Automatic seedling transfer robot

Abstract

The invention relates to the technical field of seedling transfer, in particular to an automatic seedling transfer robot which comprises a seedling picking robot body composed of a plurality of supporting frames. The moving wheels are rotationally arranged below the seedling picking robot main body, and the moving wheels are controlled by an external motor; the multiple fixing frames are fixedly mounted on the two side walls of the seedling picking robot body correspondingly; the oil cylinder is fixedly mounted between the two opposite fixing frames; when the monitoring camera monitors that seedlings exist at the bottom of the picking barrel, the external controller firstly controls the seedling picking robot body to stop moving, the oil cylinder drives the picking barrel to move downwards, namely, the picking barrel moves towards one side close to the seedlings, and then the seedlings can be automatically picked from the roots of the seedlings under the action of the picking mechanism. Not only can the seedlings be picked without damage, but also the picking efficiency is high, and subsequent continuous cultivation of the seedlings is facilitated.

Description

Technical Field

[0001] This application relates to the technical field of seedling transfer, and specifically to an automatic seedling transfer robot. Background Art

[0002] The cultivation devices for seed and seedling cultivation are key technical tools for providing an ideal growth environment and promoting the healthy growth of plant seeds and seedlings. These devices are usually designed to simulate and optimize the plant growth process under controlled environmental conditions so that seeds can germinate quickly and seedlings can grow rapidly, providing a balanced basis for subsequent field planting or experimental research. During the cultivation of seeds and some seedlings, it is necessary to transfer their cultivation locations to complete subsequent cultivation directions.

[0003] The prior art also proposed an improvement scheme for seedling picking. For example, a patent application with publication number CN222128972U discloses a tissue culture rack convenient for seedling transfer, including columns and baskets; the number of columns is 4, the columns are fixed with a controller, several layers of partitions are fixedly arranged between the columns, a connecting frame platform is fixed on the back of the high-level position of the partition, a connecting frame electric push rod is arranged on the top of the connecting frame platform, the push rod head of the connecting frame electric push rod faces the partition, an extension frame is fixed on the top of the column, one side of the basket in contact with the partition is an open mouth, and a connecting basket electric push rod is arranged on the side of the basket away from the partition, which can automatically place or take the high-level culture basket, lower the height to a height convenient for workers to take, avoid the safety hazards brought by climbing heights, and the problem of too high labor intensity of lifting and placing the culture bottle basket.

[0004] Although the above technical solution can automatically place or take the high-level culture basket, there are still other problems in specific use. For example, when transferring seedlings, since the roots and stems of seedlings are relatively fragile, generally, it is manual transfer by workers, but this transfer method is more troublesome and inconvenient to operate.

[0005] Therefore, it is necessary to provide an automatic seedling transfer robot to solve the above problems.

[0006] It should be noted that the above information disclosed in this background art section is only used to understand the background art of the concept of this application, and therefore, it may include information that does not constitute prior art. Summary of the Invention

[0007] The technical solution adopted by this application to solve its technical problems is: an automatic seedling transfer robot, including: A seedling picking robot main body, which is composed of multiple support frames; Moving wheels, which are rotatably arranged under the seedling picking robot main body and are controlled by an external motor; Fixing brackets, with multiple fixing brackets provided and respectively fixedly installed on both side walls of the main body of the seedling picking robot; An oil cylinder, fixedly installed between two opposite fixing brackets; A picking cylinder, fixedly installed at the telescopic end of the oil cylinder; A picking mechanism, arranged inside the picking cylinder, and the picking mechanism is used for automatically picking seedling plants; A monitoring camera, installed at the bottom of the picking cylinder through a bracket.

[0008] Furthermore, the picking mechanism includes: A sliding plate, slidably arranged at the bottom of the picking cylinder, with two sliding plates in a group for one picking cylinder, and sliding grooves adapted to the sliding plates are provided at the bottom of the picking cylinder; A conical piece, fixedly installed on the opposite surfaces of the two sliding plates; A recycling unit, arranged below the picking cylinder, and the recycling unit is used for recycling the picked seedlings; A pushing unit, arranged on the surface of the main body of the seedling picking robot, and the pushing unit is used for controlling the movement of two opposite sliding plates.

