A multi-condition seagrass transplanting robot for the subtidal zone

Abstract

This invention relates to the field of seagrass transplantation technology and discloses a multi-condition seagrass transplantation robot for the subtidal zone, solving the problem of low accuracy. The robot includes a housing, inside which is a retrieval rod. A plant clamping plate is located at the left end of the retrieval rod. A plant is also located inside the housing. A digging moving rod is fixed to the bottom of the housing. A digging plate is located on the left side of the digging moving rod. Stabilizing plates are located at the front and rear ends of the digging plate. A transplanting positioning rod is also located at the bottom of the housing. A sealing tube is located at the right end of the transplanting positioning rod, and a transplanting tube is located inside the sealing tube. This invention, by rotating the transplanting tube, ensures that the sealing plate is at the lower end when the transplanting tube retrieves the plant, thus guaranteeing the effective transport of the plant. Simultaneously, the sealing plate and the transplanting ring moving rod work together to move the transplanting ring downwards, thereby transporting the plant from inside the transplanting tube into the dug hole, ensuring the accuracy of the transplantation.

Description

Technical Field

[0001] This invention belongs to the field of seagrass transplantation technology, specifically a multi-condition seagrass transplantation robot for the subtidal zone. Background Technology

[0002] Seagrass beds, as important providers of ecosystem services, serve as habitats, breeding grounds, foraging grounds, and shelters for numerous nearshore fishery resources. However, with increasing human activities, the area of ​​subtidal seagrass beds is continuously decreasing, and their functions are degrading. Therefore, measures to protect and restore them are urgently needed, and seagrass transplantation technology has become an effective means to address this issue.

[0003] Existing methods for transplanting seagrass plants typically involve manual transplantation, which is inefficient and yields poor results. Furthermore, existing transplanting devices often rely on nails for fixation, resulting in poor fixation of the seagrass plants and negatively impacting their growth. Therefore, this invention proposes a multi-condition seagrass plant transplanting robot for the subtidal zone. Summary of the Invention

[0004] In view of the above situation and to overcome the shortcomings of the prior art, the present invention provides a multi-condition seagrass transplantation robot for the subtidal zone, which effectively solves the problems mentioned in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-condition seagrass transplanting robot for the subtidal zone, comprising a box body, a top plate fastened to the top of the box body by multiple bolts, propellers at the front and rear ends of the box body, two tracks at the bottom of the box body, a controller fixed inside the box body, a power supply fixed at the front end of the controller, a moving camera fixed at the right end of the box body, a plant picking rod inside the box body, a plant picking moving rod fixed at the top of the plant picking rod, a plant conveying rod fixed at the bottom left end of the plant picking moving rod, multiple plant clamping plates at the bottom of the plant conveying rod, a plant positioning cavity fixed at the left end of the box body, multiple plants inside the plant positioning cavity, a digging moving rod fixed at the bottom of the box body, and a digging fixing rod on the left side of the digging moving rod. The bottom of the digging fixing rod is fixed with a digging rod, and the bottom of the digging rod is provided with a digging plate. The front and rear ends of the digging plate are provided with burial head positioning plates. Each burial head positioning plate has a stabilizing plate fixed to its bottom. A conveying pipe is provided on the left side of the digging fixing rod, and a positioning plate is provided on the left side of the conveying pipe. A transplant positioning rod is rotatably connected to the right end of the positioning plate. A transplant positioning plate is fixed to the bottom of the right end of the transplant positioning rod. A transplant rod is fixed to the bottom of the transplant positioning plate. A sealing tube positioning plate is fixed to the bottom of the transplant rod. A sealing tube is fixed to the bottom of the sealing tube positioning plate. A connecting plate is provided inside the sealing tube. Two transplant tube positioning plates are fixed to the bottom of the connecting plate. A transplant tube is rotatably connected inside the two transplant tube positioning plates via a transplant tube rotating shaft. Two sealing plates are rotatably connected to the bottom of the transplant tube via a rotating shaft.

[0006] Preferably, each track is internally connected to a follower gear, each follower gear has a movable bearing fixed inside, each follower gear has a drive gear on its right side, each drive gear has a movable motor rotatably connected inside, each set of movable motors and movable bearings is connected by a fixing rod, and is fixedly connected to the bottom of the housing by a positioning rod. Propeller positioning rings are also fixed at the front and rear ends of the housing, and a propeller motor is fixed at the bottom of each propeller positioning ring by a fixing rod. Each propeller motor is rotatably connected to the propeller at its top by a rotating shaft.

[0007] Preferably, a plant-picking rod motor is fixed to the right end inside the housing. A main gear for the plant-picking rod is rotatably connected to the top of the motor. A secondary gear for the plant-picking rod meshes with the main gear. The top of the secondary gear is fixedly connected to the plant-picking rod. A bearing for the plant-picking rod is fixed to the bottom of the secondary gear. The bottom of the outer ring of the bearing is fixedly connected to the housing. A plant-picking mover is fixed to the top of the plant-picking moving rod. A plant conveyor is fixed to the left side of the plant conveying rod. A plant conveying camera is fixed to the bottom of the plant conveyor. A plant clamping plate rotating motor is fixed to the bottom of the plant conveying rod via a fixing plate. A plant clamping rod is rotatably connected to the bottom of the plant clamping plate rotating motor. The plant clamping rod is fixedly connected to the external plant clamping plate. A plant clamping device is fixed to the bottom of the plant clamping rod.

