Transplanting device with sorting function

Abstract

The invention provides a transplanting device with a sorting function. The transplanting device comprises a controller, a supporting mechanism, a seedling taking manipulator for grabbing pot seedlings, a moving mechanism for moving the seedling taking manipulator to a target position, a machine vision system for shooting pictures of the pot seedlings grabbed by the seedling taking manipulator, and a sorting manipulator for backwards moving the seedling taking manipulator for grabbing inferior seedlings, the collecting mechanism is used for collecting the remaining seedling taking manipulators after sorting, and the resetting mechanism is used for resetting the seedling taking manipulators. Each seedling taking manipulator is provided with an angle adjusting assembly and a distance adjusting assembly, the seedling taking manipulators can be clamped on the sliding rails or separated from the sliding rails by rotating the angle adjusting assemblies, and the distance between every two adjacent seedling taking manipulators can be adjusted through the magnetic attraction effect of the distance adjusting assemblies in the two adjacent seedling taking manipulators. By means of the transplanting device, the seedling taking mechanical arms grabbing poor-quality seedlings or empty seedlings can be moved backwards, only the seedling taking mechanical arms grabbing healthy seedlings are reserved for planting operation, the planting operation effect can be improved, and the transplanting quality is improved.

Description

Technical Field

[0001] The invention relates to the field of transplanting equipment, in particular to a sortable transplanting device. Background Art

[0002] The current modern vegetable and flower cultivation system mainly adopts the light substrate plug tray cultivation method. However, during the seedling cultivation process, due to improper operation or uneven nutrient distribution, some holes may have poor quality seedlings or empty seedlings. During the transplanting operation, the cultivated seedlings need to be transplanted to a larger cultivation tray for further cultivation. In order to prevent the occurrence of transplanting poor quality seedlings or empty planting, it is necessary to design a transplanting device that can sort out poor quality seedlings and empty seedlings. This is a prerequisite for realizing the full automation and intelligence of agricultural production. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a sortable transplanting device, through which the seedling-picking robot that grabs inferior seedlings or empty seedlings can be moved backward, and only the seedling-picking robot that grabs healthy seedlings can be retained for planting operations, which can improve the effect of planting operations and improve the quality of transplanting.

[0004] In order to achieve the above object, the specific scheme adopted by the present invention is: A sortable transplanting device, comprising: Controller; Support mechanism, plays a supporting role; The moving mechanism comprises a longitudinal linear module arranged on the supporting mechanism, a vertical linear module arranged on the longitudinal linear module and a supporting member arranged on the vertical linear module. Under the action of the longitudinal linear module and the vertical linear module, the supporting member can move longitudinally and vertically. The supporting member comprises a supporting box, a slide rail arranged at the front end of the supporting box, and a plurality of fixed blocks arranged at equal intervals on the supporting box. Each fixed block extends longitudinally, and the extending direction of the fixed block is perpendicular to the extending direction of the slide rail. A plurality of seedling-picking manipulators are sequentially installed on the slide rail in the transverse direction. The seedling-picking manipulators include a support frame and a seedling-picking end effector arranged at the bottom of the support frame. The support frame is provided with an angle adjustment component. By rotating the angle adjustment component, the seedling-picking manipulator can be switched back and forth between being mounted on the slide rail and being separated from the slide rail; the support frame is also provided with a distance adjustment component. The distance between two adjacent seedling-picking manipulators can be adjusted by the magnetic attraction of the distance adjustment components; The machine vision system includes two vision components respectively arranged on the front and rear sections of the support mechanism, the vision components include a positioning rod and three depth cameras arranged on the positioning rod capable of calibrating positions, one of the depth cameras can take pictures of the seedlings in the pot grasped by the seedling taking manipulator, and transmit the taken pictures to the controller, which determines the health status of the seedlings in the pot and marks the seedling taking manipulator that grasps inferior seedlings or empty seedlings; A plurality of sorting manipulators are arranged at equal intervals on the rear side wall of the support box. The sorting manipulators are arranged in parallel below the fixed block. The orthographic projections of all the sorting manipulators and all the fixed blocks are staggered. The sorting manipulators can cooperate with the angle adjustment component to move the seedling removal manipulator that has been marked and separated from the slide rail back to the vicinity of the fixed block; The gathering mechanism is used to push the remaining seedling-picking manipulators after sorting to gather at one end of the slide rail, so as to adjust the distance between two adjacent seedling-picking manipulators through the distance adjustment component again for subsequent planting operations; The reset mechanism is used to move each seedling taking robot after planting to the front of the corresponding fixed block, leaving a position for the marked seedling taking robot, so that the marked seedling taking robot can be re-clamped on the slide rail.

