Greenhouse transplanting robot

Abstract

The invention discloses a greenhouse transplanting robot, and relates to the field of transplanting robotics.The greenhouse transplanting robot comprises a movable base and a transplanting mechanical arm installed at the upper end of the movable base, a storage groove is formed in the upper end of the movable base, and a crop hole tray is placed in the storage groove; and a closing frame is rotationally mounted on the outer side of the storage groove. When a crop hole tray is placed in a storage groove, a closing frame is swung, the closing frame rotates to be closed, a locking positioning block is extruded, the locking positioning block is extruded to contract towards the interior of a fixing base on the outer side through the inclination of the locking positioning block, and after the end of the closing frame slightly exceeds the locking positioning block, the locking positioning block is locked through the elastic force of a reset spring. The locking positioning block is pushed to clamp the closing frame, and locking can be cancelled, so that the crop hole tray can be conveniently positioned and locked, transplanting of a greenhouse transplanting robot is facilitated, the situation that after the weight of the crop hole tray is reduced, a transplanting mechanical arm carries the crop hole tray in a transplanting mode is avoided, and the use stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of greenhouse transplanting, in particular to a greenhouse transplanting robot. Background Art

[0002] Greenhouse transplanting robots are automated equipment designed specifically for greenhouse agriculture. They aim to improve the efficiency and accuracy of seedling transplanting, reduce labor costs, improve the growth environment of plants and reduce mechanical damage. They usually combine advanced sensors, robotic arms, navigation systems and intelligent control technologies to achieve automatic selection, transportation, positioning and planting of seedlings.

[0003] In the prior art, the transplanting of greenhouse seedlings still requires manpower to complete, and the overall operation is relatively cumbersome. In addition, during manual operation, the seedlings are easily damaged due to carelessness.

[0004] In order to overcome the above-mentioned shortcomings, a greenhouse vegetable transplanting robot with announcement number CN221240791U is disclosed, which includes an autonomous mobile platform, a seedling tray, an autonomous seedling retrieval device, a seedling planting device and a control box; the seedling tray is arranged on the autonomous mobile platform to store the seedlings; the autonomous seedling retrieval device includes a multi-axial adjustment component and a clamping claw arranged on the multi-axial adjustment component, which is located on one side of the seedling tray, and the multi-axial adjustment component is used to adjust the position of the clamping claw along the multi-axial direction to clamp or release the seedlings; the seedling planting device includes a reciprocating motion component and a planting component arranged on the reciprocating motion component, and the reciprocating motion component is used to drive the planting component to reciprocate between a first position and a second position; the greenhouse vegetable transplanting robot controls the movement of the autonomous mobile platform through the control box, adjusts the position of the clamping claw to clamp or release the seedlings, and controls the reciprocating motion component to drive the planting component to complete transplanting, thereby realizing the automation of the entire transplanting process.

[0005] Although the existing technology can overcome the above-mentioned shortcomings, there are still other problems in its operation: when transplanting seedlings in the greenhouse, the use of an automated transplanting robot is prone to difficulty in removing the seedlings from the plug tray. As the weight of the subsequent plug tray decreases, it is easy to lift the entire plug tray, which is not conducive to the stable use of the greenhouse transplanting robot. Summary of the Invention

[0006] The purpose of the present invention is to provide a greenhouse transplanting robot to solve the problem raised in the above background technology that when transplanting seedlings in a greenhouse, the use of an automated transplanting robot is prone to the inconvenience of taking out the seedlings from the plug tray, and the subsequent reduction in the weight of the plug tray makes it easy to lift the entire plug tray, which is not conducive to the stable use of the greenhouse transplanting robot.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a greenhouse transplanting robot, comprising a mobile base and a transplanting robotic arm mounted on the upper end of the mobile base, wherein the upper end of the mobile base is provided with a storage slot, and the interior of the storage slot contains a crop tray; a closing frame is rotatably mounted on the outer side of the storage slot, and an auxiliary locking mechanism is provided on the outer side of the closing frame; a double-headed motor is mounted on the upper end of the mobile base, and an auxiliary transplanting mechanism is provided on the output end of the double-headed motor.