[0008] Preferably, a positioning plate motor is fixed at the front end inside the housing. The left side of the positioning plate motor is rotatably connected to the positioning plate main gear via a rotating shaft. Multiple sets of positioning plate connecting rods are fixed at the top of the plant positioning cavity. Each set of positioning plate connecting rods is rotatably connected to a plant positioning plate via a rotating shaft. The right side of the foremost plant positioning plate is fixedly connected to the positioning plate main gear via a rotating shaft. The right sides of the remaining plant positioning plates are fixed with positioning plate secondary gears via rotating shafts. The positioning plate main gear and the multiple positioning plate secondary gears are meshed and connected by the chain.

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

[0010] Preferably, a set of burial positioning rings is fixed at each of the front and rear ends of the excavation plate. A burial motor positioning rod is fixed at the top of each burial positioning ring. A burial rod is slidably connected inside each set of burial positioning rings. A burial rod spring is also provided on the outside of each burial rod. A burial rod positioning plate is fixed at the lower end of each burial rod. A burial motor is rotatably connected to the top of each burial rod through a rotating shaft. Each burial motor is slidably connected to the burial motor positioning rod through a fixing plate.

[0011] Preferably, each of the buried poles has a buried moving plate fixed at both ends, each buried moving plate is fixedly connected to the buried head positioning plate at its outer end, each buried head positioning plate has a buried head fixed inside, each buried head is fixedly connected to the stabilizing plate outside, a conveying pipe sealing plate is slidably connected to the bottom of the conveying pipe, and 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 to the left side of the positioning plate, and a transplant positioning rod gear is rotatably connected to the left side of the transplant positioning rod motor. The transplant positioning rod gear meshes with a transplant positioning rod secondary gear, and the transplant positioning rod secondary gear is fixedly connected to the transplant positioning rod at its right end via a rotating shaft.

[0013] Preferably, a transplant positioning device is fixed to the bottom of the transplant positioning rod, and multiple sealing tube positioning rods are slidably connected inside the transplant positioning plate. Each sealing tube positioning rod is provided with a sealing tube positioning spring on its exterior. The multiple sealing tube positioning rods are fixedly connected to the sealing tube positioning plate at their bottom. A transplant controller is also fixed to the bottom of the transplant positioning plate. A sealing strip is provided inside the sealing 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 fixed to the bottom of the connecting plate, and a transplant ring is fixed to the bottom of the multiple transplant ring moving rods. A transplant ring mover is also fixed to the lower surface of the connecting plate. A transplant camera is provided on the inner side of the multiple connecting plates. The transplant camera is fixedly connected to the connecting plate. A transplant tube rotation motor is fixed to the left end of the left transplant tube positioning plate. The transplant tube rotation motor is rotatably connected to the transplant tube through the left end transplant tube rotation shaft. Two sealing plate rotation motors are fixed to the rear side of the transplant tube. Each sealing plate rotation motor is rotatably connected to the sealing plate at its front end through a rotating shaft.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The present invention uses a positioning plate motor to drive the main gear of the positioning plate to rotate, which in turn drives the chain to rotate, thereby driving multiple plant positioning plates to rotate. This allows the plant to be positioned inside the plant positioning cavity, thus preventing the plant from falling out of the plant positioning cavity when the entire device is moved, thereby ensuring the safety of the plant.

[0017] This invention utilizes a plant-picking rod motor to drive the main gear of the plant-picking rod, which in turn rotates the plant-picking rod. Simultaneously, a plant-picking mover extends and retracts the plant-picking moving rod, allowing the plant conveying rod to move to the top of any plant, thus ensuring the accuracy of plant extraction. Furthermore, the plant conveyor extends and retracts the plant conveying rod, which in turn moves the plant clamping plate up and down, allowing the positioning plate main gear to be conveyed into the conveying cavity, thereby conveying the plant into the transplanting tube, ensuring accurate delivery. Finally, the plant clamping device extends and retracts the plant clamping rod, allowing the plant to be clamped tightly by the plant clamping plate, thus improving transplanting efficiency.

[0018] This invention utilizes a digging mover to drive a digging moving rod, which in turn rotates the digging moving screw, thereby moving the digging fixing rod. Furthermore, the digging device extends and retracts the digging rod, causing the digging plate to move vertically, allowing it to insert into the seabed silt. The digging mover can then dig holes on the seabed by working in the opposite direction. Simultaneously, the burying rod spring and the burying rod prevent the stabilizing plate from inserting into the silt. Furthermore, the burying motor drives the burying head positioning plate to rotate, burying the plant inserted into the soil, thus ensuring transplanting effectiveness and accuracy, and improving transplanting efficiency. The burying head and stabilizing plate also ensure plant stability and growth.

[0019] This invention utilizes a transplant positioning rod motor to drive the transplant positioning rod gear, which in turn drives the transplant positioning rod secondary gear to rotate, thereby rotating the transplant positioning rod. This allows the transplanting rod to rotate, which in turn allows the sealing tube to rotate around the transplant positioning rod, facilitating the transport of the plant. Simultaneously, the sealing tube positioning rod and the sealing tube positioning spring ensure a tight fit between the sealing tube positioning plate and the transport tube, preventing seawater from entering the tank and ensuring the safety of the equipment.

