil loosening and sterilization mechanism comprises a robot, a robot flange mounting plate fixed on the robot end flange, a motor fixing seat and a soil leveling plate installed on the robot flange mounting plate, a speed regulating motor and a bearing mounting seat both installed on the motor fixing seat, a bearing installed in the bearing mounting seat, a soil loosening auger passing through the bearing and connected with the speed regulating motor, an ultraviolet lamp installed on the motor fixing seat, and a bacterial liquid spray pipe fixed on the side of the motor fixing seat; a working method: during operation, the robot carries the soil loosening mechanism to the top of the soil according to the trajectory set by the program, at which time the speed regulating motor and the ultraviolet lamp are powered on and start working, the soil loosening mechanism moves downward as a whole, the soil loosening auger penetrates into the soil and starts loosening the soil, after the soil is loosened along the set path, the ultraviolet lamp is turned off, and then the soil loosening is repeated, and the bacterial liquid spray pipe will spray the bacterial liquid during the second soil loosening, so that the synchronous soil loosening and bacterial spraying ensure that the bacterial liquid can be evenly distributed in the soil; after the second soil loosening is completed, the six-axis robot drives the soil leveling plate to smooth the soil surface; The greenhouse intelligent vaporization and atomization temperature control system includes a water pump that pumps groundwater into a heat preservation and heating water storage tank, the heat preservation and heating water storage tank is connected to a high-pressure water pump, the high-pressure water pump is connected to an atomizing nozzle, and a temperature sensor and a humidity sensor are also provided; the temperature sensor is used to collect temperature information of plant roots and stems and leaves, and the humidity sensor is used to collect humidity information of soil at the roots of plants. The intelligent control system calculates the required temperature and spraying amount of atomized water according to the information collected by the temperature sensor and the humidity sensor, and the heat preservation and heating water storage tank automatically adjusts the water temperature according to the information fed back by the intelligent control system. When the water level is adjusted to a suitable temperature, the high-pressure water pump automatically extracts water from the heat preservation and heating water storage tank and sprays it to the corresponding planting area, and the water sprayed by the atomizing nozzle improves the temperature of the plant soil and stem and leaf growth area to reach the temperature most suitable for plant growth; the greenhouse is set in the entire growth area; The water used for vaporization and atomization comes from groundwater, which is pumped into the insulation and heating water storage tank through a water pump; The automatic reciprocating flow mechanism of the planting box comprises a planting-harvesting-tillage conveyor belt for the planting box, a shunt conveyor belt for the planting box, an inlet conveyor belt for the planting box in the growing area, an outlet conveyor belt for the planting box in the growing area and the planting box; the vegetable growing area is composed of a plurality of inlet conveyor belts for the planting box and an outlet conveyor belt for the planting box, and the planting-harvesting-tillage conveyor belt for the planting box and the shunt conveyor belt for the planting box are arranged at the end of the vegetable growing area; during operation, the transplanting of seedlings is completed on the planting-harvesting-tillage conveyor belt for the planting box by the robot transplanting mechanism, and after the planting box with the vegetable seedlings planted is located at the end of the planting-harvesting-tillage conveyor belt for the planting box, the pushing and pulling mechanism pushes and pulls the planting box from the planting-harvesting-tillage conveyor belt for the planting box to the shunt conveyor belt for the planting box, and the shunt conveyor belt for the planting box transports the planting box The planter goes to the designated starting end of the planter box inlet conveyor belt, and then the push-pull mechanism pushes and pulls the planter box onto the planter box inlet conveyor belt. The planter box at the end of the planter box inlet conveyor belt is pushed and pulled onto the planter box outlet conveyor belt by the push-pull mechanism. After the vegetables are ripe, the planter box at the end of the planter box outlet conveyor belt is pushed and pulled onto the planter box shunt conveyor belt by the push-pull mechanism. After the planter box reaches the end of the planter box shunt conveyor belt, it is pushed and pulled onto the planter box planting-harvesting-tillage conveyor belt by the push-pull mechanism. The planter box completes the harvesting of vegetables on the planter box planting-harvesting-tillage conveyor belt by the robot's automatic vegetable pulling, soil removal and root cutting mechanism, the tillage and sterilization of the soil in the planter box by the robot's automatic soil loosening and sterilization mechanism, and the pressing of the planting holes, and the next step of transplanting the vegetable seedlings is repeated. The entire working process of the system is: the robot's precise sowing mechanism carries out sowing and seedling growth, and then the machine transports the seedling pots to the automatic seedling separation mechanism. After automatic seedling separation, the robot's transplanting mechanism transplants them and cuts them into planting boxes with soil. After the seedlings in the planting boxes grow up, the robot automatically pulls the vegetables out, removes the soil, and cuts the roots. After pulling the vegetables, the robot's automatic soil loosening and sterilization mechanism automatically turns the soil, sterilizes, smoothes, and presses holes in the planting box, waiting for the next automatic transfer of seedlings.

2. The automated planting system according to claim 1, characterized in that: A seedling raising device is used for raising seedlings, which includes a seedling pot tray, in which multiple seedling pots are placed, each seedling pot is placed with a gasket, and the gasket and the bottom of the seedling pot are provided with drainage holes, and excess water flows away through the drainage holes. The seedlings are pushed out by lifting the gasket in the seedling pot with the help of other mechanisms or tools.

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