Sedum plumbizincicola transplanting and cutting equipment and use method thereof

Abstract

The invention provides sedum plumbizincicola transplanting and cutting equipment and a using method thereof, and solves the problems that an existing artificial sedum plumbizincicola cutting mode is low in repeatability, the survival rate is prone to being influenced by human factors and the like, and the scheme includes that the sedum plumbizincicola transplanting and cutting equipment comprises a mounting cross beam used for being connected with an external AGV (automatic guided vehicle); the overturning assembly is driven by a second driving part to rotate and stop; the double-shaft shifting assembly is used for driving the overturning assembly to perform double-shaft shifting in a servo mode, the clamping assembly is fixed to the rotary table and comprises a third driving piece and clamping jaws, the clamping jaws at least comprise one set of clamping jaws which are oppositely arranged, and the inner side of the tail end of each clamping jaw is provided with a stepped clamping opening; the third driving piece is used for driving clamping openings in the tail ends of the clamping jaws to be relatively far away from or close to each other; a cutting opening and a guide assembly penetrate through the center of the transition plate, the guide assembly comprises at least three guide wheels centered by the center of the cutting opening, the centering distance of each guide wheel can be adjusted, and the rolling direction of each guide wheel is consistent with the axial direction of the stem of the external transplanted sedum.

Description

Technical Field

[0001] The invention relates to the technical field of Sedum sedum planting, and in particular to a Sedum sedum transplanting and cutting device and a use method thereof. Background Art

[0002] Sedum truncatum is an ideal plant for repairing soil cadmium pollution. Its rhizosphere characteristics and enrichment and detoxification mechanisms have been basically clarified. In the future, molecular technology and genetic engineering technology can be used to improve its repair efficiency and suitable planting areas. When applied in the field, Sedum truncatum can be intercropped or rotated with crops, and passivators, activators, etc. can be applied to achieve the repair effect while realizing the safe production of agricultural products. In addition, Sedum truncatum can also be made into high-performance biochar and biomass oil through incineration, pyrolysis and other methods to achieve efficient and safe utilization of biomass resources.

[0003] As for its cutting cultivation, the best time for Sedum cutting is in spring and autumn. Cut a strong branch 8-10 cm long from the mother plant, and keep a few leaves on the top. Cut it into a well-drained substrate at a depth of 3-4 cm, and place it in a cool and ventilated place. Roots will grow in about 15-20 days.

[0004] At present, Sedum cuttings mostly rely on manual labor, with low repetition and survival rate affected by human factors. The existing intelligent warehouse-style cultivation is also applicable in the plant field. With AGV and a suitable growth environment and soil tray, efficient and reliable cutting operations can be achieved. For the cuttings of Sedum stems, the corresponding structure requires high precision and high degree of freedom. For this reason, we propose a Sedum transplanting and cutting equipment and its use method to solve the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art. The present invention proposes a Sedum sedum transplanting and cutting device and a use method thereof, which can realize efficient and reliable cutting operations on Sedum sedum stems with high repeatability and high precision.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a Sedum sedum transplanting and cutting equipment, comprising:

[0007] Install crossbeams to connect external AGVs or transport carts;

[0008] A dual-axis displacement assembly is installed and fixed transversely with the crossbeam, and comprises a first driving member, a slider and a transverse guide rod, wherein a slide rail perpendicular to the transverse guide rod is fixed on the slider;

[0009] A flip assembly is slidably connected in the slide rail, the first driving member is used to servo drive the flip assembly to shift along the axis of the transverse guide rod and the slide rail in a biaxial manner, the flip assembly includes a second driving member and a turntable, the second driving member is used to drive the turntable to servo rotate and stop;

[0010] A clamping assembly is fixed on the turntable, and includes a third driving member and a clamping jaw, wherein the clamping jaw includes at least one group and is arranged opposite to each other, and each clamping jaw has a stepped clamping opening at the inner side of the end of the clamping jaw, and the third driving member is used to drive the clamping opening at the end of the clamping jaw to move away from or closer to each other;

[0011] A transition plate is located below the clamping assembly, one end of the transition plate extends outward to be connected and fixed to the mounting crossbeam, the other end has a grafting opening through the center and a guide assembly is embedded in the periphery of the grafting opening, the guide assembly includes at least three guide wheels centered on the grafting opening, each guide wheel has an adjustable centering distance and the rolling direction of the guide wheel is consistent with the axial direction of the external transplanted Sedum stem.