[0009] Furthermore, an L-shaped support plate is fixedly installed on the upper end surface of each sliding plate, a telescopic spring is installed at the end of the L-shaped support plate away from the sliding plate, and the end of the telescopic spring away from the L-shaped support plate is connected to the side wall of the picking cylinder; the pushing unit includes a plurality of fixed support rods installed on the side wall of the main body of the seedling picking robot, a limiting plate is fixedly installed between adjacent fixed support rods, and two arc-shaped plates are fixedly installed on the surface of the limiting plate; the end of the sliding plate contacts the side wall of the limiting plate.

[0010] Furthermore, two adjacent arc-shaped plates are designed in a separated manner, and a sliding bracket adapted to the sliding plate is installed on the side wall of the picking cylinder; during operation, designing two adjacent arc-shaped plates in a separated manner can give the picking cylinder enough time to cover the surface of the seedlings, facilitate the subsequent movement of the two sliding plates again, and perform automatic picking treatment on the seedlings; the sliding bracket is provided to limit the moving position of the sliding plate, thereby facilitating non-damaging picking of the seedlings.

[0011] Furthermore, the sliding plate includes: A runner, rotatably arranged at the end of the sliding plate, an installation bracket adapted to the runner is arranged at the end of the sliding plate, and the runner contacts the limiting plate and the arc-shaped plate; during operation, the runner is provided, and when the sliding plate moves up and down following the picking cylinder, the runner will contact the upper and lower arc-shaped plates, thereby facilitating the opening and closing of the sliding plate at the bottom of the picking cylinder, that is, facilitating the automatic picking of the seedlings.

[0012] Further, the recycling unit includes: Two inclined conveying frames, which are respectively slidably arranged below the main body of the seedling picking robot. The two inclined conveying frames are located below the picking cylinder, and there is a gap between the upper end of the inclined conveying frame and the bottom of the picking cylinder; A moving unit, which is arranged outside the fixing frame and is used to drive the inclined conveying frame to move; Two recycling frames, which are fixedly installed below the main body of the seedling picking robot and correspond to the inclined conveying frames.

[0013] Further, the moving unit includes: Multiple groups of connecting frames, which are installed outside the fixing frame; At least one group of pulley blocks, which are arranged inside the connecting frames. One group of pulley blocks corresponds to the picking cylinder, and the other group of pulley blocks corresponds to the inclined conveying frame; An elastic pulling rope, which is wound around the outer peripheral surface of adjacent pulley blocks. One end of the elastic pulling rope is connected to the picking cylinder, and the other end is connected to the bottom of the inclined conveying frame.

[0014] Further, a limiting bracket is fixedly installed on the side wall of the inclined conveying frame, and the end of the limiting bracket away from the inclined conveying frame is slidably arranged at the bottom of the main body of the seedling picking robot; during operation, when the inclined conveying frame is pulled, it will drive the limiting bracket to move at the same time, so that the limiting bracket moves below the main body of the seedling picking robot, that is, the limiting bracket can limit the moving position of the inclined conveying frame, which is convenient for the separation and re - combination of the two inclined conveying frames.

[0015] Further, a telescopic rod is fixedly installed at the end of the limiting bracket, a limiting spring is sleeved on the telescopic end of the telescopic rod, and a blocking bracket adapted to the limiting spring is installed on the side wall of the main body of the seedling picking robot.

[0016] Further, the bottoms of the recycling frames and the inclined conveying frames are higher than the bottom of the main body of the seedling picking robot; such a design can prevent the bottoms of the recycling frames and the inclined conveying frames from contacting the ground and can better pick the seedlings.

[0017] The beneficial effects of this application are as follows: For an automatic seedling transfer robot provided by this application, when the opening at the bottom of the picking cylinder gradually covers the seedling and slowly moves to the root of the seedling, the end of the sliding plate will contact the arc plate below at this time, causing the arc plate below to squeeze the sliding plate, that is, the two sliding plates will approach each other. When the tapered pieces approach each other, the soil under the root of the seedling can be automatically sheared and automatically fall to the bottom of the picking cylinder, realizing the automatic picking process of the seedling.

