Automatic equipment for planting floating rice on water surface in mine subsidence area

Abstract

The invention discloses automatic equipment for planting floating rice on water in a mine subsidence area. The automatic equipment comprises a floating bed automatic feeding device, a planting cup automatic feeding device, a fixed-proportion nutrient soil stirring device, a quantitative discharging device, an automatic rice transplanting device and a conveying belt. The floating bed automatic feeding device feeds a floating bed on a tray to a conveying belt, the planting cup feeding device feeds a planting cup on the tray to the floating bed on the conveying belt, the fixed-proportion nutrient soil stirring device evenly stirs seven different kinds of nutrient soil, and the nutrient soil is conveyed to the quantitative discharging device through the spiral conveyor. The quantitative discharging device discharges nutrient soil into the planting cups conveyed by the conveying belt according to the quantity, and the automatic rice seedling transplanting device automatically inserts rice seedlings into the planting cups conveyed by the conveying belt. According to the method, the automation level of planting the potted rice on the water in the mine subsidence area can be improved, the production efficiency is improved, biological ecological environment greening of the mine subsidence area is promoted, the ecological environment of the mine subsidence area is restored, and sustainable development of the mine subsidence area is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automated planting machinery in the field of agricultural machinery, and in particular to automated equipment for planting floating rice on the water surface in a mine subsidence area. Background Art

[0002] With the continuous development of social economy, the demand for mineral resources in various fields has been increasing, which has promoted the vigorous development of mining industry. Along with the large-scale development and utilization of coal resources, the ensuing ecological and environmental problems have gradually become prominent.

[0003] After mining resources are mined, a large number of mined-out areas are formed in the underground space, and the original stress balance state of the overlying rock strata in the mined-out areas is destroyed, resulting in a relatively fragile geological structure in the mining area, which will cause movement and deformation such as caving, fracture, and bending, and eventually involve the formation of a sinking basin larger than the mined-out area on the surface. Since the groundwater level in the mining area is shallow, the groundwater is exposed to the surface after the ground subsidence, and large areas of water accumulate in the subsidence area all year round. After the rainy season, precipitation is intercepted and stored, forming lakes, ponds and wetlands. Most of the subsided land has lost its original production and living functions, and the land performance has been damaged to varying degrees. If the geological environment governance and ecological restoration cannot be carried out in a timely manner in the mine subsidence area, it will have an adverse impact on the local ecological environment protection and society.

[0004] At present, the governance of coal mining subsidence areas is a global problem. Various countries are actively carrying out research and application. The United States, Germany, Britain and other countries started early and now have relatively mature comprehensive governance technology and research experience in coal mining subsidence areas. my country's research on the governance of coal mining subsidence areas began in the 1980s. Although certain technical achievements and research experience have been accumulated, due to many factors such as regional differences, technical methods, economic benefits, policies and systems, the problem of coal mining subsidence has not been effectively controlled, and a lot of manpower and material resources have been consumed.

[0005] Rice is one of the main food crops in my country. Ensuring high quality and high yield of rice is very important to my country. my country is a major rice-growing country, with total output ranking first in the world and planting area ranking second in the world. With the development of agricultural machinery and the adjustment of grain planting structure in my country, traditional agriculture is facing the dual pressures of labor shortage and cost increase. The traditional manual transplanting method is labor-intensive and time-consuming. With the rapid development of modern agriculture, rice planting technology is constantly upgrading, and rice transplanters have gradually become the main tool for rice planting. The rice planting method has developed from traditional manual transplanting to mechanized transplanting, which can not only reduce labor intensity and save labor costs, but also significantly improve labor productivity and land output rate.

[0006] In order to strengthen the geological environment management and ecological restoration of mine subsidence areas, rice can be planted in mine subsidence areas according to local conditions. This can not only prevent geological disasters, restore the ecological environment of the subsidence area and enable it to achieve sustainable development, but also increase the utilization rate of land and greatly improve rice production. Traditional manual operations are not only inefficient, but also prone to problems such as uneven mixing of nutrient soil, uneven seedbeds, and uneven sowing amounts, which have an adverse effect on the later growth of seedlings.

[0007] In order to effectively solve the problems and obstacles in the rice sowing process, it is necessary to develop an automated equipment for planting potted rice in water in mining subsidence areas with a reasonable structure, high flexibility, and the ability to replace manual work such as filling soil, mixing, covering soil, and transplanting rice seedlings. Summary of the invention

[0008] The purpose of the present invention is to provide an automated equipment for planting floating rice on the water surface in a mine subsidence area, aiming to overcome the defects of the prior art and solve the problems that traditional manual operations are not only inefficient but also prone to uneven mixing of nutrient soil, uneven seedbeds, and uneven sowing amounts, which have an adverse effect on the growth of seedlings in the later stage.

