Transplanting robot

Abstract

The transplanting robot comprises a moving frame, a lifting assembly, a material taking assembly, a feeding assembly and at least one sowing device, the lifting assembly comprises a lifting device and a pushing device, the lifting device is arranged on one side of a frame in the length direction of the frame and can ascend and descend in the height direction of the frame, the pushing device is located on the lifting device, and the pushing device is located on the moving frame. A seedling culture container is placed on the pushing device; the material taking assembly comprises a sliding part, at least one first displacement device, a second displacement device and at least one grabbing device; the feeding assembly comprises a rotating device and at least one feeding device; the seeding device is arranged on the frame and corresponds to at least part of the feeding device, the lifting device moves the seedling raising container to the top of the frame, the pushing device pushes the seedling raising container into the containing space, the grabbing device grabs seedlings and throws the seedlings to the feeding device, and then the seeding device seeds the seedlings.

Description

Technical Field

[0001] The present invention relates to the field of agricultural robots, and particularly to a transplanting robot. Background Art

[0002] When planting crops in agriculture, in order to ensure the survival rate of crops, seeds need to be sown in a factory for seedling raising to ensure that the development status of the seeds is more uniform, and then the seedlings are transferred to the farmland for sowing.

[0003] In the existing transplanting robots, when in use, the user needs to manually carry the seedling tray to a specific position in the accommodating space of the transplanting robot, which increases the workload of the user, and thus reduces the practicality and automation degree of the transplanting robot. Therefore, a transplanting robot with a high degree of automation is needed. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention discloses a transplanting robot, comprising:

[0005] A mobile frame, comprising a frame and a moving device, the frame is arranged on the moving device, and a accommodating space is provided at the top of the frame;

[0006] A lifting assembly, comprising a lifting device and a pushing device, the lifting device is arranged on one side of the frame along the length direction of the frame, and the lifting device can lift along the height direction of the frame, the pushing device is located on the lifting device, and a seedling container is placed on the pushing device;

[0007] A material taking assembly, arranged on the frame, comprising a sliding part, at least one first displacement device, a second displacement device and at least one grasping device, the sliding part is connected to the at least one first displacement device and both are arranged on the frame, the sliding part slides along the length direction of the frame through the first displacement device, the grasping device is located on the sliding part, the second displacement device is located on the sliding part, the grasping device is located on the sliding part and is slidably connected to the sliding part, and the second displacement device drives the grasping device to displace in the width direction of the frame;

[0008] A feeding assembly, comprising a rotating device and at least one feeding device, the rotating device is located inside the frame, and the feeding device is located on the rotating device and rotates along with the rotating device;

[0009] At least one sowing device, arranged on the frame and corresponding to at least part of the feeding devices, wherein,

[0010] The lifting device moves the seedling-raising container to the top of the frame, and the pushing device pushes the seedling-raising container into the accommodating space for the grasping device to grasp the seedlings and place them on the feeding device, and then the sowing device sows the seedlings.

[0011] In one embodiment of the transplanting robot of the present invention, the pushing device includes a first motor, a first transmission part and a pushing part. The first transmission part is connected to the first motor and the pushing part. The first motor rotates and drives the pushing part to move linearly through the first transmission part.

[0012] In one embodiment of the transplanting robot of the present invention, the pushing part includes a sliding plate and a pushing plate connected to each other. The seedling-raising container is located on the sliding plate and abuts against the pushing plate. The seedling-raising container is slidably connected to the outer wall of the outer frame, and the shape of the accommodating space is adapted to the shape of the seedling-raising container.

[0013] In one embodiment of the transplanting robot of the present invention, the first transmission part includes a transmission member and at least one first lead screw. The transmission member is connected to the at least one first lead screw. The sliding plate has at least one through hole, and the through hole is slidably connected to the corresponding first lead screw.

[0014] In one embodiment of the transplanting robot of the present invention, the second displacement device drives the grasping device to displace in the width direction of the frame by magnetic force.

[0015] In one embodiment of the transplanting robot of the present invention, the second displacement device includes at least one electromagnet fixedly arranged on the sliding part. The grasping device includes a bearing part and a grasping part. The grasping part is connected to the bearing part. The bearing part is slidably connected to the sliding part. One side of the bearing part has a permanent magnet.

