Rock wool plug feeding and planting automation equipment for plant factory

Abstract

The invention relates to automatic rock wool plug feeding and planting equipment for a plant factory, and the equipment comprises a feeding screening mechanism and a punching and planting mechanism, and the feeding screening mechanism is used for feeding rock wool plugs and screening out qualified rock wool plugs; a feeding conveying mechanism used for conveying the screened rock wool plugs to the punching and planting mechanism is connected with the feeding and screening mechanism and the punching and planting mechanism, and the punching and planting mechanism is used for punching the rock wool plugs and planting the rock wool plugs into seedling raising plates. According to the device, rock wool plugs can be screened, fed, orderly fed, punched and planted in a full-automatic mode, so that damage to human bodies is reduced, the labor cost is saved, and the survival rate of seedlings in the growth stage is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of rock wool plug feeding and planting, and in particular to automated equipment for rock wool plug feeding and planting in a plant factory. Background Art

[0002] Plant factories are an emerging vegetable planting model and have become an important development direction for the future factory production of vegetables in my country. Among them, a considerable part of the substrate for hydroponic leafy vegetable seedling cultivation in plant factories has been made of rock wool. Rock wool is a mixture of diabase, limestone and coke. First, the components are melted in a high-temperature furnace at 2000°C in proportion, the melt is sprayed into filaments, pressed into sheets, cooled to about 200°C, and phenolic resin is added for further processing.

[0003] At present, the rock wool used in plant factories is mostly made into a cylindrical shape, with a hemispherical pit on the head, where the seeds stay, and a flat bottom. Before sowing, the rock wool plug should be implanted into the corresponding hole of the foam seedling tray, and then the whole thing should be soaked with water, and aired until the water does not overflow, and then it can be placed on the seeder for sowing. However, the process of implanting the rock wool plug is generally done manually, and it is necessary to distinguish the quality of the rock wool plug, which is slow and inefficient; at the same time, the rock wool fiber will pierce the skin and cause allergic reactions, and the fallen fiber flocs can easily float into the eyes, which is very dangerous; and the sown seeds lie randomly in the hemispherical pits of the rock wool plug, and most of the seeds have radicles that grow upward and then bend geotropically to the negative light until they contact the rock wool. This process is caused by the long-term exposure to artificial light and heat, resulting in the radicles hanging in the air, growing thin and water-deficient, and being dried. The artificial solution to the problem is often to use tweezers to insert the radicles into the rock wool plugs within 2-3 days of seed germination. The process is time-consuming and labor-intensive, and the strength is difficult to control. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an automated device for feeding and planting rock wool plugs in plant factories.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: an automated equipment for feeding and planting rock wool plugs in a plant factory, including a feeding and screening mechanism and a drilling and planting mechanism. The feeding and screening mechanism is used for feeding the rock wool plugs and screening out qualified rock wool plugs. A feeding and conveying mechanism is connected between the feeding and screening mechanism and the drilling and planting mechanism and is used to convey the screened rock wool plugs to the drilling and planting mechanism. The drilling and planting mechanism is used to drill holes in the rock wool plugs and plant them in seedling trays.

[0006] As a preferred solution, the feeding and screening mechanism includes a vibrating plate, the vibrating plate has a conveying track, the conveying track includes a first adjustment section, a second adjustment section and a rejection section, wherein the rock wool plugs entering the track include a horizontally lying state, an upright state and a vertically lying state, and the upright state of the rock wool plugs includes an upright pit facing upwards state and an upright pit facing downwards state; The first adjustment section is used to adjust the horizontal lying state of the rock wool plug to the vertical lying state or the upright state of the rock wool plug; The second adjustment section is used to adjust the rock wool plug from a vertically lying state to an upright state; The rejecting section is used to reject the rock wool plugs with unqualified height in an upright state and to reject the rock wool plugs in an upright state with pits facing downwards.

[0007] As a preferred solution, the first adjustment section includes an outer curved guardrail arranged on the inner side of the conveying track. The outer curved guardrail is in the shape of a sheet and bends from the outside to the inside along the rock wool conveying direction, that is, the front end of the outer curved guardrail is close to the outside of the conveying track, and the rear end of the outer curved guardrail is away from the outside of the conveying track. The front end of the outer curved guardrail touches the horizontal lying state of the rock wool plug, so that it is adjusted to the vertical lying state or the upright state of the rock wool plug.