[0005] Furthermore, the support frame is provided with two upper and lower waist-shaped grooves at intervals along its axial direction, and the distance adjusting component includes a variable-pitch electric push rod arranged on the upper part of the support frame, and two quadrilateral structures formed by two upper support arms and two lower support arms respectively arranged on the front and rear sides of the support frame, the two upper support arms are hinged to the two lower support arms through an electromagnet of an external power supply, one end of the two upper support arms away from the electromagnet is connected to an upper hinge shaft arranged in the upper waist-shaped groove, and one end of the two lower support arms away from the electromagnet is connected to a lower hinge shaft arranged in the lower waist-shaped groove, the variable-pitch electric push rod is connected to the upper hinge shaft, and a linkage component is arranged between the upper and lower connecting shafts. Under the action of the variable-pitch electric push rod, the two quadrilateral structures can be driven to move through the linkage component, thereby being able to adjust the spacing between the two electromagnets, and finally realizing the adjustment of the spacing between two adjacent seedling taking manipulators.

[0006] Furthermore, the linkage assembly includes a first rack connected to the upper connecting shaft, a second rack rotatably connected to the lower connecting shaft at the top, and a linkage gear respectively meshed with the first rack and the second rack, the linkage gear being rotatably connected to the support frame, and the movement directions of the first rack and the second rack are opposite.

[0007] Furthermore, the angle adjustment assembly includes a cylinder, an angle adjustment rack, a cross bar and a 1 / 4 gear, wherein the cylinder is vertically arranged in the support frame, the angle adjustment rack is arranged at the end of the cylinder, the cross bar is passed through the support frame and both ends extend to the outside of the support frame, the 1 / 4 gear is fixed on the cross bar and meshed with the angle adjustment rack, the front end of the cross bar is provided with a sliding block that cooperates with the slide rail, and the rear end is rotatably connected with a square block that is convenient for the sorting robot to grab the seedling robot.

[0008] Furthermore, a through hole for passing a cross bar is provided in the middle of the support frame, a fan ring groove with a central angle of 90° is provided on the side wall of the through hole, and a limit strip capable of limiting the rotation angle of the cross bar is provided on the cross bar. When the cross bar rotates, the limit strip can rotate in the fan ring groove along with the cross bar.

[0009] Furthermore, the gathering mechanism includes a gathering rack laterally arranged on the support box, a gathering gear meshing with the gathering rack, a first motor providing power to the gathering gear, a motor mounting seat for installing the first motor, and an L-shaped rod installed on the motor mounting seat, the end of the L-shaped rod away from the motor mounting seat extends into the slideway of the slide rail, the motor mounting seat is passed through the support rod, and the support rod is fixed on the support box. Under the action of the first motor, the L-shaped rod can slide along the slide rail, thereby pushing the seedling robot to the right end of the slide rail.

[0010] Furthermore, the reset mechanism is composed of a plurality of reset components arranged in the corresponding fixed blocks, and the reset components include a shell, a second motor arranged in the shell, a drum connected to the second motor, and a steel wire rope wound on the drum. The free end of the steel wire rope passes through the shell and the fixed block and is connected to the corresponding seedling taking robot. Driven by the second motor, the steel wire rope can pull the seedling taking robot along the slide rail to the position directly in front of the fixed block, thereby making room for the marked seedling taking robot to return.

[0011] Furthermore, an auxiliary positioning electric push rod is provided at the right end of the slide rail, and an electromagnet with an external power supply is provided at the end of the auxiliary positioning electric push rod. The position of the rightmost seedling retrieval robot can be adjusted through the auxiliary positioning electric push rod to adapt to the position of the pot seedlings on the hole tray or the cultivation trough on the cultivation tray.

[0012] Furthermore, it also includes a plug tray conveying mechanism for conveying plug trays and a cultivation tray conveying mechanism for conveying cultivation trays. The plug tray conveying mechanism and the cultivation tray conveying mechanism are arranged vertically, and the support mechanism is arranged across the cultivation tray conveying mechanism.

[0013] Beneficial effects: The transplanting device in the present invention uses a machine vision system to accurately determine the seedling manipulator that clamps inferior seedlings or empty seedlings. The seedling manipulators are detachable, modular, and detachable. The seedling manipulators that clamp inferior seedlings or no seedlings are shifted backwards by the corresponding sorting manipulators, and the seedling manipulators that grab healthy pot seedlings are replaced by the sorted seedling manipulators by the collecting mechanism, ensuring that healthy seedlings are put into each cultivation trough in the cultivation tray. The reset mechanism of this device can ensure that the seedling manipulator is quickly reset after a round of transplanting is completed, ensuring that each round of transplanting operations is carried out in an orderly manner. This device can avoid the situation of planting bad seedlings and missing seedlings during transplanting operations, and improve the quality of transplanting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is one of the structural schematic diagrams of the transplanting device.

[0015] Figure 2 This is the second structural diagram of the transplanting device (excluding the cultivation tray conveying mechanism 1 and the plug tray conveying mechanism 7).

[0016] Figure 3 It is a schematic diagram of the structure of the moving mechanism, controller, collecting mechanism, sorting robot and resetting mechanism.