[0016] In one embodiment of the transplanting robot of the present invention, the bearing part is connected to the side wall of the sliding part through an elastic member.

[0017] In one embodiment of the transplanting robot of the present invention, the rotating device further includes a second motor, a gear and a toothed ring. The output shaft of the second motor is fixedly equipped with the gear. The toothed ring meshes with the gear. The at least one feeding device passes through the toothed ring.

[0018] In one embodiment of the transplanting robot of the present invention, it further includes a cleaning assembly. The cleaning assembly includes a water tank, at least one cleaning device and a cleaning control device. The cleaning device is connected to the cleaning control device and the water tank. The cleaning device cleans the corresponding sowing device.

[0019] In an embodiment of the transplanting robot of the present invention, the cleaning control device further includes a second transmission part, a rotating part and a lifting part. The second transmission part is slidably connected to the sliding part. One end of the rotating part is connected to the sliding part, the other end of the rotating part is connected to one end of the lifting part, and the other end of the lifting part is connected to the cleaning device.

[0020] In an embodiment of the transplanting robot of the present invention, the cleaning control device further includes a fixing member. The fixing member is fixedly connected to the outer wall of the frame body. The rotating part is connected to the sliding part through a rotating shaft, and the rotating shaft is arranged on the fixing member.

[0021] In an embodiment of the transplanting robot of the present invention, the cleaning control device further includes a sealed container. The cleaning device further includes a first connecting pipe, a second connecting pipe and a cleaning part. The inner wall of the sealed container is slidably connected to the outer wall of the lifting part. The first connecting pipe is connected to the sealed container and the water tank, and the second connecting pipe is connected to the sealed container and the cleaning part.

[0022] In an embodiment of the transplanting robot of the present invention, one-way valves are provided at the connection of the first connecting pipe and the water tank and at the connection of the second connecting pipe and the sealed container.

[0023] In an embodiment of the transplanting robot of the present invention, when the grasping device moves to the other side relative to the lifting device, the position of the grasping device corresponds to the position of the corresponding feeding device.

[0024] In an embodiment of the transplanting robot of the present invention, the bottom of the feeding device is slidably connected to the bottom surface of the frame, and the sowing device is arranged outside the bottom surface of the frame.

[0025] A transplanting robot proposed by the present invention moves the seedling-raising container to the top of the frame through a lifting device, and a pushing device pushes the seedling-raising container into the accommodating space for the grasping device to grab the seedlings and put them into the feeding device. Then, the sowing device sows the seedlings. The user / transfer device only needs to place the seedling-raising container on the lifting device outside the frame of the transplanting robot. The lifting device and the pushing device automatically place the seedling-raising container into the accommodating space for subsequent transplanting work, reducing the workload of the user and enhancing the practicability and automation degree of the transplanting robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional structural schematic diagram of an embodiment of the present invention;

[0027] Figure 2 is an axonometric structural schematic diagram of an embodiment of the present invention;

[0028] Figure 3 Schematic top view structure diagram of an embodiment of the present invention;

[0029] Figure 4 of the present invention Figure 3 Enlarged structure diagram at position A in;

[0030] Figure 5 Another schematic top view structure diagram of an embodiment of the present invention;

[0031] Figure 6 Another schematic axonometric structure diagram of an embodiment of the present invention.

[0032] Wherein the reference numerals:

[0033] 1. Mobile vehicle frame;

[0034] 11. Frame;

[0035] 100. Transplanting robot

[0036] 111. Accommodating space;

[0037] 112. Long groove;

[0038] 12. Moving device;

