Plant factory rock wool plug loading and planting automation equipment

Abstract

The application relates to a kind of automatic equipment for the loading and planting of plant factory rock wool plug, comprising loading screening mechanism and punching planting mechanism, the loading screening mechanism is used to load and screen qualified rock wool plug, feeding conveying mechanism is arranged between the loading screening mechanism and the punching planting mechanism for conveying the screened rock wool plug to the punching planting mechanism, and the punching planting mechanism is used to punch and plant rock wool plug into seedling tray.The application can automatically screen, feed and punch and plant rock wool plug to reduce human injury, save labor cost and ensure the survival rate of seedling growth stage.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rock wool plug loading and planting, and particularly relates to a rock wool plug loading and planting automation equipment for a plant factory. BACKGROUND

[0002] A plant factory is a new vegetable planting mode and has become an important development direction of future vegetable factory production in China. A substrate for seedling cultivation of leaf vegetables in a plant factory is a rock wool. The rock wool is a mixture containing diabase, limestone and coke components. The components are first melted in a high-temperature furnace at 2000 DEG C, the molten material is sprayed into a filament, the filament is pressed into a sheet, and then cooled to about 200 DEG C. Phenolic resin is added for further processing.

[0003] At present, the rock wool used in the plant factory is mostly in a cylindrical shape, has a hemispherical pit at the head for seed stopping, and is flat at the bottom. Before sowing, the rock wool plug is first planted into a corresponding hole of a foam seedling tray, and then the whole is soaked in water until the water does not overflow, and then placed on a sowing machine for sowing. However, the planting process of the rock wool plug is generally completed manually, and the good and bad of the rock wool plug needs to be distinguished, which is slow and low in efficiency. Meanwhile, the rock wool fiber can pierce the skin and cause an allergic reaction, and the falling fiber flocculation is easy to float into the eyes, which is very dangerous. Moreover, the seeds are randomly laid in the hemispherical pit of the rock wool plug, and most of the seed embryos grow upward and then bend to the ground under the light until they contact the rock wool. Due to the long-time irradiation and heating of the artificial light source, the embryo root is suspended and weak and is dried by the sun. The artificial solution to the problem is to graft the embryo root into the rock wool plug with tweezers within 2-3 days after the seed germination, which is time-consuming and labor-consuming, and the force is not easy to control. SUMMARY

[0004] In view of the problems in the prior art, the present application provides a rock wool plug loading and planting automation equipment for a plant factory.

[0005] The technical scheme adopted by the present application to solve the above technical problems is: a rock wool plug loading and planting automation equipment for a plant factory, comprising a loading and screening mechanism and a punching and planting mechanism. The loading and screening mechanism is used for loading and screening qualified rock wool plugs. A feeding and conveying mechanism is arranged between the loading and screening mechanism and the punching and planting mechanism, and is used for conveying the screened rock wool plugs to the punching and planting mechanism. The punching and planting mechanism is used for punching and planting the rock wool plugs into a seedling tray.

[0006] As a preferred scheme, the feeding and screening mechanism comprises a vibrating disc, the vibrating disc has a conveying track, the conveying track comprises a first adjusting section, a second adjusting section and a rejection section, wherein the rock wool plugs entering the track comprise a rock wool plug horizontal lying state, a rock wool plug vertical lying state and a rock wool plug vertical standing state, the rock wool plug vertical standing state comprises a vertical standing concave upward state and a vertical standing concave downward state;

[0007] The first adjusting section is used for adjusting the rock wool plug horizontal lying state into the rock wool plug vertical lying state or the rock wool plug vertical standing state.

[0008] The second adjusting section is used for adjusting the rock wool plug vertical lying state into the rock wool plug vertical standing state.

[0009] The rejection section is used for rejecting the rock wool plug vertical standing state with an unqualified height and the vertical standing concave downward state.

[0010] As a preferred scheme, the first adjusting section comprises an outer curved guardrail arranged inside the conveying track, the outer curved guardrail is in a sheet shape, the outer curved guardrail is curved from outside to 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, 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 rock wool plug horizontal lying state, so as to adjust it into the rock wool plug vertical lying state or the rock wool plug vertical standing state.