[0020] This invention uses a rotating motor to drive the transplanting tube to rotate, so that the sealing plate is at the lower end when the transplanting tube extracts the plant, thus ensuring the effective and efficient transport of the plant. At the same time, the sealing plate and the transplanting ring moving rod work together to move the transplanting ring downwards, thereby transporting the plant from inside the transplanting tube to the dug pit, thus ensuring the accuracy of transplanting. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0022] In the attached diagram:

[0023] Figure 1 This is a schematic diagram of the main view of the present invention;

[0024] Figure 2 This is a schematic diagram of the bottom of the present invention;

[0025] Figure 3 This is a schematic diagram on the right side of the present invention;

[0026] Figure 4 This is a schematic diagram of the internal structure of the present invention;

[0027] Figure 5 This is an enlarged internal schematic diagram of the present invention;

[0028] Figure 6 This is a schematic diagram of the plant positioning mechanism of the present invention;

[0029] Figure 7 This is an enlarged schematic diagram of the plant positioning mechanism of the present invention;

[0030] Figure 8 This is an enlarged schematic diagram of the bottom of the housing of the present invention;

[0031] Figure 9 This is a schematic diagram of the pit-digging mechanism of the present invention;

[0032] Figure 10 This is a schematic diagram of the plant delivery mechanism of the present invention;

[0033] Figure 11 This is an enlarged schematic diagram of the pit-digging mechanism of the present invention;

[0034] Figure 12 This is a schematic diagram of the soil burying mechanism of the present invention;

[0035] Figure 13 This is a schematic diagram of the transplantation mechanism of the present invention;

[0036] Figure 14 This is an enlarged schematic diagram of the transplantation mechanism of the present invention;

[0037] Figure 15 This is a schematic diagram of the internal structure of the transplantation mechanism of the present invention;

[0038] Figure 16 This is an enlarged schematic diagram of the internal structure of the transplantation mechanism of the present invention.

[0039] In the diagram: 1-Box body; 2-Track; 3-Propeller positioning ring; 4-Digging moving rod; 5-Positioning plate; 6-Sealing pipe; 7-Stabilizing plate; 8-Plant picking rod; 9-Plant positioning cavity; 101-Top plate; 102-Bolt; 103-Moving camera; 104-Controller; 105-Power supply; 106-Conveying cavity; 107-Conveying pipe; 108-Conveying pipe sealing plate; 109-Conveying pipe sealing plate motor; 201-Follower gear; 202-Drive gear; 203-Moving motor; 204-Moving bearing; 205-Positioning rod; 301-Propeller; 302-Propeller motor; 40 1-Digging and moving device; 402-Digging and moving screw; 403-Digging and moving bearing; 404-Digging and fixing rod; 405-Digging rod; 406-Digging device; 407-Digging camera; 408-Digging positioning block; 501-Transplant positioning rod gear; 502-Transplant positioning rod secondary gear; 503-Transplant positioning rod motor; 504-Transplant positioning rod; 505-Transplant positioning device; 506-Transplant rod positioning plate; 507-Transplant rod; 508-Transplant 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 soil moving plate; 705-Buried soil rod; 706-Buried soil positioning ring; 707-Buried soil rod positioning plate; 708-Buried soil rod spring; 709-Buried soil motor positioning rod; 710-Buried soil motor ; 801-Plant picking moving rod; 802-Plant conveying rod; 803-Plant picking moving device; 804-Plant conveyor; 805-Plant conveying camera; 806-Plant clamping plate rotating motor; 807-Plant clamping rod; 808-Plant clamp; 809-Plant clamping plate; 810-Plant picking rod motor; 811-Plant picking rod main gear; 812-Plant picking rod secondary gear; 813-Plant picking rod bearing; 901-Plant; 902-Plant positioning plate; 903-Positioning plate connecting rod; 904-Positioning plate motor; 905-Chain; 906-Positioning plate secondary gear; 907-Positioning plate main gear. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] Example 1, by Figure 1-4 , Figure 8-9The device includes a housing 1 made of alloy material, which supports the entire device. A top plate 101, also made of alloy material, is fastened to the top of the housing 1 by multiple bolts 102. The top plate 101 and the housing 1 are sealable. Propellers 301 are located at the front and rear ends of the housing 1; their coordinated rotation allows the device to move vertically underwater. Two tracks 2 are located at the bottom of the housing 1, enabling the device to move along the seabed. A controller 104 is fixed inside the housing 1, controlling the entire device. A power supply 105 is fixed to the front end of the controller 104, providing the necessary energy to the device. A mobile camera 103 is fixed to the right end of the housing 1. The mobile camera 103 is used to observe the movement of the entire device underwater. Inside the housing 1, there is also a plant-retrieving rod 8, which is made of alloy material. The plant-retrieving rod 8 supports the plant-retrieving moving rod 801. The top of the plant-retrieving rod 8 is fixed to the plant-retrieving moving rod 801, which is telescopic, thus driving the plant conveying rod 802 to move. The bottom left end of the plant-retrieving moving rod 801 is fixed to the plant conveying rod 802, which is telescopic, thus driving the plant clamping plate 809 to move up and down. Multiple 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. Made of alloy material, the plant clamping plate 809 is used to clamp the plant 901. A plant positioning cavity 9, made of alloy material, is fixed to the left end of the box body 1. The plant positioning cavity 9 is used to position the plant 901, and multiple plants 901 are arranged inside it. A digging moving rod 4 is fixed to the bottom of the box body 1. The digging moving rod 4 can drive the digging moving screw 402 to rotate. A digging fixing rod 404, made of alloy material, is provided on the left side of the digging moving rod 4. The digging fixing rod 404 is used to position the digging rod 405. The bottom of the digging fixing rod 404 is fixed with the digging rod 405, which is telescopic, thereby driving the digging rod 405 to rotate. The pit positioning block 408 moves up and down. The bottom of the pit-digging rod 405 is equipped with a pit-digging plate 703, which 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 equipped with burial head positioning plates 702, which are also made of alloy material. The burial head positioning plates 702 are used to fix the stabilizing plate 7. Each burial head positioning plate 702 has a stabilizing plate 7 fixed to its bottom, which is also made of alloy material. The stabilizing plate 7 prevents the burial head positioning plate 702 from entering the seabed silt, thus ensuring the transplanting effect. The left side of the pit-digging fixing rod 404 is equipped with a conveying pipe 107, which is also made of alloy material.The delivery pipe 107 provides a channel for the plant. A positioning plate 5, made of alloy material, is located on the left side of the delivery pipe 107. The positioning plate 5 is used to position the transplant positioning rod motor 503. A transplant positioning rod 504 is rotatably connected to the right end of the positioning plate 5. The transplant positioning rod 504 is telescopic, thereby driving the transplant rod positioning plate 506 to move. A transplant rod positioning plate 506, made of alloy material, is fixed to the bottom of the right end of the transplant positioning rod 504. 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 telescopic, thereby driving the sealing tube positioning plate 511 to move up and down. A sealing tube positioning plate 511, made of alloy material, is fixed to the bottom of the transplant rod 507. The sealing tube positioning plate 511 is used to fix the sealing tube 6. The sealing tube 6 is fixed to the bottom of the sealing tube positioning plate 511. The sealing tube 6 is made of alloy material. Made of gold material, the sealing tube 6 prevents seawater from entering the box 1 through the transplanting tube 601, thus ensuring the safety of the entire device. A connecting plate 603, made of alloy material, is installed inside the sealing tube 6. The connecting plate 603 is used to fix the transplanting ring moving rod 606. Two transplanting tube positioning plates 604, also made of alloy material, are fixed to the bottom of the connecting plate 603. These positioning plates are used to position the transplanting tube 601. The transplanting tube 601, made of alloy material, is rotatably connected to the two positioning plates 604 via a transplanting tube rotating shaft 610. The transplanting tube 601 is used to transport the plantlet 901. Two sealing plates 602, made of alloy material, are rotatably connected to the bottom of the transplanting tube 601 via a rotating shaft. These sealing plates 602 prevent the plantlet 901 from falling, thus ensuring its safety. All electrical components of this device are waterproofed.