[0009] To this end, the present invention proposes an automated equipment for planting floating rice on the water surface of a mine subsidence area, comprising a conveyor belt and: The floating bed automatic loading device automatically loads the floating bed onto the conveyor belt through a mechanical arm. The automatic feeding device for planting cups automatically feeds the planting cups to the floating bed on the conveyor belt through a robotic arm. The fixed proportion nutrient soil mixing device includes a mixer and several screw feeders and a screw feeder connected thereto; different nutrient soils are mixed evenly according to a certain proportion and transported to the top of the conveyor belt through the screw feeder. The quantitative feeding device includes a feeding funnel and a quantitative feeding mechanism; the nutrient soil mixed by the fixed-proportion nutrient soil stirring device passes through the feeding funnel and then is quantitatively added to the planting cup above the conveyor belt through the quantitative feeding mechanism, and The automatic rice transplanting device automatically inserts the rice seedlings in the seedling tray into the planting cup that is transported by a conveyor belt and added with nutrient soil.

[0010] As a preferred technical solution of the present application, the floating bed automatic loading device includes: a tray 1, a floating bed, a stacking gripper, a six-degree-of-freedom robotic arm 1 and a robotic arm base 1; the planting cup automatic loading device includes a tray 2, a planting cup, a three-claw gripper, a six-degree-of-freedom robotic arm 2 and a robotic arm base 2.

[0011] As a preferred technical solution of the present application, a one-way filter is adhered to the bottom of the planting cup. The one-way filter is arranged at the bottom of the planting cup to allow water to flow into the planting cup while preventing the nutrient soil in the planting cup from entering the river water.

[0012] As a preferred technical solution of the present application, the screw feeder can deliver a certain proportion of several different nutrient soils to the mixer, and the mixer can mix the different nutrient soils and then discharge them into the quantitative feeding device through the screw feeder.

[0013] As a preferred technical solution of the present application, the spiral feeder includes a feeding port, a casing, a bottom end cover, a base, a bracket, a spiral blade, a discharge port, a top end cover, a large pulley, a synchronous belt, a small pulley, a motor and a motor mounting base; the motor drives the spiral blade to rotate through the small pulley, the synchronous belt and the large pulley in sequence, so that the nutrient soil is transported from the lower feeding port to the higher discharge port.

[0014] As a preferred technical solution of the present application, the mixer includes a second motor, a casing, two spiral blades, a second base, and two discharge ports; the second motor is fixedly connected to the second spiral blade via a flat key, the second spiral blade is fixedly connected to the casing via a bearing, the second base is fixedly connected to the casing via bolts, and the second discharge port is fixedly connected to the spiral feeder.

[0015] As a preferred technical solution of the present application, the quantitative unloading mechanism includes a sliding quantitative plate, a motor support 1, a motor 3, a ball screw moving pair 1, a unloading plate and a unloading port; The bottom of the discharge funnel is provided with a plurality of discharge ports, which are opposite to the plurality of through holes on the sliding quantitative plate; the motor three drives the sliding quantitative plate to move back and forth relative to the discharge plate through the ball screw moving pair one, and makes the plurality of through holes on the sliding quantitative plate opposite to the plurality of discharge ports arranged on the discharge plate, so as to realize quantitative discharge.

[0016] As a preferred technical solution of the present application, the automatic rice transplanting device includes a seedling lifting mechanism and a rice transplanting mechanism; the rice transplanting mechanism includes a horizontal moving mechanism, a connecting plate, a third bracket, a rice transplanter and a support seat; the rice transplanter is fixedly connected to the horizontal moving mechanism via a connecting plate, so that the rice transplanter can move horizontally, and the support seat is connected to the third bracket via bolts and fixedly connected to the fixed shaft of the rice transplanter via screws.

[0017] As a preferred technical solution of the present application, the rice transplanter includes a rice seedling placement box, a rotary rice transplanting mechanism, a fixed beam and a slide rail; the rice seedling placement box includes four rice seedling placement units arranged side by side on the left and right, each of the rice seedling placement units includes a rice seedling box bottom plate, a rice seedling box partition, a plugging plate, a rice seedling conveyor belt, a driving pulley and a driven pulley, and the rotary rice transplanting mechanism includes a support arm, a rotary box, a planting arm and a rice seedling claw; There are four seedling taking openings on the slide rail; each seedling taking opening corresponds to a seedling placing unit, the support arm is connected to a rotary box by a sprocket drive inside, each rotary box is provided with two planting arms, and each planting arm is provided with a seedling claw. The seedling tray on the seedling placing unit reaches the position of the seedling taking opening on the slide rail through the seedling conveyor belt, and then drives the seedling claw to perform circular motion through the rotary box; the horizontal moving mechanism drives the transplanter to move horizontally on the slide rail, and at the same time, the seedling claw has been performing rotary motion, which moves the rice seedlings at the seedling taking opening to the top of the nutrient soil in the planting cup conveyed by the conveyor belt, and is pushed into the nutrient soil by the planting arm, and the transplanting work is completed.