[0008] As a preferred solution, the second adjustment section includes a slope step arranged in the conveying track, support plates located on both sides of the slope step and a mounting frame arranged on the conveying track. The mounting frame is rotatably connected to a dynamic flipping assembly through a torsion spring. A friction plate is provided on the conveying track at the rear end of the slope step. When the rock wool plug is in a vertically lying state, it passes through the slope step and tilts toward the friction plate due to inertia, and collides with the dynamic flipping assembly to make the rock wool plug stand upright.

[0009] As a preferred solution, the rejection section includes a rejection notch arranged on the inner side of the conveying track, and a height limiting component and a blowing component are provided at the rejection notch. The height limiting component includes a limiting plate and a driving component. The driving component is used to drive the limiting plate to move up and down to adjust the distance between the limiting plate and the bottom of the conveying track. The blowing component is used to blow the upright pit in a downward state out of the rejection notch to complete the rejection.

[0010] As a preferred solution, the blowing assembly includes a bracket, a displacement sensor arranged on the bracket and an air blowing pipe facing the removal notch, the air blowing pipe is connected to an air source, and the displacement sensor is used to detect whether there are pits in the upright state of the rock wool plug.

[0011] As a preferred solution, the feeding and conveying mechanism includes a receiving mechanism connected to the conveying track and a feeding mechanism connected to the drilling and planting mechanism. A slope track inclined from top to bottom is provided to connect the receiving mechanism and the feeding mechanism. The receiving mechanism includes an electromagnetic vibrator and a feeding track arranged on the electromagnetic vibrator. The feeding mechanism includes a conveying frame and a feeding conveyor belt arranged on the conveying frame. A plurality of limit blocks are evenly spaced along the circumference of the outer side of the feeding conveyor belt. A accommodating cavity for accommodating a rock wool plug is formed between two adjacent limit blocks. Arc grooves matching the rock wool plug are respectively provided on the two opposite side surfaces of the two adjacent limit blocks.

[0012] As a preferred solution, the punching and planting mechanism includes a planting stand and a bracket arranged on the planting stand, the planting stand is provided with a seedling tray conveying belt for conveying the seedling tray, the bracket is provided with a transverse moving module, the transverse moving module is used to drive the vertical moving module to reciprocate along the length direction of the seedling tray conveying belt, the transverse moving module is provided with a vertical moving module, the vertical moving module is provided with an end effector for clamping the rock wool plug and punching holes in the rock wool plug, and the vertical moving module is used to drive the end effector to move up and down in the vertical direction.

[0013] As a preferred solution, the end actuator includes a vertical plate and a support seat arranged on the vertical plate, a first sleeve and a second sleeve on the support seat, a punching rod slidingly provided in the first sleeve and penetrating the support seat, a vertical rod slidingly provided in the second sleeve and penetrating the support seat, two clamping arms are hingedly provided at the lower end of the vertical rod through a connecting rod assembly, and the upper ends of the clamping arms are connected to the support seat. The vertical rod moves up and down to drive the two clamping arms to move closer or away from each other to clamp or release the rock wool plug. A driving mechanism is also provided on the vertical plate, and the driving mechanism is used to drive the vertical rod and the punching rod to move vertically up and down alternately.

[0014] As a preferred solution, the driving mechanism includes a driving motor and a gear arranged at the end of the output shaft of the driving motor, and the vertical rod and the punching rod are respectively provided with teeth matching with the gear along their respective length directions.

[0015] The beneficial effects of the present application are as follows: 1. The present invention realizes the full-process automation operation of the rock wool plug feeding and planting operation in the plant factory, avoids the rock wool fibers from contacting the human body and causing damage, reduces labor costs, and increases the speed and efficiency of the rock wool plug planting.

[0016] 2. The present invention sets a series of screening checkpoint structures for vibrating plate feeding, namely the first adjustment section, the second adjustment section and the rejection section, so that the rock wool plugs pass according to the screening requirements, so that unqualified and disorderly arranged rock wool plugs fall back into the vibrating plate, thereby improving the planting quality of the rock wool plugs.

[0017] 3. The present invention coordinates the feeding speed of the feeding mechanism with the receiving mechanism, so that qualified rock wool plugs can be fed in an orderly manner, so that the rock wool plugs are arranged at a certain interval and cooperate with the drilling and planting mechanism to work effectively.