[0012] Furthermore, the first driving member includes a first motor, a rotating table and a screw rod, the rotating table includes two and is symmetrically arranged at both ends of the mounting beam, the first motor is fixed to the outer side of one of the rotating tables with bolts, and its output shaft is coaxially fixed to the screw rod through a bearing, and the screw rod is rotatably connected to the other rotating table at one end away from the first motor, the transverse guide rod includes two and is located on both sides of the screw rod, and the two ends of each transverse guide rod are respectively fixedly connected to the inner walls of the two rotating tables, the center of the slider is threadedly matched with the screw rod, and the two ends are respectively slidably connected to the two transverse guide rods, and the internal displacement driving method of the slide rail is consistent with the transverse guide rail driving method.

[0013] Furthermore, the second driving member includes a second motor and a rotating base, the rotating base is slidably connected in the slide rail, the second motor is fixed to the back of the slider, and its output end is coaxially fixed to the center of the rotating base, and the turntable is bolted to the rotating base as a whole.

[0014] Furthermore, the third driving member includes an L-shaped base, an external platform, a third motor, a first sector tooth, a second sector tooth and a hinge rod. The external platform is exposed and fixed on the outside of the L-shaped base. The third motor is connected and fixed to the external platform, and its output end is fixed to the center of the first sector tooth. The first sector tooth and the second sector tooth are meshed with each other, and a strip-shaped hinge portion is formed at the opposite ends.

[0015] Furthermore, the middle portion of each of the clamping jaws is bent inwardly and is hinged to the external platform through the hinge rod at the bending position, and one end of each of the clamping jaws away from the clamping opening is hinged to the two hinged portions respectively.

[0016] Furthermore, the transition plate may include a plurality of transition plates fixed equidistantly below the mounting beam.

[0017] Furthermore, the guide assembly includes an embedded table, a positioning plate and a connecting seat. The embedded table is welded and fixed in the fixing plate on all sides, and a central hole is opened to correspond to the insertion port. The positioning plate is annular and has a plurality of equidistant positioning grooves on the side. The positioning plate is threadedly fixed to the embedded table by positioning bolts in the positioning groove. The positioning plate also has a plurality of equidistant adjustment grooves on the side. The connecting seat includes a plurality of adjustment grooves corresponding to each of the adjustment grooves. One end of the connecting seat is bolted to the embedded table in the adjustment groove, and the other end has a boss protruding outward to be rotatably connected to the guide wheel.

[0018] Furthermore, the adjustment groove is an arc-shaped groove, which is eccentrically arranged with respect to the positioning plate, and the insertion port is exposed on the outer wall of the guide wheel.

[0019] Furthermore, the insertion port is an open structure for the transition plate to be moved out, and the transition plate, the positioning plate, and the embedded platform are also opened at the opening corresponding to the insertion port.

[0020] The method for using the above-mentioned Sedum sedum transplanting and cutting equipment comprises the following steps:

[0021] S1. Fix the mounting crossbeam bolts to the external AGV, start the AGV operation, rely on the breeding track and the breeding rack servo shift, move the leaf-cut Sedum sedum to the AGV starting position through the transport roller group and keep the corresponding cutting stem exposed roller group;

[0022] S2, the AGV runs to the starting position, the shifting component drives the clamping claw to shift, the flipping component does not work, the clamping claw corresponds to the vertical position, the clamping component works and drives the clamping claw to clamp the stem of the sedum, and then the AGV runs to the planting box, which is pre-buried with loose and moist soil, and a socket is drilled on the soil surface through an external device. The AGV runs to the corresponding position of the socket and stops;

[0023] S3, the flip assembly flips 90 degrees to ensure that the clamp is in a horizontal position, driving the sedum stem to turn, and then the clamp moves downward, the lower end of the sedum stem passes through the cutting port on the transition plate, and synchronously contacts the outer surface of the sedum stem through three sets of guide wheels arranged in the center of the bottom of the transition plate for guidance. After falling into the corresponding socket in the soil, the whole machine moves out through the cutting port opening, and repeats the next sedum cutting operation.