[0018] As a preferred technical solution of the present application, the seedling lifting mechanism includes a dust cover, a chain, a driven sprocket, a driving sprocket, a motor support 2, a coupling, a motor 4, a ball screw moving pair 2, a seedling tray, a tray 3, a gasket, a lifting plate, a fixed plate, a connecting piece and a base 3; the motor 4 is connected to the sprocket connecting shaft through a coupling to drive the driven sprocket and the driving sprocket to rotate, and then drives the lifting plate to move up and down relative to the fixed plate through the ball screw moving pair 2, so that the seedling tray placed in the tray 3 of the lifting plate is lifted.

[0019] Compared with the prior art, the beneficial effects of the automated floating rice planting equipment of the present invention are: 1) The floating bed and the rice planting cup of the present invention are both loaded onto the conveyor belt using a six-degree-of-freedom robotic arm, which reduces labor intensity, saves labor costs, and can significantly improve labor productivity; 2) The fixed-ratio nutrient soil mixing device of the present invention can mix seven different nutrient soils by reverse stirring, replacing manual stirring and avoiding uneven stirring of the nutrient soil; 3) The feeding funnel of the present invention adopts eight feeding ports to feed nutrient soil to eight planting cups, which greatly improves the work efficiency; 4) The quantitative feeding device of the present invention can feed the nutrient soil into the planting cup according to the usage amount, and ensure that the amount of nutrient soil in each planting cup is the same; 5) A one-way filter is attached to the bottom of the rice planting cup of the present invention so that the water in the subsidence area can enter the planting cup through the filter, while the nutrient soil will not penetrate into the water; 6) The rice transplanter of the present invention is suspended in the air by a bracket, which not only saves space, but also has a reasonable and compact structure, a simple structure, and convenient adjustment. It can replace workers to quickly complete the work of automatic rice transplanting, thereby reducing labor costs and improving work efficiency; 7) The present invention adopts hierarchical control of multiple conveyor belts, and the conveying speed of each conveyor belt can be adjusted according to the working stage of each part to realize automatic rice transplanting; 8) The present invention cultivates rice in the mine subsidence area, which can purify water, enrich species diversity, restore the ecological environment of the mine subsidence area, and give it new vitality on the basis of enhancing the overall stability of the subsidence area, thereby achieving sustainable development by creating greater economic, social and ecological benefits.

[0020] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 It is a structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the automatic feeding device for the floating bed; Figure 3 This is a schematic diagram of the structure of the automatic feeding device for the planting cup; Figure 4 This is a schematic diagram of the planting cup structure; Figure 5 This is a structural schematic diagram of a fixed-ratio nutrient soil mixing device; Figure 6 It is a schematic diagram of the structure of the screw feeder; Figure 7 It is a structural schematic diagram of a mixer; Figure 8 It is a schematic diagram of the structure of the quantitative feeding device; Fig. 9 It is a structural schematic diagram of the quantitative feeding mechanism; Fig.10 It is a structural schematic diagram of an automatic rice transplanting device; Fig.11 This is a schematic diagram of the overall front structure of the seedling lifting mechanism; Fig.12 It is a schematic diagram of the overall internal back structure of the seedling lifting mechanism; Fig.13 It is a schematic diagram of the structure of the rice transplanting mechanism; Fig.14 This is a schematic diagram of the overall front structure of the rice transplanter; Fig.15 It is a schematic diagram of the overall back structure of the rice transplanter.