[0018] 4. The present invention uses a punching and planting mechanism to punch holes of appropriate sizes in the hemispherical pits of the rock wool plug and plant them in the seedling tray, so that the seeds after sowing can germinate in the holes, and the radicles can directly take root in the rock wool, absorbing moisture and nutrients transmitted by the rock wool, preventing the radicles from being sunburned, reducing damage to the radicles by manual operations, and improving the survival rate of the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 The structural diagram of the feeding and screening mechanism of the present invention is Figure 3 for Figure 2 Sectional view of AA in the middle; Figure 4 for Figure 2 Axonal view; Figure 5 for Figure 4 A partial enlarged view of point B in the middle; Figure 6 for Figure 4 A partial enlarged view of point C in the middle; Figure 7 for Figure 4 A partial enlarged view of point D in the middle; Figure 8 for Figure 4 A partial enlarged view of point E in the middle; Fig. 9 It is a structural schematic diagram of the feeding and conveying mechanism of the present invention; Fig.10 for Figure 8 A partial enlarged view of the F in the middle; Fig.11 It is a structural schematic diagram of the feeding conveyor belt of the present invention; Fig.12 It is a structural schematic diagram of the punching and planting mechanism of the present invention; Fig.13 is a schematic structural diagram of the end effector of the present invention; Fig.14 It is an exploded view of the end effector of the present invention.

[0020] Markings in the figure: 1. Feeding and screening mechanism, 11. Vibrating plate, 2. Vibrating plate top plate module, 3. Rock wool plug, 4. Receiving mechanism, 5. Feeding mechanism, 6. Seedling tray conveyor belt, 7. Seedling tray, 8. Planting stand, 9. End effector; 101. Bottom plate, 102. Vibration-absorbing foot pad, 103. Fixed frame, 104. Electromagnet I, 105. Spring sheet, 106. Movable frame, 107. Pressure nut Wire, 108, shell, 201, top plate, 202, return hopper, 203, outer curved guardrail, 204, slope step, 205, friction plate, 206, support plate, 207, dynamic flip assembly, 208, spoon-shaped plate, 209, height limit assembly, 210, blowing assembly, 211, detection height limit assembly, 301, rock wool plug lying state, 302, rock wool plug upright state, 3021, upright pit Upward state, 303, rock wool plug vertical lying state, 401, receiving stand, 402, electromagnetic vibrator, 403, feeding track, 404, ramp track, 501, conveying stand, 502, arc groove, 503, feeding conveyor belt, 504, opposite-beam photoelectric sensor Ⅰ, 505, limit block, 601, opposite-beam photoelectric sensor Ⅱ, 602, guide limit plate, 801, horizontal moving module, 802, vertical moving module, 803, magnetic induction proximity switch Ⅰ, 804, magnetic induction proximity switch Ⅱ, 901, vertical plate, 902, punching rod, 903, vertical rod, 904, clamping arm, 905, driving motor, 906, one-way bearing, 907, gear, 908, clamping compression spring, 909, punching tension spring, 910, support seat, 911, first sleeve, 912, second sleeve. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that in the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more; the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is 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 a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0022] See also Figure 1-14An embodiment of the present invention provides an automated device for feeding and planting rock wool plugs in a plant factory, including a feeding and screening mechanism 1 and a drilling and planting mechanism. The feeding and screening mechanism 1 is used to feed rock wool plugs 3 and screen out qualified rock wool plugs 3. A feeding and conveying mechanism is connected between the feeding and screening mechanism 1 and the drilling and planting mechanism and is used to convey the screened rock wool plugs 3 to the drilling and planting mechanism. The drilling and planting mechanism is used to drill holes in the rock wool plugs 3 and plant them in a seedling tray 7.

[0023] Among them, combined Figure 1-4 As shown, the feeding and screening mechanism 1 includes a vibrating plate 11, and the vibrating plate 11 has a conveying track. The conveying track includes a first adjustment section, a second adjustment section and a rejection section, wherein the rock wool plug 3 entering the track includes a rock wool plug lying horizontally 301, a rock wool plug standing upright 302 and a rock wool plug lying vertically 303, and the rock wool plug standing upright 302 includes a standing upright pit facing upward state 3021 and a standing upright pit facing downward state; the first adjustment section is used to adjust the rock wool plug lying horizontally 301 to a rock wool plug lying vertically 303 or a rock wool plug standing upright 302; the second adjustment section is used to adjust the rock wool plug lying vertically 303 to a rock wool plug standing upright 302; the rejection section is used to reject the rock wool plug standing upright 302 with unqualified height and reject the standing upright pit facing downward state.