[0017] Figure 4 It is a schematic diagram of the structure of the support, collecting mechanism, controller, seedling taking robot, sorting robot and reset mechanism.

[0018] Figure 5 It is a schematic diagram of the structure of the support, collecting mechanism, controller, sorting robot and reset mechanism.

[0019] Figure 6 It is a front view of the support box, collecting mechanism, controller, sorting robot and reset mechanism.

[0020] Figure 7 This is the axonometric view of the seedling removal robot.

[0021] Figure 8 This is the rear view of the seedling removal robot.

[0022] Fig. 9 This is the axonometric view of the crossbar.

[0023] Fig.10 Axonometric drawing of the support frame and crossbar.

[0024] Fig.11 This is a front view of the support frame and crossbar.

[0025] Fig.12 A top view of the support frame and crossbar.

[0026] Fig.13 for Fig.12Sectional view along AA direction.

[0027] Fig.14 for Fig.12 Cross-sectional view along the BB axis.

[0028] Fig.15 Schematic diagram of the collection organization.

[0029] Fig.16 A schematic diagram of the reset mechanism.

[0030] Graphic marking: 1. Cultivation tray conveying mechanism; 2. Support mechanism; 3. Moving mechanism, 301. Longitudinal linear module, 302. Vertical linear module, 303. Support member, 3031. Support box, 3032. Fixed block, 3033. Slide rail; 4. Controller; 5. Seedling manipulator, 501. variable pitch electric push rod, 502. upper hinge shaft, 503. upper support arm, 504. electromagnet, 505. slider, 506. support frame, 5061. upper waist-shaped groove, 5062. through hole, 5063. lower waist-shaped groove, 5064. fan ring groove, 507. seedling end effector, 508. lower hinge shaft, 509. lower support arm, 510. cross bar, 511. square block, 512. first rack, 513. linkage gear, 514. second rack, 515. cylinder, 516. angle adjustment rack, 517. limit bar, 518. 1 / 4 gear; 6. Machine vision system, 601. Depth camera, 602. Positioning rod; 7. Plug tray conveying mechanism; 8. a collecting mechanism, 801. a first motor, 802. a motor mounting seat, 803. a collecting rack, 804. a collecting gear, 805. an L-shaped rod; 9. Sorting robot; 10. Auxiliary positioning electric push rod; 11. Reset mechanism, 1101. Second motor, 1102. Steel wire rope, 1103. Drum, 1104. Housing. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it is necessary to understand that the terms "upper" and "lower" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0033] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0034] The present invention discloses a sortable transplanting device, please refer to Figure 1 , which includes a hole tray conveying mechanism 7 for conveying hole trays, a cultivation tray conveying mechanism 1 for conveying cultivation trays, a supporting mechanism 2 for supporting, a seedling taking manipulator 5 for grabbing pot seedlings and moving the pot seedlings to the cultivation tray, a moving mechanism 3 for moving the seedling taking manipulator 5 to the top of the hole tray or the cultivation tray, a machine vision system 6 for taking pictures of the pot seedlings grabbed by the seedling taking manipulator 5, a sorting manipulator 9 for moving the seedling taking manipulator 5 that grabs inferior seedlings to an idle position, a gathering mechanism 8 for gathering the remaining seedling taking manipulators 5 after sorting, and a resetting mechanism 11 for resetting the seedling taking manipulator 5 after planting (it should be noted that the resetting here refers to moving the seedling taking manipulator 5 to the position before sorting). Each mechanism is described in detail below.

[0035] <Cultivation tray conveying mechanism 1> Please refer to Figure 1 The cultivation tray conveying mechanism 1 is capable of conveying the cultivation trays. The cultivation tray conveying mechanism 1 is a belt conveying mechanism extending in a transverse direction.

[0036] The lateral spacing between two adjacent cultivation grooves on any cultivation tray is L1. On two adjacent cultivation trays, the lateral spacing between the last cultivation groove on the previous cultivation tray and the first cultivation groove on the next cultivation tray is also L1.

[0037] <Plate transport mechanism 7> Please refer to Figure 1The plug tray conveying mechanism 7 is capable of conveying the plug trays. The plug tray conveying mechanism 7 is a belt conveying mechanism, which is placed vertically to the cultivation tray conveying mechanism 1.

[0038] The seedlings in pots are arranged in rows in a matrix on any plug tray. In each row of plug tray, the distance between two adjacent seedlings in pots is equal to L2. On two adjacent plug trays, the horizontal distance between the last row of seedlings in pots on the previous plug tray and the first row of seedlings in pots on the next plug tray is also L2.

[0039] <Support mechanism 2> Please refer to Figure 1 and Figure 2 The support mechanism 2 is arranged across the cultivation tray conveying mechanism 1, and the overall structure is a frame structure with an open front end, which is convenient for the seedling taking robot 5 to move to the target position at will.

