An automated seedling transfer robot

Abstract

This application relates to the field of seedling transfer technology, specifically an automatic seedling transfer robot, comprising: a seedling picking robot body composed of multiple support frames; moving wheels rotatably disposed below the seedling picking robot body, the moving wheels being controlled by an external motor; multiple fixed frames, each fixedly installed on one or both sides of the seedling picking robot body; and hydraulic cylinders fixedly installed between two opposing fixed frames. When a monitoring camera detects a seedling at the bottom of the picking cylinder, the external controller first controls the seedling picking robot body to stop moving, causing the hydraulic cylinders to move the picking cylinder downwards, i.e., the picking cylinder moves towards the side closer to the seedling. Subsequently, under the action of the picking mechanism, the seedling can be automatically picked from its root. This not only allows for non-destructive seedling picking but also has high picking efficiency, which is beneficial for the subsequent cultivation of the seedlings.

Description

Technical Field

[0001] This application relates to the field of seedling transfer technology, specifically to an automated seedling transfer robot. Background Technology

[0002] Seed and seedling cultivation devices are key technological tools used to provide ideal growth environments and promote the healthy growth of plant seeds and seedlings. These devices are typically designed to simulate and optimize plant growth processes under controlled environmental conditions, enabling seeds to germinate rapidly and seedlings to grow quickly, providing a balanced foundation for subsequent field planting or experimental research. During the cultivation process, seeds and some seedlings may need to be transferred to different cultivation locations to complete the subsequent cultivation direction.

[0003] Existing technologies have also proposed an improvement scheme for seedling harvesting. For example, a patent application with publication number CN222128972U discloses a tissue culture rack for convenient seedling transfer, including columns and baskets. The number of columns is 4, and a controller is fixed on the columns. Several layers of partitions are fixed between the columns. A connecting platform is fixed to the back of the upper part of the partitions. A connecting electric actuator is provided on the top of the connecting platform. The actuator head faces the partition. An extension frame is fixed on the top of the columns. The side of the basket that is in contact with the partition is open. A basket connecting electric actuator is provided on the side of the basket away from the partition. It can automatically place or retrieve the upper culture baskets, lowering the height to a height that workers can easily reach, avoiding the safety hazards caused by climbing and the problem of excessive labor intensity in lifting and placing culture bottle baskets.

[0004] Although the above-mentioned technical solution can automatically place or retrieve high-level cultivation baskets, there are still other problems in actual use. For example, when transferring seedlings, since the roots and stems of the seedlings are relatively fragile, they are usually transferred manually by staff. However, this transfer method is cumbersome and inconvenient to operate.

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

[0006] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore 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 problem is: an automatic seedling transfer robot, comprising:

[0008] The main body of the seedling harvesting robot is composed of multiple support structures;

[0009] The movable wheels are located below the main body of the seedling harvesting robot and are controlled by an external motor.

[0010] A fixing frame, wherein multiple fixing frames are provided and respectively fixedly installed on both sides of the main body of the seedling harvesting robot;

[0011] The hydraulic cylinder is fixedly installed between two opposing fixed frames;

[0012] Harvesting tube, which is fixedly installed on the telescopic end of the hydraulic cylinder;

[0013] A harvesting mechanism, which is located inside the harvesting cylinder, is used to automatically harvest seeds and seedlings;

[0014] A monitoring camera is mounted on the bottom of the harvesting tube via a bracket.

[0015] Furthermore, the harvesting mechanism includes:

[0016] A sliding plate is slidably disposed at the bottom of the picking tube. A set of picking tubes has two sliding plates, and the bottom of the picking tube is provided with a sliding groove that matches the sliding plate.

[0017] A conical plate, which is fixedly installed on the opposite sides of two sliding plates;

[0018] A recycling unit is located below the harvesting tube and is used to collect the harvested seedlings.

[0019] A pushing unit is disposed on the surface of the seedling harvesting robot body, and the pushing unit is used to control the movement of two opposing sliding plates.