[0018] When the picking cylinder moves downward, the picking cylinder will simultaneously pull the elastic drawstring on its surface, and the elastic drawstring will pull the inclined conveying frame at the other end through the action of the pulley group, causing the two inclined conveying frames to move away from each other. The distance between their separation is such that the inclined conveying frame does not affect the downward movement of the picking cylinder. Subsequently, under the action of the above-mentioned picking mechanism and the pushing unit, the seedling can be automatically picked.

[0019] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. The following will refer to the drawings for a further detailed description of this application. Brief Description of the Drawings

[0020] The schematic diagrams in the specification that form a part of this application are used to provide a further understanding of this application. The schematic embodiments and descriptions thereof of this application are used to explain this application and do not constitute an improper limitation to this application. In the drawings: Figure 1 is the overall schematic diagram in this application; Figure 2 is the schematic diagram of the main structure of the seedling picking robot in this application; Figure 3 is the schematic diagram of the partial structure of the sliding plate in this application (viewed from bottom to top); Figure 4 is the schematic diagram of the partial structure of the limit plate in this application; Figure 5 is the schematic diagram of the sectional structure of the picking cylinder in this application; Figure 6 is the schematic diagram of the structure of the picking cylinder in the initial state in this application; Figure 7 is the schematic diagram of the structure of the picking cylinder during the moving process in this application; Figure 8 is the schematic diagram of the picking cylinder during picking in this application; Figure 9 is the schematic diagram of the partial structure of the inclined conveying frame in this application; Figure 10 is the schematic diagram of the partial structure of the recycling frame in this application; Figure 11 is the schematic diagram of the initial state structure of the inclined conveying frame in this application; Figure 12 Schematic diagram of the structure where the two inclined conveying frames in the present application are away from each other; Figure 13 Schematic diagram of the structure when the picking cylinder in the present application moves upward.

[0021] Among them, the reference signs in the figures are as follows: 1. Seedling picking robot main body; 2. Moving wheels; 3. Fixed frame; 4. Oil cylinder; 5. Picking cylinder; 501. Monitoring camera; 6. Sliding plate; 7. Conical piece; 8. L-shaped support plate; 9. Telescopic spring; 10. Fixed support rod; 11. Limiting plate; 111. Arc plate; 12. Runner; 13. Inclined conveying frame; 14. Recycling frame; 15. Connecting frame; 16. Pulley block; 17. Elastic pull rope; 18. Limiting bracket; 19. Limiting spring; 20. Baffle. Detailed implementation manners

[0022] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0024] Referring to Figures 1 to 5 As shown, the present application provides an automatic seedling transfer robot, including: a seedling picking robot main body 1, the seedling picking robot main body 1 is composed of a plurality of support frames; moving wheels 2, the moving wheels 2 are rotatably arranged below the seedling picking robot main body 1, and the moving wheels 2 are controlled by an external motor; fixed frames 3, a plurality of fixed frames 3 are provided and are respectively fixedly installed on both side walls of the seedling picking robot main body 1; an oil cylinder 4, the oil cylinder 4 is fixedly installed between two opposite fixed frames 3; a picking cylinder 5, the picking cylinder 5 is fixedly installed at the telescopic end of the oil cylinder 4; a picking mechanism, the picking mechanism is arranged inside the picking cylinder 5, and the picking mechanism is used for automatically picking seed seedlings; a monitoring camera 501, the monitoring camera 501 is installed at the bottom of the picking cylinder 5 through a bracket.