[0011] As a preferred scheme, the second adjusting section comprises a slope step arranged inside the conveying track, support sheets located on both sides of the slope step and a mounting frame arranged on the conveying track, the mounting frame is rotatably connected with a dynamic overturning assembly through a torsional spring, the conveying track is provided with a friction sheet at the rear end of the slope step, the rock wool plug vertical lying state tilts to the friction sheet direction due to inertia and collides with the dynamic overturning assembly to reach the rock wool plug vertical standing state.

[0012] As a preferred scheme, the rejection section comprises a rejection gap arranged on the inner side of the conveying track, the rejection gap is provided with a height limiting assembly and a material blowing assembly, the height limiting assembly comprises a limiting plate and a driving assembly, the driving assembly is used for driving the limiting plate to move up and down to adjust the distance between the limiting plate and the bottom of the conveying track, the material blowing assembly is used for blowing out the rock wool plug vertical standing concave downward state from the rejection gap to complete the rejection.

[0013] As a preferred scheme, the material blowing assembly comprises a support, a displacement sensor arranged on the support and a blowing pipe facing the rejection gap, the blowing pipe is connected with a gas source, the displacement sensor is used for detecting whether the rock wool plug vertical standing state has a concave.

[0014] As a preferred scheme, the feeding conveying mechanism comprises a receiving mechanism connected with the conveying track and a feeding mechanism connected with the punching and planting mechanism, a slope track is arranged from top to bottom between the receiving mechanism and the feeding mechanism, the receiving mechanism comprises an electromagnetic vibrator and a feeding track arranged on the electromagnetic vibrator, and the feeding mechanism comprises a conveying rack and a feeding conveyor belt arranged on the conveying rack, a plurality of limiting blocks are uniformly arranged on the outer side of the feeding conveyor belt along the circumferential direction of the feeding conveyor belt, an accommodating cavity for accommodating the rock wool plug is formed between two adjacent limiting blocks, and an arc-shaped groove matched with the rock wool plug is arranged on two opposite sides of the two adjacent limiting blocks.

[0015] As a preferred scheme, the punching and planting mechanism comprises a planting rack and a support arranged on the planting rack, a seedling plate conveying belt for conveying the seedling plate is arranged on the planting rack, a horizontal movement module is arranged on the support, the horizontal movement module is used for driving the vertical movement module to reciprocate along the length direction of the seedling plate conveying belt, a vertical movement module is arranged on the horizontal movement module, and an end effector for clamping the rock wool plug and punching the rock wool plug is arranged on the vertical movement module, the vertical movement module is used for driving the end effector to move up and down along the vertical direction.

[0016] As a preferred scheme, the end effector comprises a vertical plate and a support seat arranged on the vertical plate, a first sleeve and a second sleeve are arranged on the support seat, a punching rod penetrating through the support seat is slidably arranged in the first sleeve, a vertical rod penetrating through the support seat is slidably arranged in the second sleeve, two clamping arms are hingedly arranged on the lower end of the vertical rod through a linkage assembly, the upper end of the clamping arms is connected with the support seat, the vertical rod moves up and down to drive the two clamping arms to move close to or away from each other, so as to clamp or release the rock wool plug, and a driving mechanism is further arranged on the vertical plate, the driving mechanism is used for driving the vertical rod and the punching rod to alternately move up and down vertically.

[0017] As a preferred scheme, the driving mechanism comprises a driving motor and a gear arranged at the output shaft end of the driving motor, and the vertical rod and the punching rod are respectively provided with gear teeth matched with the gear along the length direction of the vertical rod and the punching rod.

[0018] The beneficial effects of the present application are as follows: 1. The present application realizes full-process automatic operation of the rock wool plug feeding and planting operation of the plant factory, avoids damage caused by the contact between the rock wool fiber and the human body, reduces the labor cost, and increases the speed and efficiency of the rock wool plug planting.

[0019] 2. The present application sets a series of screening checkpoint structures, i.e., a first adjusting section, a second adjusting section and a rejection section, on the vibrating disc feeding, so that the rock wool plug passes through according to the screening requirements, so that the unqualified and unordered rock wool plug falls back into the vibrating disc, and the planting quality of the rock wool plug is improved.