[0040] <Moving mechanism 3> Please refer to Figure 2 and Figure 3 The moving mechanism 3 is arranged on the supporting mechanism 2, and includes a longitudinal linear module 301 arranged on two opposite side walls of the supporting mechanism 2, the longitudinal linear module 301 extends in the longitudinal direction, and the longitudinal linear module 301 is provided with a vertical linear module 302 extending in the vertical direction, and the two vertical linear modules 302 are connected with a support member 303, and the support member 303 is used to support the seedling taking robot 5, the sorting robot 9, the collecting mechanism 8 and the reset mechanism 11, and the support member 303 includes a supporting box 3031, a slide rail 3033 and a plurality of fixed blocks 3032, the slide rail 3033 is arranged on the front side of the supporting box 3031, and a plurality of fixed blocks 3032 are arranged on the supporting box 3031 at equal intervals, the slide rail 3033 extends in the transverse direction, and the fixed block 3032 extends in the longitudinal direction.

[0041] Preferably, please refer to Figure 4 and Figure 5 There are slide grooves on the adjacent side walls of two adjacent fixed blocks 3032 and between the side walls of the fixed blocks 3032 at the ends and the side walls of the support box 3031, which can cooperate with the bosses on the seedling taking robot 5 to facilitate the backward movement of the seedling taking robot 5.

[0042] Preferably, please refer to Figure 5 A starting position adjustment component is provided on the right side of the slide rail 3033 for adjusting the starting position of the right end of the seedling picking robot 5. The starting position adjustment component includes an auxiliary positioning electric push rod 10. An electromagnet with an external power supply is provided at the end of the auxiliary positioning electric push rod 10. The position of the rightmost seedling picking robot 5 can be adjusted through the auxiliary positioning electric push rod 10, thereby adjusting the starting position during seedling picking or planting.

[0043] <Seedling manipulator 5> Please refer to Figure 4 The slide rail 3033 of the transplanting device is provided with six seedling taking manipulators 5 in sequence along the horizontal direction. Figures 7 to 15 Each seedling manipulator 5 includes a support frame 506 and a seedling end effector 507 disposed at the lower portion of the support frame 506. It should be noted that, for ease of description, the present invention uses the right end of the slide rail 3033 as the starting end for seedling removal and sorting, and all seedling manipulators 5 perform variable distance adjustment from right to left.

[0044] The support frame 506 is provided with a distance adjustment component, and the support frame 506 is provided with an upper waist-shaped groove 5061 and a lower waist-shaped groove 5063 at intervals along its axial direction. The distance adjustment component includes a variable-pitch electric push rod 501 arranged on the upper part of the support frame 506, and two quadrilateral structures surrounded by two upper support arms 503 and two lower support arms 509 respectively arranged on the front and rear sides of the support frame 501. The two upper support arms 503 are hinged with the two lower support arms 509 through an electromagnet 504 of an external power supply. One end of the two upper support arms 503 away from the electromagnet 504 It is hinged to the upper hinge shaft 502 arranged in the upper waist-shaped groove 5061, and the ends of the two lower support arms 509 away from the electromagnet 504 are hinged to the lower hinge shaft 508 arranged in the lower waist-shaped groove 5063. The variable-pitch electric push rod 501 is connected to the upper hinge shaft 502, and a linkage component is provided between the upper and lower connecting shafts 502 and 508. Under the action of the variable-pitch electric push rod 501, the two quadrilateral structures can be driven to move through the linkage component, thereby adjusting the distance between the two electromagnets 504, and finally realizing the adjustment of the distance between two adjacent seedling-taking manipulators 5.

[0045] Specifically, the linkage assembly is arranged on one side of the upper and lower connecting shafts 502, 508, and a groove is provided in the support frame 506 to facilitate the movement of the linkage assembly. The linkage assembly includes a first rack 512 connected to the upper connecting shaft 502, a second rack 514 rotatably connected to the lower connecting shaft 508 at the top, and a linkage gear 513 respectively meshed with the first rack 512 and the second rack 514. The linkage gear 513 is rotatably connected to the support frame 506, and the movement directions of the first rack 512 and the second rack 514 are opposite.

[0046] Preferably, a track is provided inside the support frame 506 to facilitate the movement of the first rack 512 and the second rack 514 .

[0047] Please refer to Figures 7 to 15, the support frame 506 is provided with an angle adjustment component, and a through hole 5062 that passes through the support frame 506 is provided between the two waist-shaped grooves 5061, 5063. The angle adjustment component includes a cylinder 515, an angle adjustment rack 516, a cross bar 510 and a 1 / 4 gear 518, wherein the cylinder 515 is vertically arranged in the support frame 506, the angle adjustment rack 516 is arranged at the end of the cylinder 515, the cross bar 510 is passed through the through hole 5062 and both ends extend to the outside of the support frame 506, the 1 / 4 gear 518 is fixed on the cross bar 510 and meshed with the angle adjustment rack 516, the front end of the cross bar 510 is provided with a slider 505 that cooperates with the slide rail 3033, and the rear end is rotatably connected with a square block 511 that is convenient for the sorting robot 9 to grab the seedling robot 5.