[0042] Example 2, based on Example 1, is... Figure 5-7Each track 2 is internally connected to a follower gear 201, which ensures the stability of the track 2. A movable bearing 204 is fixed inside each follower gear 201 for positioning. A drive gear 202 is located on the right side of each follower gear 201, which can drive the track 2 to rotate. A movable motor 203 is rotatably connected inside each drive gear 202, which can drive the drive gear 202 to rotate. Each set of movable motors 203 and movable bearings... The components 204 are connected by a fixing rod and fixedly connected to the bottom of the housing 1 by a positioning rod 205. The positioning rod 205 is made of alloy material and is used to position the moving motor 203 and the moving bearing 204. Propeller positioning rings 3, also made of alloy material, are fixed at both ends of the housing 1. Each propeller positioning ring 3 has a propeller motor 302 fixed to its bottom end by a fixing rod. The propeller motor 302 can drive the propeller 301 at its top to rotate. The motor 302 is rotatably connected to the propeller 301 on its top via a rotating shaft. A positioning plate motor 904 is fixed at the front end inside the housing 1. The positioning plate motor 904 can drive the positioning plate main gear 907 on its left side to rotate. The positioning plate motor 904 is rotatably connected to the positioning plate main gear 907 on its left side via a rotating shaft. The positioning plate main gear 907 can drive the plant positioning plate 902 on its left side to rotate, and at the same time drive multiple positioning plate secondary gears 906 to rotate. Multiple sets of positioning plate connecting rods 903 are fixed to the top of the plant positioning cavity 9. 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. Each set of positioning plate connecting rods 903 is rotatably connected to 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 foremost plant positioning plate 902 is fixedly connected to the main gear 907 of the positioning plate through a rotating shaft. The right sides of the remaining plant positioning plates 902 are fixed with the secondary gears 906 of the positioning plate through rotating shafts. The main gear 907 of the positioning plate and the multiple secondary gears 906 of the positioning plate are meshed and connected by the chain 905.