[0008] Furthermore, the auxiliary engaging mechanism is provided with a fixing seat, and the lower end of the fixing seat is fixedly mounted on the upper end of the storage slot, and the fixing seat is located on both sides of the closing frame, and the shape of the closing frame is "L"-shaped.

[0009] Furthermore, an auxiliary pull rod is installed through the interior of the fixing seat, and a locking positioning block is fixedly installed on the inner side of the auxiliary pull rod. The locking positioning block is inclined and is located at the upper end of the closing frame.

[0010] Furthermore, a return spring is sleeved on the surface of the auxiliary pull rod, and the left and right ends of the return spring are arranged between the fixing seat and the locking positioning block.

[0011] Furthermore, the auxiliary transplanting mechanism is provided with a transmission rod, and the inner side of the transmission rod is fixedly installed on the output end of the double-headed motor, and the outer side of the transmission rod is rotatably installed on the upper end of the mobile base, and a cam is provided at the middle end of the transmission rod.

[0012] Furthermore, a fixed slot plate is fixedly installed on the left side of the storage slot, and a knocking slide plate is slidably installed inside the fixed slot plate, and the inner side of the knocking slide plate is aligned with the surface of the storage slot.

[0013] Furthermore, a tilting block is fixedly installed on the outer side of the knocking slide, and the tilting block is arranged corresponding to the cam, and a vibration spring is arranged between the knocking slide and the storage slot.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. When the crop plug tray is placed inside the storage slot, the closing frame is swung. When the closing frame rotates and closes, the locking positioning block is squeezed. The locking positioning block is squeezed through its own inclined shape to retract inside the outer fixing seat until the end of the closing frame passes the locking positioning block. The elastic force of the return spring pushes the locking positioning block to engage the closing frame, and the lock can be canceled. In this way, the crop plug tray can be conveniently positioned and locked, which is convenient for the transplanting of the greenhouse transplanting robot and avoids the transplanting robot arm lifting the crop plug tray when the weight of the crop plug tray is reduced, thereby improving the stability of use.

[0015] Furthermore, when using the greenhouse transplanting robot, the crop hole tray is first placed inside the storage slot. At this time, the greenhouse transplanting robot is moved to a specific position by moving the base, and a transplanting port is first opened at the position where transplanting is required by the transplanting robotic arm. At this time, the end of the transplanting robotic arm is embedded in the crop hole tray to take out the crops. The taken-out crops can be directly embedded in the opened transplanting port, achieving the effect of convenient transplanting. The operation is simple and convenient, and the crops are transplanted automatically.

[0016] 2. During transplanting, as the end of the transplanting robot arm is embedded in the crop hole tray, the double-headed motor is started, which can drive the transmission rod to rotate. The transmission rod rotates on the surface of the mobile base to drive the cam. When the cam rotates, it can squeeze the tilted block. The tilted block is squeezed inward through its own tilted shape, and the knocking slide is squeezed and slides along the inside of the fixed groove plate. At this time, the knocking slide is aligned with the outside of the storage groove and squeezed to achieve the effect of auxiliary knocking. Under the setting of the vibration spring, the efficiency of the knocking vibration is improved, which can assist the transplanting robot arm in taking out the crops, making it more convenient to take out. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0018] Figure 2 It is a bottom-up three-dimensional structural schematic diagram of the present invention.

[0019] Figure 3 It is a schematic diagram of the cutaway three-dimensional structure of the crop plug tray of the present invention.

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the closed frame of the present invention.

[0021] Figure 5 For the present invention Figure 3 Enlarged structural diagram at point A in the middle.

[0022] Figure 6 It is a schematic top view of the three-dimensional structure of the auxiliary transplanting mechanism of the present invention.