[0039] 2. Lifting assembly

[0040] 21. Lifting device

[0041] 22. Pushing device

[0042] 221. First motor

[0043] 222. First transmission part

[0044] 2221. Transmission member

[0045] 2222. First lead screw

[0046] 223. Pushing part

[0047] 2231. Slide plate

[0048] 2232. Pushing plate

[0049] 3. Material taking assembly

[0050] 31. Sliding part

[0051] 311. Slide groove

[0052] 32. First displacement device

[0053] 321. Slide groove

[0054] 322. Second lead screw

[0055] 33. Second displacement device

[0056] 331. Electromagnet

[0057] 34. Gripping device

[0058] 341. Bearing part

[0059] 342. Gripping part

[0060] 343. Permanent magnet

[0061] 35. Elastic member

[0062] 4. Seedling-raising container

[0063] 5. Feeding assembly

[0064] 51. Rotating device

[0065] 511. Second motor

[0066] 512. Gear

[0067] 513. Tooth ring

[0068] 514. Support body

[0069] 52. Feeding device

[0070] 6. Sowing device

[0071] 61. Sowing hopper

[0072] 62. Rotating rod

[0073] 7. Cleaning assembly

[0074] 71. Water tank

[0075] 72. Cleaning device

[0076] 721. Sealed container

[0077] 722. First connecting pipe

[0078] 723. Second connecting pipe

[0079] 724. Cleaning part

[0080] 73. Cleaning control device

[0081] 731. Second transmission part

[0082] 7311. Slide groove

[0083] 732. Rotating part

[0084] 733. Lifting part

[0085] 734. Fastener Specific Embodiment

[0086] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments to further understand the purpose, solution and beneficial technical effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the scope of protection of the present invention.

[0087] It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0088] In the specification and the appended claims, certain terms are used to refer to specific components or parts. Those of ordinary skill in the art should understand that different nouns or terms may be used by technical users or manufacturers to refer to the same component or part. The specification and the appended claims do not use the difference in name as a way to distinguish components or parts, but use the difference in function of components or parts as the criterion for distinction.

[0089] In the present invention, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation or be constructed and operated in a specific orientation.

[0090] Moreover, in addition to being able to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0091] In addition, the terms "installed", "set up", "provided with", "connected", and "linked" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] In the existing transplanting robots, when in use, the user needs to manually carry the seedling tray to a specific position in the accommodating space of the transplanting robot, which increases the workload of the user, and thus reduces the practicability and automation degree of the transplanting robot. To solve this technical problem, please refer to Figures 1 to 6 , the present invention discloses a transplanting robot 100, which includes: a mobile vehicle frame 1, a lifting assembly 2, a material taking assembly 3, a feeding assembly 5, and at least one sowing device 6. Among them, the mobile vehicle frame 1 includes a frame 11 and a moving device 12. The frame 11 is arranged on the moving device 12, and the top of the frame 11 has an accommodating space 111; the lifting assembly 2 includes a lifting device 21 and a pushing device 22. The lifting device 21 is arranged on one side of the frame 11 along the length direction of the frame 11, and the lifting device 21 can lift along the height direction of the frame 11. The pushing device 22 is located on the lifting device 21, and a seedling container 4 is placed on the pushing device 22; the material taking assembly 3 is arranged on the frame 11 and includes a sliding part 31, at least one first displacement device 32, a second displacement device 33, and at least one grasping device 34. The sliding part 31 is connected to at least one first displacement device 32 and both are arranged on the frame 11. The sliding part 31 slides along the length direction of the frame 11 through the first displacement device 32. The grasping device 34 is located on the sliding part 31, the second displacement device 33 is located on the sliding part 31, the grasping device 34 is located on the sliding part 31 and is slidably connected to the sliding part 31, and the second displacement device 33 drives the grasping device 34 to displace in the width direction of the frame 11; the feeding assembly 5 includes a rotating device 51 and at least one feeding device 52. The rotating device 51 is located inside the frame 11, and the feeding device 52 is located on the rotating device 51 and rotates with the rotating device 51; at least one sowing device 6 is arranged on the frame 11 and corresponds to at least part of the feeding device 52. Among them, the lifting device 21 moves the seedling container 4 to the top of the frame 11, and the pushing device 22 pushes the seedling container 4 into the accommodating space 111 for the grasping device 34 to grab the seedlings and put them into the feeding device 52, and then the sowing device 6 sows the seedlings.

[0093] In one embodiment, the lifting device 21 can lift in the long groove 112 of the outer frame. The lifting device 21 is a commonly used device in the art and will not be elaborated here.

[0094] In one embodiment, the pushing device 22 includes a first motor 221, a first transmission part 222, and a pushing part 223. The first transmission part 222 is connected to the first motor 221 and the pushing part 223. The first motor 221 rotates and drives the pushing part 223 to move linearly through the first transmission part 222. The first motor 221 can be a servo motor, a stepping motor, a torque motor, etc., but is not limited thereto. Through the cooperation of the motor, the first transmission part 222, and the pushing part 223, the seedling-raising container 4 can be accurately pushed. Through the first transmission part 222, the power provided by the motor can also be amplified to push a heavier seedling-raising container 4.