[0043] When using this equipment, the operator places the entire device underwater. The controller 104 then controls the two spiral motors 302 to work together, driving the two propellers 301 to rotate, thus moving the entire device vertically underwater. The controller 104 also controls the mobile camera 103 to monitor the movement of the entire device. When the device reaches the seabed, the controller 104 controls the two mobile motors 203 to work together, driving the two drive gears 202 to rotate, which in turn drives the two tracks 2, allowing the device to move and steer on the seabed. When the mobile camera 103 detects that the device has moved to the desired transplanting position, the controller 104 stops the device from moving. Furthermore, the controller 104 controls the plant-picking pole motor 810, the plant-picking mover 803, the plant conveyor 804, and the plant conveying camera 805 to work together. The system operates such that the main gear 811 of the plant-picking rod can rotate, thereby driving the secondary gear 812 of the plant-picking rod to rotate, and simultaneously driving the plant-picking moving rod 801 to extend and retract, and also driving the plant conveying camera 805 to extend and retract, thereby moving the plant clamping rod 807 directly above the plant 901. Further, the controller 104 controls the positioning plate motor 904 to operate, thereby driving the positioning plate main gear 907 to rotate, which in turn drives the chain 905 to rotate, thereby driving the positioning plate secondary gear 906 to rotate, thus rotating the plant positioning plate 902 to a vertical position. Further, the controller 104 controls the plant conveyor 804, the plant clamping plate rotating motor 806, and the plant clamp 808 to work together to clamp the plant 901. Finally, the controller 104 controls the plant clamping plate 809 to convey the plant 901 to the top of the conveying cavity 106, thereby ensuring the accuracy of the plant 901's delivery.

[0044] Example 3, based on Example 1, is... Figure 10-16As shown, a digging mover 401 is fixed to the top of the digging moving rod 4, which can drive the digging moving rod 4 to work. A digging moving screw 402 is rotatably connected to the left side of the digging mover 401. The digging moving screw 402 can drive the digging moving bearing 403 to move by rotating. The digging moving screw 402 is fixed to the left side of the digging moving screw 402. The digging moving bearing 403 is used to connect the digging moving screw 402 and the digging fixed rod 404. The left side of the outer ring of the digging moving bearing 403 is fixedly connected to the digging fixed rod 404. A digging camera 407 is fixed to the left side of the digging fixed rod 404. The digging camera 407 can monitor the digging plate 703. In the digging process, a digger 406 is fixed to the bottom of the digging fixing rod 404. The digger 406 can drive the digging rod 405 to extend and retract. A digging positioning block 408 is fixed to the bottom of the digging rod 405. The digging positioning block 408 is made of alloy material and is used to fix the digging plate 703. The digging positioning block 408 is fixedly connected to the digging plate 703. A set of burial positioning rings 706, made of alloy material, is fixed to each end of the digging plate 703. The burial positioning rings 706 are used to position the burial rod 705. A burial motor positioning rod 709 is fixed to the top of each burial positioning ring 706. Made of alloy material, the burial motor positioning rod 709 is used to position the burial motor 710. Each set of burial positioning rings 706 has a burial rod 705 slidably connected inside. The burial rod 705 is made of alloy material and is used to position the burial moving plate 704. Each burial rod 705 is also equipped with a burial rod spring 708, which is elastic, thus ensuring that the stabilizing plate 7 is in close contact with the seabed. A burial rod positioning plate 707, made of alloy material, is fixed to the lower end of each burial rod 705 and is used to position the burial rod 705. The top of each burial rod 705 is rotatably connected to the burial motor via a rotating shaft. 710, the burying motor 710 can drive the burying rod 705 to rotate, thereby driving the burial head positioning plate 702 to rotate. Each burying motor 710 is slidably connected to the burying motor positioning rod 709 through a fixing plate. Each burying rod 705 has a burying moving plate 704 fixed at both its upper and lower ends. The burying moving plate 704 is made of alloy material and is used to connect the burying rod 705 and the burial head positioning plate 702. Each burying moving plate 704 is fixedly connected to the burial head positioning plate 702 at its outer end. A burial head 701 is fixed inside each burial head positioning plate 702. The burial head 701 has a triangular structure and is made of alloy material.The burial head 701 is used for burying soil. Each burial head 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. The conveying pipe sealing plate 108 is made of alloy material and can ensure the sealing 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. 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. A transplanting positioning rod motor 503 is fixed to the left side of the positioning plate 5. The transplanting positioning rod motor 503 can drive the transplanting positioning rod. When gear 501 rotates, the transplant positioning rod motor 503 has a rotatable connection to the left side of the transplant positioning rod gear 501. The transplant positioning rod gear 501 can drive the transplant positioning rod secondary gear 502 to rotate. The transplant positioning rod gear 501 meshes with the transplant positioning rod secondary gear 502, which can drive the transplant positioning rod 504 to rotate. The transplant positioning rod secondary gear 502 is fixedly connected to the transplant positioning rod 504 at its right end via a rotating shaft. A transplant positioning device 505 is fixed to the bottom of the transplant positioning rod 504. The transplant positioning device 505 can drive the transplant positioning rod 504 to extend or retract. Multiple sealing tube positioning rods 509 are also slidably connected inside the transplant positioning plate 506. The sealing tube positioning rod 509 is made of alloy material and is used to position the sealing tube positioning plate 511. Each sealing tube positioning rod 509 is externally equipped with a sealing tube positioning spring 510, which is elastic to ensure that the sealing tube positioning plate 511 can fit tightly against the delivery tube 107. Multiple sealing tube positioning rods 509 are fixedly connected to the sealing tube positioning plate 511 at their bottom. The bottom of the transplanting rod positioning plate 506 is also fixed with a transplanting rod controller 508, which can drive the transplanting rod 507 to extend and retract. The sealing tube positioning plate 511 is internally equipped with a sealing strip 512, which is made of rubber material. The sealing strip 512 ensures the sealing of the transplanting rod 507 and the sealing tube positioning plate 511. The sealing strip 512 is slidably connected to the lower end of the transplanting rod 507. The bottom end of the transplanting rod 507 is fixedly connected to the connecting plate 603. A transplanting ring moving rod 606 is also fixed to the bottom of the connecting plate 603. The transplanting ring moving rod 606 is telescopic, thereby driving the transplanting ring 609 to move up and down. A plurality of transplanting ring moving rods 606 have transplanting rings 609 fixed to their bottoms. The transplanting rings 609 are made of alloy material. The plant 901 can be moved by moving, which can push the plant 901 inside the transplanting tube 601 to move. A transplanting 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. A transplant camera 608 is provided inside the multiple connecting plates 603. The transplant camera 608 is used to observe the plant 901 inside the transplant tube 601. The transplant camera 608 is fixedly connected to the connecting plate 603. A transplant tube rotation motor 605 is fixed to the left end of the left-side transplant tube positioning plate 604. The transplant tube rotation motor 605 can drive the transplant tube rotation shaft 610 to rotate. The transplant tube rotation motor 605 is rotatably connected to the transplant tube 601 through the left-side transplant tube rotation shaft 610. Two sealing plate rotation motors 611 are fixed to the rear side of the transplant tube 601. The sealing plate rotation motors 611 can drive the sealing plate 602 to rotate. Each sealing plate rotation motor 611 is rotatably connected to the sealing plate 602 at its front end through a rotating shaft.

