Multi-working-condition sea grass plant transplanting robot for subtidal zone

Abstract

The invention relates to the technical field of sea grass plant transplanting, and discloses a multi-working-condition sea grass plant transplanting robot for subtidal zones, which solves the problem of low accuracy, and comprises a box body, a plant taking rod is arranged in the box body, a plant clamping plate is arranged at the left end of the plant taking rod, a plant is further arranged in the box body, and the plant clamping plate is arranged at the right end of the plant taking rod. A pit digging moving rod is fixed to the bottom of the box body, a pit digging plate is arranged on the left side of the pit digging moving rod, stabilizing plates are arranged at the front end and the rear end of the pit digging plate, a transplanting positioning rod is further arranged at the bottom of the box body, a sealing pipe is arranged at the right end of the transplanting positioning rod, and a transplanting pipe is arranged in the sealing pipe. Through rotation of the transplanting pipe, the sealing plate can be located at the lower end when the transplanting pipe extracts plants, so that the conveying effect of the plants is guaranteed, meanwhile, through cooperation of the sealing plate and the transplanting ring moving rod, the transplanting rings can be driven to move downwards, the plants are conveyed into dug pits from the interior of the transplanting pipe, and therefore the transplanting accuracy is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of seaweed plant transplantation, and in particular relates to a multi-working condition seaweed plant transplantation robot used in a subtidal zone. Background Art

[0002] Seagrass beds are important ecological service providers and are the habitats, breeding grounds, feeding grounds and shelters for many offshore fishery resources. However, with the increase of human activities, the area of ​​seagrass beds in the subtidal zone has been decreasing and their functions have been deteriorating. Therefore, measures are urgently needed to protect and restore them. For this purpose, seagrass transplantation technology has become an effective means.

[0003] The existing method of transplanting seaweed plants is usually manual transplantation, which has low transplantation efficiency and poor transplantation effect. At the same time, the existing transplantation device is usually fixed by nails, which makes the seaweed plant fixation effect poor and affects the growth effect of the plant. For this reason, the present invention proposes a multi-condition seaweed plant transplantation robot for subtidal zones. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a multi-condition seaweed plant transplanting robot for subtidal zone, which effectively solves the problems raised in the above background.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-working condition seaweed plant transplanting robot for subtidal zone, comprising a box body, the top of the box body is fastened with a top plate by multiple bolts, the front and rear ends of the box body are provided with propellers, the bottom of the box body is provided with two crawlers, a controller is fixed inside the box body, a power supply is fixed at the front end of the controller, a mobile camera is fixed at the right end of the box body, a plant picking rod is also provided inside the box body, a plant picking moving rod is fixed on the top of the plant picking rod, a plant conveying rod is fixed at the bottom of the left end of the plant picking moving rod, a plurality of plant clamping plates are provided at the bottom of the plant conveying rod, a plant positioning cavity is also fixed at the left end of the box body, a plurality of plants are provided inside the plant positioning cavity, a pit digging moving rod is fixed at the bottom of the box body, a pit digging fixing rod is provided on the left side of the pit digging moving rod A digging rod is fixed at the bottom of the digging fixing rod, a digging plate is provided at the bottom of the digging rod, and buried head positioning plates are provided at the front and rear ends of the digging plate, and a stabilizing plate is fixed at the bottom of each buried head positioning plate, a conveying tube is provided on the left side of the digging fixing rod, and a positioning plate is provided on the left side of the conveying tube, the right end of the positioning plate is rotatably connected with a transplantation positioning rod, a transplantation rod positioning plate is fixed to the bottom of the right end of the transplantation positioning rod, a transplantation rod positioning plate is fixed to the bottom of the transplantation rod positioning plate, a sealing tube is fixed to the bottom of the transplantation rod, and a sealing tube is fixed to the bottom of the sealing tube positioning plate, a connecting plate is provided inside the sealing tube, and two transplantation tube positioning plates are fixed at the bottom of the connecting plate, and the two transplantation tube positioning plates are rotatably connected with transplantation tubes through transplantation tube rotating shafts, and the bottom of the transplantation tube is rotatably connected with two sealing plates through a rotating shaft.

[0006] Preferably, each of the crawlers is meshedly connected with a follower gear, a movable bearing is fixed on the inner side of each follower gear, a driving gear is provided on the right side of each follower gear, and a movable motor is rotatably connected on the inner side of each driving gear. Each group of the movable motors and the movable bearings are connected by a fixing rod, and are fixedly connected to the bottom of the box body by a positioning rod. Propeller positioning rings are also fixed at the front and rear ends of the box body, and a screw motor is fixed to the bottom end of each propeller positioning ring via a fixing rod, and each screw motor is rotatably connected to the propeller on its top via a rotating shaft.

[0007] Preferably, a plant taking rod motor is fixed to the right end inside the box body, the top of the plant taking rod motor is rotatably connected to the plant taking rod main gear, the plant taking rod main gear is meshingly connected to the plant taking rod sub-gear, the top of the plant taking rod sub-gear is fixedly connected to the plant taking rod, the bottom of the plant taking rod sub-gear is fixedly connected to the plant taking rod, the bottom of the plant taking rod sub-gear is fixedly connected to the plant taking rod, the bottom of the plant taking rod bearing is fixedly connected to the box body, the top of the plant taking moving rod is fixedly provided with a plant taking mover, the left side of the plant conveying rod is fixedly provided with a plant conveying camera is fixedly provided with a plant conveying plate rotating motor at the bottom of the plant conveying rod through a fixing plate, the bottom of the plant clamping plate rotating motor is rotatably connected to the plant clamping rod, the plant clamping rod is fixedly connected to the plant clamping plate outside it, and the bottom of the plant clamping rod is fixedly provided with a plant clamper.

[0008] Preferably, a positioning plate motor is fixed to the front end of the box body, and the left side of the positioning plate motor is rotatably connected to the positioning plate main gear via a rotating shaft. A plurality of groups of positioning plate connecting rods are fixed to the top of the plant positioning cavity, and each group of positioning plate connecting rods is rotatably connected to a plant positioning plate via a rotating shaft. The right side of the frontmost plant positioning plate is fixedly connected to the positioning plate main gear via a rotating shaft, and the right sides of the remaining plant positioning plates are fixed with positioning plate sub-gears via rotating shafts. The positioning plate main gear and the plurality of positioning plate sub-gears are meshed and connected via the chain.