[0024] Compared with the prior art, the beneficial effects of the present invention include: the transportation operation of the sedum stems in the warehouse track is realized by cooperating with the AGV through the dual-axis shifting component, and the cutting positions on different breeding racks are synchronously coordinated. The shifting process is flipped 90 degrees by the flipping component to meet the freedom requirements. Holes are pre-drilled in the breeding soil. After the AGV is positioned, the clamping component moves down and cooperates with the bottom guide wheel to accurately place each reserved cutting position, ensure the planting spacing of the sedum, and improve the survival rate of subsequent cuttings. The automatic operation method also replaces various unfavorable factors of manual cuttings, which is suitable for the mainstream development direction of intelligent cultivation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The disclosure of the present invention is described with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the accompanying drawings, the same reference numerals are used to refer to the same components. Among them:

[0026] Figure 1 The figure schematically shows a front view of a cutting device proposed according to an embodiment of the present invention;

[0027] Figure 2 The figure schematically shows a bottom view of a cutting device according to one embodiment of the present invention;

[0028] Figure 3 The left side view of the cutting device proposed according to one embodiment of the present invention is schematically shown;

[0029] Figure 4 Schematically shows a method according to an embodiment of the present invention. Figure 2 A partial enlarged view;

[0030] Figure 5 Schematically shows a method according to an embodiment of the present invention. Figure 3 A partial enlarged view of point B;

[0031] Figure 6 A partial enlarged view of the structure of the third driving member according to an embodiment of the present invention is schematically shown.

[0032] Numbers in the figure: 1, installation beam; 2, double-axis shifting assembly; 21, first driving member; 211, first motor; 212, rotating table; 213, screw rod; 214, bearing; 22, slider; 23, transverse guide rod; 3, flip assembly; 31, second driving member; 311, second motor; 312, slewing base; 32, rotating table; 4, clamping assembly; 41, third driving member; 411, L-shaped base; 412 , external platform; 413, third motor; 414, first sector tooth; 415, second sector tooth; 416, hinged rod; 417, hinged portion; 42, clamping claw; 43, clamping mouth; 5, transition plate; 51, insertion mouth; 6, guide assembly; 601, guide wheel; 602, embedded platform; 603, positioning plate; 604, connecting seat; 605, positioning groove; 606, adjustment groove; 607, positioning bolt; 608, boss. DETAILED DESCRIPTION

[0033] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or as a limitation or restriction to the technical solution of the present invention.

[0034] According to one embodiment of the present invention, Figure 1-Figure 6 Shown.

[0035] For the overall structure of the equipment, Figure 1 As shown, in this embodiment, a Sedum sedum transplanting and cutting device includes:

[0036] Install the crossbeam 1 to connect the external AGV or transport trolley;

[0037] The double-axis displacement assembly 2 is installed and fixed transversely with the crossbeam, and comprises a first driving member 21, a slider 22 and a transverse guide rod 23, wherein a slide rail perpendicular to the transverse guide rod 23 is fixed on the slider 22;

[0038] The flip assembly 3 is slidably connected in the slide rail, the first driving member 21 is used to servo drive the flip assembly 3 to shift along the axis of the transverse guide rod 23 and the slide rail in a biaxial manner, the flip assembly 3 includes a second driving member 31 and a turntable 32, the second driving member 31 is used to drive the turntable 32 to servo rotate and stop;

[0039] The clamping assembly 4 is fixed on the turntable 32, and includes a third driving member 41 and a clamping jaw 42. The clamping jaw 42 includes at least one group of clamping jaws 42 that are arranged opposite to each other, and a stepped clamping opening 43 is formed inside the end of each clamping jaw 42. The third driving member 41 is used to drive the clamping opening 43 at the end of the clamping jaw 42 to move away from or closer to each other.

[0040] A transition plate 5 is located below the clamping assembly 4, one end of the transition plate 5 is extended outward to be connected and fixed to the mounting beam 1, the other end is provided with a grafting opening 51 at the center and a guide assembly 6 is embedded in the periphery of the grafting opening 51, the guide assembly 6 includes at least three guide wheels 601 centered with the grafting opening 51, each of the guide wheels 601 has an adjustable centering distance and the rolling direction of the guide wheel 601 is consistent with the axial direction of the external transplanted Sedum stem.