[0024] The vibration plate 11 includes a base plate 101, a vibration-damping foot pad 102, a fixed frame 103, an electromagnet I 104, a spring sheet 105, a movable frame 106, a cap screw 107 and a housing 108; the lower end of the vibration-damping foot pad 102 is placed on the base plate 101, and the upper end is fixedly connected to the fixed frame 103 to reduce the vibration of the vibration base module 1. The movable frame 103 is equipped with an electromagnet I 104, and the spring sheet 105 is arranged obliquely on the outside and connected to the movable frame 106 through the spring sheet 105. The movable frame 106 is connected to the vibration plate top plate module 2 through the cap screw 107. The outer ring of the vibration base module 1 is equipped with a housing 108. The electromagnet I 104 can adopt an electromagnetic vibrator. The movable frame 106 is provided with a vibration plate top plate module. The vibration plate top plate module includes a top plate 201 and a return hopper 202 arranged on the outside of the top plate 201, and the conveying track is arranged on the inner arm of the return hopper 202. In the embodiment of the present application, the vibration plate 11 may adopt an existing vibration plate structure.

[0025] Combination Figure 4-5The first adjustment section includes an outer curved guardrail 203 arranged on the inner side of the conveying track. The outer curved guardrail 203 is in the shape of a sheet. The outer curved guardrail 203 is curved from the outside to the inside along the rock wool conveying direction, that is, the front end of the outer curved guardrail 203 is close to the outer side of the conveying track, and the rear end of the outer curved guardrail 203 is far away from the outer side of the conveying track. The front end of the outer curved guardrail 203 touches the horizontal lying state 301 of the rock wool plug, so that it is adjusted to the vertical lying state 303 of the rock wool plug or the upright state 302 of the rock wool plug. In this application, the outer side of the conveying track close to the axis of the top plate 201 is defined, and the inner side away from the axis of the top plate 201 is defined, and the conveying track is spiral.

[0026] Combination Figure 4-6 The second adjustment section includes a slope step 204 arranged in the conveying track, support plates 206 located on both sides of the slope step 204 and a mounting frame arranged on the conveying track. The mounting frame is rotatably connected with a dynamic flip component 207 through a torsion spring. A friction plate 205 is provided at the rear end of the slope step 204 on the conveying track. The rock wool plug in the upright state 303 passes through the slope step 204 and tilts toward the friction plate 205 due to inertia, and collides with the dynamic flip component 207 to make it reach the upright state 302 of the rock wool plug.

[0027] Combination Figure 4-7 The rejection section includes a rejection notch arranged on the inner side of the conveying track, and a height limiting component 209 and a blowing component 210 are arranged at the rejection notch. The height limiting component 209 includes a limit plate and a driving component. The driving component is used to drive the limit plate to move up and down to adjust the distance between the limit plate and the bottom of the conveying track. The driving component is an electric push rod or a servo electric cylinder. In addition, the height of the limit plate can be manually adjusted in the present application. A waist-shaped long hole is provided on the limit plate in the vertical direction, and a locking screw is passed through the waist-shaped long hole. The locking screw is used to lock the limit plate. The distance between the limit plate and the bottom of the conveying track can be adjusted by setting the waist-shaped long hole. The blowing component 210 is used to blow the upright pit downward from the rejection notch to complete the rejection.

[0028] The blowing assembly 210 includes a bracket, a displacement sensor arranged on the bracket and an air blowing pipe facing the removal notch, the air blowing pipe is connected to an air source, and the displacement sensor is used to detect whether there is a pit in the upright state 302 of the rock wool plug.

[0029] The plurality of rock wool plugs 3 first pass through the outer curved guardrail 203, and the outer curved guardrail 203 adjusts the horizontal lying state 301 of the rock wool plug to the vertical lying state 303 or the upright state 302 of the rock wool plug through the continuous and slow outer curved gathering structure; the rock wool plug in the vertical lying state 303 passes through the slope step 204, the friction plate 205 and the support plate 206, and tilts forward due to inertia, and collides with the dynamic flip assembly 207 to achieve buffering and stand upright, that is, it is adjusted to the rock wool plug upright state 30 2. Similarly, when the rock wool plug in the upright state 302 passes through the slope step 204, it tilts forward due to inertia and collides with the dynamic flip assembly 207 to achieve buffering and stand upright, wherein the slope step 204 allows the rock wool plug 3 to fall, the friction plate 205 slows down the rock wool plug 3, and the support plate 206 guides the rock wool plug to collide with the dynamic flip assembly 207; the height limiting assembly 209 removes the excessively high rock wool plug, and the blowing assembly 210 is used to blow the upright pit downward state out of the rejection gap to complete the removal. Among them, the upright pit upward state 3021 in the upright state 302 of the rock wool plug is a qualified rock wool plug 3.