[0009] Preferably, a pit digging mover is fixed on the top of the pit digging moving rod, a pit digging moving screw is rotatably connected to the left side of the pit digging moving screw, a pit digging moving bearing is fixed on the left side of the pit digging moving screw, the left side of the outer ring of the pit digging moving bearing is fixedly connected to the pit digging fixed rod, a pit digging camera is fixed on the left side of the pit digging fixed rod, a pit digger is also fixed to the bottom of the pit digging fixed rod, a pit digging positioning block is fixed to the bottom of the pit digging rod, and the pit digging positioning block is fixedly connected to the pit digging plate.

[0010] Preferably, a group of soil burying positioning rings are fixed at each of the front and rear ends of the digging plate, a soil burying motor positioning rod is fixed to the top of each of the top soil burying positioning rings, a soil burying rod is slidably connected inside each group of soil burying positioning rings, and a soil burying rod is also provided on the outside of each of the soil burying rods. A soil burying rod positioning plate is fixed to the lower end of each of the soil burying rods, and a soil burying motor is rotatably connected to the top of each of the soil burying rods via a rotating shaft, and each of the soil burying motors is slidably connected to the soil burying motor positioning rod via a fixed plate.

[0011] Preferably, each of the burying rods is fixed with a burying movable plate at the upper and lower ends, each of the burying movable plates is fixedly connected to the burying head positioning plate at its outer end, a burying head is fixed on the inner side of each of the burying head positioning plates, each of the burying heads is fixedly connected to the stabilizing plate outside of it, a conveying pipe sealing plate is slidably connected to the bottom of the conveying pipe, a conveying pipe sealing plate motor is rotatably connected to the top of the conveying pipe sealing plate via a rotating shaft, and the conveying pipe sealing plate motor is fixedly connected to the conveying pipe.

[0012] Preferably, a transplant positioning rod motor is fixed on the left side of the positioning plate, and the transplant positioning rod motor is rotatably connected to a transplant positioning rod gear on the left side. The transplant positioning rod gear is meshedly connected to the transplant positioning rod sub-gear, and the transplant positioning rod sub-gear is fixedly connected to the transplant positioning rod at its right end through a rotating shaft.

[0013] Preferably, a transplant locator is fixed at the bottom of the transplant positioning rod, and a plurality of sealed tube positioning rods are slidably connected to the inside of the transplant rod positioning plate. A sealed tube positioning spring is provided on the outside of each sealed tube positioning rod, and a plurality of sealed tube positioning rods are fixedly connected to the sealed tube positioning plate at the bottom thereof. A transplant rod controller is also fixed to the bottom of the transplant rod positioning plate, and a sealing strip is provided inside the sealed tube positioning plate. The sealing strip is slidably connected to the lower end of the transplant rod, and the bottom end of the transplant rod is fixedly connected to the connecting plate.

[0014] Preferably, a transplant ring moving rod is also fixed to the bottom of the connecting plate, and multiple transplant rings are fixed to the bottom of the transplant ring moving rods. A transplant ring mover is also fixed to the lower surface of the connecting plate. Transplant cameras are provided on the inner sides of multiple connecting plates, and the transplant cameras are fixedly connected to the connecting plate. A transplant tube rotating motor is fixed to the left end of the transplant tube positioning plate on the left side, and the transplant tube rotating motor is rotatably connected to the transplant tube through the transplant tube rotating shaft at the left end. Two sealing plate rotating motors are fixed to the rear side of the transplant tube, and each sealing plate rotating motor is rotatably connected to the sealing plate at its front end through a rotating shaft.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention can drive the main gear of the positioning plate to rotate through the positioning plate motor, thereby driving the chain to rotate, thereby driving multiple plant positioning plates to rotate, so that the plants can be positioned inside the plant positioning cavity, thereby preventing the plants from falling from the plant positioning cavity when the entire device moves, thereby ensuring the safety of the plants; The present invention can drive the plant picking rod to rotate by driving the main gear of the plant picking rod to rotate through the plant picking rod motor, and at the same time drive the plant picking moving rod to extend and retract through the plant picking moving device, so as to drive the plant conveying rod to move to the top of any plant, thereby ensuring the accuracy of extracting plants, and at the same time drive the plant conveying rod to extend and retract through the plant conveyor, so as to drive the plant clamping plate to move up and down, so as to transport the main gear of the positioning plate to the inside of the conveying cavity, so as to transport the plant to the inside of the transplant tube, thereby ensuring the accuracy of transportation, and at the same time drive the plant clamping rod to extend and retract through the plant clamping device, so as to clamp the plant through the plant clamping plate, thereby improving the transplanting efficiency; The present invention drives the digging moving rod to work through the digging moving device, which can drive the digging moving screw to rotate, thereby driving the digging fixing rod to move, and further drives the digging rod to extend and retract through the digging device, which can drive the digging plate to move vertically, so that the digging plate can be inserted into the seabed mud, and further through the reverse operation of the digging moving device, a pit can be dug on the seabed, and at the same time, due to the action of the burying rod spring and the burying rod, the stabilizing plate can be prevented from being inserted into the mud, and further through the burying motor, the burying head positioning plate can be driven to rotate, so that the plant inserted into the soil can be buried, thereby ensuring the transplanting effect, and at the same time ensuring the transplanting accuracy, thereby improving the transplanting efficiency, and at the same time, due to the action of the burying head and the stabilizing plate, the stability of the plant can be ensured, and at the same time, the growth effect of the plant can be ensured; The present invention can drive the transplantation positioning rod gear to work and drive the transplantation positioning rod sub-gear to rotate through the transplantation positioning rod motor, thereby driving the transplantation positioning rod to rotate, so that the transplantation rod can rotate, so that the sealing tube can rotate around the transplantation positioning rod, so as to facilitate the transportation of plants. At the same time, due to the action of the sealing tube positioning rod and the sealing tube positioning spring, the sealing tube positioning plate and the transportation tube can be closely fitted, so as to prevent seawater from entering the box body, thereby ensuring the safety of the equipment. The present invention can drive the transplant tube to rotate through the transplant tube rotating motor, so that the sealing plate is at the lower end when the transplant tube extracts the plant, thereby ensuring the plant transportation effect and the transportation efficiency. At the same time, the sealing plate and the transplant ring moving rod can cooperate to drive the transplant ring to move downward, thereby transporting the plant from the inside of the transplant tube to the dug pit, thereby ensuring the accuracy of the transplantation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0017] In the attached picture: Figure 1 It is a main schematic diagram of the present invention; Figure 2 It is a bottom schematic diagram of the present invention; Figure 3 It is a schematic diagram of the right side of the present invention; Figure 4 It is the internal schematic diagram of the present invention; Figure 5 It is an enlarged schematic diagram of the interior of the present invention; Figure 6 It is a schematic diagram of the plant positioning mechanism of the present invention; Figure 7 It is an enlarged schematic diagram of the plant positioning mechanism of the present invention; Figure 8 This is an enlarged schematic diagram of the bottom of the box body of the present invention; Fig. 9 It is a schematic diagram of the pit digging mechanism of the present invention; Fig.10 It is a schematic diagram of the plant conveying mechanism of the present invention; Fig.11 It is an enlarged schematic diagram of the pit digging mechanism of the present invention; Fig.12 It is a schematic diagram of the soil burying mechanism of the present invention; Fig.13 It is a schematic diagram of the transplantation mechanism of the present invention; Fig.14 It is an enlarged schematic diagram of the transplantation mechanism of the present invention; Fig.15 This is a schematic diagram of the interior of the transplantation mechanism of the present invention; Fig.16 It is an enlarged schematic diagram of the interior of the transplantation mechanism of the present invention.