[0041] The dual-axis shift component 2 cooperates with the AGV to realize the transportation operation of the sedum stems in the warehouse track, and the corresponding cutting positions on different breeding racks are coordinated synchronously. The shifting process is turned 90 degrees by the flip component 3 to meet the freedom requirements. Holes are pre-drilled in the breeding soil. After the AGV is positioned, the clamping component 4 moves down to cooperate with the bottom guide wheel 601 to accurately place each reserved cutting position, ensure the planting spacing of the sedum, and improve the survival rate of subsequent cuttings. The automatic operation method also replaces various unfavorable factors of manual cuttings, which is suitable for the development direction of mainstream intelligent cultivation.

[0042] The first driving member 21 includes a first motor 211, a rotating table 212 and a screw rod 213. The rotating table 212 includes two and is symmetrically arranged at both ends of the mounting beam 1. The first motor 211 is fixed to the outer side of one of the rotating tables 212 with bolts, and its output shaft is coaxially fixed to the screw rod 213 through a bearing 214. The screw rod 213 is rotatably connected to the other rotating table 212 at one end away from the first motor 211. The transverse guide rod 23 includes two and is located on both sides of the screw rod 213. The two ends of each transverse guide rod 23 are respectively fixedly connected to the inner walls of the two rotating tables 212. The center of the slider 22 is threadedly matched with the screw rod 213, and its two ends are respectively slidably connected to the two transverse guide rods 23. The internal displacement driving mode of the slide rail is consistent with the transverse guide rail driving mode.

[0043] After the first motor 211 outputs, it drives the screw rod 213 to position and rotate in the rotating table 212, and then the slider 22 is limited by the transverse guide rod 23, and can be servo-shifted axially by the screw rod 213. For the other axial direction, the driving structure is consistent and built into the slider 22. After the corresponding drive output, it can drive the flip component 3 to shift up and down with the slide rail, and finally achieve a dual-axis shift effect of the flip component 3.

[0044] Furthermore, the second driving member 31 includes a second motor 311 and a swivel base 312, the swivel base 312 is slidably connected in the slide rail, the second motor 311 is fixed to the back of the slider 22, and its output end is coaxially fixed to the center of the swivel base 312, and the turntable 32 is bolted to the swivel base 312 as a whole. The output of the second motor 311 drives the swivel base 312 to rotate, and synchronously drives the turntable 32 to flip, so as to achieve the 90° and 180° degree of freedom requirements of the subsequent sedum clamping process.

[0045] The third driving member 41 includes an L-shaped base 411, an external platform 412, a third motor 413, a first sector tooth 414, a second sector tooth 415 and a hinge rod 416. The external platform 412 is fixed to the outside of the L-shaped base 411 in an exposed manner. The third motor 413 is connected and fixed to the external platform 412, and its output end is fixed to the center of the first sector tooth 414. The first sector tooth 414 and the second sector tooth 415 are meshed with each other, and a strip-shaped hinge part 417 is formed at the opposite ends. The middle part of each of the clamping jaws 42 is bent inward and is hinged to the external platform 412 at the bending part through the hinge rod 416. The end of each of the clamping jaws 42 away from the clamping opening 43 is hinged to the two hinge parts 417 respectively.

[0046] After the third motor 413 outputs, it drives the first sector tooth 414 to rotate, and the second sector tooth 415 meshing therewith can swing synchronously. Then, due to the hinged action of the hinged part 417 and the hinged rod 416, one end of the two jaws 42 with the clamping mouth 43 can be relatively far away or close to each other, so as to meet the requirement of clamping the stem of Sedum. The connecting rod transmission method avoids the need for unnecessary electrical components to drive, and the method is simpler and has higher repeatability.

[0047] Furthermore, the transition plate 5 may include a plurality of transition plates 5 that are equidistantly fixed below the mounting beam 1. In actual operation, the transition plate 5 may be designed to be multiple to keep the insertion spacing consistent, thereby reducing the need for AGV drive programming.

[0048] The guide assembly 6 includes an embedded platform 602, a positioning plate 603 and a connecting seat 604. The embedded platform 602 is welded and fixed in the fixing plate on all sides, and a central hole is opened to correspond to the insertion port 51. The positioning plate 603 is annular and has a plurality of equidistant positioning grooves 605 opened on the side. The positioning plate 603 is threadedly fixed to the embedded platform 602 by positioning bolts 607 in the positioning groove 605. The positioning plate 603 also has a plurality of equidistant adjustment grooves 606 opened on the side. The connecting seat 604 includes a plurality of adjustment grooves 606 corresponding to each of the adjustment grooves 606. One end of the connecting seat 604 is bolted to the embedded platform 602 in the adjustment groove 606, and the other end has a protruding platform 608 to be rotatably connected to the guide wheel 601.