[0025] When it is necessary to transfer the seedlings, first place the main body 1 of the seedling picking robot at a suitable position for planting seedlings, so that the bottom of the picking cylinder 5 corresponds to one row of seedlings. Then, control the moving wheels 2 and the main body 1 of the seedling picking robot to move forward through an external controller. When the monitoring camera 501 detects that there are seedlings at the bottom of the picking cylinder 5, at this time, the external controller first controls the main body 1 of the seedling picking robot to stop moving, and at the same time controls the oil cylinder 4 to move downward, so that the oil cylinder 4 drives the picking cylinder 5 to move downward, that is, the picking cylinder 5 moves toward the side close to the seedlings. Subsequently, under the action of the picking mechanism, the seedlings can be automatically picked from their roots. It can not only pick the seedlings in a non-damaging manner, but also has a high picking efficiency, which is beneficial to the subsequent cultivation of the seedlings.

[0026] Refer to Figures 3 to 8 As shown, the picking mechanism includes: a sliding plate 6, the sliding plate 6 is slidably arranged at the bottom of the picking cylinder 5, and the number of sliding plates 6 of a group of picking cylinders 5 is two. A chute adapted to the sliding plate 6 is opened at the bottom of the picking cylinder 5; a conical piece 7, the conical piece 7 is fixedly installed on the opposite surfaces of the two sliding plates 6; a recycling unit, the recycling unit is arranged below the picking cylinder 5, and the recycling unit is used to recycle the picked seedlings; a pushing unit, the pushing unit is arranged on the surface of the main body 1 of the seedling picking robot, and the pushing unit is used to control the movement of the two opposite sliding plates 6. During operation, in the initial state, the two opposite sliding plates 6 are in contact with each other, that is, the lower part of the picking cylinder 5 is blocked; when the picking cylinder 5 moves downward, under the action of the pushing unit, the two sliding plates 6 will separate from each other. When the bottom of the picking cylinder 5 completely covers the seedlings, that is, when the two conical pieces 7 are aligned with the roots of the seedlings, again under the action of the pushing unit, the two sliding plates 6 will approach each other and drive the conical pieces 7 to move, so that the two conical pieces 7 come into contact again and shear the soil under the roots of the seedlings. Subsequently, the seedlings will automatically fall into the interior of the picking cylinder 5, realizing the automatic picking process of the seedlings. The operation is relatively convenient and will not damage the seedlings.

[0027] An L-shaped support plate 8 is fixedly installed on the upper end surface of each sliding plate 6. One end of the L-shaped support plate 8 away from the sliding plate 6 is provided with a telescopic spring 9, and the end of the telescopic spring 9 away from the L-shaped support plate 8 is connected to the side wall of the picking cylinder 5; the pushing unit includes a plurality of fixed support rods 10 installed on the side wall of the main body 1 of the seedling picking robot. A limiting plate 11 is fixedly installed between adjacent fixed support rods 10, and two arc plates 111 are fixedly installed on the surface of the limiting plate 11; the end of the sliding plate 6 is in contact with the side wall of the limiting plate 11. During operation, in the initial state, refer to the appendix Figure 6As shown, the end of the sliding plate 6 contacts the arc plate 111 above the limit plate 11, and at this time, the telescopic spring 9 is in a compressed state; when the oil cylinder 4 drives the picking cylinder 5 to move downward, the picking cylinder 5 will drive the sliding plate 6 to move downward at the same time. After that, the end of the sliding plate 6 will separate from the arc plate 111 above the limit plate 11, that is, the arc plate 111 no longer presses on the sliding plate 6. Subsequently, under the restoration of the elastic force of the telescopic spring 9, the two sliding plates 6 and the conical pieces 7 will move away from each other until Figure 7 As shown, at this time, the end of the sliding plate 6 is located between two adjacent arc plates 111. When the opening at the bottom of the picking cylinder 5 gradually covers the upper part of the seedling and slowly moves to the root of the seedling, at this time, the end of the sliding plate 6 will contact the arc plate 111 below, so that the arc plate 111 below presses on the sliding plate 6. Refer to Figure 8 As shown, that is, the two sliding plates 6 will move closer to each other again. Under the condition that the conical pieces 7 move closer to each other, the soil under the root of the seedling can be automatically sheared and automatically fall to the bottom of the picking cylinder 5, realizing the automatic picking process of the seedling.