[0018] In the figure: 1-box; 2-track; 3-propeller positioning ring; 4-pit digging moving rod; 5-positioning plate; 6-sealing tube; 7-stabilizing plate; 8-planting rod; 9-plant positioning cavity; 101-top plate; 102-bolt; 103-mobile camera; 104-controller; 105-power supply; 106-transport cavity; 107-transport pipe; 108-transport pipe sealing plate; 109-transport pipe sealing plate motor; 201-following gear; 202-driving gear; 203-mobile motor; 204-mobile bearing; 205-positioning rod; 301-propeller; 302-screw motor; 40 1-pit digging mover; 402-pit digging moving screw; 403-pit digging moving bearing; 404-pit digging fixing rod; 405-pit digging rod; 406-pit digger; 407-pit digging camera; 408-pit digging positioning block; 501-transplantation positioning rod gear; 502-transplantation positioning rod sub-gear; 503-transplantation positioning rod motor; 504-transplantation positioning rod; 505-transplantation positioner; 506-transplantation rod positioning plate; 507-transplantation rod; 508-transplantation rod controller; 509-sealing tube positioning rod; 510-sealing tube positioning spring; 511-sealing tube positioning plate; 512-sealing strip; 601-transplant tube; 602-sealing plate; 603-connecting plate; 604-transplant tube positioning plate; 605-transplant tube rotating motor; 606-transplant ring moving rod; 607-transplant ring mover; 608-transplant camera; 609-transplant ring; 610-transplant tube rotating shaft; 611-sealing plate rotating motor; 701-buried head; 702-buried head positioning plate; 703-digging plate; 704-buried moving plate; 705-buried rod; 706-buried positioning ring; 707-buried rod positioning plate; 708-buried rod spring; 709-buried motor positioning rod; 710-buried motor ;801-plant moving rod;802-plant conveying rod;803-plant moving device;804-plant conveyor;805-plant conveying camera;806-plant clamping plate rotating motor;807-plant clamping rod;808-plant clamping device;809-plant clamping plate;810-plant rod motor;811-plant rod main gear;812-plant rod sub-gear;813-plant rod bearing;901-plant;902-plant positioning plate;903-positioning plate connecting rod;904-positioning plate motor;905-chain;906-positioning plate sub-gear;907-positioning plate main gear. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] Embodiment 1, by Figure 1-4 , Figure 8-9The invention provides a device comprising a box body 1, wherein the box body 1 is made of an alloy material, and the box body 1 is used to support the entire device. The top of the box body 1 is fastened with a top plate 101 by a plurality of bolts 102, and the top plate 101 is made of an alloy material. The top plate 101 and the box body 1 can be sealed. Propellers 301 are provided at the front and rear ends of the box body 1, and the two propellers 301 can drive the entire device to move vertically underwater by cooperating in rotation. Two crawlers 2 are provided at the bottom of the box body 1, and the crawlers 2 can drive the entire device to move on the seabed. A controller 104 is fixed inside the box body 1, and the controller 104 is used to control the entire device. A power supply 105 is fixed at the front end of the controller 104, and the power supply 105 provides the required energy for the entire device. A mobile camera 103 is fixed to the right end of the box 1, and the mobile camera 103 is used to observe the movement of the entire device underwater. A plant picking rod 8 is also provided inside the box 1, and the plant picking rod 8 is made of alloy material. The plant picking rod 8 is used to support the plant picking mobile rod 801. A plant picking mobile rod 801 is fixed to the top of the plant picking rod 8, and the plant picking mobile rod 801 is retractable, thereby driving the plant conveying rod 802 to move. A plant conveying rod 802 is fixed to the bottom of the left end of the plant picking mobile rod 801, and the plant conveying rod 802 is retractable, thereby driving the plant clamping plate 809 to move up and down. A plurality of plant clamping plates 809 are provided at the bottom of the plant conveying rod 802, and the plant clamping plates 809 are made of alloy material. The box body 1 is made of alloy material, the plant clamping plate 809 is used to clamp the plant 901, and a plant positioning cavity 9 is fixed to the left end of the box body 1. The plant positioning cavity 9 is made of alloy material, and the plant positioning cavity 9 is used to position the plant 901. A plurality of plants 901 are arranged inside the plant positioning cavity 9, and a pit digging moving rod 4 is fixed to the bottom of the box body 1, and the pit digging moving rod 4 can drive the pit digging moving screw 402 to rotate, and a pit digging fixing rod 404 is provided on the left side of the pit digging moving rod 4, and the pit digging fixing rod 404 is made of alloy material, and the pit digging fixing rod 404 is used to position the pit digging rod 405, and a pit digging rod 405 is fixed to the bottom of the pit digging fixing rod 404, and the pit digging rod 405 is retractable, thereby driving the digging The pit positioning block 408 moves up and down, and a pit digging plate 703 is provided at the bottom of the pit digging rod 405. The pit digging plate 703 is made of alloy material. The bottom end of the pit digging plate 703 is sharpened to facilitate pit digging. The front and rear ends of the pit digging plate 703 are provided with buried head positioning plates 702. The buried head positioning plates 702 are made of alloy material. The buried head positioning plates 702 are used to fix the stabilizing plate 7. A stabilizing plate 7 is fixed at the bottom of each buried head positioning plate 702. The stabilizing plate 7 is made of alloy material. The stabilizing plate 7 can prevent the buried head positioning plates 702 from entering the seabed mud, thereby ensuring the transplantation effect. A conveying pipe 107 is provided on the left side of the pit digging fixing rod 404. The conveying pipe 107 is made of alloy material.The conveying tube 107 provides a channel for the plants. A positioning plate 5 is provided on the left side of the conveying tube 107. The positioning plate 5 is made of alloy material. The positioning plate 5 is used to position the transplant positioning rod motor 503. The right end of the positioning plate 5 is rotatably connected to the transplant positioning rod 504. The transplant positioning rod 504 is retractable, thereby driving the transplant rod positioning plate 506 to move. A transplant rod positioning plate 506 is fixed to the bottom of the right end of the transplant positioning rod 504. The transplant rod positioning plate 506 is made of alloy material. The transplant rod positioning plate 506 is used to fix the transplant rod 507. The transplant rod 507 is fixed to the bottom of the transplant rod positioning plate 506. The transplant rod 507 is retractable, thereby driving the sealed tube positioning plate 511 to move up and down. A sealed tube positioning plate 511 is fixed to the bottom of the transplant rod 507. The sealed tube positioning plate 511 is made of alloy material. The sealed tube positioning plate 511 is used to fix the sealed tube 6. The sealed tube 6 is fixed to the bottom of the sealed tube positioning plate 511. The sealed tube 6 is made of alloy. The sealing tube 6 can prevent seawater from entering the box body 1 through the transplant tube 601, thereby ensuring the safety of the entire device. A connecting plate 603 is provided inside the sealing tube 6. The connecting plate 603 is made of alloy material. The connecting plate 603 is used to fix the transplant ring moving rod 606. Two transplant tube positioning plates 604 are fixed at the bottom of the connecting plate 603. The transplant tube positioning plates 604 are made of alloy material. The transplant tube positioning plates 604 are used to position the transplant tube 601. The two transplant tube positioning plates 604 are rotatably connected with the transplant tube 601 through the transplant tube rotating shaft 610. The transplant tube 601 is made of alloy material. The transplant tube 601 is used to transport the plant 901. The bottom of the transplant tube 601 is rotatably connected with two sealing plates 602 through a rotating shaft. The sealing plates 602 are made of alloy material. The sealing plates 602 can prevent the plant 901 from falling, thereby ensuring the safety of the plant 901. The electrical equipment of this device is waterproof.