[0045] When the plant 901 is transported to the top of the conveying chamber 106, the controller 104 controls the hole digger 406 to work, thereby causing the hole digging rod 405 to extend, which in turn causes the hole digging positioning block 408 to move downwards, thereby causing the hole digging plate 703 to penetrate deeper into the seabed silt. At this time, due to the action of the stabilizing plate 7, the burying rod spring 708, and the burying rod 705, the burying head 701 is guaranteed not to be inserted into the silt. Furthermore, the controller 104 controls the hole digging mover 401 to work, thereby causing the hole digging moving rod 4 to work, which in turn causes the hole digging moving screw 402 to work, thereby causing the hole digging fixing rod 404 to move to the right, thereby digging a hole in the silt. The controller 104 controls the transplant positioning rod motor 503 to operate, thereby driving the transplant positioning rod gear 501 to rotate, which in turn drives the transplant positioning rod secondary gear 502 to rotate, and further drives the transplant positioning rod 504 to rotate, causing the sealing tube 6 to rotate to the side closer to the delivery tube 107. The controller 104 then controls the transplant positioning device 505 to operate, thereby driving the transplant positioning rod 504 to extend or retract, thus moving the sealing tube 6 to directly below the delivery tube 107. Finally, the controller 104 controls the transplant tube rotation motor 605 to operate, thereby driving the transplant tube 601 to rotate with the transplant tube rotation shaft 610, thus causing the sealing plate 602 to rotate closer to the connecting... On one side of the connecting plate 603, the controller 104 further controls the transplanting rod controller 508 to work, thereby driving the sealing tube 6 to move upward. When the sealing tube 6 is in close contact with 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 transplanting rod controller 508 to continue working, thereby driving the sealing tube 6 to be in close contact with the conveying tube 107, and thus making the sealing tube positioning plate 511 in close contact with 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 transplanting tube 601. Internally, the controller 104 further controls the transplant tube 601 to move downwards. When the transplant tube 601 removes the delivery tube 107, it simultaneously controls the delivery tube sealing plate 108 to adhere tightly to the delivery tube 107. Further, the controller 104 controls the sealing tube 601 to rotate downwards, and simultaneously controls the sealing plate 602 to rotate away from the sealing plate rotation motor 611. Further, the controller 104 controls the transplant rod controller 508 to extend, thereby driving the sealing plate 602 to the bottom of the excavated pit. Further, the controller 104 controls the sealing plate rotation motor 611 to operate, thereby driving the sealing plate 602 to open. Further, the controller 104 controls the transplant ring mover 607 to operate.This causes the transplant ring moving rod 606 to extend, which in turn causes the transplant ring 609 to move downwards. Simultaneously, the controller 104 controls the transplant rod controller 508 to slowly retract, allowing the transplant ring 609 to transport the plant 901 into the dug pit. Further, the controller 104 controls the two burying motors 710 to operate, thereby driving the burying rod 705 to rotate, which in turn drives the burying head positioning plate 702 to rotate, thereby driving the burying head 701 and the stabilizing plate 7 to rotate. This burys the silt surrounding the plant 901 on top of the plant 901, ensuring the stability of the plant 901 and guaranteeing the transplanting effect. Finally, the controller 104 controls the entire device to move to the next transplanting position.