[0020] Furthermore, an L-shaped support plate is fixedly installed on the upper surface of each sliding plate, and a telescopic spring is installed on the end of the L-shaped support plate away from the sliding plate. 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 multiple fixed support rods installed on the side wall of the main body of the seedling picking robot. A limit plate is fixedly installed between adjacent fixed support rods. Two arc plates are fixedly installed on the surface of the limit plate. The end of the sliding plate contacts the side wall of the limit plate.

[0021] Furthermore, the two adjacent arc plates are designed separately, and the side wall of the picking tube is equipped with a sliding bracket adapted to the sliding plate. During operation, the two adjacent arc plates are designed separately, which allows the picking tube sufficient time to cover the seedling surface and facilitates the subsequent movement of the two sliding plates for automatic picking of the seedlings. The sliding bracket can limit the movement position of the sliding plate, thereby facilitating the non-damaging picking of the seedlings.

[0022] Furthermore, the sliding plate includes:

[0023] A rotating wheel is rotatably mounted at the end of a sliding plate. The end of the sliding plate is provided with a mounting bracket adapted to the rotating wheel. The rotating wheel contacts a limiting plate and an arc plate. During operation, the rotating wheel is provided so that when the sliding plate moves up and down with the picking cylinder, the rotating wheel will contact the upper and lower arc plates, thereby facilitating the opening and closing of the sliding plate at the bottom of the picking cylinder, which facilitates the automatic picking of seedlings.

[0024] Furthermore, the recycling unit includes:

[0025] Two inclined conveyor frames are slidably positioned below the main body of the seedling harvesting robot. The two inclined conveyor frames are located below the harvesting cylinder, and there is a gap between the upper end of the inclined conveyor frames and the bottom of the harvesting cylinder.

[0026] A moving unit is disposed on the outside of the fixed frame, and the moving unit is used to drive the inclined conveyor frame to move.

[0027] Two recycling frames are provided and fixedly installed below the main body of the seedling harvesting robot. The recycling frames correspond to the inclined conveyor frame.

[0028] Furthermore, the moving unit includes:

[0029] Multiple sets of connecting brackets are installed on the outside of the fixed bracket;

[0030] At least one set of pulleys is provided inside the connecting frame, wherein one set of pulleys corresponds to the picking cylinder and the other set of pulleys corresponds to the inclined conveyor frame;

[0031] An elastic pull rope is wrapped around the outer circumference of an adjacent pulley block. One end of the elastic pull rope is connected to the picking cylinder, and the other end is connected to the bottom of the inclined conveyor frame.

[0032] Furthermore, a limiting bracket is fixedly installed on the side wall of the inclined conveyor frame, and the end of the limiting bracket away from the inclined conveyor frame is slidably disposed at the bottom of the seedling picking robot body. During operation, when the inclined conveyor frame is pulled, it will simultaneously drive the limiting bracket to move, so that the limiting bracket moves below the seedling picking robot body. That is, the limiting bracket can limit the movement position of the inclined conveyor frame, which facilitates the separation and re-merging of the two inclined conveyor frames.

[0033] Furthermore, a telescopic rod is fixedly installed at the end of the limiting bracket, and a limiting spring is sleeved on the telescopic end of the telescopic rod. A stop frame adapted to the limiting spring is installed on the side wall of the seedling picking robot body.

[0034] Furthermore, the bottom of the recovery frame and the tilting conveyor frame is higher than the bottom of the main body of the seedling harvesting robot; this design can prevent the bottom of the recovery frame and the tilting conveyor frame from contacting the ground, and can better harvest the seedlings.

[0035] The beneficial effects of this application are as follows: The seedling automatic transfer robot provided by this application gradually covers the seedling through the opening at the bottom of the picking tube and slowly moves to the root of the seedling. At this time, the end of the sliding plate will contact the arc plate below, so that the arc plate below will squeeze the sliding plate, that is, the two sliding plates will move closer to each other. Under the close proximity of the conical plates, the soil below the seedling root can be automatically sheared and automatically fall to the bottom of the picking tube, realizing the automatic picking of seedlings.

[0036] As the picking tube moves downward, it simultaneously pulls the elastic cord on its surface. The elastic cord, through the action of the pulley system, pulls the inclined conveyor frame at the other end to move, causing the two inclined conveyor frames to move away from each other. The distance between the two inclined conveyor frames is such that the downward movement of the picking tube is not affected. Then, under the action of the picking mechanism and the pushing unit, the seedlings can be automatically picked.