[0048] Specifically, the middle part of the crossbar 510 is penetrated in the through hole 5063, and a 1 / 4 gear 518 is provided in the middle part of the crossbar 510. A vertical groove connected to the through hole 5063 is provided on one side of the through hole 5063. The cylinder 515 and the angle adjustment rack 516 are both arranged in the vertical groove. Under the action of the cylinder, the angle adjustment rack 516 can drive the 1 / 4 gear 518 to rotate 0-90°, thereby driving the crossbar to rotate 0-90°. The slider 505 at the front end of the crossbar 510 switches back and forth between the vertical state and the horizontal state. When the slider 505 rotates to the vertical state, the slider 505 is clamped on the slide rail 3033, and the seedling manipulator 5 can move laterally along the slide rail 3033. When the slider 505 rotates to the horizontal state, the slider 505 is separated from the slide rail 3033, so that the seedling manipulator 5 is separated from the slide rail 3033.

[0049] Preferably, a limit bar 517 is also provided on the cross bar 510, and a fan ring groove 5064 matching with the limit bar 517 is provided on the side wall of the through hole 5063. When the cross bar 510 rotates, the limit bar 517 can also swing in the fan ring groove 5064. By limiting the central angle of the fan ring groove 5064 to 90°, the rotation angle of the slider 505 can be guaranteed.

[0050] The present invention does not limit the specific structure of the seedling taking end effector 507, as long as it is a seedling taking end effector that can take and place seedlings in a pot.

[0051] <Machine Vision System 6> Please refer to Figure 2 The machine vision system 6 includes two vision components respectively arranged at the front section and the rear section of the support mechanism 2 , and both vision components include a positioning rod 602 and a depth camera 601 arranged on the positioning rod 602 .

[0052] Specifically, three depth cameras 601 are provided, among which the depth camera 601 facing the plug tray can not only take pictures of the seedlings in the pot, transmit the pictures to the controller 4, and the controller 4 judges the health status of the seedlings in the pot, and marks the seedling manipulator 5 that grabs the inferior seedlings or empty seedlings, but also can calibrate the position of the seedlings in the pot, so as to quickly determine the position of the rightmost seedling manipulator 5 in the subsequent seedling retrieval process. The depth camera 601 facing the cultivation tray can calibrate the position of the cultivation trough, so as to quickly determine the position of the rightmost seedling manipulator 5 in the subsequent planting process. The depth camera 601 facing the sorting manipulator 9 can calibrate the position of the rightmost sorting manipulator 9, so as to quickly determine the position of the rightmost seedling manipulator 5 in the subsequent resetting process.

[0053] <Sorting robot 9> Please refer to Figure 5 and Figure 6 The number of the sorting manipulators 9 is consistent with the number of the seedling taking manipulators 5. Several sorting manipulators 9 are evenly spaced on the rear side wall of the support box 3031, and the sorting manipulators 9 extend in the longitudinal direction. The sorting manipulators 9 are arranged in parallel below the fixed block 3032, and the orthographic projections of all the sorting manipulators 9 and all the fixed blocks 3032 are staggered. The sorting robot 9 is put into action after the controller 4 marks the seedling picking robot 5 that has grabbed the inferior seedling or empty seedling, so that the distance between two adjacent sorting robots 9 is L3. The distance between two adjacent seedling picking robots 5 is first adjusted to L3, and then the electromagnets 504 of all seedling picking robots 5 are powered off. Then the sorting robot 9 extends out to grab the square block 511 of the marked seedling picking robot 5, and the controller 4 is used to control the movement of the second electric push rod 515 to rotate the slider 505 from a vertical state to a horizontal state, so that the seedling picking robot 5 is separated from the slide rail 3033. After the seedling picking robot 5 is separated from the slide rail 3033, the sorting robot 9 retracts and moves the seedling picking robot 5 back to between two adjacent fixed blocks 3032.

[0054] It should be noted that the distance between two adjacent sorting manipulators 9 is L3. To facilitate sorting, L3 can be set to be equal to L2, so that there is no need to adjust the distance between two adjacent seedling taking manipulators 5 again before sorting.

[0055] The present invention does not limit the specific structure of the sorting robot 9, and any robot that can perform grasping can be used.

[0056] <Collective Agency 8> Please refer to Fig.15At least one U-shaped support rod with an opening facing downward is provided on the top surface of the support box 3031 (not shown in the figure), and the collecting mechanism includes a collecting rack 803 arranged horizontally on the support box 3031, a collecting gear 804 meshing with the collecting rack 803, a first motor 801 providing power for the collecting gear 804, a motor mounting seat 802 for mounting the first motor 801, and an L-shaped rod 805 installed on the motor mounting seat 802, and one end of the L-shaped rod 805 away from the motor mounting seat 802 extends into the slideway of the slide rail 3033, the motor mounting seat 802 is penetrated by the support rod, and the support rod is fixed on the support box 3031. Under the action of the first motor 801, the L-shaped rod 805 can slide along the slide rail 3033, thereby pushing the seedling robot 5 to the right end of the slide rail 3033.