[0023] In the figure: 1. Mobile base; 2. Transplanting robot arm; 3. Storage trough; 4. Crop tray; 5. Closing frame; 6. Fixed seat; 7. Auxiliary pull rod; 8. Locking positioning block; 9. Return spring; 10. Double-head motor; 11. Transmission rod; 12. Cam; 13. Fixed slot plate; 14. Knocking slide; 15. Tilting block; 16. Vibration spring. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Example 1: Figure 1-Figure 5 The technical solution shown is a greenhouse transplanting robot. In order to solve the problem that the transplanting robot easily carries up the plug tray, the invention discloses: a mobile base 1 and a transplanting robot arm 2 installed on the upper end of the mobile base 1, and a storage groove 3 is provided on the upper end of the mobile base 1, and the crop plug tray 4 is placed inside the storage groove 3; a closing frame 5 is rotatably installed on the outer side of the storage groove 3, and an auxiliary locking mechanism is provided on the outer side of the closing frame 5, and the auxiliary locking mechanism is provided with a fixed seat 6, and the lower end of the fixed seat 6 is fixedly installed on the upper end of the storage groove 3, and the fixed seat 6 is located on both sides of the closing frame 5, and the shape of the closing frame 5 is "L"-shaped, an auxiliary pull rod 7 is installed through the inside of the fixed seat 6, and a locking positioning block 8 is fixedly installed on the inner side of the auxiliary pull rod 7, and the locking positioning block 8 is inclined, and the locking positioning block 8 is located at the upper end of the closing frame 5, and the surface of the auxiliary pull rod 7 is provided with a return spring 9, and the left and right ends of the return spring 9 are provided between the fixed seat 6 and the locking positioning block 8.

[0026] When using the greenhouse transplanting robot, first place the crop hole tray 4 inside the storage slot 3. At this time, after moving the greenhouse transplanting robot to a specific position by moving the base 1, first open a transplanting port at the position where transplanting is required by the transplanting robot arm 2. At this time, the end of the transplanting robot arm 2 is inserted into the crop hole tray 4 to take out the crops. The taken-out crops can be directly inserted into the opened transplanting port, achieving the effect of convenient transplanting. The operation is simple and convenient, and the crops are transplanted automatically. At the same time, when the crop hole tray 4 is placed inside the storage slot 3, the closing frame 5 is swung. When the closing frame 5 rotates and closes, the locking positioning block 8 is squeezed. The locking positioning block 8 is squeezed through its own tilting The fixing seat 6, which is inclined toward the outside, retracts internally until the end of the closing frame 5 passes over the locking positioning block 8. The locking positioning block 8 is pushed by the elastic force of the return spring 9 to engage the closing frame 5, and the inner side of the closing frame 5 covers the upper end of the crop hole tray 4 to block the crop hole tray 4. Conversely, when the auxiliary pull rod 7 is pulled, the locking positioning block 8 can be retracted, and the rotating closing frame 5 can stop blocking the crop hole tray 4 and cancel the lock. In this way, the crop hole tray 4 can be conveniently positioned and locked, which is convenient for the greenhouse transplanting robot to transplant, and avoids the transplanting robot arm 2 lifting the crop hole tray 4 when the weight of the crop hole tray 4 is reduced, thereby improving the stability of use.

[0027] Example 2: Figures 1-6The technical solution shown is based on the first embodiment and, in order to solve the problem that it is inconvenient for the robotic arm to take out the entire crop during transplanting, the following is disclosed: a double-headed motor 10 is installed on the upper end of the mobile base 1, and an auxiliary transplanting mechanism is provided at the output end of the double-headed motor 10, the auxiliary transplanting mechanism is provided with a transmission rod 11, and the inner side of the transmission rod 11 is fixedly installed at the output end of the double-headed motor 10, and the outer side of the transmission rod 11 is rotatably installed at the upper end of the mobile base 1, and a cam 12 is provided at the middle end of the transmission rod 11, a fixed slot plate 13 is fixedly installed on the left side of the storage slot 3, and a knocking slide plate 14 is slidably installed inside the fixed slot plate 13, and the inner side of the knocking slide plate 14 is aligned with the surface of the storage slot 3, a tilting block 15 is fixedly installed on the outer side of the knocking slide plate 14, and the tilting block 15 is arranged corresponding to the cam 12, and a vibration spring 16 is provided between the knocking slide plate 14 and the storage slot 3.