[0020] 3、The feeding speed of the feeding mechanism cooperates with the feeding speed of the receiving mechanism, so that qualified rock wool plugs can be sequentially fed, so that the rock wool plugs are arranged at a certain interval, and the punching and planting mechanism works effectively.

[0021] 4、The punching and planting mechanism punches and plants the rock wool plug hemispherical pit in the seedling tray, so that the seeds after sowing germinate in the hole, the radicle can directly root on the rock wool, absorb the water and nutrients transmitted by the rock wool, prevent the radicle from being sunken, reduce the damage of the radicle caused by manual operation, and improve the survival rate of seedlings. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present application;

[0023] Figure 2 It is a structural schematic diagram of the present application;

[0024] Figure 3 It is Figure 2 the sectional view of A-A;

[0025] Figure 4 It is Figure 2 the axial view;

[0026] Figure 5 It is Figure 4 the local enlarged view of B;

[0027] Figure 6 It is Figure 4 the local enlarged view of C;

[0028] Figure 7 It is Figure 4 the local enlarged view of D;

[0029] Figure 8 It is Figure 4 the local enlarged view of E;

[0030] Figure 9 It is a structural schematic diagram of the present application;

[0031] Figure 10 It is Figure 8 the local enlarged view of F;

[0032] Figure 11 It is a structural schematic diagram of the present application;

[0033] Figure 12 It is a structural schematic diagram of the present application;

[0034] Figure 13 It is a structural schematic diagram of the present application;

[0035] Figure 14 The exploded view of the end effector of the present application.

[0036] Marked in the figure: 1, feeding and screening mechanism, 11, vibration disc, 2, vibration disc top disc module, 3, rock wool plug, 4, receiving mechanism, 5, feeding mechanism, 6, seedling tray conveying belt, 7, seedling tray, 8, planting rack, 9, end effector; 101, bottom plate, 102, damping foot pad, 103, fixed frame, 104, electromagnet I, 105, spring sheet, 106, movable frame, 107, cap screw, 108, shell, 201, top disc, 202, return hopper, 203, outer curved guardrail, 204, slope step, 205, friction sheet, 206, support sheet, 207, dynamic overturning assembly, 208, spoon-shaped plate, 209, height limiting assembly, 210, material blowing assembly, 211, detection height limiting assembly, 301, rock wool plug lying state, 302, rock wool plug standing state, 3021, standing pit upward state, 303, rock wool plug vertical lying state, 401, receiving rack, 402, electromagnetic vibrator, 403, feeding track, 404, slope track, 501, conveying rack, 502, arc-shaped groove, 503, feeding conveyor belt, 504, pair of photoelectric sensors I, 505, limiting block, 601, pair of photoelectric sensors II, 602, guide limiting plate, 801, horizontal movement module, 802, vertical movement 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

[0037] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0038] Please refer to Figures 1-14The embodiment of the present application provides a kind of for plant factory rock wool plug loading and planting automation equipment, including loading screening mechanism 1 and punching planting mechanism, loading screening mechanism 1 is used to rock wool plug 3 loading and screening out qualified rock wool plug 3, feeding conveying mechanism is equipped for conveying screened rock wool plug 3 to punching planting mechanism, which is connected to loading screening mechanism 1 and punching planting mechanism, punching planting mechanism is used for punching and planting rock wool plug 3 into seedling tray 7.

[0039] Wherein, in combination Figures 1-4 As shown in the drawing, loading screening mechanism 1 includes vibration disc 11, vibration disc 11 has conveying track, conveying track includes first adjustment section, second adjustment section and rejection section, wherein, rock wool plug 3 entering track includes rock wool plug lying state 301, rock wool plug vertical state 302 and rock wool plug vertical lying state 303, rock wool plug vertical state 302 includes vertical concave upward state 3021 and vertical concave downward state; first adjustment section is used to adjust rock wool plug lying state 301 to rock wool plug vertical lying state 303 or rock wool plug vertical state 302; second adjustment section is used to adjust rock wool plug vertical lying state 303 to rock wool plug vertical state 302; rejection section is used to reject rock wool plug vertical state 302 of height unqualified and reject vertical concave downward state.