[0057] <Reset Mechanism> Please refer to Fig.16 The reset mechanism is composed of a plurality of reset components arranged in the corresponding fixed block 3032, and the reset component includes a shell 1104, a second motor 1101 arranged in the shell 1104, a roller 1103 connected to the second motor 1101, and a wire rope 1102 wound on the roller 1103. The free end of the wire rope 1102 passes through the shell 1104 and the fixed block 3302 and is connected to the corresponding seedling taking robot 5. Driven by the second motor 1101, the wire rope 1102 can pull the seedling taking robot 5 along the slide rail 3303 to the position directly in front of the fixed block 3302, thereby making room for the selected seedling taking robot 5 to return to its original position.

[0058] Specifically, when the second motor 1101 rotates counterclockwise, it can drive the drum 1103 to rotate so that the wire rope 1102 is wound around the drum, thereby driving the seedling picking robot 5 to move along the slide rail 3303 until it moves to the front of the fixed block 3302. When the seedling picking robot 5 performs the next round of pitch change to pick seedlings, the second motor 1101 does not rotate, and the wire rope 1102 automatically drives the drum 1103 to rotate in the opposite direction during the rope output process.

[0059] Specifically, the housing 1104 and the fixing block 3302 are both provided with rope outlets to facilitate the wire rope 1102 to pass through.

[0060] <Controller 4> The controller 4 is disposed on the support box 3031, and all the motors, electric push rods and depth camera 601 are electrically connected to the controller 4. The controller 4 will not be described in detail in the present invention, as long as the function of the present invention can be achieved.

[0061] The specific method of using the transplanting device of the present invention to take seedlings from a 72-hole light substrate plug tray and transplant them to a single-row cultivation tray is as follows: Step (1), using the plug tray conveying mechanism 7 to convey the plug tray to the target position, and using the cultivation tray conveying mechanism 1 to convey the cultivation tray to the target position; Step (2) The longitudinal linear module 301 and the vertical linear module 302 move the seedling robot 5 to the top of the first row of the plug tray in preparation for transplanting. Step (3), the controller 4 controls the variable pitch electric push rod 501 to move, so that the distance between the two adjacent seedling-picking manipulators 5 is adjusted to L2 to match the distance between the two adjacent seedlings in the plug tray, the depth camera 601 is used to calibrate the position of the first seedling in the plug tray, and the auxiliary positioning electric push rod 10 is used to push the rightmost seedling-picking manipulator 5 to the position aligned with the first seedling in the plug tray, thus completing the variable pitch; after the variable pitch is completed, the longitudinal linear module 301 and the vertical linear module 302 are used to coordinate the movement so that the seedling-picking end effector 507 of the seedling-picking manipulator 5 is inserted into the substrate to perform the seedling-picking operation; Step (4), after the seedlings are taken, the vertical linear module 302 drives the seedling taking robot 5 to move upward and away from the hole tray. At this time, the depth camera 601 above the device takes a picture and transmits the picture to the controller 4. The controller 4 determines the health status of the seedlings in the pot and marks the seedling taking robot 5 that grabs poor quality seedlings or empty seedlings. Then the longitudinal linear module 301 and the vertical linear module 302 move in coordination to move the seedling taking robot 5 to the top of the single-row cultivation tray; Step (5), the controller 4 moves the pitch-changing electric push rod 501 downward, so that the distance between the two adjacent seedling picking manipulators 5 is adjusted to L3, so as to adapt to the distance between the two adjacent sorting manipulators 9, and the position of the rightmost sorting manipulator 9 is calibrated by the depth camera 601, and the rightmost seedling picking manipulator 5 is pushed to the front of the rightmost sorting manipulator 9 by the auxiliary positioning electric push rod 10, that is, the pitch change is completed; by changing the pitch, all seedling picking manipulators 5 are located in front of the corresponding sorting manipulator 9, and all electromagnets 504 are powered off; Step (6), the controller 4 controls the sorting robot 9 corresponding to the marked seedling picking robot 5 to extend forward and grab the square block 511 of the marked seedling picking robot 5, the controller 4 controls the cylinder 515 to move, the cylinder 515 drives the angle adjustment rack 516 to move, the angle adjustment rack 516 drives the 1 / 4 gear 518 to rotate, and then drives the cross bar 510 to rotate 90°, so that the slider 505 at the front end of the cross bar 510 changes from a vertical state to a horizontal state, and leaves the slide rail 3033; after leaving the slide rail 3033, the sorting robot 9 drives the seedling picking robot 5 to move back to between two adjacent fixed blocks 3032 to avoid interfering with the subsequent actions of other seedling picking robots 5; Step (7), using the gathering mechanism 8 to gather all the unmarked seedling taking manipulators 5 to the right end of the slide rail 3033, and powering on all the electromagnets 504; Step (8), the controller 4 controls the variable pitch electric push rod 501 to move, so that the distance between the two adjacent seedling picking manipulators 5 is adjusted to L1, so as to adapt to the distance between the two adjacent cultivation grooves on the cultivation tray, and the position of the first cultivation groove is calibrated by the depth camera 601, and the rightmost seedling picking manipulator 5 is pushed to the position aligned with the first cultivation groove by the auxiliary positioning electric push rod 10, so as to complete the variable pitch; after the variable pitch is completed, the seedling picking end effector 507 of the seedling picking manipulator 5 is moved by the coordinated movement of the longitudinal linear module 301 and the vertical linear module 302, so as to place the healthy seedlings in the cultivation tray; Step (9), after the cultivation is completed, all electromagnets 504 are powered off, and the steel wire rope 1102 of the reset mechanism 11 is used to pull the seedling manipulator 5 to move along the slide rail 3303 to the front of the fixed block 3302, leaving a space for the previously marked seedling manipulator 5, and then the sorting manipulator 9 is used to push the marked seedling manipulator 5 to the slide rail 3303, and the cylinder 515 is controlled by the controller 4 to move, so that the slider 505 at the front end of the crossbar 510 changes from a horizontal state to a vertical state, and then is clamped on the slide rail 3033, and the reset action of the seedling manipulator 5 is completed; Step (10): Repeat steps (1) to (9) to carry out the next round of transplanting operation.