[0095] In one embodiment, the pushing part 223 includes a sliding plate 2231 and a pushing plate 2232 that are connected to each other. The seedling-raising container 4 is located on the sliding plate 2231 and abuts against the pushing plate 2232. The seedling-raising container 4 is slidably connected to the outer wall of the outer frame, and the shape of the accommodating space 111 is adapted to the shape of the seedling-raising container 4. In the above structure, the seedling-raising container 4 is firmly located between the pushing plate 2232 and the outer wall of the outer frame, ensuring the stability of the seedling-raising container 4 during the lifting process. The accommodating space 111 matches the shape of the seedling-raising container 4, preventing the seedling-raising container 4 from shifting due to the movement of the transplanting robot in the accommodating space 111, which is convenient for subsequent operations.

[0096] In one embodiment, the first transmission part 222 includes a transmission member 2221 and at least one first lead screw 2222. The transmission member 2221 is connected to the at least one first lead screw 2222. The sliding plate 2231 has at least one through hole, and the through hole is slidably connected to the corresponding first lead screw 2222. The transmission member 2221 can be a combination of a transmission wheel and a conveyor belt, a worm and worm gear combination, etc., but is not limited thereto. Through the above mechanism, the pushing plate 2232 can be displaced along the direction parallel to the first lead screw 2222 by using the movement of the first lead screw 2222 to push the seedling-raising container 4. When the seedling-raising container 4 is in contact with the outer wall of the outer frame, the pushing plate 2232 can limit the seedling-raising container 4 to prevent the seedling-raising container 4 from shaking during the lifting process and causing the seedlings to bend, thereby ensuring the integrity of the seedlings and further improving the survival rate of the seedlings after transplantation.

[0097] In one embodiment, the top of the frame 11 has a chute 321. The first displacement device 32 can drive the sliding part 31 to slide in the chute 321 along the length direction of the frame 11 through a motor cooperating with a second lead screw 322. The first displacement device 32 can also be realized by a linear motor, a worm and worm gear, etc., but is not limited thereto.

[0098] In one embodiment, the second displacement device 33 drives the grasping device 34 to displace in the width direction of the frame 11 through magnetic force.

[0099] In one embodiment, the second displacement device 33 includes at least one electromagnet 331 fixedly arranged on the sliding part 31. The grasping device 34 includes a bearing part 341 and a grasping part 342. The grasping part 342 is connected to the bearing part 341. The bearing part 341 is slidably connected to the sliding part 31 (the bearing part 341 slides in the sliding groove 311 on the sliding part 31), and one side of the bearing part 341 has a permanent magnet 343. Further, in one embodiment, the second displacement device 33 includes a plurality of electromagnets 331 evenly distributed and fixedly arranged on the sliding part 31. Also in one embodiment, one side or multiple sides of the bearing part 341 have a plurality of permanent magnets 343. Through the cooperation of the electromagnet 331 and the permanent magnet 343 on the grasping device 34, the movement of the grasping device 34 to any position on the sliding part 31 can be precisely controlled, so as to ensure that the seedlings at each position of the seedling-raising container 4 can be grasped by the grasping part 342.

[0100] In one embodiment, the bearing part 341 and the side wall of the sliding part 31 are connected by an elastic member 35. The elastic member 35 can be a spring or an elastic member 35 made of other materials. When the electromagnet 331 loses its magnetism after power-off, the elastic member 35 can quickly reset the grasping device 34, thereby improving the operation efficiency of the transplanting robot.

[0101] In one embodiment, the rotating device 51 further includes a second motor 511, a gear 512 and a toothed ring 513. The output shaft of the second motor 511 is fixedly assembled with the gear 512, the toothed ring 513 is engaged with the gear 512, and at least one feeding device 52 is passed through the toothed ring 513. In one embodiment, the toothed ring 513 can also be sleeved on the support body 514, and the support body 514 is fixedly arranged in the outer frame, strengthening the stability of the toothed ring. In one embodiment, the number of the feeding devices 52 is several, and when the grasping device 34 moves from one end of the push plate 2232 to the other end of the mobile carriage 1, the positions of the two feeding devices 52 respectively correspond to the position of one grasping part 342. With the above structures of the grasping part 342 and the feeding device 52, when the grasping part 342 moves following the sliding part 31, the operation of the second motor 511 can ensure that there is a feeding device 52 corresponding to the position of the grasping part 342 after the grasping part 342 transfers its position, so as to ensure that the seedlings grasped by the grasping part 342 can all be sent into the sowing device 6 through the feeding device 52, thereby achieving the effects of automatic and efficient transfer and sowing.