[0030] Combination Figure 9-11 The feeding and conveying mechanism includes a receiving mechanism 4 connected to the conveying track and a feeding mechanism 5 connected to the drilling and planting mechanism. A slope track 404 is provided to connect the receiving mechanism 4 and the feeding mechanism 5, and is arranged to tilt from top to bottom. The rear end of the receiving mechanism 4 is higher than the front end of the feeding mechanism 5. The higher end of the slope track 404 is connected to the receiving mechanism 4. The receiving mechanism 4 includes an electromagnetic vibrator 402 and a feeding track 403 arranged at the upper end of the electromagnetic vibrator 402. The receiving mechanism 4 also includes a receiving stand 401, and the electromagnetic vibrator 402 is arranged on the receiving stand 401. The feeding mechanism 5 includes a conveying stand 501 and a feeding conveyor belt 503 arranged on the conveying stand 501. A plurality of limit blocks 505 are evenly spaced along the circumference of the outer side of the feeding conveyor belt 503. A accommodating cavity for accommodating the rock wool plug 3 is formed between two adjacent limit blocks 505. The two opposite sides of the two adjacent limit blocks 505 are respectively provided with arc grooves 502 that cooperate with the rock wool plug 3.

[0031] The ramp track 404 is arranged at the end of the feeding track 403, and the higher end of the ramp track 404 is connected to the feeding track 403. The vibration generated by the electromagnetic vibrator 402 feeds the screened qualified rock wool plugs 3 at a certain rhythm so that they can be arranged closely; the vibration frequency of the electromagnetic vibrator 402 is adjusted to match the conveying speed of the feeding conveyor belt 503, and the qualified rock wool plugs 3 pass through the ramp track 404 at the end of the feeding track 403 and fall into the accommodating cavity between the two limit blocks 505 until they are transported to the position of the opposing photoelectric sensor I504, and the photoelectric sensor I504 sends a signal.

[0032] The feeding mechanism 5 is also provided with a transmission mechanism for driving the feeding conveyor belt 503 to move. The transmission mechanism includes two synchronous wheels that cooperate with the feeding conveyor belt 503, one of which is provided with a transmission shaft, and the transmission shaft is provided with a driven wheel. The conveying platform 501 is also provided with a transmission motor, and the output shaft of the transmission motor is provided with a driving wheel, and the driving wheel and the driven wheel are connected by a belt.

[0033] Combination Figure 12-14 As shown, the punching and planting mechanism includes a planting stand 8 and a bracket arranged on the planting stand 8, the planting stand 8 is provided with a seedling tray conveying belt 6 for conveying the seedling tray 7, the bracket is provided with a transverse moving module 801, the feeding conveyor belt 503 of the feeding mechanism 5 is located between the seedling tray conveying belt 6 and the transverse moving module 801, the transverse moving module 801 is used to drive the vertical moving module 802 to reciprocate along the length direction of the seedling tray conveying belt 6, the transverse moving module 801 is provided with a vertical moving module 802, the vertical moving module 802 is provided with an end effector 9 for clamping the rock wool plug 3 and punching holes in the rock wool plug 3, and the vertical moving module 802 is used to drive the end effector 9 to move up and down in the vertical direction.

[0034] The lateral moving module 801 can adopt any existing displacement mechanism that can perform horizontal movement, such as a synchronous belt module and a ball screw module. The vertical moving module 802 can adopt any existing displacement mechanism that can perform vertical movement, such as a synchronous belt module and a ball screw module. For example, the vertical moving module 802 generally includes a slide rail extending in the vertical direction, and a slide seat driven by a motor is installed on the slide rail.

[0035] Guide limit plates 602 are provided on both sides of the seedling tray conveyor belt 6 on the planting stand 8, and opposing photoelectric sensors Ⅱ 601 are respectively provided on the two guide limit plates 602. The opposing photoelectric sensor Ⅱ 601 is used to detect whether the foam seedling tray 7 has reached a specified position. The opposing photoelectric sensor Ⅱ 601 sends a signal when it is blocked by the foam seedling tray 7. A magnetic induction proximity switch Ⅰ 803 and a magnetic induction proximity switch Ⅱ 804 are also provided on the bracket. The magnetic induction proximity switch Ⅰ 803 and the magnetic induction proximity switch Ⅱ 804 are the return origins of the horizontal moving module 801 and the vertical moving module 802 respectively.

[0036] Specifically, the end actuator 9 includes a vertical plate 901 and a support base 910 arranged on the vertical plate 901, a first sleeve 911 and a second sleeve 912 on the support base 910, a punching rod 902 slidingly provided in the first sleeve 911 and penetrating the support base 910, a vertical rod 903 slidingly provided in the second sleeve 912 and penetrating the support base 910, two clamping arms 904 are hingedly provided at the lower end of the vertical rod 903 through a connecting rod assembly, and the upper end of the clamping arm 904 is connected to the support base 910, and the vertical rod 903 moves up and down to drive the two clamping arms 904 to move closer or farther from each other, so as to clamp or release the rock wool plug 3, and a driving mechanism is also provided on the vertical plate 901, and the driving mechanism is used to drive the vertical rod 903 and the punching rod 902 to move vertically up and down alternately.