[0040] Vibration disc 11 includes bottom plate 101, damping foot pad 102, fixed frame 103, electromagnet I 104, spring sheet 105, movable frame 106, compression cap screw 107 and shell 108; damping foot pad 102 lower end is placed on bottom plate 101, upper end is fixedly connected with fixed frame 103, and vibration of vibration base module 1 is weakened, electromagnet I 104 is arranged in movable frame 103, spring sheet 105 is arranged on the outer periphery of movable frame 106, and movable frame 106 is connected with movable frame 106 through spring sheet 105, movable frame 106 is connected with vibration disc top disc module 2 through compression cap screw 107, shell 108 is arranged on the outer circle of vibration base module 1, and electromagnet I 104 can adopt electromagnetic vibrator, vibration disc top disc module is arranged on movable frame 106, vibration disc top disc module includes top disc 201 and back hopper 202 arranged on the outer side of top disc 201, and conveying track is arranged on the inner arm of back hopper 202.In the embodiment of the present application, vibration disc 11 can adopt existing vibration disc structure.

[0041] In combination Figures 4-5, the first adjustment section includes an outer curved guardrail 203 arranged inside the conveying track, the outer curved guardrail 203 is in a sheet shape, and the outer curved guardrail 203 is curved from outside to inside along the rock wool conveying direction, that is, the front end of the outer curved guardrail 203 is close to the outside of the conveying track, the rear end of the outer curved guardrail 203 is away from the outside of the conveying track, and the front end of the outer curved guardrail 203 touches the rock wool plug in the horizontal lying state 301, so that the rock wool plug is adjusted to the vertical lying state 303 or the vertical state 302. In this application, the outside close to the axis of the top disc 201 is defined as the inside away from the axis of the top disc 201, and the conveying track is in a spiral shape.

[0042] In combination Figures 4-6 , the second adjustment section includes a slope step 204 arranged inside the conveying track, support sheets 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 turnover assembly 207 through a torsion spring, and a friction plate 205 is arranged on the conveying track at the rear end of the slope step 204. The rock wool plug in the vertical lying state 303 tilts to the direction of the friction plate 205 due to inertia after passing through the slope step 204, and collides with the dynamic turnover assembly 207 to reach the vertical state 302.

[0043] In combination Figures 4-7 , the removal section includes a removal gap arranged on the inner side of the conveying track, a height limiting assembly 209 and a blowing assembly 210 are arranged at the removal gap, the height limiting assembly 209 includes a limiting plate and a driving assembly, the driving assembly 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, and the driving assembly is an electric push rod or a servo cylinder. In addition, the height of the limiting plate can be manually adjusted, a waist-shaped long hole is arranged on the limiting plate in the vertical direction, a locking screw is arranged in the waist-shaped long hole, the locking screw is used to lock the limiting plate, and the distance between the limiting plate and the bottom of the conveying track can be adjusted by arranging the waist-shaped long hole. The blowing assembly 210 is used to blow the vertical pit in the downward state out of the removal gap to complete the removal.

[0044] The blowing assembly 210 includes a bracket, a displacement sensor arranged on the bracket, and a blowing pipe facing the removal gap, the blowing pipe is connected with a gas source, and the displacement sensor is used to detect whether there is a pit in the vertical state 302 of the rock wool plug.

[0045] The plurality of rock wool plugs 3 first pass through the outer curved guardrail 203, which adjusts the rock wool plug horizontal lying state 301 to the rock wool plug vertical lying state 303 or the rock wool plug vertical state 302 through a continuous slow outer bending folding structure; the rock wool plug vertical lying state 303 passes through the slope step 204, the friction plate 205 and the supporting plate 206, and due to inertia, it is inclined forward and collides with the dynamic turnover assembly 207 to achieve buffering to stand upright, that is, to adjust to the rock wool plug vertical state 302; similarly, when the rock wool plug vertical state 302 passes through the slope step 204, due to inertia, it is inclined forward and collides with the dynamic turnover assembly 207 to achieve buffering to 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 supporting plate 206 guides the rock wool plug to collide with the dynamic turnover assembly 207; the height limiting assembly 209 removes the rock wool plug that is too high, and the blowing assembly 210 is used to blow out the vertical pit downward state from the removal gap to complete the removal. Among them, the vertical pit upward state 3021 in the rock wool plug vertical state 302 is a qualified rock wool plug 3.