[0062] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any equivalent changes or modifications made according to the essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A sortable transplanting device, characterized in that: include: Controller (4); A supporting mechanism (2) plays a supporting role; The moving mechanism (3) comprises a longitudinal linear module (301) arranged on the supporting mechanism (2), a vertical linear module (302) arranged on the longitudinal linear module (301), and a supporting member (303) arranged on the vertical linear module (302); under the action of the longitudinal linear module (301) and the vertical linear module (302), the supporting member (303) can move longitudinally and vertically; the supporting member (303) comprises a supporting box (3031), a slide rail (3033) arranged at the front end of the supporting box (3031), and a plurality of fixed blocks (3032) arranged at equal intervals on the supporting box (3031); each fixed block (3032) extends longitudinally, and the extension direction of the fixed block (3032) is perpendicular to the extension direction of the slide rail (3033); A plurality of seedling picking manipulators (5) are sequentially installed on the slide rail (3033) in a transverse direction, the seedling picking manipulators (5) comprising a support frame (506) and a seedling picking end effector (507) arranged at the bottom of the support frame (506), the support frame (506) being provided with an angle adjustment component, and the seedling picking manipulator (5) can be switched back and forth between two states of being clamped on the slide rail (3033) and being separated from the slide rail (3033) by rotating the angle adjustment component; the support frame (506) is also provided with a distance adjustment component, and the distance between two adjacent seedling picking manipulators (5) can be adjusted by the magnetic attraction of the distance adjustment components in the two adjacent seedling picking manipulators (5); The machine vision system (6) comprises two vision components respectively arranged on the front and rear sections of the support mechanism (2), the vision components comprising a positioning rod (602) and three depth cameras (601) arranged on the positioning rod (602) capable of calibrating positions, wherein one of the depth cameras (601) is capable of taking a picture of the seedlings in the pot grasped by the seedling taking robot (5), and transmitting the taken picture to the controller (4), and the controller (4) determines the health status of the seedlings in the pot and marks the seedling taking robot (5) that grasps inferior seedlings or empty seedlings; A plurality of sorting manipulators (9) are arranged at equal intervals on the side wall of the support box (3031); the sorting manipulators (9) are arranged parallel to the bottom of the fixed block (3032); the orthographic projections of all the sorting manipulators (9) and all the fixed blocks (3032) are staggered; the sorting manipulators (9) can cooperate with the angle adjustment component to move the seedling removal manipulator (5) that has been marked and separated from the slide rail (3033) back to the vicinity of the fixed block (3032); A gathering mechanism (8) is used to push the remaining seedling picking manipulators (5) after sorting so that they gather at one end of the slide rail (3033), so as to facilitate adjusting the distance between two adjacent seedling picking manipulators (5) again through the distance adjustment component to perform subsequent planting operations; The reset mechanism (11) is used to move each seedling taking robot (5) after planting to the front of the corresponding fixed block (3032), leaving a position for the marked seedling taking robot (5), so as to facilitate the marked seedling taking robot (5) to be re-mounted on the slide rail (3033).