[0037] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0038] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is an overall schematic diagram of the application;

[0040] Figure 2 This is a schematic diagram of the main structure of the seedling harvesting robot in this application;

[0041] Figure 3 This is a schematic diagram of the sliding plate part of this application (viewed from bottom to top).

[0042] Figure 4 This is a schematic diagram of the limiting plate structure in this application;

[0043] Figure 5 This is a schematic cross-sectional view of the harvesting tube in this application;

[0044] Figure 6 This is a schematic diagram of the structure of the harvesting tube in its initial state in this application;

[0045] Figure 7This is a schematic diagram of the structure during the movement of the picking tube in this application;

[0046] Figure 8 This is a schematic diagram of the structure of the harvesting tube during harvesting in this application;

[0047] Figure 9 This is a schematic diagram of the inclined conveyor frame structure in this application;

[0048] Figure 10 This is a schematic diagram of the recycling frame structure in this application;

[0049] Figure 11 This is a schematic diagram of the initial state structure of the inclined conveyor frame in this application;

[0050] Figure 12 This is a schematic diagram of the inclined conveyor frames being far apart from each other in this application;

[0051] Figure 13 This is a schematic diagram of the structure when the picking tube moves upward in this application.

[0052] The following are the labeling elements in the figure:

[0053] 1. Seedling harvesting robot body; 2. Moving wheels; 3. Fixed frame; 4. Hydraulic cylinder; 5. Harvesting cylinder; 501. Monitoring camera; 6. Sliding plate; 7. Conical plate; 8. L-shaped support plate; 9. Telescopic spring; 10. Fixed support rod; 11. Limiting plate; 111. Arc plate; 12. Rotary wheel; 13. Inclined conveyor frame; 14. Recycling frame; 15. Connecting frame; 16. Pulley block; 17. Elastic pull rope; 18. Limiting bracket; 19. Limiting spring; 20. Stop frame. Detailed Implementation

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0056] Reference Figures 1 to 5As shown, this application provides an automatic seedling transfer robot, comprising: a seedling picking robot body 1, which is composed of multiple support frames; moving wheels 2, which are rotatably disposed below the seedling picking robot body 1 and controlled by an external motor; fixed frames 3, which are provided in multiple locations and are respectively fixedly installed on both sides of the seedling picking robot body 1; hydraulic cylinders 4, which are fixedly installed between two opposite fixed frames 3; a picking cylinder 5, which is fixedly installed on the telescopic end of the hydraulic cylinder 4; a picking mechanism, which is disposed inside the picking cylinder 5 and is used to automatically pick seeds and seedlings; and a monitoring camera 501, which is mounted on the bottom of the picking cylinder 5 via a bracket.

[0057] When seedlings need to be transferred, the main body 1 of the seedling picking robot is first placed in a suitable position where the seedlings are planted, so that the bottom of the picking cylinder 5 corresponds to one of the rows of seedlings. Then, the external controller controls the moving wheels 2 and the main body 1 of the seedling picking robot to move forward. When the monitoring camera 501 detects that there are seedlings at the bottom of the picking cylinder 5, the external controller first controls the main body 1 of the seedling picking robot to stop moving, and at the same time controls the hydraulic cylinder 4 to move down, so that the hydraulic cylinder 4 drives the picking cylinder 5 to move down, that is, the picking cylinder 5 moves to the side closer to the seedlings. Then, under the action of the picking mechanism, the seedlings can be automatically picked from their roots. This not only allows for seedling picking without damage, but also has high picking efficiency, which is beneficial for the subsequent cultivation of seedlings.

[0058] Reference Figures 3 to 8 As shown, the harvesting mechanism includes: a sliding plate 6, which is slidably disposed at the bottom of the harvesting cylinder 5, and a set of harvesting cylinders 5 has two sliding plates 6. The bottom of the harvesting cylinder 5 is provided with a groove that matches the sliding plate 6; a conical plate 7, which is fixedly installed on the opposite surfaces of the two sliding plates 6; a recycling unit, which is disposed below the harvesting cylinder 5 and is used to recycle the harvested seedlings; and a pushing unit, which is disposed on the surface of the seedling harvesting robot body 1 and is used to control the movement of the two opposing sliding plates 6.