[0046] In combination Figures 9-11 The feeding conveying mechanism includes a receiving mechanism 4 connected with the conveying track and a feeding mechanism 5 connected with the punching and planting mechanism, and a slope track 404 is arranged from top to bottom to connect the receiving mechanism 4 and the feeding mechanism 5, the rear end of the receiving mechanism 4 is higher than the front end of the feeding mechanism 5, one end of the slope track 404 is connected with 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, and further includes a receiving rack 401, and the electromagnetic vibrator 402 is arranged on the receiving rack 401; the feeding mechanism 5 includes a conveying rack 501 and a feeding conveying belt 503 arranged on the conveying rack 501, and a plurality of limiting blocks 505 are uniformly arranged on the outer side of the feeding conveying belt 503 along the circumference thereof, and the limiting blocks 505 are arranged at intervals, and a containing cavity for containing the rock wool plug 3 is formed between two adjacent limiting blocks 505, and an arc-shaped groove 502 matched with the rock wool plug 3 is arranged on each of the two opposite sides of the two adjacent limiting blocks 505.

[0047] The slope track 404 is arranged at the end of the feeding track 403, and one end of the slope track 404 is connected with the feeding track 403, the vibration generated by the electromagnetic vibrator 402 feeds the qualified rock wool plug 3 at a certain rhythm, so that the rock wool plug 3 can be closely arranged; the vibration frequency of the electromagnetic vibrator 402 is adjusted to match the conveying speed of the feeding conveying belt 503, the qualified rock wool plug 3 passes through the slope track 404 at the end of the feeding track 403, falls into the containing cavity between the two limiting blocks 505, and is conveyed to the position of the light-receiving type photoelectric sensor I 504, and the photoelectric sensor I 504 sends a signal.

[0048] The feeding mechanism 5 is further provided with a transmission mechanism for driving the feeding conveyor belt 503 to move, which includes two synchronous wheels matched with the feeding conveyor belt 503, one of the synchronous wheels is provided with a transmission shaft, the transmission shaft is provided with a driven wheel, the conveying rack 501 is further provided with a transmission motor, the output shaft of the transmission motor is provided with a driving wheel, and the driving wheel is connected with the driven wheel through a belt.

[0049] In combination Figures 12-14 As shown in the figure, the planting mechanism includes a planting rack 8 and a support provided on the planting rack 8, the planting rack 8 is provided with a seedling tray conveying belt 6 for conveying the seedling tray 7, the support is provided with a horizontal moving module 801, the feeding conveyor belt 503 of the feeding mechanism 5 is located between the seedling tray conveying belt 6 and the horizontal moving module 801, the horizontal 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 horizontal moving module 801 is provided with the vertical moving module 802, the vertical moving module 802 is provided with an end effector 9 for clamping and punching the rock wool plug 3, and the vertical moving module 802 is used to drive the end effector 9 to move up and down along the vertical direction.

[0050] The horizontal moving module 801 can adopt any existing displacement mechanism that can move horizontally, such as a synchronous belt module and a ball screw module, and the vertical moving module 802 can adopt any existing displacement mechanism that can move vertically, 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.

[0051] The planting rack 8 is provided with guide limiting plates 602 on both sides of the seedling tray conveying belt 6, and each of the two guide limiting plates 602 is provided with a reflection type photoelectric sensor II 601, which is used to detect whether the foam seedling tray 7 reaches the designated position. When the reflection type photoelectric sensor II 601 is blocked by the foam seedling tray 7, a signal is sent, and the support is further provided with a magnetic induction proximity switch I 803 and a magnetic induction proximity switch II 804, which are the reset origins of the horizontal moving module 801 and the vertical moving module 802, respectively.

[0052] Specifically, the end effector 9 comprises a vertical plate 901 and a support seat 910 arranged on the vertical plate 901, a first sleeve 911 and a second sleeve 912 arranged on the support seat 910, a punching rod 902 arranged in the first sleeve 911 and penetrating through the support seat 910, a vertical rod 903 arranged in the second sleeve 912 and penetrating through the support seat 910, two clamping arms 904 hingedly arranged at the lower end of the vertical rod 903 through a linkage assembly, the upper end of the clamping arms 904 being connected with the support seat 910, the vertical rod 903 moving up and down to drive the two clamping arms 904 to move close to or away from each other to clamp or release the rock wool plug 3, and a driving mechanism arranged on the vertical plate 901 and used to drive the vertical rod 903 and the punching rod 902 to move up and down alternately.