[0102] In one embodiment, a cleaning assembly 7 is further included. The cleaning assembly 7 includes a water tank 71, at least one cleaning device 72 and a cleaning control device 73. The cleaning device 72 is connected to the cleaning control device 73 and the water tank 71, and the cleaning device 72 cleans the corresponding sowing device 6. By cleaning the corresponding sowing device 6 with the cleaning device 72, it effectively prevents the sowing device 6 from being blocked by soil, eliminates the need for manual cleaning of the sowing device 6, and improves the sowing efficiency.

[0103] In one embodiment, the cleaning control device 73 further includes a second transmission part 731, a rotating part 732 and a lifting part 733. The second transmission part 731 is slidably connected to the sliding part 31. One end of the rotating part 732 is connected to the sliding part 31, the other end of the rotating part 732 is connected to one end of the lifting part 733, and the other end of the lifting part 733 is connected to the cleaning device 72. By slidably connecting the second transmission part 731 of the cleaning control device 73 to the sliding part 31 and connecting the sliding part 31 to the rotating part 732, when the sliding part 31 generates a displacement during the rice seedling grabbing operation, by transmitting the force to the rotating part 732, the inclination angle of the rotating part 732 changes, thereby driving the movement of the vertical part, playing the role of a water pump, and triggering the cleaning device 72 to perform a cleaning operation. In one embodiment, the second transmission part 731 can be a transmission long rod, and the transmission long rod has a chute 7311 for the sliding part 31 to slide, and the sliding part 31 is sleeved on one end of the rotating part 732. In one embodiment, the vertical part can also be directly arranged in the water tank 71, and the movement of the vertical part directly plays the role of a water pump and drives the cleaning device 72 to perform a cleaning operation.

[0104] In one embodiment of the transplanting robot of the present invention, the cleaning control device 73 further includes a fixing part 734. The fixing part 734 is fixedly connected to the outer wall of the frame body. The rotating part 732 is connected to the sliding part 31 through a rotating shaft, and the rotating shaft is arranged on the fixing part 734. By arranging the rotating shaft on the fixing part 734, the stability of the cleaning control device 73 during operation can be enhanced, so that the force generated when the sliding part 31 is displaced can be better transmitted through the second transmission part 731, the vertical movement of the vertical part of the cleaning control device 73 is more stable, and the effect of triggering the cleaning device 72 is better.

[0105] In one embodiment, the cleaning control device 73 further includes a sealed container 721. The cleaning device 72 further includes a first connecting pipe 722, a second connecting pipe 723 and a cleaning part 724. The inner wall of the sealed container 721 is slidably connected to the outer wall of the lifting part 733. The first connecting pipe 722 is connected to the sealed container 721 and the water tank 71, and the second connecting pipe 723 is connected to the sealed container 721 and the cleaning part 724. In one embodiment, the cleaning part 724 can be a cleaning pipe, a cleaning nozzle, but is not limited thereto. By cooperating with the sealed container 721 through the vertical part to play the role of a water pump, and performing a cleaning operation through the first connecting pipe 722, the second connecting pipe 723 and the cleaning part 724, the generated water pressure is greater and the cleaning effect is better.

[0106] In one embodiment, check valves are provided at the connection between the first connecting pipe 722 and the water tank 71 and at the connection between the second connecting pipe 723 and the sealed container 721. The check valves are used to block the flowing cleaning water, thereby preventing the cleaning water in the water tank 71 from leaking into the sealed container 721 and reducing the storage effect of the cleaning water in the device. It can also ensure that there is sufficient water pressure when the vertical part descends to eject the cleaning water through the cleaning part 724, thereby improving the self-cleaning effect of the device.

[0107] In one embodiment, when the grasping device 34 moves to the other side relative to the lifting device 21, the position of the grasping device 34 corresponds to the position of the corresponding feeding device 52. With the above structure, the efficiency of putting the seedlings into the feeding device 52 is increased, and the transplanting efficiency is improved.