[0049] The three centering rollers can contact the stems of the Sedum to achieve highly axial guidance, avoiding the deviation of the stems of the Sedum during the cutting process and the inability to cut into the corresponding reserved holes in the soil. Similarly, the design of the adjustment groove 606 can relatively adjust the centering distance of the three rollers, which is suitable for the cultivation of Sedum with different stem thicknesses and has stronger applicability.

[0050] Furthermore, the adjustment groove 606 is an arc-shaped groove, which is eccentrically arranged with the positioning plate 603, and the outer wall of the guide wheel 601 is exposed to the cutting port 51. The cutting port 51 is an open structure for the transition plate 5 to be removed, and the transition plate 5, the positioning plate 603, and the embedded platform 602 are also opened at the opening of the corresponding cutting port 51. The design of the cutting port 51 opening is to facilitate the overall removal of the transition plate 5 and the corresponding structure after the cutting is completed, so as to carry out the cutting operation of the next sedum.

[0051] Through the above structure, in actual application, the following method can be referred to, including the following steps:

[0052] S1. Fix the mounting crossbeam 1 to the external AGV with bolts, and start the AGV operation. Relying on the breeding track and the servo shift of the breeding rack, the leaf-cut Sedum sedum is moved to the starting position of the AGV through the transport roller group and the corresponding roller group of the cutting stem is kept exposed;

[0053] S2, the AGV runs to the starting position, the shifting component drives the clamping claw 42 to shift, the flipping component 3 does not work, the clamping claw 42 corresponds to the vertical position, the clamping component 4 works to drive the clamping claw 42 to clamp the stem of the sedum, and then the AGV runs to the planting box, which is pre-buried with loose and moist soil, and a socket is drilled on the soil surface through an external device. The AGV runs to the corresponding position of the socket and stops;

[0054] S3, the flip assembly flips 390° to ensure that the clamping claw 42 is in a horizontal position, driving the Sedum stem to turn, and then the clamping claw 42 moves downward, and the lower end of the Sedum stem passes through the cutting port 51 on the transition plate 5, and synchronously contacts the outer surface of the Sedum stem through the three sets of guide wheels 601 arranged in the center at the bottom of the transition plate 5 for guidance. After falling into the corresponding socket in the soil, the whole machine is moved out through the cutting port 51 opening, and the next Sedum cutting operation is repeated.

[0055] The technical scope of the present invention is not limited to the contents in the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of ​​the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A Sedum sedum transplanting and cutting equipment, characterized in that: include: Install crossbeams to connect external AGVs or transport carts; A dual-axis displacement assembly is installed and fixed transversely with the crossbeam, and comprises a first driving member, a slider and a transverse guide rod, wherein a slide rail perpendicular to the transverse guide rod is fixed on the slider; A flip assembly is slidably connected in the slide rail, the first driving member is used to servo drive the flip assembly to shift along the axis of the transverse guide rod and the slide rail in a biaxial manner, the flip assembly includes a second driving member and a turntable, the second driving member is used to drive the turntable to servo rotate and stop; A clamping assembly is fixed on the turntable, and includes a third driving member and a clamping jaw, wherein the clamping jaw includes at least one group and is arranged opposite to each other, and each clamping jaw has a stepped clamping opening at the inner side of the end of the clamping jaw, and the third driving member is used to drive the clamping opening at the end of the clamping jaw to move away from or closer to each other; A transition plate is located below the clamping assembly, one end of the transition plate extends outward to be connected and fixed to the mounting crossbeam, the other end has a grafting opening through the center and a guide assembly is embedded in the periphery of the grafting opening, the guide assembly includes at least three guide wheels centered on the grafting opening, each guide wheel has an adjustable centering distance and the rolling direction of the guide wheel is consistent with the axial direction of the external transplanted Sedum stem.