[0053] The lower end of the punching rod 902 is sequentially provided with a baffle disc and a punching shaft, the punching rod 902 is in the shape of a shaft, the diameter of the punching shaft is smaller than that of the punching rod 902, and the diameter of the baffle disc is greater than or equal to that of the rock wool plug 3, so that the punching depth is avoided from being limited and the consistency of the punching depth is ensured. The middle part of the clamping arm 904 is hingedly provided with a linkage, the other end of the linkage is hingedly connected with the lower end of the vertical rod 903, the clamping arm 904 is in the shape of L and has a vertical part and a clamping part which is upwardly bent relative to the vertical part, and the two clamping parts move 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, and can punch the clamped rock wool plug 3 at the same time, so that the production rhythm is improved and the planting efficiency is greatly increased.

[0054] The driving mechanism comprises a driving motor 905 and a gear 907 arranged at the output shaft end of the driving motor 905, and the vertical rod 903 and the punching rod 902 are respectively provided with gear teeth along the length direction thereof and matched with the gear 907.

[0055] Through the cooperation of the horizontal moving module 801 and the vertical moving module 802, the end effector 9 is moved to the position directly above the rock wool plug 3 on the feeding conveying belt (503), the driving motor 905 drives the gear 907 to rotate, the vertical rod 903 moves upward, the two clamping arms 904 move close to each other to clamp the rock wool plug 3 under the action of the linkage assembly, and at the same time, the punching rod 902 moves downward to punch the rock wool plug 3. After completion, the horizontal moving module 801 and the vertical moving module 802 cooperate to move the end effector 9 to the position directly above the rock wool plug planting hole of the seedling tray 7, the driving motor 905 is controlled to drive the gear 907 to rotate, the punching rod 902 moves upward, 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 planting hole to complete planting.

[0056] This application also includes a PLC controller, and a through-beam photoelectric sensor I 504, a through-beam photoelectric sensor II 601, a magnetic induction proximity switch I 803, a magnetic induction proximity switch II 804, a vibratory feeder 11, a feeding and conveying mechanism, a displacement sensor, and a drilling and anchoring mechanism, all of which are electrically connected to the PLC controller.

[0057] This application utilizes a feeding and screening mechanism 1 for feeding. After feeding, the rock wool plugs 3 sequentially enter the receiving mechanism 4 and the feeding mechanism 5, achieving orderly feeding of the rock wool plugs 3. Subsequently, the seedling tray conveyor belt 6, the horizontal moving module 801, the vertical moving module 802, and the end effector 9 work together to punch holes in the rock wool plugs 3 and then implant the punched rock wool plugs 3 into the seedling tray 7, thus completing automated planting. The operation is convenient and highly automated. This invention achieves fully automated operation of the rock wool plug feeding and planting process in plant factories, avoiding damage caused by rock wool fibers contacting the human body, reducing labor costs, and increasing the speed and efficiency of rock wool plug planting.

[0058] Of course, the present invention is not limited to the embodiments described above. Several other embodiments based on the design concept of the present invention are also provided below.

[0059] For example, in other embodiments, unlike the embodiments described above, such as... Figure 7 and Figure 8 As shown, multiple spoon-shaped plates 208 are provided along the conveying direction of the conveying track at the rejection gap. The spoon-shaped plates 208 are composed of several circular pieces with a length slightly smaller than the diameter of the rock wool plug and adapted to the size of the rock wool plug pit. When the rock wool plug is in the upright state 302 and passes through the spoon-shaped plates 208, the upright pit-up state 3021 passes smoothly. In the upright pit-down state, because the pit is stuck in the circular pieces of the spoon-shaped plates, the center of gravity tilts and falls back to the top plate 201 when sliding forward and is rejected.