[0046] The workflow of this invention is as follows: When using this device, the operator places the entire device underwater. The controller 104 then controls two spiral motors 302 to work together, thereby driving two propellers 301 to rotate, thus moving the entire device vertically underwater. The controller 104 also controls a mobile camera 103 to monitor the movement of the entire device. When the device reaches the seabed, the controller 104 controls two mobile motors 203 to work together, driving two drive gears 202 to rotate, which in turn drives two tracks 2, allowing the device to move and steer on the seabed. Furthermore, when the mobile camera 103 detects the entire device... When the device moves to the desired transplanting position, the controller 104 stops the entire device from moving. Furthermore, the controller 104 controls the plant-picking rod motor 810, the plant-picking mover 803, the plant conveyor 804, and the plant conveying camera 805 to work together, allowing the main gear 811 of the plant-picking rod to rotate, thereby driving the secondary gear 812 of the plant-picking rod to rotate. Simultaneously, this drives the extension and retraction of the plant-picking mover 801 and the plant conveying camera 805, causing the plant clamping rod 807 to move directly above the plant 901. Further, the controller 104 controls the positioning plate motor 904 to operate, thereby driving the main gear 907 of the positioning plate to rotate, and thus driving the plant clamping rod 807 to move directly above the plant 901. The chain 905 rotates, thereby driving the secondary gear 906 of the positioning plate to rotate, causing the plant positioning plate 902 to rotate to a vertical position. The controller 104 then controls the plant conveyor 804, the plant clamping plate rotating motor 806, and the plant clamp 808 to work together to clamp the plant 901. The controller 104 further controls the plant clamping plate 809 to transport the plant 901 to the top of the conveying chamber 106, ensuring the accuracy of the plant 901's transport. When the plant 901 is transported to the top of the conveying chamber 106, the controller 104 controls the hole digger 406 to work, thereby extending the hole digging rod 405 and subsequently driving the hole positioning block 408. The device moves downwards, causing the digging plate 703 to penetrate deeper into the seabed silt. At this point, the stabilizing plate 7, the burying rod spring 708, and the burying rod 705 ensure that the burying head 701 does not insert into the silt. Furthermore, the controller 104 controls the digging mover 401, which in turn drives the digging moving rod 4, which in turn drives the digging moving screw 402, causing the digging fixing rod 404 to move to the right, thus digging a pit in the silt. Further, the controller 104 controls the transplant positioning rod motor 503, which drives the transplant positioning rod gear 501 to rotate, which in turn drives the transplant positioning rod secondary gear 502 to rotate, and ultimately drives the transplant positioning rod 504 to rotate.This causes the sealing tube 6 to rotate to the side closer 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, thus moving the sealing tube 6 directly below 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 with the transplant tube rotation shaft 610, thus causing the sealing plate 602 to rotate to the side closer to the connecting plate 603. Further, the controller 104 controls the transplant rod controller 508 to operate, thereby driving the sealing tube 6 to move upwards. When the sealing tube 6 is tightly closed... When the delivery tube sealing plate 108 is attached, the controller 104 controls the delivery tube sealing plate motor 109 to work, thereby driving the delivery tube sealing plate 108 to rotate. At this time, the controller 104 controls the transplanting rod controller 508 to continue working, thereby driving the sealing tube 6 to be tightly attached to the delivery tube 107, and thus making the sealing tube positioning plate 511 tightly attached to the delivery tube sealing plate 108. At this time, the controller 104 controls the plant delivery rod 802 to make the plant clamping plate 809 deliver the plant 901 into the transplanting tube 601. Further, the controller 104 controls the transplanting tube 601 to move downward. When the transplanting tube 601 is removed from the... While controlling the delivery pipe 107, the controller 104 controls the sealing plate 108 to be tightly attached to the delivery pipe 107. Further, the controller 104 controls the sealing pipe 6 to rotate downwards, and simultaneously controls the sealing plate 602 to rotate away from the sealing plate rotation motor 611. Further, the controller 104 controls the transplant rod controller 508 to extend, thereby driving the sealing plate 602 to the bottom of the excavated pit. Further, the controller 104 controls the sealing plate rotation motor 611 to operate, thereby driving the sealing plate 602 to open. Further, the controller 104 controls the transplant ring mover 607 to operate, thereby driving the transplant ring moving rod 606 to extend, and thus driving the... The transplanting ring 609 moves downwards, while the controller 104 controls the transplanting rod controller 508 to slowly retract, thereby allowing the transplanting ring 609 to transport the plant 901 into the dug pit. Further, the controller 104 controls the two burying motors 710 to operate, thereby driving the burying rod 705 to rotate, which in turn drives the burying head positioning plate 702 to rotate, thereby driving the burying head 701 and the stabilizing plate 7 to rotate, thus burying the top of the plant 901 with the surrounding silt, ensuring the stability of the plant 901 and guaranteeing the transplanting effect. Finally, the controller 104 controls the entire device to move to the next transplanting position.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-condition seagrass transplanting robot for the subtidal zone, characterized in that: The system includes a housing (1), the top of which is fastened to a top plate (101) by multiple bolts (102). Propellers (301) are located at the front and rear ends of the housing (1). Two tracks (2) are located at the bottom of the housing (1). A controller (104) is fixed inside the housing (1), and a power supply (105) is fixed to the front end of the controller (104). A mobile camera (103) is fixed to the right end of the housing (1). A plant-picking rod (8) is also located inside the housing (1), and a plant-picking moving rod (8) is fixed to the top of the plant-picking rod (8). 01), The bottom left end of the plant-taking moving rod (801) is fixed with a plant conveying rod (802), and the bottom of the plant conveying rod (802) is provided with multiple plant clamping plates (809). The left end of the box (1) is also fixed with a plant positioning cavity (9), and the plant positioning cavity (9) is provided with multiple plants (901). The bottom of the box (1) is fixed with a digging moving rod (4), and the left side of the digging moving rod (4) is provided with a digging fixing rod (404). The bottom of the digging fixing rod (404) is fixed with a digging rod (405). 05) A pit-digging plate (703) is provided at the bottom. A burial head positioning plate (702) is provided at both the front and rear ends of the pit-digging plate (703). A stabilizing plate (7) is fixed at the bottom of each burial head positioning plate (702). A conveying pipe (107) is provided on the left side of the pit-digging fixing rod (404). A positioning plate (5) is provided on the left side of the conveying pipe (107). A transplant positioning rod (504) is rotatably connected to the right end of the positioning plate (5). A transplant positioning rod positioning plate (506) is fixed at the bottom of the right end of the transplant positioning rod (504). The bottom of the transplant positioning plate (506) is... A transplant rod (507) is fixed, and 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) through a transplant tube rotating shaft (610). Two sealing plates (602) are rotatably connected at the bottom of the transplant tube (601) through a rotating shaft.