[0037] The lower end of the punching rod 902 is provided with a baffle and a punching shaft in sequence. The punching rod 902 is in the shape of an axis, and the diameter of the punching shaft is smaller than the diameter of the punching rod 902. The diameter of the baffle is greater than or equal to the diameter of the rock wool plug 3. By setting the baffle, the punching depth is avoided from being restricted, and the consistency of the punching depth is ensured. A connecting rod is hingedly provided in the middle of the clamping arm 904, and the other end of the connecting rod is hingedly provided with the lower end of the vertical rod 903. The clamping arm 904 is L-shaped and has a vertical portion and a clamping portion bent upward relative to the vertical portion. The two clamping portions are close to or away from each other to clamp the rock wool plug 3. The end effector 9 of the present application integrates punching and clamping. While clamping the rock wool plug 3, the clamped rock wool plug 3 can be punched, which improves the production rhythm and greatly speeds up the planting efficiency.

[0038] The driving mechanism includes a driving motor 905 and a gear 907 arranged at the end of the output shaft of the driving motor 905. The vertical rod 903 and the punching rod 902 are respectively provided with teeth matching with the gear 907 along their respective length directions.

[0039] Through the cooperation of the lateral moving module 801 and the vertical moving module 802, the end effector 9 is driven to move to the top of the rock wool plug 3 on the feeding conveyor belt (503), the driving motor 905 drives the gear 907 to rotate, the vertical rod 903 moves upward, and under the action of the connecting rod assembly, the two clamping arms 904 approach each other to clamp the rock wool plug 3, and at the same time, the punching rod 902 moves downward to punch holes in the rock wool plug 3. After completion, the lateral moving module 801 and the vertical moving module 802 cooperate to drive the end effector 9 to move to the top of the rock wool plug implantation hole of the seedling tray 7, and the driving motor 905 is controlled to drive the gear 907 to rotate, so that the punching rod 902 moves upward and the vertical rod 903 moves downward, the two clamping arms 904 move away from each other and release the rock wool plug 3, and the rock wool plug 3 falls into the rock wool plug implantation hole to complete the planting.

[0040] The present application also includes a PLC controller, and the transmissive photoelectric sensor I504, the counter-photoelectric sensor II601, the magnetic induction proximity switch I803, the magnetic induction proximity switch II804, the vibration plate 11, the feeding and conveying mechanism, the displacement sensor, and the drilling and planting mechanism are electrically connected to the PLC controller respectively.

[0041] The present application uses a feeding and screening mechanism 1 to feed the material, and the rock wool plug 3 after feeding enters the receiving mechanism 4 and the feeding mechanism 5 in turn, so as to realize the orderly feeding of the rock wool plug 3, and then the seedling tray conveying belt 6, the horizontal moving module 801, the vertical moving module 802 and the end effector 9 cooperate with each other to punch the rock wool plug 3 and implant the punched rock wool plug 3 into the seedling tray 7, so as to complete the automatic planting, which is convenient to operate and has a high degree of automation. The present invention realizes the full process automation operation of the rock wool plug feeding and planting operation in the plant factory, avoids the rock wool fiber from contacting the human body and causing damage, reduces the labor cost, and increases the speed and efficiency of the planting of the rock wool plug 3.

[0042] Of course, the present invention is not limited to the above-described embodiments. Several other embodiments based on the design concept of the present invention are also provided below.

[0043] For example, in other embodiments, different from the above-described embodiments, Figure 7 and Figure 8 As shown, a plurality of spoon-shaped plates 208 are provided at the removal notch along the conveying direction of the conveying track. The spoon-shaped plates 208 are composed of several discs whose lengths are slightly smaller than the diameter of the rock wool plug and adapted to the size of the pit of the rock wool plug. When the rock wool plug passes through the spoon-shaped plate 208 in the upright state 302, the upright pit facing upward state 3021 passes smoothly. In the upright pit facing downward state, the pit sinks into the spoon-shaped plate disc, and the center of gravity tilts back to the top plate 201 when sliding forward and is removed.