[0060] A detection and rejection section is provided on the conveyor track after the rejection section. The detection and rejection section includes a detection height limiting component 211 and a rejection hole set at the bottom of the conveyor track. The detection height limiting component 211 and the height limiting component 209 have the same structure and size. The limiting plate of the detection height limiting component 211 is used to limit the size of the rejection hole. The detection height limiting component 211, together with the rejection hole, rejects the rock wool plugs in the vertical state 303, the rock wool plugs that are too low in height and the defective rock wool plugs into the return hopper 202. The return hopper 202 recycles the rock wool plugs back into the top plate 201.

[0061] For example, in other embodiments, unlike the embodiments described above, the combination of Figures 13-14As shown, the output shaft of the driving motor 905 is provided with a one-way bearing 906, the gear 907 is fixed on the outer ring of the one-way bearing 906, the first stop ring is arranged outside the punching rod 902, the punching tension spring 909 is arranged in the first sleeve 911 and sleeved on the punching rod 902, the upper and lower ends of the punching tension spring 909 are fixedly connected with the first stop ring and the support base 910 respectively, the second stop ring is arranged outside the vertical rod 903, the clamping compression spring 908 is arranged in the second sleeve 912 and sleeved on the vertical rod 903, and the upper and lower ends of the clamping compression spring 908 are fixedly connected with the second stop ring and the support base 910 respectively.

[0062] In the initial state, the clamping arms 904 of the end effector 9 are in the clamping state, and the punching rod 902 is in the punching state; the driving motor 905 is powered on, the output shaft of the driving motor 905 rotates, the one-way bearing 906 is locked in the rotating direction of the output shaft, so that the one-way bearing 906 is relatively fixed with the gear 907, the one-way bearing 906 and the gear 907 rotate at the same time by a certain angle, the vertical rod 903 descends, the clamping compression spring 908 is compressed, the punching rod 902 rises, the punching tension spring 909 is stretched, the two clamping arms 904 are in the open state, and the punching shaft of the punching rod 902 is away from the rock wool plug 3; the driving motor 905 is powered off, 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 effector 9 returns to the initial state. By arranging the one-way bearing 906, the inner and outer rings of the one-way bearing 906 can only rotate in one direction, and cooperating with the punching tension spring 909 and the clamping compression spring 908, the return effect of the vertical rod 903 and the punching rod 902 is realized.

[0063] It should be noted that the above embodiments are only used to illustrate the present application, but the present application is not limited to the above embodiments, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application all fall within the protection scope of the present application.

Claims

1. A device for the automatic loading and planting of rock wool plugs in a plant factory, characterized in that it comprises: The device comprises a feeding and screening mechanism (1) and a punching and planting mechanism, the feeding and screening mechanism (1) is used for feeding and screening qualified rock wool plugs (3), a feeding and conveying mechanism is arranged between the feeding and screening mechanism (1) and the punching and planting mechanism, and the feeding and conveying mechanism is used for conveying the screened rock wool plugs (3) to the punching and planting mechanism, and the punching and planting mechanism is used for punching and planting the rock wool plugs (3) into the seedling trays (7); The feeding and screening mechanism (1) comprises a vibrating disc (11), and the vibrating disc (11) has a conveying track, the conveying track comprises a first adjusting section, a second adjusting section and a rejection section, wherein the rock wool plugs (3) entering the track comprise a rock wool plug lying state (301), a rock wool plug standing state (302) and a rock wool plug vertical lying state (303), the rock wool plug standing state (302) comprises a standing pit upward state (3021) and a standing pit downward state (3022); The first adjusting section is used for adjusting the rock wool plug lying state (301) into the rock wool plug vertical lying state (303) or the rock wool plug standing state (302); The second adjusting section is used for adjusting the rock wool plug vertical lying state (303) into the rock wool plug standing state (302); The rejection section is used for rejecting the rock wool plug standing state (302) with an unqualified height and the standing pit downward state (3022); The punching and planting mechanism comprises a planting rack (8) and a support arranged on the planting rack (8), the planting rack (8) is provided with a seedling tray conveying belt (6) used for conveying the seedling trays (7), the support is provided with a horizontal movement module (801), the horizontal movement module (801) is used for driving a vertical movement module (802) to reciprocate along the length direction of the seedling tray conveying belt (6), the vertical movement module (802) is arranged on the horizontal movement module (801), and the vertical movement module (802) is provided with an end effector (9) used for clamping the rock wool plugs (3) and punching the rock wool plugs (3); and the vertical movement module (802) is used for driving the end effector (9) to move up and down along the vertical direction. The end effector (9) comprises a vertical plate (901) and a support seat (910) arranged on the vertical plate (901), a first sleeve (911) and a second sleeve (912) are arranged on the support seat (910), a punching rod (902) penetrating through the support seat (910) is slidably arranged in the first sleeve (911), a vertical rod (903) penetrating through the support seat (910) is slidably arranged in the second sleeve (912), two clamping arms (904) are hingedly arranged on the lower end of the vertical rod (903) through a linkage assembly, the upper end of the clamping arms (904) is hingedly connected to the support seat (910), the vertical rod (903) moves up and down to drive the two clamping arms (904) to move close to or away from each other, so as to clamp or release the rock wool plugs (3), and a driving mechanism is further arranged on the vertical plate (901), the driving mechanism is used for driving the vertical rod (903) and the punching rod (902) to alternately move up and down vertically; The driving mechanism comprises a driving motor (905) and a gear (907) arranged on the output shaft end of the driving motor (905), and the vertical rod (903) and the punching rod (902) are respectively provided with gear teeth matched with the gear (907) along the length direction of each rod.