2. The device for transplanting and cutting Sedum sedum according to claim 1, characterized in that: The first driving member includes a first motor, a rotating table and a screw rod. The rotating table includes two and is symmetrically arranged at both ends of the mounting crossbeam. The first motor is fixed to the outer side of one of the rotating tables with bolts, and its output shaft is coaxially fixed to the screw rod through a bearing. The screw rod is rotatably connected to the other rotating table at one end away from the first motor. The transverse guide rods include two and are located on both sides of the screw rod. The two ends of each transverse guide rod are respectively fixedly connected to the inner walls of the two rotating tables. The center of the slider is threadedly matched with the screw rod, and its two ends are respectively slidably connected to the two transverse guide rods. The internal displacement driving method of the slide rail is consistent with the transverse guide rail driving method.

3. The device for transplanting and cutting Sedum sedum according to claim 1, characterized in that: The second driving member includes a second motor and a rotating base. The rotating base is slidably connected to the slide rail. The second motor is fixed to the back of the slider, and its output end is coaxially fixed to the center of the rotating base. The turntable is bolted to the rotating base as a whole.

4. The Sedum sedum transplanting and cutting equipment according to claim 1 is characterized in that: The third driving member includes an L-shaped base, an external platform, a third motor, a first sector tooth, a second sector tooth and a hinge rod. The external platform is exposed and fixed on the outside of the L-shaped base. The third motor is connected and fixed to the external platform, and its output end is fixed to the center of the first sector tooth. The first sector tooth and the second sector tooth are meshed with each other, and a strip-shaped hinge portion is formed at the opposite ends.

5. The Sedum sedum transplanting and cutting equipment according to claim 1 is characterized in that: The middle part of each clamping jaw is bent inwards and is hinged to the external connection platform through the hinge rod at the bending part. One end of each clamping jaw away from the clamping opening is hinged to the two hinged parts respectively.

6. The Sedum sedum transplanting and cutting equipment according to claim 1 is characterized in that: The transition plate may include a plurality of transition plates that are equidistantly fixed below the mounting beam.

7. The device for transplanting and cutting Sedum sedum according to any one of claim 6, characterized in that: The guide assembly includes an embedded table, a positioning plate and a connecting seat. The embedded table is welded and fixed in the fixing plate on all sides, and a central hole is opened to correspond to the insertion port. The positioning plate is annular and has a plurality of equidistant positioning grooves on the side. The positioning plate is threadedly fixed to the embedded table by positioning bolts in the positioning groove. The side of the positioning plate also has a plurality of equidistant adjustment grooves. The connecting seat includes a plurality of adjustment grooves corresponding to each of the adjustment grooves. One end of the connecting seat is bolted to the embedded table in the adjustment groove, and the other end has a boss protruding outward to be rotatably connected to the guide wheel.

8. The device for transplanting and cutting Sedum sedum according to claim 7, characterized in that: The adjusting groove is an arc-shaped groove, which is eccentrically arranged with respect to the positioning plate, and the outer wall of the guide wheel is exposed to the insertion port.

9. The Sedum sedum transplanting and cutting equipment according to claim 7 is characterized in that: The insertion port is an open structure for the transition plate to be moved out, and the transition plate, the positioning plate, and the embedded platform are also opened at the opening corresponding to the insertion port.

10. A method for using the Sedum sedum transplanting and cutting equipment as described in any one of claims 1 to 9, characterized in that: The steps include: S1. Fix the mounting crossbeam bolts to the external AGV, start the AGV operation, rely on the breeding track and the breeding rack servo shift, move the leaf-cut Sedum sedum to the AGV starting position through the transport roller group and keep the corresponding cutting stem exposed roller group; S2, the AGV runs to the starting position, the shifting component drives the clamping claw to shift, the flipping component does not work, the clamping claw corresponds to the vertical position, the clamping component works and drives the clamping claw to clamp the stem of the sedum, and then the AGV runs to the planting box, which is pre-buried with loose and moist soil, and a socket is drilled on the soil surface through an external device. The AGV runs to the corresponding position of the socket and stops; S3, the flip assembly flips 90 degrees to ensure that the clamp is in a horizontal position, driving the sedum stem to turn, and then the clamp moves downward, the lower end of the sedum stem passes through the cutting port on the transition plate, and synchronously contacts the outer surface of the sedum stem through three sets of guide wheels arranged in the center of the bottom of the transition plate for guidance. After falling into the corresponding socket in the soil, the whole machine moves out through the cutting port opening, and repeats the next sedum cutting operation.

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