[0022] In the figure: 1. Automatic feeding device for floating bed; 2. Conveyor belt 1; 3. Automatic feeding device for planting cup; 4. Conveyor belt 2; 5. Constant proportion nutrient soil mixing device; 6. Quantitative feeding device; 7. Conveyor belt 3; 8. Automatic transplanting device; 9. Conveyor belt 4; 10. Pallet 1; 11. Floating bed; 12. Stacking gripper; 13. Six-degree-of-freedom robotic arm 1; 14. Robot arm base 1; 15. Connecting plate 1; 16. Aluminum profile; 17. Cylindrical shaft; 18. Connecting plate 2; 19. Tray 2; 20. Planting cup; 21. Three-claw gripper; 22. Six-degree-of-freedom robot arm 2; 23. Robot arm base 2; 24. Upper connecting plate; 25. Lower connecting plate; 26. Lead screw; 27. One-way filter; 28. Screw feeder; 29. ​​Screw feeder; 30. Mixer; 31. Feeding port; 32. Casing; 33. Bottom end cover; 34. Base 1; 35. Bracket 1; 36. Spiral blade 1; 37. Discharge port 1; 38. Top end cover; 39. Large pulley; 40. Synchronous belt; 41. Small pulley; 42. Motor 1; 43. Motor mounting seat; 44. Motor 2; 45. Housing; 46. Spiral blade 2; 47. Base 2; 48. Discharge port 2; 49. Feeding hopper; 50. Quantitative feeding mechanism; 51. Funnel; 52. Support plate; 53. Bracket 2; 54. Connecting parts; 55. Sliding quantitative plate; 56. Motor support 1; 57. Motor 3; 58. Ball screw moving pair 1; 59. Feeding plate; 60. Feeding port; 61. Seedling lifting mechanism; 62. Transplanting mechanism; 63. Dust cover; 64. Chain; 65. Driven sprocket; 66. Driving sprocket; 67. Motor support 2; 68. Coupling; 69. Motor 4; 70. Ball screw moving pair 2; 71. Seedling tray; 72. Tray 3; 73. Gasket; 74. Lifting plate; 75. Fixed plate; 76. Connector; 77. Base 3; 78. Horizontal moving mechanism; 79. Connecting plate; 80. Bracket three; 81. Rice transplanter; 82. Support seat; 83. Bottom plate of rice seedling box; 84. Partition plate of rice seedling box; 85. Inserting plate; 86. Rice seedling placing unit; 87. Rice seedling taking mouth; 88. Support arm; 89. Rotating box; 90. Fixed beam; 91. Planting arm; 92. Rice seedling conveyor belt; 93. Slide rail; 94. Driven pulley shaft; 95. Driving pulley shaft; 96. Rice seedling claw; 97. Pulley shaft bracket; 98. Driving pulley; 99. Driven pulley; 100. Support component. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] See also Figures 1 to 15The present invention provides a technical solution: an automated equipment for planting potted rice on water in a mine subsidence area, comprising an automatic floating bed feeding device 1, an automatic planting cup feeding device 3, a fixed-proportion nutrient soil stirring device 5, a quantitative feeding device 6, an automatic rice transplanting device 8 and a horizontal conveying mechanism, and the horizontal conveying mechanism comprises: conveyor belt 1 2, conveyor belt 2 4, conveyor belt 3 7 and conveyor belt 4 9.

[0025] The floating bed automatic loading device 1 uses a six-degree-of-freedom robotic arm to automatically grab the floating bed on the pallet and place it on conveyor belt 1 2, which is then transferred to conveyor belt 2 4 via conveyor belt 1 2. Then, the planting cup automatic loading device 3 grabs the planting cup 20 via the robotic arm gripper and places it at the designated position of the floating bed on conveyor belt 2 4.

[0026] The automatic feeding device 3 for planting cups is composed of a six-degree-of-freedom robotic arm and a planting cup 20 on a tray. The floating bed planting cup is conveyed to the conveyor three 7 via the conveyor two 4. At the same time, the fixed-proportion nutrient soil stirring device 5 mixes seven different nutrient soils in a certain proportion and evenly conveys them to the quantitative feeding device 6 via the screw feeder 28. The quantitative feeding device 6 feeds the nutrient soil into the floating bed planting cup conveyed by the conveyor three 7 according to the required usage.

[0027] Then the rice seedlings are transmitted to conveyor belt four 9 via conveyor belt three 7, and the automatic transplanting device 8 automatically inserts the rice seedlings into the planting cups transmitted by conveyor belt four 9. Conveyor belt one 2, conveyor belt two 4, conveyor belt three 7 and conveyor belt four 9 can respectively control their transmission speeds in grades through motors.

[0028] like Figure 2 As shown, the floating bed automatic loading device 1 is composed of a pallet 10, a floating bed 11, a stacking gripper 12, a six-degree-of-freedom robot arm 13, a robot arm base 14 and a conveyor belt 2. The floating bed 11 is stacked in two rows on the pallet 10, the stacking gripper 12 is connected to the lower connecting plate 15 through a cylindrical shaft 17, the lower connecting plate 15 is connected to the upper connecting plate 2 18 through an aluminum profile 16, there are four aluminum profiles 16 and they are placed in parallel, the upper connecting plate 2 18 is fixed to the six-degree-of-freedom robot arm 13 through bolts, the six-degree-of-freedom robot arm 13 is fixed to the robot arm base 14 through bolts, and the robot arm base 14 is fixed to the ground through bolts.

[0029] Conveyor belt 2 is placed on the side of a six-degree-of-freedom robot arm 13, and the six-degree-of-freedom robot arm 13 places the floating bed 11 on conveyor belt 2 through the stacking gripper 12, and then conveyor belt 2 is transferred to conveyor belt 2 4, and then the six-degree-of-freedom robot arm 2 22 drives the three-claw gripper 21 to place the planting cup 20 on the tray 2 19 into the floating bed 11 on the conveyor belt 2 4.

[0030] like Figure 3As shown, the automatic feeding device 3 for planting cups is composed of a tray 19, a planting cup 20, a three-claw gripper 21, a six-degree-of-freedom robot arm 22, a robot arm base 23 and a conveyor belt 4. The planting cups 20 are stacked on the tray 19 in five rows and five columns, the three-claw gripper 21 is fixed to the lower connecting plate 25 by bolts, the lower connecting plate 25 is connected to the upper connecting plate 24 by bolts and the lead screw 26, the upper connecting plate 24 is connected to the six-degree-of-freedom robot arm 22 by bolts, the six-degree-of-freedom robot arm 22 is fixed to the robot arm base 23 by bolts, the robot arm base 23 is connected to the ground by bolts, and the conveyor belt 4 is arranged on the side of the six-degree-of-freedom robot arm 22.