2. A sortable transplanting device according to claim 1, characterized in that: The support frame (506) is provided with two upper and lower waist-shaped grooves (5061, 5063) spaced apart along its axial direction. The pitch adjustment component comprises a pitch-changing electric push rod (501) provided on the upper part of the support frame (506), and two quadrilateral structures formed by two upper support arms (503) and two lower support arms (509) respectively provided on the front and rear sides of the support frame (506). The two upper support arms (503) and the two lower support arms (509) are hingedly connected via an electromagnet (504) connected to an external power source. One end of the two upper support arms (503) away from the electromagnet (504) is connected to a magnet provided on the upper waist-shaped groove ( The two lower support arms (509) are connected to an upper hinge shaft (502) in a lower waist-shaped groove (5061), one end of the two lower support arms (509) away from the electromagnet (504) is connected to a lower hinge shaft (508) arranged in a lower waist-shaped groove (5063), a variable pitch electric push rod (501) is connected to the upper hinge shaft (502), and a linkage component is arranged between the upper and lower connecting shafts (502, 508). Under the action of the variable pitch electric push rod (501), the linkage component can drive the two quadrilateral structures to move, thereby adjusting the distance between the two electromagnets (504), and finally realizing the adjustment of the distance between two adjacent seedling taking manipulators (5).

3. A sortable transplanting device according to claim 2, characterized in that: The linkage assembly comprises a first rack (512) connected to an upper connecting shaft (502), a second rack (514) rotatably connected to a lower connecting shaft (508) at the top, and a linkage gear (513) respectively meshing with the first rack (512) and the second rack (514); the linkage gear (513) is rotatably connected to a support frame (506); and the first rack (512) and the second rack (514) move in opposite directions.

4. A sortable transplanting device according to claim 1, characterized in that: The angle adjustment assembly comprises a cylinder (515), an angle adjustment rack (516), a cross bar (510) and a quarter gear (518), wherein the cylinder (515) is vertically arranged in the support frame (506), the angle adjustment rack (516) is arranged at the end of the cylinder (515), the cross bar (510) is passed through the support frame (506) and both ends extend to the outside of the support frame (506), the quarter gear (518) is fixed on the cross bar (510) and meshes with the angle adjustment rack (516), and the front end of the cross bar (510) is provided with a slider (505) matched with the slide rail (3033), and the rear end is rotatably connected with a square block (511) for facilitating the sorting robot (9) to grab the seedling picking robot (5).

5. A sortable transplanting device according to claim 4, characterized in that: The support frame (506) is provided with a through hole (5062) for passing the cross bar (510), a fan ring groove (5064) with a central angle of 90° is provided on the side wall of the through hole (5062), and the cross bar (510) is provided with a limit bar (517) capable of limiting the rotation angle of the cross bar (510), and when the cross bar (510) rotates, the limit bar (517) can rotate with the cross bar (510) in the fan ring groove (5064).

6. A sortable transplanting device according to claim 1, characterized in that: The collecting mechanism (8) comprises a collecting rack (803) arranged on the support box (3031) in the transverse direction, a collecting gear (804) meshing with the collecting rack (803), a first motor (801) providing power to the collecting gear (804), a motor mounting seat (802) for mounting the first motor (801), and an L-shaped rod (805) mounted on the motor mounting seat (802), wherein one end of the L-shaped rod (805) away from the motor mounting seat (802) extends into the slideway of the slide rail (3033), the motor mounting seat (802) is penetrated by the support rod, and the support rod is fixed on the support box (3031), and under the action of the first motor (801), the L-shaped rod (805) can slide along the slide rail (3033), thereby pushing the seedling taking robot (5) to the right end of the slide rail (3033).

7. A sortable transplanting device according to claim 1, characterized in that: The reset mechanism (11) is composed of a plurality of reset components arranged in corresponding fixed blocks (3032), wherein the reset components include a housing (1104), a second motor (1101) arranged in the housing (1104), a roller (1103) connected to the second motor (1101), and a steel wire rope (1102) wound around the roller (1103); the free end of the steel wire rope (1102) passes through the housing (1104) and the fixed block (3032) and is connected to the corresponding seedling picking robot (5); driven by the second motor (1101), the steel wire rope (1102) can pull the seedling picking robot (5) along the slide rail (3033) to a position directly in front of the fixed block (3032), thereby leaving space for the marked seedling picking robot (5) to return to its original position.

8. A sortable transplanting device according to claim 7, characterized in that: An auxiliary positioning electric push rod (10) is provided at the right end of the slide rail (3033), and an electromagnet (504) connected to an external power source is provided at the end of the auxiliary positioning electric push rod (10). The position of the rightmost seedling taking manipulator (5) can be adjusted by the auxiliary positioning electric push rod (10) to adapt to the position of the seedling pot on the plug tray or the cultivation trough on the cultivation tray.

9. A sortable transplanting device according to claim 1, characterized in that: It also comprises a plug tray conveying mechanism (7) for conveying plug trays and a cultivation tray conveying mechanism (3) for conveying cultivation trays, wherein the plug tray conveying mechanism (7) is arranged vertically to the cultivation tray conveying mechanism (3), and the support mechanism (2) is arranged across the cultivation tray conveying mechanism (3).

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