[0059] During operation, in the initial state, the two opposing sliding plates 6 are in contact with each other, thus sealing the bottom of the harvesting cylinder 5. When the harvesting cylinder 5 moves down, the two sliding plates 6 separate under the action of the pushing unit. When the bottom of the harvesting cylinder 5 completely covers the seedling, that is, when the two conical plates 7 are aligned with the roots of the seedling, the two sliding plates 6 move closer to each other under the action of the pushing unit, causing the two conical plates 7 to contact each other again and cut the soil below the roots of the seedling. Then the seedling will automatically fall into the inside of the harvesting cylinder 5, realizing automatic harvesting of the seedling. The operation is convenient and will not damage the seedling.

[0060] Each sliding plate 6 has an L-shaped support plate 8 fixedly installed on its upper surface. A telescopic spring 9 is installed at the 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 cylinder 5. The pushing unit includes multiple fixed support rods 10 installed on the side wall of the seedling picking robot body 1. A limit plate 11 is fixedly installed between adjacent fixed support rods 10. Two arc plates 111 are fixedly installed on the surface of the limit plate 11. The end of the sliding plate 6 contacts the side wall of the limit plate 11.

[0061] During operation, in the initial state, refer to the attached document. Figure 6 As shown, the end of the sliding plate 6 contacts the arc plate 111 above the limiting plate 11, and at this time the telescopic spring 9 is in a compressed state; when the hydraulic cylinder 4 drives the picking cylinder 5 to move down, the picking cylinder 5 will simultaneously drive the sliding plate 6 to move down, and then the end of the sliding plate 6 will separate from the arc plate 111 above the limiting plate 11, that is, the arc plate 111 will no longer compress the sliding plate 6. Subsequently, under the elastic force of the telescopic spring 9, the two sliding plates 6 and the conical plate 7 will move away from each other until they are attached. 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 harvesting tube 5 gradually covers the top of 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, causing the lower arc plate 111 to press against the sliding plate 6. (Refer to the attached diagram.) Figure 8 As shown, the two sliding plates 6 will move closer to each other, and the conical plates 7 will move closer to each other, automatically cutting the soil below the seedling roots and automatically dropping it to the bottom of the harvesting cylinder 5, thus realizing the automatic harvesting of seedlings.

[0062] The two adjacent arc plates 111 are designed separately, and the side wall of the picking tube 5 is equipped with a sliding bracket adapted to the sliding plate 6. During operation, the two adjacent arc plates 111 are designed separately, which allows the picking tube 5 to cover the seedling surface for a sufficient time and facilitates the subsequent movement of the two sliding plates 6 to automatically pick the seedlings. The sliding bracket can limit the movement position of the sliding plate 6, thereby facilitating the non-damaging picking of the seedlings.

[0063] The sliding plate 6 includes a rotating wheel 12, which is rotatably disposed at the end of the sliding plate 6. The end of the sliding plate 6 is provided with a mounting bracket adapted to the rotating wheel 12. The rotating wheel 12 contacts the limiting plate 11 and the arc plate 111. During operation, the rotating wheel 12 is provided so that when the sliding plate 6 moves up and down with the picking cylinder 5, the rotating wheel 12 will contact the upper and lower arc plates 111, thereby facilitating the opening and closing of the sliding plate 6 at the bottom of the picking cylinder 5, which facilitates the automatic picking of seedlings.

[0064] Reference Figures 4 to 13 As shown, the recycling unit includes: two inclined conveyor frames 13, which are slidably disposed below the main body 1 of the seedling harvesting robot, and are located below the harvesting cylinder 5, with a gap between the upper end of the inclined conveyor frames 13 and the bottom of the harvesting cylinder 5; a moving unit, which is disposed outside the fixed frame 3 and is used to move the inclined conveyor frames 13; and two recycling frames 14, which are fixedly installed below the main body 1 of the seedling harvesting robot, and the recycling frames 14 correspond to the inclined conveyor frames 13.