[0021] Embodiment 2, based on embodiment 1, Figure 5-7It is given that each of the crawler tracks 2 is internally meshed and connected with a follower gear 201, and the follower gear 201 is used to ensure the stability of the crawler tracks 2. A movable bearing 204 is fixed inside each of the follower gears 201, and the movable bearing 204 is used to position the follower gear 201. A driving gear 202 is provided on the right side of each follower gear 201, and the driving gear 202 can drive the crawler tracks 2 to rotate. A mobile motor 203 is rotatably connected inside each of the driving gears 202, and the mobile motor 203 can drive the driving gear 202 to rotate. Each group of the mobile motor 203 and the mobile bearing 204 are connected by a fixing rod and are fixedly connected to the bottom of the box body 1 through a positioning rod 205. The positioning rod 205 is made of alloy material. The positioning rod 205 is used to position the mobile motor 203 and the mobile bearing 204. The front and rear ends of the box body 1 are also fixed with propeller positioning rings 3. The propeller positioning rings 3 are made of alloy material. The propeller positioning rings 3 are used to fix the spiral motors 302. The bottom end of each propeller positioning ring 3 is fixed with a spiral motor 302 through a fixing rod. The spiral motor 302 can drive the propeller 301 at its top to rotate. Each propeller positioning ring 3 is fixed with a screw motor 302 through a fixing rod. The motor 302 is rotatably connected to the propeller 301 on its top via a rotating shaft, a positioning plate motor 904 is fixed to the front end of the box body 1, the positioning plate motor 904 can drive the positioning plate main gear 907 on the left side thereof to rotate, the positioning plate motor 904 is rotatably connected to the positioning plate main gear 907 on the left side via a rotating shaft, the positioning plate main gear 907 can drive the plant positioning plate 902 on the left side thereof to rotate, and can also drive multiple positioning plate sub-gears 906 to rotate, multiple groups of positioning plate connecting rods 903 are fixed to the top of the plant positioning cavity 9, and the positioning plate connecting rods 903 are made of alloy material, The positioning plate connecting rod 903 is used to position the plant positioning plate 902. The interior of each group of the positioning plate connecting rods 903 is rotatably connected with the plant positioning plate 902 through a rotating shaft. The plant positioning plate 902 is made of alloy material. The plant positioning plate 902 is used to position the plant 901. The right side of the frontmost plant positioning plate 902 is fixedly connected to the positioning plate main gear 907 through a rotating shaft. The right sides of the remaining plant positioning plates 902 are fixed with positioning plate sub-gears 906 through rotating shafts. The positioning plate main gear 907 and the plurality of positioning plate sub-gears 906 are meshed and connected through the chain 905. When using this equipment, the staff puts the entire equipment underwater, and further the controller 104 controls the two spiral motors 302 to work in coordination, thereby driving the two propellers 301 to rotate in coordination, thereby driving the entire equipment to move vertically underwater, and further the controller 104 controls the mobile camera 103 to work, thereby monitoring the movement of the entire equipment, and when the entire equipment reaches the seabed, the controller 104 controls the two mobile motors 203 to work in coordination, thereby driving the two driving gears 202 to rotate in coordination, thereby driving the two crawlers 2 to rotate in coordination, thereby driving the entire equipment to be movable and turnable on the seabed, and further when the mobile camera 103 monitors that the entire equipment has moved to the desired transplanting position, the controller 104 controls the entire equipment to stop moving, and further the controller 104 controls the plant removal rod motor 810, the plant removal mover 803, the plant conveyor 804 and the plant conveying camera 805 to work in coordination. The controller 104 controls the positioning plate motor 904 to work, thereby driving the positioning plate main gear 907 to rotate, thereby driving the positioning plate sub-gear 906 to rotate, thereby rotating the plant positioning plate 902 to vertical, and further controlling the plant conveyor 804, the plant clamping plate rotating motor 806, and the plant clamping device 808 to cooperate with each other to clamp the plant 901, and further controlling the plant clamping plate 809 to convey the plant 901 to the top of the conveying chamber 106, thereby ensuring the accuracy of conveying the plant 901.