2. The automatic equipment for loading and planting of rock wool plugs in a plant factory according to claim 1, characterized in that: The first adjusting section comprises an outer curved guardrail (203) arranged inside the conveying track, the outer curved guardrail (203) is sheet-shaped, and the outer curved guardrail (203) is curved from outside to inside along the rock wool conveying direction, that is, the front end of the outer curved guardrail (203) is close to the outside of the conveying track, the rear end of the outer curved guardrail (203) is away from the outside of the conveying track, and the front end of the outer curved guardrail (203) touches the rock wool plug horizontal lying state (301), so that the rock wool plug is adjusted to the rock wool plug vertical lying state (303) or the rock wool plug vertical state (302).

3. The automatic equipment for loading and planting of rock wool plugs in a plant factory according to claim 1, characterized in that: The second adjusting section comprises a slope step (204) arranged in the conveying track, support sheets (206) arranged 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 turnover assembly (207) through a torsional spring, a friction plate (205) is arranged on the conveying track and located at the rear end of the slope step (204), and the rock wool plug vertical lying state (303) passes through the slope step (204) and falls to the direction of the friction plate (205) due to inertia, and collides with the dynamic turnover assembly (207) to make the rock wool plug reach the rock wool plug vertical state (302).

4. The automatic equipment for loading and planting of rock wool plugs in a plant factory according to claim 1, characterized in that: The removing section comprises a removing notch arranged on the inner side of the conveying track, a height limiting assembly (209) and a blowing assembly (210) are arranged at the removing notch, the height limiting assembly (209) comprises a limiting plate and a driving assembly, the driving assembly is used for driving the limiting plate to move up and down to adjust the distance between the limiting plate and the bottom of the conveying track, and the blowing assembly (210) is used for blowing the vertical pit downward state from the removing notch to complete the removing.

5. The automatic equipment for loading and planting of rock wool plugs in a plant factory according to claim 4, characterized in that: The blowing assembly (210) comprises a support, a displacement sensor arranged on the support and a blowing pipe facing the removing notch, the blowing pipe is connected with a gas source, and the displacement sensor is used for detecting whether the rock wool plug vertical state (302) has a pit.

6. The automatic equipment for loading and planting of rock wool plugs in a plant factory according to claim 1, characterized in that: The feeding conveying mechanism comprises a receiving mechanism (4) connected with the conveying track and a feeding mechanism (5) connected with the punching and planting mechanism, an inclined track (404) is arranged from top to bottom and is connected between 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 rack (501) and a feeding conveying belt (503) arranged on the conveying rack (501), a plurality of limiting blocks (505) are uniformly arranged on the outer side of the feeding conveying belt (503) along the circumferential direction, a containing cavity for containing the rock wool plug (3) is formed between adjacent two limiting blocks (505), and arc-shaped grooves (502) matched with the rock wool plug (3) are arranged on two opposite sides of adjacent two limiting blocks (505).

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