[0065] During operation, in the initial state, i.e., when the end of the sliding plate 6 contacts the arc plate 111 above the limiting plate 11, the position of the inclined conveyor frame 13 is as follows: Figure 11 As shown, when the picking cylinder 5 moves down to pick the seedlings, the moving unit pulls the two inclined conveyor frames 13 away from each other until they are attached. Figure 12 As shown, as the harvesting tube 5 moves down, it gradually opens its bottom opening and covers the seedlings through the steps described above. Then, under the action of the cone-shaped plate 7, the seedlings can be harvested.

[0066] As the picking cylinder 5 moves upward, the two inclined conveyor frames 13 slowly return to their initial positions through the action of the moving unit. During the upward movement of the picking cylinder 5, the sliding plate 6 at its bottom is opened and then closed. When the sliding plate 6 is open, the seedlings inside the picking cylinder 5 fall above the inclined conveyor frame 13 and slowly slide along the inclined surface of the inclined conveyor frame 13 into the recycling frame 14, realizing 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, which saves workload and avoids the problem of seedling damage that may occur when workers pick seedlings manually.

[0067] The moving unit includes: multiple sets of connecting frames 15, which are installed on the outside of the fixed frame 3; at least one set of pulleys 16, which are disposed inside the connecting frames 15, wherein one set of pulleys 16 corresponds to the picking cylinder 5 and the other set of pulleys 16 corresponds to the inclined conveyor frame 13; and an elastic pull rope 17, which is wrapped around the outer circumference of the adjacent pulleys 16, with one end of the elastic pull rope 17 connected to the picking cylinder 5 and the other end connected to the bottom of the inclined conveyor frame 13.

[0068] When working, refer to the appendix Figure 11 and Figure 12As shown, when the picking cylinder 5 moves down, it will simultaneously pull the elastic rope 17 on its surface. The elastic rope 17 will pull the inclined conveyor frame 13 at its other end through the action of the pulley group 16, so that the two inclined conveyor frames 13 move away from each other. The distance between the two is such that the inclined conveyor frames 13 do not affect the downward movement of the picking cylinder 5. Then, under the action of the above-mentioned picking mechanism and the pushing unit, the seedlings can be automatically picked.

[0069] A limiting bracket 18 is fixedly installed on the side wall of the inclined conveying frame 13. The end of the limiting bracket 18 away from the inclined conveying frame 13 is slidably disposed at the bottom of the seedling picking robot body 1. During operation, when the inclined conveying frame 13 is pulled, it will simultaneously drive the limiting bracket 18 to move, so that the limiting bracket 18 moves below the seedling picking robot body 1. That is, the limiting bracket 18 can limit the movement position of the inclined conveying frame 13, which facilitates the separation and re-merging of the two inclined conveying frames 13.

[0070] A telescopic rod is fixedly installed at the end of the limiting bracket 18, and a limiting spring 19 is sleeved on the telescopic end of the telescopic rod. A baffle 20 adapted to the limiting spring 19 is installed on the side wall of the seedling picking robot body 1. During operation, when the two inclined conveyor frames 13 move away from each other, the inclined conveyor frames 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 seedlings are picked and the picking cylinder 5 moves upward, refer to the attached... Figure 12 As shown, at this time, the side wall of the picking cylinder 5 is in contact with the side wall of the inclined conveyor frame 13, and the elastic pull rope 17 is no longer pulled when the picking cylinder 5 moves upward. 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, the side wall of the picking cylinder 5 will completely separate from the side wall of the inclined conveyor frame 13. Refer to the attached diagram. Figure 13 As shown, under the elastic force of the limiting spring 19, the inclined conveyor frame 13 will quickly return to its initial position, thereby receiving and conveying the seedlings at the bottom of the picking cylinder 5, which facilitates the automatic recycling of the seedlings.

[0071] The bottom of the recovery frame 14 and the inclined conveyor frame 13 is higher than the bottom of the main body 1 of the seedling harvesting robot; this design can prevent the bottom of the recovery frame 14 and the inclined conveyor frame 13 from contacting the ground, and can better harvest the seedlings.