2. The multi-condition seagrass transplanting robot for the subtidal zone according to claim 1, characterized in that: Each track (2) is internally connected to a follower gear (201), and a movable bearing (204) is fixed inside each follower gear (201). Each follower gear (201) is provided with a drive gear (202) on its right side. A movable motor (203) is rotatably connected inside each drive gear (202). Each set of movable motors (203) and movable bearings (204) is connected by a fixing rod and fixedly connected to the bottom of the housing (1) by 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 of each screw positioning ring (3) by a fixing rod. Each screw motor (302) is rotatably connected to the propeller (301) on its top by a rotating shaft.

3. The multi-condition seagrass transplanting robot for the subtidal zone according to claim 2, characterized in that: Inside the housing (1), a plant-picking rod motor (810) is fixed at the right end. A plant-picking rod main gear (811) is rotatably connected to the top of the plant-picking rod motor (810). A plant-picking rod secondary gear (812) is meshed with the main gear (811). The top of the secondary gear (812) is fixedly connected to the plant-picking rod (8). A plant-picking rod bearing (813) is fixedly connected to the bottom of the secondary gear (812). The bottom of the outer ring of the bearing (813) is fixedly connected to the housing (1). A plant-picking mover is fixedly connected to the top of the plant-picking moving rod (801). 803), a plant conveyor (804) is fixed on the left side of the plant conveying rod (802), a plant conveying camera (805) is fixed at the bottom of the plant conveyor (804), a plant clamping plate rotating motor (806) is fixed at the bottom of the plant conveying rod (802) through a fixing plate, a plant clamping rod (807) is rotatably connected at 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 at the bottom of the plant clamping rod (807).

4. The multi-condition seagrass transplanting robot for the subtidal zone according to claim 3, characterized in that: A positioning plate motor (904) is fixed at the front end of the box (1). The positioning plate motor (904) is rotatably connected to the main gear (907) of the positioning plate via a rotating shaft on the left side. Multiple sets of positioning plate connecting rods (903) are fixed at the top of the plant positioning cavity (9). Each set of positioning plate connecting rods (903) is rotatably connected to a plant positioning plate (902) via a rotating shaft inside. The right side of the foremost plant positioning plate (902) is fixedly connected to the main gear (907) of the positioning plate via a rotating shaft. The right side of the remaining plant positioning plates (902) is fixed with a secondary gear (906) of the positioning plate via a rotating shaft. The main gear (907) of the positioning plate and the multiple secondary gears (906) of the positioning plate are meshed and connected by a chain (905).

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

6. A multi-condition seagrass transplanting robot for the subtidal zone according to claim 5, characterized in that: The digging plate (703) has a set of burial positioning rings (706) fixed at both ends. Each burial positioning ring (706) has a burial motor positioning rod (709) fixed at the top. Each burial positioning ring (706) has a burial rod (705) slidably connected inside. Each burial rod (705) is also provided with a burial rod spring (708) outside. Each burial rod (705) has a burial rod positioning plate (707) fixed at the lower end. Each burial rod (705) has a burial motor (710) rotatably connected to the top of the burial rod (705) through a rotating shaft. Each burial motor (710) is slidably connected to the burial motor positioning rod (709) through a fixing plate.

7. A multi-condition seagrass transplanting robot for the subtidal zone according to claim 6, characterized in that: Each of the buried poles (705) has a buried moving plate (704) fixed at both ends. Each buried moving plate (704) is fixedly connected to the buried head positioning plate (702) at its outer end. Each buried head positioning plate (702) has a buried head (701) fixed inside. Each buried head (701) is fixedly connected to the stabilizing plate (7) outside. The bottom of the conveying pipe (107) is slidably connected to the conveying pipe sealing plate (108). The top of the conveying pipe sealing plate (108) is rotatably connected to the conveying pipe sealing plate motor (109) through a rotating shaft. The conveying pipe sealing plate motor (109) is fixedly connected to the conveying pipe (107).

8. A multi-condition seagrass transplanting robot for the subtidal zone according to claim 1, characterized in that: The positioning plate (5) is fixed with a transplant positioning rod motor (503) on the left side. The transplant positioning rod motor (503) is rotatably connected with a transplant positioning rod gear (501) on the left side. The transplant positioning rod gear (501) meshes with the transplant positioning rod secondary gear (502). The transplant positioning rod secondary gear (502) is fixedly connected to the transplant positioning rod (504) on its right end through a rotating shaft.

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

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

Images