[0022] Embodiment 3, based on embodiment 1, Figure 10-16It is shown that a pit moving device 401 is fixed on the top of the pit moving rod 4, and the pit moving device 401 can drive the pit moving rod 4 to work. The left side of the pit moving device 401 is rotatably connected with a pit moving screw 402, and the pit moving screw 402 can drive the pit moving bearing 403 to move by rotating. A pit moving bearing 403 is fixed on the left side of the pit moving screw 402, and the pit moving bearing 403 is used to connect the pit moving screw 402 and the pit fixing rod 404. The left side of the outer ring of the pit moving bearing 403 is fixedly connected to the pit fixing rod 404, and a pit camera 407 is fixed on the left side of the pit fixing rod 404, and the pit camera 407 can monitor the pit digging plate 703. In the digging situation, a digging device 406 is also fixed at the bottom of the digging fixing rod 404, and the digging device 406 can drive the digging rod 405 to extend and retract. A digging positioning block 408 is fixed at the bottom of the digging rod 405, and the digging positioning block 408 is made of alloy material. The digging positioning block 408 is used to fix the digging plate 703, and the digging positioning block 408 is fixedly connected to the digging plate 703. A group of buried soil positioning rings 706 are fixed at the front and rear ends of the digging plate 703, and the buried soil positioning rings 706 are made of alloy material. The buried soil positioning rings 706 are used to position the buried soil rod 705, and each top of the buried soil positioning ring 706 is fixed with a buried soil motor positioning rod 709. The buried soil motor positioning rod 709 Made of alloy material, the buried motor positioning rod 709 is used to position the buried motor 710, each set of the buried positioning rings 706 is slidably connected with a buried rod 705 inside, the buried rod 705 is made of alloy material, the buried rod 705 is used to position the buried moving plate 704, each buried rod 705 is also provided with a buried rod spring 708 outside, the buried rod spring 708 is elastic, so as to ensure that the stabilizing plate 7 is close to the seabed, each buried rod 705 is fixed with a buried rod positioning plate 707 at the lower end, the buried rod positioning plate 707 is made of alloy material, the buried rod positioning plate 707 is used to position the buried rod 705, and each buried rod 705 is connected to a buried motor at the top through a rotating shaft 710, the burying motor 710 can drive the burying rod 705 to rotate, thereby driving the buried head positioning plate 702 to rotate, each of the burying motors 710 is slidably connected to the burying motor positioning rod 709 through a fixed plate, and each of the burying rods 705 is fixed with burying moving plates 704 at both ends, and the burying moving plates 704 are made of alloy material. The burying moving plates 704 are used to connect the burying rod 705 and the buried head positioning plate 702, and each of the burying moving plates 704 is fixedly connected to the buried head positioning plate 702 at its outer end, and a buried head 701 is fixed on the inner side of each buried head positioning plate 702, and the buried head 701 adopts a triangular structure and is made of alloy material.The burying head 701 is used for burying soil, and each of the burying heads 701 is fixedly connected to the stabilizing plate 7 outside thereof. The bottom of the conveying pipe 107 is slidably connected with a conveying pipe sealing plate 108, and the conveying pipe sealing plate 108 is made of alloy material. The conveying pipe sealing plate 108 can ensure the sealing of the conveying pipe 107. The top of the conveying pipe sealing plate 108 is rotatably connected with a conveying pipe sealing plate motor 109 through a rotating shaft, and the conveying pipe sealing plate motor 109 can drive the conveying pipe sealing plate 108 to rotate. The conveying pipe sealing plate motor 109 is fixedly connected to the conveying pipe 107, and a transplantation positioning rod motor 503 is fixed on the left side of the positioning plate 5, and the transplantation positioning rod motor 503 can drive the transplantation positioning rod The gear 501 rotates, and the left side of the transplant positioning rod motor 503 is connected to the transplant positioning rod gear 501, and the transplant positioning rod gear 501 can drive the transplant positioning rod sub-gear 502 to rotate, and the transplant positioning rod gear 501 is meshed and connected to the transplant positioning rod sub-gear 502, and the transplant positioning rod sub-gear 502 can drive the transplant positioning rod 504 to rotate, and the transplant positioning rod sub-gear 502 is fixedly connected to the transplant positioning rod 504 at its right end through a rotating shaft, and a transplant positioning device 505 is fixed at the bottom of the transplant positioning rod 504, and the transplant positioning device 505 can drive the transplant positioning rod 504 to extend and retract, and a plurality of sealing tube positioning rods 509 are also slidably connected inside the transplant rod positioning plate 506. The sealing tube positioning rod 509 is made of alloy material, and the sealing tube positioning rod 509 is used to position the sealing tube positioning plate 511. Each sealing tube positioning rod 509 is provided with a sealing tube positioning spring 510 on the outside, and the sealing tube positioning spring 510 is elastic, so as to ensure that the sealing tube positioning plate 511 can be closely fitted with the delivery tube 107. A plurality of sealing tube positioning rods 509 are fixedly connected to the sealing tube positioning plate 511 at the bottom thereof. A transplantation rod controller 508 is also fixed at the bottom of the transplantation rod positioning plate 506, and the transplantation rod controller 508 can drive the transplantation rod 507 to extend and retract. A sealing strip 512 is provided inside the sealing tube positioning plate 511, and the sealing strip 512 is made of rubber material. The sealing strip 512 ensures the sealing of the transplant rod 507 and the sealing tube positioning plate 511. The sealing strip 512 is slidably connected to the lower end of the transplant rod 507. The bottom end of the transplant rod 507 is fixedly connected to the connecting plate 603. A transplant ring moving rod 606 is also fixed at the bottom of the connecting plate 603. The transplant ring moving rod 606 is retractable, so as to drive the transplant ring 609 to move up and down. A plurality of transplant ring moving rods 606 are fixed at the bottom with transplant rings 609. The transplant ring 609 is made of alloy material. The plant 901 can push the plant 901 inside the transplant tube 601 to move by moving. A transplant ring mover 607 is also fixed to the lower surface of the connecting plate 603.The transplant ring mover 607 can drive the transplant ring moving rod 606 to extend and retract, and a transplant camera 608 is arranged on the inner side of the plurality of connecting plates 603, and the transplant camera 608 is used to observe the plant 901 inside the transplant tube 601, and the transplant camera 608 is fixedly connected to the connecting plate 603, and a transplant tube rotating motor 605 is fixed on the left end of the left transplant tube positioning plate 604, and the transplant tube rotating motor 605 can drive the transplant tube rotating shaft 610 to rotate, and the transplant tube rotating motor 605 is rotationally connected to the transplant tube 601 through the transplant tube rotating shaft 610 at the left end, and two sealing plate rotating motors 611 are fixed on the rear side of the transplant tube 601, and the sealing plate rotating motor 611 can drive the sealing plate 602 to rotate, and each sealing plate rotating motor 611 is rotationally connected to the sealing plate 602 at its front end through a rotating shaft; When the plant 901 is transported to the top of the transport chamber 106, the controller 104 controls the digging device 406 to work, thereby driving the digging rod 405 to extend, thereby driving the digging positioning block 408 to move downward, and thereby driving the digging plate 703 to penetrate into the seabed mud. At this time, due to the effects of the stabilizing plate 7, the burying rod spring 708 and the burying rod 705, it can be ensured that the burying head 701 is not inserted into the mud. Further, the controller 104 controls the digging mover 401 to work, thereby driving the digging moving rod 4 to work, and then driving the digging moving screw 402 to work, thereby driving the digging fixing rod 404 to move to the right, thereby digging a pit in the mud. Further, the controller 104 controls the digging mover 401 to work, thereby driving the digging moving rod 402 to work, thereby driving the digging fixing rod 404 to move to the right, thereby digging a pit in the mud. The controller 104 controls the transplant positioning rod motor 503 to operate, thereby driving the transplant positioning rod gear 501 to rotate, thereby driving the transplant positioning rod sub-gear 502 to rotate, and then driving the transplant positioning rod 504 to rotate, so that the sealing tube 6 rotates to the side close to the delivery tube 107. Further, the controller 104 controls the transplant positioning device 505 to operate, thereby driving the transplant positioning rod 504 to extend and retract, thereby driving the sealing tube 6 to move to the bottom of the delivery tube 107. Further, the controller 104 controls the transplant tube rotation motor 605 to operate, thereby driving the transplant tube 601 to rotate following the transplant tube rotation shaft 610, so that the sealing plate 602 rotates to the side close to the connecting tube 107. On one side of the connecting plate 603, the controller 104 further controls the transplant rod controller 508 to work, thereby driving the sealing tube 6 to move upward. When the sealing tube 6 is close to the conveying tube sealing plate 108, the controller 104 controls the conveying tube sealing plate motor 109 to work, thereby driving the conveying tube sealing plate 108 to rotate. At this time, the controller 104 controls the transplant rod controller 508 to continue working, thereby driving the sealing tube 6 to be close to the conveying tube 107, and then making the sealing tube positioning plate 511 close to the conveying tube sealing plate 108. At this time, the controller 104 controls the plant conveying rod 802 to make the plant clamping plate 809 convey the plant 901 to the transplant tube 601 Inside, the controller 104 further controls the transplant tube 601 to move downward, and when the transplant tube 601 removes the delivery tube 107, the delivery tube sealing plate 108 is controlled to be close to the delivery tube 107. The controller 104 further controls the sealing tube 6 to rotate downward, and controls the sealing plate 602 to rotate away from the sealing plate rotating motor 611. The controller 104 further controls the transplant rod controller 508 to extend, thereby driving the sealing plate 602 to reach the bottom of the dug pit. The controller 104 further controls the sealing plate rotating motor 611 to work, thereby driving the sealing plate 602 to open. The controller 104 further controls the transplant ring mover 607 to work.Thereby, the transplant ring moving rod 606 is extended, and then the transplant ring 609 is moved downward. At the same time, the controller 104 controls the transplant rod controller 508 to slowly contract, so that the transplant ring 609 transports the plant 901 to the dug pit. Further, the controller 104 controls the two soil burying motors 710 to work, thereby driving the soil burying rod 705 to rotate, thereby driving the burying head positioning plate 702 to rotate, thereby driving the burying head 701 and the stabilizing plate 7 to rotate, thereby burying the silt around the plant 901 at the top of the plant 901, thereby ensuring the stability of the plant 901, thereby ensuring the transplanting effect, and further the controller 104 controls the entire device to move to the next transplanting position.