[0072] Working principle: To improve seedling growth efficiency and reduce disease occurrence, some seedlings are planted in a linear arrangement on the planting bed. When seedlings need to be transferred, the main body 1 of the seedling harvesting robot is first placed in a suitable position where the seedlings are planted, so that the bottom of the harvesting cylinder 5 corresponds to one row of seedlings. Then, the external controller controls the moving wheels 2 and the main body 1 of the seedling harvesting robot to move forward. When the monitoring camera 501 detects that there are seedlings at the bottom of the harvesting cylinder 5, the external controller first controls the main body 1 of the seedling harvesting robot to stop moving, and at the same time controls the hydraulic cylinder 4 to move downward, so that the hydraulic cylinder 4 drives the harvesting cylinder 5 to move downward, that is, the harvesting cylinder 5 moves to the side closer to the seedlings. Then, under the action of the harvesting mechanism, the seedlings can be automatically harvested from their roots. This not only allows for non-destructive harvesting of seedlings, but also has high harvesting efficiency, which is beneficial for the subsequent cultivation of seedlings.

[0073] 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 limiting plate 11, and at this time the telescopic spring 9 is in a compressed state; when the hydraulic cylinder 4 drives the picking cylinder 5 to move down, the picking cylinder 5 will simultaneously drive the sliding plate 6 to move down, and then the end of the sliding plate 6 will separate from the arc plate 111 above the limiting plate 11, that is, the arc plate 111 will no longer compress the sliding plate 6. Subsequently, under the elastic force of the telescopic spring 9, the two sliding plates 6 and the conical plate 7 will move away from each other until they are attached. 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 harvesting tube 5 gradually covers the top of 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, causing the lower arc plate 111 to press against the sliding plate 6. (Refer to the attached diagram.) Figure 8 As shown, the two sliding plates 6 will move closer to each other, and the conical plates 7 will move closer to each other, which can automatically cut the soil below the roots of the seedlings and automatically drop them to the bottom of the harvesting tube 5, thus realizing the automatic harvesting of the seedlings.

[0074] 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 conveyor frame 13 is as follows: Figure 11 As shown, when the picking cylinder 5 moves down to pick the seedlings, the moving unit pulls the two inclined conveyor frames 13 away from each other until they are attached. Figure 12 As shown, as the harvesting tube 5 moves down, it gradually opens its bottom opening and covers the seedlings through the steps described above. Then, under the action of the cone-shaped plate 7, the seedlings can be harvested.

[0075] As the picking cylinder 5 moves upward, the two inclined conveyor frames 13 slowly return to their initial positions via the action of the moving unit. During this upward movement, the sliding plate 6 at the bottom of the picking cylinder 5 opens and then closes. When the sliding plate 6 opens, the seedlings inside the picking cylinder 5 fall above the inclined conveyor frames 13 and slowly slide along the inclined surface of the inclined conveyor frames 13 into the recovery frame 14, achieving automatic picking and recovery of the seedlings. After one round of picking, the seedlings only need to be removed from the recovery frame 14, saving workload and avoiding potential damage to the seedlings during manual picking. When the two inclined conveyor frames 13 move away from each other, the inclined conveyor frames 13 drive the limiting bracket 18 to move synchronously, compressing the telescopic rod and limiting spring 19 at its end. When the seedlings are picked and the picking cylinder 5 moves upward, refer to the attached... Figure 12 As shown, at this time, the side wall of the picking cylinder 5 is in contact with the side wall of the inclined conveyor frame 13, and the elastic pull rope 17 is no longer pulled when the picking cylinder 5 moves upward. 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, the side wall of the picking cylinder 5 will completely separate from the side wall of the inclined conveyor frame 13. Refer to the attached diagram. Figure 13 As shown, under the elastic force of the limiting spring 19, the inclined conveyor frame 13 will quickly return to its initial position, thereby receiving and conveying the seedlings at the bottom of the picking cylinder 5, which facilitates the automatic recycling of the seedlings.