[0031] like Figure 4 As shown, a one-way filter 27 is adhered to the bottom of the planting cup 20. The one-way filter 27 is arranged at the bottom of the planting cup to allow water to flow into the planting cup 20 while preventing the nutrient soil in the planting cup 20 from entering the water.

[0032] like Figure 5 As shown, while the floating bed planting cups are conveyed to the conveyor belt three 7 via the conveyor belt two 4, seven different nutrient soils are added to the fixed proportion nutrient soil mixing device 5. The fixed proportion nutrient soil mixing device 5 is composed of seven screw feeders 28, a screw feeder 29 and a mixer 30. The seven screw feeders 28 can deliver seven different nutrient soils in a certain proportion to the mixer 30. The mixer 30 can mix and mix the different nutrient soils and then discharge them to the quantitative feeding device 6 through the screw feeder 29. Then, the quantitative feeding device 6 puts a certain amount of nutrient soil into the planting cups 20 on the conveyor belt three 7 through eight feeding ports, and conveys it to the conveyor belt four 9 via the conveyor belt three 7.

[0033] like Figure 6 As shown, the spiral feeder 28 is composed of a feed port 31, a housing 32, a bottom end cover 33, a base 34, a bracket 35, a spiral blade 36, a discharge port 37, a top end cover 38, a large pulley 39, a synchronous belt 40, a small pulley 41, a motor 42 and a motor mounting seat 43. The motor 42 drives the spiral blade 36 to rotate through the small pulley 41, the synchronous belt 40 and the large pulley 39 in sequence, so that the nutrient soil is transported from the lower feed port 31 to the higher discharge port 37.

[0034] The feed port 31 is fixedly connected to the casing 32 by bolts, the casing 32 is fixedly connected to the bottom end cover 33 and the top end cover 38 by bolts, the casing 32 is fixedly connected to the bracket 35 by screws, the bracket 35 and the base 34 are fixedly connected by bolts, the spiral blade 36 is fixed by the bottom bearing and the top bearing, the discharge port 37 is connected to the casing 32 by welding, the large pulley 39 is fixed to the spiral blade 36 by a flat key, the small pulley 41 is connected to the motor by a flat key, the small pulley 41 is connected to the large pulley 39 by a synchronous belt 40, the motor 42 is fixedly connected to the motor mounting seat 43 by bolts, and the motor mounting seat 43 and the casing 32 are fixedly connected by bolts.

[0035] like Figure 7 As shown, the mixer 30 is composed of a second motor 44, a housing 45, a second spiral blade 46, a second base 47, and a second discharge port 48. The second motor 44 is fixedly connected to the second spiral blade 46 by a flat key, the second spiral blade 46 is fixedly connected to the housing 45 by a bearing, the second base 47 is fixedly connected to the housing 45 by bolts, the second discharge port 48 is fixedly connected to the housing 45 by bolts, and is fixedly connected to the spiral feeder 29.

[0036] like Figure 8 , Fig. 9 As shown, the quantitative feeding device 6 includes a feeding hopper 49 and a quantitative feeding mechanism 50 . The feeding hopper 49 is composed of a funnel 51 , a support plate 52 , a bracket 53 , and a connecting component 54 .

[0037] The funnel 51 is provided with eight discharge ports through which the nutrient soil can pass into the quantitative discharge mechanism 50. The funnel 51 is fixedly connected to the bracket 2 53 through the support plate 52 by bolts. The quantitative discharge mechanism 50 is connected to the discharge funnel 49 through the connecting component 54. The quantitative discharge mechanism 50 is composed of a sliding quantitative plate 55, a motor support 1 56, a motor 3 57, a ball screw moving pair 1 58, a discharge plate 59, and a discharge port 60.

[0038] The sliding quantitative plate 55 is connected to the ball screw moving pair 58 by bolts, the ball screw moving pair 58 is connected to the discharge plate 59 by bolts, the motor three 57 is fixedly connected to the motor support 56 by bolts, and the motor support 56 is fixedly connected to the discharge plate 59 by bolts. The sliding quantitative plate 55 can horizontally move the nutrient soil through the funnel discharge port by the ball screw moving pair 58 to the discharge port 60 according to a certain amount and then enter the planting cup 20 on the conveyor belt three 7.

[0039] The bottom of the discharge funnel 49 is provided with a plurality of discharge ports, which are opposite to the plurality of through holes on the sliding quantitative plate 55; the motor three 57 drives the sliding quantitative plate 55 to move back and forth relative to the discharge plate 59 through the ball screw moving pair one 58, and makes the plurality of through holes on the sliding quantitative plate 55 and the plurality of discharge ports 60 provided on the discharge plate 59 connected and corresponded in sequence, so as to realize quantitative discharge.