[0028] Two adjacent arc plates 111 are designed in a separated manner, and a sliding bracket adapted to the sliding plate 6 is installed on the side wall of the picking cylinder 5; during operation, the two adjacent arc plates 111 are designed in a separated manner, which can give the picking cylinder 5 enough time to cover the surface of the seedling and facilitate the subsequent movement of the two sliding plates 6 again, and realize the automatic picking process of the seedling; the sliding bracket is provided to limit the moving position of the sliding plate 6, so as to facilitate the damage-free picking of the seedling.

[0029] The sliding plate 6 includes: a runner 12, the runner 12 is rotatably arranged at the end of the sliding plate 6, an installation bracket adapted to the runner 12 is arranged at the end of the sliding plate 6, and the runner 12 contacts the limit plate 11 and the arc plate 111; during operation, the runner 12 is provided. When the sliding plate 6 moves up and down following the picking cylinder 5, the runner 12 will contact the upper and lower arc plates 111, so as to facilitate the opening and closing of the sliding plate 6 at the bottom of the picking cylinder 5, that is, facilitate the automatic picking of the seedling.

[0030] Refer to Figures 4 to 13 As shown, the recovery unit includes: two inclined conveying frames 13, the two inclined conveying frames 13 are respectively slidably arranged below the main body 1 of the seedling picking robot, the two inclined conveying frames 13 are located below the picking cylinder 5, and there is a gap between the upper end of the inclined conveying frame 13 and the bottom of the picking cylinder 5; a moving unit, the moving unit is arranged outside the fixing frame 3, and the moving unit is used to drive the inclined conveying frame 13 to move; two recovery frames 14, the two recovery frames 14 are fixedly installed below the main body 1 of the seedling picking robot, and the recovery frames 14 correspond to the inclined conveying frames 13; During operation, in the initial state, that is, when the end of the sliding plate 6 contacts the arc plate 111 above the limit plate 11, the position of the inclined conveying frame 13 is as Figure 11 shown. When the picking cylinder 5 moves downward to pick the seedlings, through the action of the moving unit, the two inclined conveying frames 13 will be pulled and move away from each other until they are attached Figure 12 as shown. At this time, as the picking cylinder 5 moves downward, its bottom opening will be gradually opened and cover the seedlings through the steps shown above. Subsequently, under the action of the conical piece 7, the seedlings can be picked; When the picking cylinder 5 moves upward, again through the action of the moving unit, the two inclined conveying frames 13 will slowly return to the initial position. During the upward movement of the picking cylinder 5, the sliding plate 6 at its bottom will be opened first and then closed. When the sliding plate 6 is opened, the seedlings inside the picking cylinder 5 will fall above the inclined conveying frame 13 and slowly slide along the inclined surface of the inclined conveying frame 13 into the recycling frame 14, realizing the automatic picking and recycling of the seedlings. After the seedlings are picked once, people only need to take out the seedlings inside the recycling frame 14, saving the workload and avoiding the problem of possible seedling damage when the staff picks manually.

[0031] The moving unit includes: multiple groups of connecting frames 15, which are installed on the outer side of the fixed frame 3; at least one group of pulley groups 16, which are arranged inside the connecting frames 15. One group of pulley groups 16 corresponds to the picking cylinder 5, and the other group of pulley groups 16 corresponds to the inclined conveying frame 13; an elastic pulling rope 17, which is wound around the outer peripheral surface of the adjacent pulley groups 16. One end of the elastic pulling rope 17 is connected to the picking cylinder 5, and the other end is connected to the bottom of the inclined conveying frame 13; During operation, referring to the attached Figure 11 and Figure 12 shown, when the picking cylinder 5 moves downward, the picking cylinder 5 will simultaneously pull the elastic pulling rope 17 on its surface. The elastic pulling rope 17 will pull the inclined conveying frame 13 at its other end to move through the action of the pulley group 16, so that the two inclined conveying frames 13 move away from each other. The distance between their separation is such that the inclined conveying frame 13 does not affect the downward movement of the picking cylinder 5. Subsequently, under the action of the above-mentioned picking mechanism and the pushing unit, the seedlings can be automatically picked.