[0076] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated seedling transfer robot, characterized in that: include: The main body of the seedling harvesting robot (1) is composed of multiple support structures; The moving wheel (2) is rotatably mounted below the main body (1) of the seedling picking robot and is controlled by an external motor. A fixing frame (3) is provided in multiple ways and is fixedly installed on both sides of the main body (1) of the seedling picking robot. The hydraulic cylinder (4) is fixedly installed between two opposing fixed frames (3); Harvesting tube (5), the harvesting tube (5) is fixedly installed on the telescopic end of the oil cylinder (4); The harvesting mechanism is located inside the harvesting cylinder (5) and is used to automatically harvest seeds and seedlings. A monitoring camera (501) is mounted on the bottom of the picking tube (5) via a bracket; Sliding plate (6), the sliding plate (6) is slidably disposed at the bottom of the picking tube (5), and the number of sliding plates (6) in a set of picking tubes (5) is two. The bottom of the picking tube (5) is provided with a sliding groove that is compatible with the sliding plate (6). A conical plate (7) is fixedly installed on the opposite surfaces of two sliding plates (6); A recycling unit is located below the harvesting tube (5) and is used to recycle the harvested seedlings. A pushing unit is disposed on the surface of the seedling picking robot body (1), and the pushing unit is used to control the movement of two opposing sliding plates (6); Each sliding plate (6) has an L-shaped support plate (8) fixedly installed on its upper surface. A telescopic spring (9) is installed on the 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 includes multiple fixed support rods (10) installed on the side wall of the seedling picking robot body (1). A limit plate (11) is fixedly installed between adjacent fixed support rods (10). Two arc plates (111) are fixedly installed on the surface of the limit plate (11). The end of the sliding plate (6) is in contact with the side wall of the limit plate (11). The two adjacent arc plates (111) are designed separately, and the side wall of the picking tube (5) is equipped with a sliding bracket that is compatible with the sliding plate (6); The sliding plate (6) includes: Rotary wheel (12) is rotatably disposed at the end of sliding plate (6). The end of sliding plate (6) is provided with a mounting bracket adapted to the rotary wheel (12). The rotary wheel (12) is in contact with limiting plate (11) and arc plate (111).

2. The seedling automatic transfer robot according to claim 1, characterized in that: The recycling unit includes: Two inclined conveyor frames (13) are slidably set below the main body (1) of the seedling picking robot. The two inclined conveyor frames (13) are located below the picking tube (5), and there is a gap between the upper end of the inclined conveyor frame (13) and the bottom of the picking tube (5). A moving unit is disposed on the outside of the fixed frame (3), and the moving unit is used to drive the inclined conveyor frame (13) to move; Two recycling frames (14) are provided and fixedly installed below the main body (1) of the seedling picking robot. The recycling frames (14) correspond to the inclined conveyor frame (13).

3. The seedling automatic transfer robot according to claim 2, characterized in that: The mobile unit includes: Multiple sets of connecting brackets (15) are installed on the outside of the fixed bracket (3); At least one set of pulleys (16) is provided inside the connecting frame (15), one set of pulleys (16) corresponds to the picking tube (5), and the other set of pulleys (16) corresponds to the inclined conveyor frame (13); An elastic pull rope (17) is wrapped around the outer circumference of an adjacent pulley block (16). One end of the elastic pull rope (17) is connected to the picking tube (5), and the other end is connected to the bottom of the inclined conveyor frame (13).

4. The seedling automatic transfer robot according to claim 3, characterized in that: A limiting bracket (18) is fixedly installed on the side wall of the inclined conveying frame (13), and the end of the limiting bracket (18) away from the inclined conveying frame (13) is slidably set at the bottom of the seedling picking robot body (1).

5. The seedling automatic transfer robot according to claim 4, characterized in that: The end of the limiting bracket (18) is fixedly installed with a telescopic rod, and the telescopic end of the telescopic rod is sleeved with a limiting spring (19). The side wall of the seedling picking robot body (1) is equipped with a baffle (20) that is compatible with the limiting spring (19).

6. The seedling automatic transfer robot according to claim 4, characterized in that: The bottom of the recycling frame (14) and the tilting conveyor frame (13) is higher than the bottom of the seedling harvesting robot body (1).

Images