[0040] like Figure 10~Figure 12 As shown, the automatic transplanting device 8 includes a rice seedling lifting mechanism 61 and a rice seedling transplanting mechanism 62. The rice seedling lifting mechanism 61 is composed of a dust cover 63, a chain 64, a driven sprocket 65, a driving sprocket 66, a second motor support 67, a coupling 68, a fourth motor 69, a second ball screw moving pair 70, a rice seedling tray 71, a third tray 72, a gasket 73, a lifting plate 74, a fixed plate 75, a connecting piece 76 and a third base 77.

[0041] The dust cover 63 is fixedly connected to the fixed plate 75 and the motor support 2 67 by bolts, which can protect the chain 64, the driven sprocket 65 and the driving sprocket 66. The driven sprocket 65 is fixedly connected to the screw by a flat key, and the driving sprocket 66 is fixedly connected to the sprocket connecting shaft by a flat key. The driven sprocket 65 and the driving sprocket 66 are connected by the chain 64. The motor support 2 67 is connected to the fixed plate 75 by bolts. The motor 4 69 is connected to the sprocket connecting shaft through a coupling 68 to drive the sprocket to rotate. The ball screw moving pair 2 70 is connected to the fixed plate by bolts. The tray 3 72 and the lifting plate 74 are fixedly connected by bolts through the cylindrical support rod. The gasket 73 is connected to the cylindrical support rod by screws. The seedling tray 71 is placed in the tray 3 72 and the lifting plate 74 is driven up and down by the ball screw moving pair 2 70. The fixed plate 75 and the connecting member 76 are fixedly connected by bolts, and the connecting member 76 is connected to the base 3 77 by bolts.

[0042] Motor 4 69 is connected to the sprocket connecting shaft through a coupling 68 to drive the driven sprocket 65 and the driving sprocket 66 to rotate, and then drives the lifting plate 74 to move up and down relative to the fixed plate 75 through the ball screw moving pair 2 70, so that the seedling tray 71 placed in the tray 3 72 of the lifting plate 74 is lifted.

[0043] like Fig.13 As shown, the transplanting mechanism 62 is composed of a horizontal moving mechanism 78, a connecting plate 79, a bracket three 80, a transplanter 81 and a support seat 82. The horizontal moving mechanism 78 is fixed to the bracket three 80 by bolts, and the ball screw moving pair is driven by a motor to move horizontally. The connecting plate 79 is connected to the horizontal moving mechanism 78 by bolts, and the transplanter 81 is fixedly connected to the connecting plate 79 by bolts so that the transplanter can move horizontally. The support seat 82 is connected to the bracket three 80 by bolts and is fixedly connected to the fixed shaft at the bottom of the transplanter 81 by screws.

[0044] like Figure 14~Figure 15 As shown, the rice transplanter 81 includes a seedling placement box, a rotary transplanting mechanism, a fixed beam 90 and a slide rail 93; the seedling placement box includes four seedling placement units 86 and are arranged side by side on the left and right, each of the seedling placement units 86 includes a seedling box bottom plate 83, a seedling box partition 84, a plugging plate 85, a seedling conveyor belt 92, a driving pulley 98 and a driven pulley 99, the rotary transplanting mechanism includes a support arm 88, a rotary box 89, a planting arm 91 and a seedling claw 96; the seedling placement box also includes a driven pulley shaft 94, a driving pulley shaft 95, a driven pulley 99 and a support component 100.

[0045] The seedling placement box includes four seedling placement units 86 arranged side by side on the left and right. Four seedling trays 71 are placed on the four seedling placement units 86. Each seedling placement unit 86 includes a seedling box bottom plate 83, a seedling box partition plate 84, a plug plate 85, a seedling conveyor belt 92, a driving pulley 98 and a driven pulley 99. The plug plate 85 is fixedly connected to the seedling box bottom plate 83 by bolts, and the seedling box partition plate 84 is fixedly connected to the seedling box bottom plate 83 by bolts. The seedling conveyor belt 92 is installed in the square gap at the bottom of the seedling box bottom plate 83 through the driving pulley 98 and the driven pulley 99. The lower part of the seedling placement unit 86 is supported on the slide rail 93, and the slide rail 93 is fixedly installed on the support arm 88 through the support component 100; one end of the support arm 88 is installed on the fixed beam 90.

[0046] The seedling placement unit 86 can be driven by the horizontal moving mechanism 78 to move horizontally on the slide rail 93, and four seedling taking openings 87 are arranged on the slide rail 93; each seedling taking opening 87 corresponds to a seedling placement unit, and the support arm 88 is internally driven by a sprocket to connect to the rotary box 89, and each rotary box 89 is provided with two planting arms 91, and each planting arm 91 is provided with a seedling claw 96, and the two pulley shaft brackets 97 on the left are installed on the leftmost seedling box partition 84 of the seedling placement unit 86, and the two pulley shaft brackets 97 on the right are installed on the rightmost seedling box partition 84 of the rightmost seedling placement unit 86; the driving pulley shaft 95 is installed in the two upper pulley shaft brackets 97, and the driven pulley shaft 94 is installed in the two lower pulley shaft brackets 97.