[0028] During transplanting, as the end of the transplanting robot arm 2 is embedded in the crop hole tray 4, the double-headed motor 10 is started. The start of the double-headed motor 10 can drive the transmission rod 11 to rotate. The transmission rod 11 rotates on the surface of the mobile base 1 to drive the cam 12. When the cam 12 rotates, it can squeeze the tilting block 15. The tilting block 15 is squeezed through its own tilting shape to push the knocking slide 14 inward. The knocking slide 14 is squeezed and slides along the inside of the fixed groove plate 13. At this time, the knocking slide 14 is aligned with the outside of the storage groove 3 and squeezed to achieve the effect of auxiliary knocking. Under the setting of the vibration spring 16, the efficiency of the knocking vibration is improved, which can assist the transplanting robot arm 2 in taking out the crops, making the removal more convenient.

[0029] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A greenhouse transplanting robot, comprising a mobile base (1) and a transplanting mechanical arm (2) mounted on the upper end of the mobile base (1), wherein the upper end of the mobile base (1) is provided with a storage groove (3), and a crop tray (4) is placed inside the storage groove (3); characterized in that: A closing frame (5) is rotatably mounted on the outer side of the storage slot (3), and an auxiliary locking mechanism is provided on the outer side of the closing frame (5); a double-headed motor (10) is mounted on the upper end of the movable base (1), and an auxiliary transplanting mechanism is provided at the output end of the double-headed motor (10).

2. The greenhouse transplanting robot according to claim 1, characterized in that: The auxiliary engaging mechanism is provided with a fixing seat (6), and the lower end of the fixing seat (6) is fixedly mounted on the upper end of the storage slot (3), and the fixing seat (6) is located on both sides of the closing frame (5), and the closing frame (5) is in an "L" shape.

3. The greenhouse transplanting robot according to claim 2, characterized in that: An auxiliary pull rod (7) is installed through the interior of the fixing seat (6), and a locking positioning block (8) is fixedly installed on the inner side of the auxiliary pull rod (7). The locking positioning block (8) is inclined in shape and is located at the upper end of the closing frame (5).

4. The greenhouse transplanting robot according to claim 3, characterized in that: A return spring (9) is sleeved on the surface of the auxiliary pull rod (7), and the left and right ends of the return spring (9) are arranged between the fixing seat (6) and the locking positioning block (8).

5. The greenhouse transplanting robot according to claim 1, characterized in that: The auxiliary transplanting mechanism is provided with a transmission rod (11), and the inner side of the transmission rod (11) is fixedly mounted on the output end of the double-headed motor (10), and the outer side of the transmission rod (11) is rotatably mounted on the upper end of the mobile base (1), and a cam (12) is provided at the middle end of the transmission rod (11).

6. The greenhouse transplanting robot according to claim 5, characterized in that: A fixed slot plate (13) is fixedly installed on the left side of the storage slot (3), and a knocking slide plate (14) is slidably installed inside the fixed slot plate (13), and the inner side of the knocking slide plate (14) is aligned with the surface of the storage slot (3).

7. The greenhouse transplanting robot according to claim 6, characterized in that: A tilting block (15) is fixedly mounted on the outer side of the knocking slide (14), and the tilting block (15) is arranged corresponding to the cam (12), and a vibration spring (16) is arranged between the knocking slide (14) and the storage groove (3).

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