[0023] The working process of the present invention is as follows: when using the device, the staff puts the entire device underwater, and further the controller 104 controls the two spiral motors 302 to work in coordination, thereby driving the two propellers 301 to rotate in coordination, thereby driving the entire device to move vertically underwater, and further the controller 104 controls the mobile camera 103 to work, thereby monitoring the movement of the entire device, and when the entire device reaches the seabed, the controller 104 controls the two mobile motors 203 to work in coordination, thereby driving the two driving gears 202 to rotate in coordination, thereby driving the two crawlers 2 to rotate in coordination, thereby driving the entire device to be movable on the seabed and turnable at the same time, and further when the mobile camera 103 monitors the entire device When the device moves to the required transplanting position, the controller 104 controls the entire device to stop moving. Further, the controller 104 controls the plant taking rod motor 810, the plant taking mover 803, the plant conveyor 804 and the plant conveying camera 805 to work together, so that the plant taking rod main gear 811 can rotate, thereby driving the plant taking rod sub-gear 812 to rotate, and at the same time, it can drive the plant taking moving rod 801 to extend and retract, and at the same time, it can drive the plant conveying camera 805 to extend and retract, so that the plant clamping rod 807 moves to the top of the plant 901. Further, the controller 104 controls the positioning plate motor 904 to work, thereby driving the positioning plate main gear 907 to rotate, and then driving the The chain 905 rotates, thereby driving the positioning plate sub-gear 906 to rotate, so that the plant positioning plate 902 rotates to vertical. Further, the controller 104 controls the plant conveyor 804, the plant clamping plate rotation motor 806, and the plant clamp 808 to work together to clamp the plant 901. Further, the controller 104 controls the plant clamping plate 809 to convey the plant 901 to the top of the conveying chamber 106, so as to ensure the accuracy of the conveying of the plant 901. When the plant 901 is conveyed to the top of the conveying chamber 106, the controller 104 controls the pit digger 406 to work, thereby driving the pit digging rod 405 to extend, and then driving the pit digging positioning block 408. The burying rod 705 and the burying rod 705 are connected to the bottom of the silt, and the ...Thus, the sealing tube 6 is rotated to the side close to the conveying tube 107. Further, the controller 104 controls the transplantation positioner 505 to operate, thereby driving the transplantation positioning rod 504 to extend and retract, thereby driving the sealing tube 6 to move to the bottom of the conveying tube 107. Further, the controller 104 controls the transplantation tube rotation motor 605 to operate, thereby driving the transplantation tube 601 to rotate along with the transplantation tube rotation axis 610, thereby causing the sealing plate 602 to rotate to the side close to the connecting plate 603. Further, the controller 104 controls the transplantation rod controller 508 to operate, thereby driving the sealing tube 6 to move upward. When the sealing tube 6 is tightly When the conveying tube sealing plate 108 is attached, the controller 104 controls the conveying tube sealing plate motor 109 to work, thereby driving the conveying tube sealing plate 108 to rotate. At this time, the controller 104 controls the transplant rod controller 508 to continue working, thereby driving the sealing tube 6 to be in close contact with the conveying tube 107, thereby making the sealing tube positioning plate 511 and the conveying tube sealing plate 108 in close contact. At this time, the controller 104 controls the plant conveying rod 802 to make the plant clamping plate 809 convey the plant 901 to the inside of the transplant tube 601. Further, the controller 104 controls the transplant tube 601 to move downward. When the transplant tube 601 removes the The controller 104 controls the sealing plate 108 of the conveying tube to be in close contact with the conveying tube 107, and further controls the sealing tube 6 to rotate downward, and controls the sealing plate 602 to rotate away from the sealing plate rotating motor 611. The controller 104 further controls the transplant rod controller 508 to extend, thereby driving the sealing plate 602 to reach the bottom of the dug pit. The controller 104 further controls the sealing plate rotating motor 611 to work, thereby driving the sealing plate 602 to open. The controller 104 further controls the transplant ring mover 607 to work, thereby driving the transplant ring moving rod 606 to extend, and then driving the The transplant ring 609 moves downward, and at the same time, the controller 104 controls the transplant rod controller 508 to slowly contract, so that the transplant ring 609 transports the plant 901 to the dug pit. Further, the controller 104 controls the two soil burying motors 710 to work, thereby driving the soil burying rod 705 to rotate, thereby driving the burying head positioning plate 702 to rotate, thereby driving the burying head 701 and the stabilizing plate 7 to rotate, thereby burying the silt around the plant 901 at the top of the plant 901, thereby ensuring the stability of the plant 901, thereby ensuring the transplanting effect, and further, the controller 104 controls the entire device to move to the next transplanting position.