[0044] A detection and rejection section is provided on the conveying track behind the rejection section, and the detection and rejection section includes a detection height limit component 211 and a rejection hole arranged at the bottom of the conveying track. The detection height limit component 211 has the same structure and size as the height limit component 209. The limit plate of the detection height limit component 211 is used to limit the size of the rejection hole. The detection height limit component 211 cooperates with the rejection hole to reject the rock wool plugs in the vertical state 303, the rock wool plugs with too low height and the incomplete rock wool plugs into the return hopper 202, and the return hopper 202 recycles the rock wool plugs into the top plate 201.

[0045] For example, in other embodiments, different from the above-described embodiments, the Figure 13-14As shown, a one-way bearing 906 is provided on the output shaft of the driving motor 905, and a gear 907 is fixed on the outer ring of the one-way bearing 906. A first retaining ring is provided on the outer side of the punching rod 902, and a punching tension spring 909 is provided in the first sleeve 911 and sleeved on the punching rod 902. The upper and lower ends of the punching tension spring 909 are respectively fixedly connected to the first retaining ring and the support seat 910. A second retaining ring is provided on the outer side of the vertical rod 903, and a clamping compression spring 908 is provided in the second sleeve 912 and sleeved on the vertical rod 903. The upper and lower ends of the clamping compression spring 908 are respectively fixedly connected to the second retaining ring and the support seat 910.

[0046] In the initial state, the clamping arm 904 of the end effector 9 is in a clamping state and the punching rod 902 is in a punching state; the driving motor 905 is energized, the output shaft of the driving motor 905 rotates, and the one-way bearing 906 is locked in the rotation direction of the output shaft, so that the one-way bearing 906 and the gear 907 are relatively fixed, and the one-way bearing 906 and the gear 907 rotate at a certain angle at the same time, the vertical rod 903 descends, the clamping compression spring 908 is compressed, the punching rod 902 rises, and the punching tension spring 909 is stretched. 904 is in the open state, and the punching axis of the punching rod 902 leaves the rock wool plug 3; the driving motor 905 is powered off, and the gear 907 rotates relative to the one-way bearing 906 under the action of the return force of the punching tension spring 909 and the clamping compression spring 908, and the end actuator 9 returns to the initial state. By setting the one-way bearing 906, the inner and outer rings of the one-way bearing 906 can only rotate in one direction relative to each other, and in conjunction with the punching tension spring 909 and the clamping compression spring 908, the vertical rod 903 and the punching rod 902 can be returned to their original positions.

[0047] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention fall within the protection scope of the present invention.

Claims

1. An automated equipment for rock wool plug feeding and planting in plant factories, characterized in that: The invention comprises a feeding and screening mechanism (1) and a drilling and planting mechanism. The feeding and screening mechanism (1) is used to feed rock wool plugs (3) and screen out qualified rock wool plugs (3). A feeding and conveying mechanism is provided connecting the feeding and screening mechanism (1) and the drilling and planting mechanism and is used to convey the screened rock wool plugs (3) to the drilling and planting mechanism. The drilling and planting mechanism is used to drill holes in the rock wool plugs (3) and plant them in a seedling tray (7).

2. The automatic equipment for rock wool plug feeding and planting in plant factories according to claim 1 is characterized by: The feeding and screening mechanism (1) comprises a vibrating plate (11), the vibrating plate (11) has a conveying track, the conveying track comprises a first adjustment section, a second adjustment section and a rejection section, wherein the rock wool plugs (3) entering the track comprise a rock wool plug horizontally lying state (301), a rock wool plug upright state (302) and a rock wool plug vertically lying state (303), and the rock wool plug upright state (302) comprises a state in which the upright pit faces upward (3021) and a state in which the upright pit faces downward; The first adjustment section is used to adjust the horizontal lying state (301) of the rock wool plug to the vertical lying state (303) or the upright state (302) of the rock wool plug; The second adjustment section is used to adjust the rock wool plug from the vertically lying state (303) to the rock wool plug upright state (302); The rejecting section is used to reject the rock wool plugs in the upright state (302) with unqualified height and to reject the rock wool plugs in the upright state with the pit facing downward.

3. The automatic equipment for rock wool plug feeding and planting in plant factories according to claim 2 is characterized by: The first adjustment section comprises an outer curved guardrail (203) arranged on the inner side of the conveying track, the outer curved guardrail (203) being in the shape of a sheet, and the outer curved guardrail (203) being curved from the outside to the inside along the rock wool conveying direction, that is, the front end of the outer curved guardrail (203) is close to the outer side of the conveying track, and the rear end of the outer curved guardrail (203) is away from the outer side of the conveying track, and the front end of the outer curved guardrail (203) touches the horizontal lying state (301) of the rock wool plug, so that it is adjusted to the vertical lying state (303) of the rock wool plug or the upright state (302) of the rock wool plug.