[0032] A limit bracket 18 is fixedly installed on the side wall of the inclined conveying frame 13. The end of the limit bracket 18 far from the inclined conveying frame 13 is slidably arranged at the bottom of the seedling picking robot main body 1. During operation, when the inclined conveying frame 13 is pulled, it will simultaneously drive the limit bracket 18 to move, so that the limit bracket 18 moves below the seedling picking robot main body 1, that is, the limit bracket 18 can limit the moving position of the inclined conveying frame 13, facilitating the separation and re - combination of the two inclined conveying frames 13.

[0033] A telescopic rod is fixedly installed at the end of the limit bracket 18, and a limit spring 19 is sleeved on the telescopic end of the telescopic rod. A stop frame 20 adapted to the limit spring 19 is installed on the side wall of the main body 1 of the seedling picking robot. During operation, when the two inclined conveying frames 13 move away from each other, the inclined conveying frame 13 will drive the limit bracket 18 to move synchronously, and the limit bracket 18 will compress the telescopic rod and the limit spring 19 at its end. When the seedling picking is completed and the picking cylinder 5 moves upward, refer to the appendix Figure 12 As shown, at this time, the side wall of the picking cylinder 5 contacts the side wall of the inclined conveying frame 13, and when the picking cylinder 5 moves upward, it no longer pulls the elastic pull rope 17. When the sliding plate 6 at the bottom of the picking cylinder 5 gradually separates from the arc plate 111, that is, when the two sliding plates 6 gradually separate and the bottom of the picking cylinder 5 is gradually opened, at this time, the side wall of the picking cylinder 5 will completely separate from the side wall of the inclined conveying frame 13. Refer to the appendix Figure 13 As shown, subsequently, under the elastic force of the limit spring 19, the inclined conveying frame 13 will be quickly driven back to the initial position, so as to be able to receive and convey the seedlings at the bottom of the picking cylinder 5, facilitating the automatic recycling of the seedlings.

[0034] The bottoms of the recycling frame 14 and the inclined conveying frame 13 are higher than the bottom of the main body 1 of the seedling picking robot. With such a design, it can be avoided that the bottoms of the recycling frame 14 and the inclined conveying frame 13 contact the ground, and the seedlings can be picked better.