[0024] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-condition seaweed plant transplanting robot for subtidal zone, characterized by: The invention comprises a box body (1), the top of the box body (1) is fastened with a top plate (101) by a plurality of bolts (102), propellers (301) are provided at the front and rear ends of the box body (1), two crawlers (2) are provided at the bottom of the box body (1), a controller (104) is fixed inside the box body (1), a power supply (105) is fixed at the front end of the controller (104), a mobile camera (103) is fixed at the right end of the box body (1), a plant picking rod (8) is further provided inside the box body (1), and a plant picking moving rod (8) is fixed at the top of the plant picking rod (8) 01), a plant transport rod (802) is fixed at the bottom of the left end of the plant removal moving rod (801), and a plurality of plant clamping plates (809) are arranged at the bottom of the plant transport rod (802). A plant positioning cavity (9) is also fixed at the left end of the interior of the box body (1), and a plurality of plants (901) are arranged inside the plant positioning cavity (9). A pit digging moving rod (4) is fixed at the bottom of the box body (1), and a pit digging fixing rod (404) is arranged on the left side of the pit digging moving rod (4), and a pit digging rod (405) is fixed at the bottom of the pit digging fixing rod (404). 05) is provided with a digging plate (703) at the bottom, and the front and rear ends of the digging plate (703) are provided with a buried head positioning plate (702), and a stabilizing plate (7) is fixed to the bottom of each buried head positioning plate (702), and a conveying tube (107) is provided on the left side of the digging fixing rod (404), and a positioning plate (5) is provided on the left side of the conveying tube (107), and the right end of the positioning plate (5) is rotatably connected to a transplantation positioning rod (504), and a transplantation rod positioning plate (506) is fixed to the bottom of the right end of the transplantation positioning rod (504), and the bottom of the transplantation rod positioning plate (506) A transplant rod (507) is fixed, a sealing tube positioning plate (511) is fixed at the bottom of the transplant rod (507), a sealing tube (6) is fixed at the bottom of the sealing tube positioning plate (511), a connecting plate (603) is provided inside the sealing tube (6), two transplant tube positioning plates (604) are fixed at the bottom of the connecting plate (603), a transplant tube (601) is rotatably connected inside the two transplant tube positioning plates (604) via a transplant tube rotating shaft (610), and the bottom of the transplant tube (601) is rotatably connected to two sealing plates (602) via a rotating shaft.

2. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 1, characterized in that: Each crawler (2) is meshedly connected with a follower gear (201) inside, a movable bearing (204) is fixed inside each follower gear (201), a driving gear (202) is provided on the right side of each follower gear (201), a movable motor (203) is rotatably connected inside each driving gear (202), each group of movable motors (203) and movable bearings (204) are connected via a fixing rod, and are fixedly connected to the bottom of the housing (1) via a positioning rod (205), propeller positioning rings (3) are also fixed at the front and rear ends of the housing (1), a screw motor (302) is fixed at the bottom end of each propeller positioning ring (3) via a fixing rod, and each screw motor (302) is rotatably connected to the propeller (301) at its top via a rotating shaft.

3. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 2, characterized in that: A plant picking rod motor (810) is fixed at the right end inside the box (1); the top of the plant picking rod motor (810) is rotatably connected to a plant picking rod main gear (811); the plant picking rod main gear (811) is meshingly connected to a plant picking rod sub-gear (812); the top of the plant picking rod sub-gear (812) is fixedly connected to the plant picking rod (8); the bottom of the plant picking rod sub-gear (812) is fixedly connected to the plant picking rod (8); the bottom of the outer ring of the plant picking rod bearing (813) is fixedly connected to the box (1); the top of the plant picking moving rod (801) is fixedly connected to a plant picking moving device (813); 803), a plant conveyor (804) is fixed on the left side of the plant conveying rod (802), a plant conveying camera (805) is fixed on the bottom of the plant conveying rod (804), a plant clamping plate rotating motor (806) is fixed on the bottom of the plant conveying rod (802) through a fixing plate, a plant clamping rod (807) is rotatably connected to the bottom of the plant clamping plate rotating motor (806), the plant clamping rod (807) is fixedly connected to the plant clamping plate (809) outside it, and a plant clamp (808) is fixed on the bottom of the plant clamping rod (807).

4. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 3, characterized in that: A positioning plate motor (904) is fixed at the front end of the box body (1), and the left side of the positioning plate motor (904) is rotatably connected to a positioning plate main gear (907) via a rotating shaft. A plurality of groups of positioning plate connecting rods (903) are fixed to the top of the plant positioning cavity (9), and each group of the positioning plate connecting rods (903) is rotatably connected to a plant positioning plate (902) via a rotating shaft. The right side of the frontmost plant positioning plate (902) is fixedly connected to the positioning plate main gear (907) via a rotating shaft, and the right sides of the remaining plant positioning plates (902) are fixedly connected to positioning plate sub-gears (906) via rotating shafts. The positioning plate main gear (907) and the plurality of positioning plate sub-gears (906) are meshingly connected via the chain (905).

5. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 1, characterized in that: A pit moving device (401) is fixed on the top of the pit moving rod (4), a pit moving screw rod (402) is rotatably connected to the left side of the pit moving device (401), a pit moving bearing (403) is fixed to the left side of the pit moving screw rod (402), the left side of the outer ring of the pit moving bearing (403) is fixedly connected to the pit fixing rod (404), a pit camera (407) is fixed to the left side of the pit fixing rod (404), a pit digger (406) is also fixed to the bottom of the pit fixing rod (404), a pit positioning block (408) is fixed to the bottom of the pit digging rod (405), and the pit positioning block (408) is fixedly connected to the pit digging plate (703).

6. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 5, characterized in that: A group of soil burying positioning rings (706) are fixed to the front and rear ends of the digging plate (703), and a soil burying motor positioning rod (709) is fixed to the top of each of the top soil burying positioning rings (706). A soil burying rod (705) is slidably connected inside each group of soil burying positioning rings (706), and a soil burying rod spring (708) is also provided outside each of the soil burying rods (705). A soil burying rod positioning plate (707) is fixed to the lower end of each of the soil burying rods (705). A soil burying motor (710) is rotatably connected to the top of each of the soil burying rods (705) via a rotating shaft, and each of the soil burying motors (710) is slidably connected to the soil burying motor positioning rod (709) via a fixing plate.

7. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 6, characterized in that: Each of the burying rods (705) is fixed with a burying moving plate (704) at both ends, each of the burying moving plates (704) is fixedly connected to the buried head positioning plate (702) at its outer end, a buried head (701) is fixedly connected to the inner side of each of the buried head positioning plates (702), each of the buried heads (701) is fixedly connected to the external stabilizing plate (7), a conveying pipe sealing plate (108) is slidably connected to the bottom of the conveying pipe (107), a conveying pipe sealing plate motor (109) is rotatably connected to the top of the conveying pipe sealing plate (108) via a rotating shaft, and the conveying pipe sealing plate motor (109) is fixedly connected to the conveying pipe (107).

8. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 1, characterized in that: A transplantation positioning rod motor (503) is fixed on the left side of the positioning plate (5); a transplantation positioning rod gear (501) is rotatably connected to the left side of the transplantation positioning rod motor (503); the transplantation positioning rod gear (501) is meshedly connected to the transplantation positioning rod sub-gear (502); the transplantation positioning rod sub-gear (502) is fixedly connected to the transplantation positioning rod (504) at its right end via a rotating shaft.

9. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 8, characterized in that: A transplant positioner (505) is fixed at the bottom of the transplant positioning rod (504); a plurality of sealed tube positioning rods (509) are slidably connected inside the transplant rod positioning plate (506); a sealed tube positioning spring (510) is provided outside each of the sealed tube positioning rods (509); the plurality of sealed tube positioning rods (509) are fixedly connected to the sealed tube positioning plate (511) at the bottom thereof; a transplant rod controller (508) is also fixed at the bottom of the transplant rod positioning plate (506); a sealing strip (512) is provided inside the sealed tube positioning plate (511); the sealing strip (512) is slidably connected to the lower end of the transplant rod (507); and the bottom end of the transplant rod (507) is fixedly connected to the connecting plate (603).

10. The multi-condition seaweed plant transplanting robot for subtidal zone according to claim 9, characterized in that: A transplant ring moving rod (606) is also fixed at the bottom of the connecting plate (603), and a plurality of transplant ring moving rods (606) are fixed at the bottom with transplant rings (609). A transplant ring mover (607) is also fixed to the lower surface of the connecting plate (603). A transplant camera (608) is provided inside the plurality of connecting plates (603), and the transplant camera (608) is fixedly connected to the connecting plate (603). A transplant tube rotating motor (605) is fixed at the left end of the left transplant tube positioning plate (604), and the transplant tube rotating motor (605) is rotationally connected to the transplant tube (601) via the transplant tube rotating shaft (610) at the left end. Two sealing plate rotating motors (611) are fixed to the rear side of the transplant tube (601), and each sealing plate rotating motor (611) is rotationally connected to the sealing plate (602) at its front end via a rotating shaft.

Images