[0108] In one embodiment, the bottom of the feeding device 52 is slidably connected to the bottom surface of the frame 11, and the sowing device 6 is arranged outside the bottom surface of the frame 11. By providing the feeding device 52, the feeding device 52 can pick up the seedlings grasped by the grasping part 342. After the feeding device 52 picks up the seedlings, the characteristics of the feeding device 52 that it can change its position and is slidably connected to the moving vehicle frame 1 are used to make the seedlings in the feeding device 52 in a misaligned state with the grasping part 342 so that the seedlings cannot leak, thereby ensuring that each seedling can only be picked up by the sowing device 6, and further avoiding the seedlings with missed sowing, and further improving the sowing effect of the device on the seedlings.

[0109] In one embodiment, the number of the cleaning parts and the sowing device 6 is three, and the positions of the three cleaning parts and the sowing device 6 correspond to each other, so as to achieve the effect of sowing three seedlings synchronously, thereby improving the working efficiency of the device.

[0110] In one embodiment, the sowing device 6 includes a sowing hopper 61 and a rotating rod 62. The sowing hopper 61 and the rotating rod 62 are connected. The sowing device 6 is a commonly used device in the art and will not be elaborated here.

[0111] Working principle: First, the user can directly place the seedling-raising container 4 on the lifting device 21. Then, the lifting of the lifting device 21 drives the seedling-raising container 4 to rise. When the bottom of the seedling-raising container 4 is flush with the bottom of the inner wall of the accommodating space 111, the first motor 221 starts to operate, causing the push plate 2232 to move towards the moving carriage 1, thereby pushing the seedling-raising container 4 into the accommodating space 111. The three seedling-raising containers 4 are transferred through the same steps as above. Thus, it is not necessary for the user to manually carry the seedling-raising container 4 to the top of the moving carriage 1 for placing and sowing the seedlings, improving the automation and practicality of the device. During the operation of the device, the sliding part 31 will move to one end of the moving carriage 1 close to the push plate 2232 and start the operation of grasping the seedlings. After grasping the seedlings on the left and right sides of the seedling-raising container 4, the sliding part 31 will move towards the water tank 71, causing the grasping part 342 to carry the seedlings to a position corresponding to the feeding device 52. After releasing the seedlings, the feeding device 52 picks up the seedlings, causing the seedlings to fall into the sowing hopper 61. Subsequently, the rotating rod 62 rotates to perform the soil-breaking operation, thus achieving the effect of automatic sowing. Since the soil-breaking of the sowing hopper 61 causes the soil to be pressed and adhered to the sowing hopper 61, at this time, the grasping part 342 will start to reset. By energizing the electromagnet 331, the two grasping parts 342 move towards each other to grasp the seedlings at other positions of the seedling-raising container 4. After grasping the seedlings, the grasping part 342 will move to a position corresponding to other feeding devices 52 again to ensure the sowing efficiency of the device for the seedlings. At the same time, the movement of the grasping part 342 causes the cleaning water in the water tank 71 to enter the cleaning part through the first connecting pipe 722 and the second connecting pipe 723, thus achieving the effect of spraying the cleaning water to clean the sowing hopper 61.

[0112] A transplanting robot proposed by the present invention moves the seedling-raising container to the top of the frame through a lifting device, and a pushing device pushes the seedling-raising container into the accommodating space for the grasping device to grasp the seedlings and put them into the feeding device. Then, the sowing device sows the seedlings. The user / transfer device only needs to place the seedling-raising container on the lifting device outside the frame of the transplanting robot. The lifting device and the pushing device automatically place the seedling-raising container into the accommodating space for subsequent transplanting work, reducing the workload of the user and enhancing the practicality and automation degree of the transplanting robot.

[0113] In summary, the present invention can also have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can evolve various corresponding changes and deformations according to the present invention. However, these corresponding changes and deformations should all fall within the protection scope of the patent applied for by the present invention.