[0035] Working principle: In order to improve the growth efficiency of seedlings and reduce the occurrence of diseases, some seedlings are planted in a linear arrangement on the planting bed. When the seedlings need to be transferred, first place the main body 1 of the seedling picking robot at a suitable position for planting seedlings, so that the bottom of the picking cylinder 5 corresponds to one row of seedlings. Subsequently, control the moving wheels 2 and the main body 1 of the seedling picking robot to move forward through an external controller. When the monitoring camera 501 detects that there are seedlings at the bottom of the picking cylinder 5, at this time, the external controller first controls the main body 1 of the seedling picking robot to stop moving, and at the same time controls the oil cylinder 4 to move downward, so that the oil cylinder 4 drives the picking cylinder 5 to move downward, that is, the picking cylinder 5 moves toward the side close to the seedlings. Subsequently, under the action of the picking mechanism, the seedlings can be automatically picked from their roots. It can not only pick the seedlings in a non-damaging manner, but also has a high picking efficiency, which is beneficial to the subsequent cultivation of the seedlings; In the initial state, refer to the appendix Figure 6 As shown, the end of the sliding plate 6 contacts the arc plate 111 above the limit plate 11, and at this time, the telescopic spring 9 is in a compressed state. When the oil cylinder 4 drives the picking cylinder 5 to move downward, the picking cylinder 5 will drive the sliding plate 6 to move downward at the same time. After that, the end of the sliding plate 6 will separate from the arc plate 111 above the limit plate 11, that is, the arc plate 111 no longer presses the sliding plate 6. Subsequently, under the restoration of the elastic force of the telescopic spring 9, the two sliding plates 6 and the conical piece 7 will move away from each other to the appendix Figure 7As shown, at this time, the end of the sliding plate 6 is located between two adjacent arc plates 111. When the opening at the bottom of the picking cylinder 5 gradually covers the area above the seedling and slowly moves to the root of the seedling, the end of the sliding plate 6 will contact the lower arc plate 111 at this time, causing the lower arc plate 111 to squeeze the sliding plate 6. Refer to the appendix Figure 8 As shown, that is, the two sliding plates 6 will approach each other again. Under the condition that the tapered pieces 7 approach each other, the soil under the root of the seedling can be automatically sheared and automatically fall to the bottom of the picking cylinder 5, realizing the automatic picking process of the seedling; In the initial state, that is, when the end of the sliding plate 6 contacts the arc plate 111 above the limiting plate 11, the position of the inclined conveying frame 13 is as Figure 11 As shown. When the picking cylinder 5 moves downward to pick the seedling, through the action of the moving unit, the two inclined conveying frames 13 will be pulled and move away from each other to the appendix Figure 12 As shown. At this time, as the picking cylinder 5 moves downward, its bottom opening will be gradually opened and cover the seedling through the steps shown above. Subsequently, under the action of the tapered pieces 7, the seedling can be picked; When the picking cylinder 5 moves upward, through the action of the moving unit again, the two inclined conveying frames 13 will slowly return to the initial position. During the upward movement of the picking cylinder 5, the sliding plate 6 at its bottom will be opened and then closed first. When the sliding plate 6 is opened, the seedling inside the picking cylinder 5 will fall above the inclined conveying frame 13 and slowly slide along the inclined surface of the inclined conveying frame 13 into the recovery frame 14, realizing the automatic picking and recovery of the seedling. After the seedling is picked once, people only need to take out the seedling inside the recovery frame 14, which saves the workload and avoids the problem of possible seedling damage when the staff picks manually; when the two inclined conveying frames 13 move away from each other, the inclined conveying frame 13 will drive the limiting bracket 18 to move synchronously, and the limiting bracket 18 will compress the telescopic rod and the limiting spring 19 at its end; when the seedling picking is completed and the picking cylinder 5 moves upward, refer to the appendix Figure 12 As shown. At this time, the side wall of the picking cylinder 5 contacts the side wall of the inclined conveying frame 13, and when the picking cylinder 5 moves upward, it no longer pulls the elastic pull rope 17. When the sliding plate 6 at the bottom of the picking cylinder 5 gradually separates from the arc plate 111, that is, the two sliding plates 6 gradually separate and the bottom of the picking cylinder 5 is gradually opened, at this time, the side wall of the picking cylinder 5 will completely separate from the side wall of the inclined conveying frame 13. Refer to the appendix Figure 13 As shown. Subsequently, under the elastic force of the limiting spring 19, it will quickly drive the inclined conveying frame 13 to return to the initial position, so as to be able to receive and convey the seedling at the bottom of the picking cylinder 5, facilitating the automatic recovery of the seedling.

[0036] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A seedling automatic transfer robot, characterized in that: include: A seedling picking robot body (1), wherein the seedling picking robot body (1) is composed of a plurality of support frames; A moving wheel (2), the moving wheel (2) being rotatably arranged below the main body (1) of the seedling picking robot, and the moving wheel (2) being controlled by an external motor; A fixing frame (3), wherein a plurality of the fixing frames (3) are provided and are respectively fixedly mounted on two side walls of the main body (1) of the seedling picking robot; An oil cylinder (4), wherein the oil cylinder (4) is fixedly mounted between two opposite fixing frames (3); A picking cylinder (5), wherein the picking cylinder (5) is fixedly mounted on the telescopic end of the oil cylinder (4); A picking mechanism, the picking mechanism being arranged inside the picking cylinder (5), and being used for automatically picking seeds and seedlings; A monitoring camera (501), wherein the monitoring camera (501) is mounted on the bottom of the picking tube (5) via a bracket.