[0047] The driving pulley 98 and the driven pulley 99 are respectively installed on the driving pulley shaft 95 and the driven pulley shaft 94. When the floating bed planting cup transported by the conveyor belt 99 reaches the position of the automatic transplanting device 8, the rice transplanter starts working. The seedling tray 71 on the seedling placement unit 86 reaches the position of the seedling taking mouth 87 on the slide rail 93 through the seedling conveyor belt 92, and then drives the seedling claw 96 to perform circular motion through the rotary box 89.

[0048] During the movement of the seedling claw 96, the rice seedlings at the seedling taking mouth 87 will be moved to the top of the nutrient soil in the planting cup 20 through the seedling taking mouth 87 and pushed into the nutrient soil by the planting arm 91. At the same time, the horizontal moving mechanism 78 is driven by the motor to drive the transplanter 81 to move horizontally on the slide rail 93. The seedling claw 96 is constantly performing a rotary motion to move the seedlings off the seedling tray 71 and insert them into the planting cup 20 conveyed by the conveyor belt 99 by the planting arm 91. At this point, the transplanting work is completed.

[0049] The working principle and working process of the automated equipment for planting floating rice on the water surface of a mine subsidence area of ​​the present invention are briefly described below.

[0050] The floating bed automatic loading device 1 uses a six-degree-of-freedom robotic arm to automatically grab the floating bed on the pallet and place it on conveyor belt 1 2, which is then transferred to conveyor belt 2 4 via conveyor belt 1 2. Then, the planting cup automatic loading device 3 grabs the planting cup 20 via the robotic arm gripper and places it at the designated position of the floating bed on conveyor belt 2 4.

[0051] The floating bed planting cups are conveyed to conveyor belt three 7 via conveyor belt two 4. At the same time, the fixed proportion nutrient soil mixing device 5 mixes seven different nutrient soils in a certain proportion and evenly transports them to the quantitative feeding device 6 via the screw feeder 28. The quantitative feeding device 6 feeds the nutrient soil into the floating bed planting cups conveyed by conveyor belt three 7 according to the required usage amount.

[0052] The rice seedlings are then transferred to conveyor belt four 9 via conveyor belt three 7. The seedling lifting mechanism 61 lifts the seedling tray 71 on tray three 72 to a certain height. The seedling tray 71 is manually placed in the seedling placing unit 86 of the transplanting mechanism 62. The horizontal moving mechanism 78 is driven by a motor to drive the transplanter 81 to move horizontally on the slide rail 93. The seedling claws 96 are constantly rotating to remove the seedlings from the seedling tray 71 and insert them into the planting cups 20 transported by conveyor belt four 9 through the transplanting arms 91. At this point, the transplanting work is completed.

[0053] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automated equipment for planting floating rice on the water surface of a mine subsidence area, characterized in that: It includes a conveyor belt and the following components arranged in sequence along the conveying direction of the conveyor belt: The floating bed automatic loading device (1) automatically loads the floating bed (11) onto the conveyor belt through a mechanical arm. The planting cup automatic loading device (3) automatically loads the planting cup (20) into the floating bed (11) on the conveyor belt through a mechanical arm. The fixed-ratio nutrient soil mixing device (5) comprises a mixer (30) and a plurality of screw feeders (28) and a screw feeder (29) connected thereto; different nutrient soils are mixed evenly according to a certain ratio and transported to the top of the conveyor belt via the screw feeder (28); The quantitative feeding device (6) comprises a feeding hopper (49) and a quantitative feeding mechanism (50); the nutrient soil mixed by the fixed-ratio nutrient soil stirring device (5) passes through the feeding hopper (49) and is quantitatively added to the planting cup (20) above the conveyor belt through the quantitative feeding mechanism (50); and The automatic rice transplanting device (8) automatically inserts the rice seedlings in the seedling tray into the planting cup (20) which is conveyed by a conveyor belt and to which nutrient soil has been added.

2. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 1 is characterized in that: The floating bed automatic loading device (1) comprises: a tray 1 (10), a floating bed (11), a stacking gripper (12), a six-degree-of-freedom robotic arm 1 (13) and a robotic arm base 1 (14); the planting cup automatic loading device (3) comprises a tray 2 (19), a planting cup (20), a three-claw gripper (21), a six-degree-of-freedom robotic arm 2 (22) and a robotic arm base 2 (23).

3. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 1 is characterized in that: A one-way filter (27) is adhered to the bottom of the planting cup (20). The one-way filter (27) is arranged at the bottom of the planting cup (20) so that water can flow into the planting cup (20) while preventing the nutrient soil in the planting cup (20) from entering the river water.

4. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 1 is characterized in that: The screw feeder (28) can deliver a certain proportion of several different nutrient soils to the mixer (30), and the mixer (30) can mix the different nutrient soils and then discharge them into the quantitative feeding device (6) through the screw feeder (29).

5. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 1 is characterized in that: The spiral feeder (28) comprises a feed port (31), a housing (32), a bottom end cover (33), a base (34), a bracket (35), a spiral blade (36), a discharge port (37), a top end cover (38), a large pulley (39), a synchronous belt (40), a small pulley (41), a motor (42) and a motor mounting seat (43); the motor (42) drives the spiral blade (36) to rotate through the small pulley (41), the synchronous belt (40) and the large pulley (39) in sequence, so that the nutrient soil is transported from the feed port (31) at a lower position to the discharge port (37) at a higher position.

6. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 1 is characterized in that: The mixer (30) comprises a second motor (44), a housing (45), a second spiral blade (46), a second base (47), and a second discharge port (48); the second motor (44) and the second spiral blade (46) are fixedly connected via a flat key, the second spiral blade (46) and the housing (45) are fixedly connected via a bearing, the second base (47) and the housing (45) are fixedly connected via bolts, and the second discharge port (48) is fixedly connected to the spiral feeder (29).

7. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 1 is characterized in that: The quantitative unloading mechanism (50) comprises a sliding quantitative plate (55), a motor support (56), a motor (57), a ball screw moving pair (58), a unloading plate (59) and a unloading port (60); The bottom of the discharge funnel (49) is provided with a plurality of discharge openings which are opposite to the plurality of through holes on the sliding quantitative plate (55); the motor three (57) drives the sliding quantitative plate (55) to move back and forth relative to the discharge plate (59) through the ball screw moving pair one (58), and makes the plurality of through holes on the sliding quantitative plate (55) opposite to the plurality of discharge openings (60) provided on the discharge plate (59), so as to realize quantitative discharge.

8. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 1 is characterized in that: The automatic rice transplanting device (8) comprises a rice seedling lifting mechanism (61) and a rice transplanting mechanism (62); the rice transplanting mechanism (62) comprises a horizontal moving mechanism (78), a connecting plate (79), a third bracket (80), a rice transplanter (81) and a support seat (82); the rice transplanter (81) is fixedly connected to the horizontal moving mechanism (78) via the connecting plate (79) so that the rice transplanter can move horizontally; the support seat (82) is connected to the third bracket (80) via bolts and is fixedly connected to the fixed shaft of the rice transplanter (81) via screws.

9. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 8, characterized in that: The rice transplanter (81) comprises a rice seedling placement box, a rotary rice transplanting mechanism, a fixed beam (90) and a slide rail (93); the rice seedling placement box comprises four rice seedling placement units (86) arranged side by side on the left and right, each of the rice seedling placement units (86) comprises a rice seedling box bottom plate (83), a rice seedling box partition plate (84), a plugging plate (85), a rice seedling conveyor belt (92), a driving pulley (98) and a driven pulley (99); the rotary rice transplanting mechanism comprises a support arm (88), a rotary box (89), a planting arm (91) and a rice seedling claw (96); The slide rail (93) is provided with four seedling taking openings (87); each seedling taking opening (87) corresponds to a seedling placement unit; the support arm (88) is connected to a rotary box (89) by a sprocket drive; each rotary box (89) is provided with two planting arms (91); each planting arm (91) is provided with a seedling claw (96); the seedling tray (71) on the seedling placement unit (86) reaches the position of the seedling taking opening (87) on the slide rail (93) through the seedling conveyor belt (92) and then drives the seedling claw (96) to perform circular motion through the rotary box (89); the horizontal moving mechanism (78) drives the transplanter (81) to perform horizontal movement on the slide rail (93); at the same time, the seedling claw (96) is always performing a rotary motion, and the rice seedlings at the seedling taking opening (87) are moved to the top of the nutrient soil in the planting cup (20) conveyed by the conveyor belt, and are pushed into the nutrient soil by the planting arm (91), and the transplanting work is completed.

10. The automated equipment for planting floating rice on the water surface of a mine subsidence area according to claim 8, characterized in that: The seedling lifting mechanism (61) comprises a dust cover (63), a chain (64), a driven sprocket (65), a driving sprocket (66), a second motor support (67), a coupling (68), a fourth motor (69), a second ball screw moving pair (70), a seedling tray (71), a third tray (72), a gasket (73), a lifting plate (74), a fixed plate (75), a connecting piece (76) and a third base (77); The motor 4 (69) is connected to the sprocket connecting shaft through the coupling (68) to drive the driven sprocket (65) and the driving sprocket (66) to rotate, and then drives the lifting plate (74) to move up and down relative to the fixed plate (75) through the ball screw moving pair 2 (70), so that the seedling tray (71) placed in the tray 3 (72) of the lifting plate (74) is lifted.

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