Claims

1. A transplanting robot, characterized in that, Comprising: A mobile frame, comprising a frame and a moving device, the frame being disposed on the moving device, and the top of the frame having a receiving space; A lifting assembly, comprising a lifting device and a pushing device, the lifting device being disposed on one side of the frame along the length direction of the frame, and the lifting device being capable of lifting along the height direction of the frame, the pushing device being located on the lifting device, and a seedling raising container being placed on the pushing device; A material taking assembly, disposed on the frame, comprising a sliding part, at least one first displacement device, a second displacement device and at least one grasping device, the sliding part being connected to the at least one first displacement device and both being disposed on the frame, the sliding part sliding along the length direction of the frame through the first displacement device, the grasping device being located on the sliding part, the second displacement device being located on the sliding part, the grasping device being located on the sliding part and being slidably connected to the sliding part, and the second displacement device driving the grasping device to displace in the width direction of the frame; A feeding assembly, comprising a rotating device and at least one feeding device, the rotating device being located inside the frame, and the feeding device being located on the rotating device and rotating along with the rotating device; At least one sowing device, disposed on the frame and corresponding to at least part of the feeding device, wherein, The lifting device moves the seedling raising container to the top of the frame, and the pushing device pushes the seedling raising container into the receiving space for the grasping device to grasp the seedlings and put them onto the feeding device, and then the sowing device sows the seedlings.

2. The transplanting robot according to claim 1, characterized in that, The pushing device comprises a first motor, a first transmission part and a pushing part, the first transmission part being connected to the first motor and the pushing part, and the first motor rotating and driving the pushing part to move linearly through the first transmission part.

3. The transplanting robot according to claim 2, wherein The pushing part comprises a sliding plate and a pushing plate connected to each other, the seedling raising container being located on the sliding plate and abutting against the pushing plate, the seedling raising container being slidably connected to the outer wall of the outer frame, and the shape of the receiving space being adapted to the shape of the seedling raising container.

4. The transplanting robot according to claim 3, wherein, The first transmission part comprises a transmission member and at least one first lead screw, the transmission member being connected to the at least one first lead screw, the sliding plate having at least one through hole, and the through hole being slidably connected to the corresponding first lead screw.

5. The transplanting robot according to claim 1, characterized in that, The second displacement device drives the grasping device to displace in the width direction of the frame by magnetic force.

6. The transplanting robot according to claim 5, wherein, The second displacement device comprises at least one electromagnet fixedly disposed on the sliding part, the grasping device comprises a bearing part and a grasping part, the grasping part being connected to the bearing part, the bearing part being slidably connected to the sliding part, and one side of the bearing part having a permanent magnet.

7. The transplanting robot according to claim 6, wherein, The bearing part is connected to the side wall of the sliding part through an elastic member.

8. The transplanting robot according to claim 1, wherein, The rotating device further comprises a second motor, a gear and a toothed ring, the output shaft of the second motor being fixedly assembled with the gear, the toothed ring being engaged with the gear, and the at least one feeding device passing through the toothed ring.

9. The transplanting robot according to claim 1, wherein, It further includes a cleaning component, the cleaning component includes a water tank, at least one cleaning device and a cleaning control device, the cleaning device, the cleaning control device and the water tank are connected, and the cleaning device cleans the corresponding sowing device.

10. The transplanting robot according to claim 9, characterized in that, The cleaning control device further includes a second transmission part, a rotating part and a lifting part. The second transmission part is slidably connected to the sliding part. One end of the rotating part is connected to the sliding part, the other end of the rotating part is connected to one end of the lifting part, and the other end of the lifting part is connected to the cleaning device.

11. The transplanting robot according to claim 10, characterized in that, The cleaning control device further includes a fixing part. The fixing part is fixedly connected to the outer wall of the frame body. The rotating part is connected to the sliding part through a rotating shaft, and the rotating shaft is arranged on the fixing part.

12. The transplanting robot according to claim 11, wherein, The cleaning control device further includes a sealed container. The cleaning device further includes a first connecting pipe, a second connecting pipe and a cleaning part. The inner wall of the sealed container is slidably connected to the outer wall of the lifting part. The first connecting pipe is connected to the sealed container and the water tank, and the second connecting pipe is connected to the sealed container and the cleaning part.

13. The transplanting robot according to claim 12, wherein, One-way valves are provided at the connection of the first connecting pipe and the water tank and at the connection of the second connecting pipe and the sealed container.

14. The transplanting robot according to any one of claims 1 to 13, characterized in that, When the grasping device moves to the other side relative to the lifting device, the position of the grasping device corresponds to the position of the corresponding feeding device.

15. The transplanting robot according to any one of claims 1 to 13, wherein the bottom of the feeding device is slidably connected to the bottom surface of the frame, and the sowing device is arranged outside the bottom surface of the frame.

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