2. The seedling automatic transfer robot according to claim 1, characterized in that: The picking mechanism comprises: A sliding plate (6), the sliding plate (6) being slidably arranged at the bottom of the picking cylinder (5), the number of sliding plates (6) in a group of picking cylinders (5) being two, and a sliding groove matching the sliding plate (6) being provided at the bottom of the picking cylinder (5); A conical piece (7), wherein the conical piece (7) is fixedly mounted on opposite surfaces of the two sliding plates (6); A recovery unit, the recovery unit being arranged below the picking cylinder (5), and being used for recovering the picked seedlings; A pushing unit is arranged on the surface of the main body (1) of the seedling picking robot, and is used to control the movement of two relative sliding plates (6).

3. The seedling automatic transfer robot according to claim 2, characterized in that: An L-shaped support plate (8) is fixedly mounted on the upper end surface of each sliding plate (6); a telescopic spring (9) is mounted on one end of the L-shaped support plate (8) away from the sliding plate (6); the end of the telescopic spring (9) away from the L-shaped support plate (8) is connected to the side wall of the picking tube (5); the pushing unit comprises a plurality of fixed support rods (10) mounted on the side wall of the seedling picking robot body (1); a limit plate (11) is fixedly mounted between adjacent fixed support rods (10); two arc plates (111) are fixedly mounted on the surface of the limit plate (11); and the end of the sliding plate (6) contacts the side wall of the limit plate (11).

4. The seedling automatic transfer robot according to claim 3, characterized in that: The two adjacent arc plates (111) are of separate design, and a sliding bracket matching the sliding plate (6) is installed on the side wall of the picking cylinder (5).

5. The seedling automatic transfer robot according to claim 3, characterized in that: The sliding plate (6) comprises: A rotating wheel (12), the rotating wheel (12) being rotatably arranged at the end of the sliding plate (6), the end of the sliding plate (6) being provided with a mounting bracket matched with the rotating wheel (12), the rotating wheel (12) being in contact with the limiting plate (11) and the arc plate (111).

6. The seedling automatic transfer robot according to claim 5, characterized in that: The recovery unit comprises: Two inclined conveying frames (13), the two inclined conveying frames (13) are respectively slidably arranged below the main body (1) of the seedling picking robot, the two inclined conveying frames (13) are located below the picking cylinder (5), and a gap is left between the upper end of the inclined conveying frame (13) and the bottom of the picking cylinder (5); A moving unit, the moving unit being arranged outside the fixed frame (3), the moving unit being used to drive the inclined conveying frame (13) to move; A recovery frame (14), wherein two recovery frames (14) are provided and fixedly installed below the main body (1) of the seedling picking robot, and the recovery frame (14) corresponds to the inclined conveying frame (13).

7. The seedling automatic transfer robot according to claim 6, characterized in that: The mobile unit comprises: A plurality of connecting frames (15), wherein the plurality of connecting frames (15) are installed on the outside of the fixing frame (3); At least one set of pulley blocks (16), wherein the pulley blocks (16) are arranged inside the connecting frame (15), wherein one set of pulley blocks (16) corresponds to the picking cylinder (5), and another set of pulley blocks (16) corresponds to the inclined conveying frame (13); An elastic pull rope (17), wherein the elastic pull rope (17) is wrapped around the outer peripheral surface of the adjacent pulley block (16), one end of the elastic pull rope (17) is connected to the picking cylinder (5), and the other end is connected to the bottom of the inclined conveying frame (13).

8. The seedling automatic transfer robot according to claim 7, characterized in that: A limit bracket (18) is fixedly mounted on the side wall of the inclined conveying frame (13), and the limit bracket (18) is slidably arranged at the bottom of the seedling picking robot body (1) away from the end of the inclined conveying frame (13).

9. The seedling automatic transfer robot according to claim 8, characterized in that: A telescopic rod is fixedly mounted on the end of the limit bracket (18), the telescopic end of the telescopic rod is sleeved with a limit spring (19), and a retaining frame (20) adapted to the limit spring (19) is mounted on the side wall of the main body (1) of the seedling picking robot.

10. The seedling automatic transfer robot according to claim 7, characterized in that: The bottoms of the recovery frame (14) and the inclined conveying frame (13) are higher than the bottom of the main body (1) of the seedling picking robot.

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