4. The automatic equipment for rock wool plug feeding and planting in plant factories according to claim 2 is characterized by: The second adjustment section comprises a slope step (204) arranged in the conveying track, support plates (206) located on both sides of the slope step (204), and a mounting frame arranged on the conveying track, the mounting frame is rotatably connected to a dynamic flip assembly (207) via a torsion spring, and a friction plate (205) is provided at the rear end of the slope step (204) on the conveying track. When the rock wool plug is in a vertically lying state (303), it passes through the slope step (204) and tilts toward the friction plate (205) due to inertia, and collides with the dynamic flip assembly (207) to make it reach a rock wool plug upright state (302).

5. The automatic equipment for rock wool plug feeding and planting in plant factories according to claim 2 is characterized by: The rejecting section comprises a rejecting notch arranged on the inner side of the conveying track, and a height limiting component (209) and a blowing component (210) are arranged at the rejecting notch. The height limiting component (209) comprises a limiting plate and a driving component. The driving component is used to drive the limiting plate to move up and down to adjust the distance between the limiting plate and the bottom of the conveying track. The blowing component (210) is used to blow the upright pit in a downward state out of the rejecting notch to complete the rejection.

6. The automatic equipment for rock wool plug feeding and planting in plant factories according to claim 5 is characterized by: The blowing assembly (210) comprises a bracket, a displacement sensor arranged on the bracket, and an air blowing pipe facing the removal notch, the air blowing pipe is connected to an air source, and the displacement sensor is used to detect whether there is a pit in the upright state (302) of the rock wool plug.

7. The automatic equipment for feeding and planting rock wool plugs in plant factories according to claim 1 is characterized by: The feeding and conveying mechanism comprises a receiving mechanism (4) connected to a conveying track and a feeding mechanism (5) connected to a drilling and planting mechanism; a slope track (404) arranged to be inclined from top to bottom is provided to connect the receiving mechanism (4) and the feeding mechanism (5); the receiving mechanism (4) comprises an electromagnetic vibrator (402) and a feeding track (403) arranged on the electromagnetic vibrator (402); the feeding mechanism (5) comprises a conveying platform (501) and a feeding conveyor belt (503) arranged on the conveying platform (501); a plurality of limit blocks (505) are evenly spaced along the circumference of the outer side of the feeding conveyor belt (503); a receiving cavity for accommodating a rock wool plug (3) is formed between two adjacent limit blocks (505); arc-shaped grooves (502) cooperating with the rock wool plug (3) are respectively provided on two opposite side surfaces of the two adjacent limit blocks (505).

8. The automatic equipment for feeding and planting rock wool plugs in plant factories according to claim 1 is characterized by: The punching and planting mechanism comprises a planting stand (8) and a bracket arranged on the planting stand (8); a seedling tray conveying belt (6) for conveying a seedling tray (7) is arranged on the planting stand (8); a horizontal moving module (801) is arranged on the bracket; the horizontal moving module (801) is used to drive a vertical moving module (802) to move back and forth along the length direction of the seedling tray conveying belt (6); a vertical moving module (802) is arranged on the horizontal moving module (801); an end effector (9) for clamping a rock wool plug (3) and punching holes in the rock wool plug (3) is arranged on the vertical moving module (802); and the vertical moving module (802) is used to drive the end effector (9) to move up and down in a vertical direction.

9. The automatic equipment for rock wool plug feeding and planting in plant factories according to claim 8 is characterized by: The end effector (9) comprises a vertical plate (901) and a support base (910) arranged on the vertical plate (901), a first sleeve (911) and a second sleeve (912) on the support base (910), a punching rod (902) penetrating the support base (910) being slidably disposed in the first sleeve (911), a vertical rod (903) penetrating the support base (910) being slidably disposed in the second sleeve (912), two clamping arms (904) being hingedly disposed at the lower end of the vertical rod (903) through a connecting rod assembly, the upper ends of the clamping arms (904) being connected to the support base (910), the vertical rod (903) moving up and down drives the two clamping arms (904) to move closer to or away from each other, so as to clamp or release the rock wool plug (3), and a driving mechanism is also provided on the vertical plate (901), the driving mechanism being used to drive the vertical rod (903) and the punching rod (902) to move vertically up and down alternately.

10. The automatic equipment for feeding and planting rock wool plugs in plant factories according to claim 9 is characterized by: The driving mechanism comprises a driving motor (905) and a gear (907) arranged at the end of the output shaft of the driving motor (905), and teeth cooperating with the gear (907) are respectively arranged on the vertical rod (903) and the punching rod (902) along their respective length directions.

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