A seedling transplanting integrated device and method for forestry planting

Abstract

The application relates to the technical field of seedling transplanting, and discloses a forestry planting seedling transplanting integrated device and method, which comprises a support and a portal frame, and further comprises: a conveying mechanism arranged on the support, wherein a growth pot is arranged on the conveying mechanism, and a guide assembly in communication with the conveying mechanism is arranged on the support; a transplanting mechanism arranged on the portal frame and used for transplanting seedlings on a seedling tray into the growth pots between the guide assemblies; a connecting frame fixedly connected to the conveying mechanism, wherein a water tank is fixedly connected to the connecting frame, a drain pipe is communicated with the bottom of the water tank, a water supplementing control mechanism is arranged between the connecting frame and the drain pipe, and the water supplementing control mechanism is used for supplementing a certain amount of water to the periphery of the growth pot; and a seedling fixing assembly arranged on one side of the connecting frame close to the growth pot. The application can improve the transplanting efficiency and effect of seedlings, ensure the accuracy of the seedling transplanting position, improve the stability of the seedling fixing, and be beneficial to the photosynthesis of leaves.

Description

Technical Field

[0001] This invention relates to the field of seedling transplanting technology, specifically to an integrated equipment and method for seedling transplanting in forestry planting. Background Technology

[0002] When cultivating trees, they are first raised in seedling trays. When the seedlings grow to a certain size, they need to be transplanted into larger growing pots. In order to improve the survival rate of the seedlings, the seedlings and some of the original soil in the seedling trays are usually transferred to the growing pots at the same time. This can minimize the damage to the seedlings during the transplanting process and achieve a seamless connection from seedling raising to transplanting.

[0003] The equipment for transplanting seedlings mainly includes the conveying of growing pots, the grasping, positioning, securing, and watering of seedlings. The precision of the operation process directly affects the efficiency of transplanting and the survival rate of seedlings. Among them, securing the seedlings is to fix them in the soil of the growing pot through mechanical action to prevent them from tipping over and to ensure that the roots are in close contact with the soil, providing support for subsequent growth. The purpose of watering is to maintain soil moisture, promote the integration of roots with the soil, and reduce the recovery time of seedlings.

[0004] Current seedling transplanting equipment typically uses a single gripper to pick up the seedling and a portion of the original soil, moving the seedling along a preset path. During this process, strict control of the movement speed is crucial. Too fast a speed can cause the seedling to shift or tilt due to inertia, affecting the transplanting effect; too slow a speed reduces transplanting efficiency. Furthermore, before watering, the soil in the growing pot is initially loose, and watering can cause localized soil subsidence, resulting in weak seedling fixation. Additionally, some soil may stick to the equipment during fixation, affecting subsequent fixation. Moreover, controlling leaf humidity and cleanliness is difficult, hindering photosynthesis. Summary of the Invention

[0005] This invention provides an integrated seedling raising and transplanting device and method for forestry planting. A conveying mechanism transports the seedling trays, and a transplanting mechanism transplants the seedlings from the trays to designated positions within the seedling trays. Simultaneously, a seedling stabilization component ensures the stability of the seedlings during transplanting. After transplanting, a water replenishment control mechanism automatically replenishes the seedlings and drives the seedling stabilization component to secure them. This ensures effective seedling stabilization while reducing soil adhesion on the equipment, maintaining leaf humidity and cleanliness, and promoting photosynthesis. This solves the problems mentioned in the background art, such as poor seedling transplanting effect, low transplanting efficiency, poor seedling stabilization stability, and limited leaf photosynthesis.

[0006] This invention provides the following technical solution:

[0007] An integrated seedling transplanting device for forestry planting includes a support frame and a gantry frame, and further includes: a conveying mechanism disposed on the support frame, on which a growth pot is disposed, and a guide component connected to the conveying mechanism disposed on the support frame; a transplanting mechanism disposed on the gantry frame for transplanting seedlings from the seedling tray into the growth pot between the guide component; a connecting frame fixedly connected to the conveying mechanism, on which a water trough is fixedly connected, and a drain pipe is connected to the bottom of the water trough; a water replenishment control mechanism disposed between the connecting frame and the drain pipe for replenishing a fixed amount of water to the vicinity of the growth pot; and a seedling fixing component disposed on the side of the connecting frame near the growth pot for fixing the seedlings in the growth pot during water replenishment.

[0008] As a preferred embodiment of the present invention, the conveying mechanism includes a servo motor fixedly connected to a bracket, a rotating shaft fixedly connected to the output end of the servo motor, a connecting rod fixedly connected to the rotating shaft, an annular conveying disc fixedly connected to the connecting rod, a first conveying device and a second conveying device on the bracket, the first conveying device and the second conveying device being symmetrically arranged, and the ends of the first conveying device and the second conveying device being in contact with the annular conveying disc.

[0009] As a preferred embodiment of the present invention, the guiding assembly includes an outer limiting ring fixedly connected to the bracket near the outer wall of the annular conveyor plate. Multiple sets of support rods are fixedly connected to the inner wall of the outer limiting ring away from the gantry frame. An inner limiting ring that fits against the inner wall of the annular conveyor plate is fixedly connected to the end of the support rod. A first guide plate is fixedly connected to the end of the first conveying device near the annular conveyor plate, and a second guide plate is fixedly connected to the end of the second conveying device near the annular conveyor plate.

[0010] As a preferred embodiment of the present invention, the transplanting mechanism includes a feeding component slidably connected to a gantry frame. The bottom of the feeding component is symmetrically slidably connected to a pick-and-place component. An adjusting frame is slidably connected between two sets of pick-and-place components. A gripping mechanism is provided on the adjusting frame. A placement platform is fixedly connected to the side of the gantry frame near the feeding component. The placement platform is located below the gripping mechanism. The feeding component, pick-and-place component, and adjusting frame are all electrically driven. A vision sensor is provided on the gripping mechanism.

[0011] As a preferred embodiment of the present invention, the gripping mechanism includes a positioning rod fixedly connected to the adjusting frame, a gripping cylinder slidably connected to the positioning rod, connecting members symmetrically arranged at the bottom of the gripping cylinder, and a gripper fixedly connected to the end of the connecting member away from the gripping cylinder. The gripping cylinder and the positioning rod are electrically driven, the gripper is conical, and a seedling stabilizing component is provided on the side of the gripping cylinder near the gripper.

[0012] As a preferred embodiment of the present invention, the seedling stabilizing component includes fixed rods symmetrically and fixedly connected to the gripping cylinder. A pressure plate is slidably connected to the bottom of the fixed rod. A first spring is fixedly connected between the pressure plate and the fixed rod. A transverse telescopic plate is fixedly connected to the side of the fixed rod near the connector. A second spring is fixedly connected inside the transverse telescopic plate. A seedling stabilizing ring is fixedly connected to the end of the transverse telescopic plate. A connecting pipe is connected to the transverse telescopic plate. An air vent is provided inside the fixed rod and communicates with the transverse telescopic plate. A pressure relief port is provided at the bottom of the fixed rod and communicates with the air vent. A through hole is provided on the pressure plate.

[0013] As a preferred embodiment of the present invention, the water replenishment control mechanism includes an adjusting plate fixedly connected to the side of the connecting frame near the drain pipe, a supporting horizontal plate connected to the drain pipe, a push plate slidably connected between the adjusting plate and the supporting horizontal plate, a drain port on the push plate, a third spring fixedly connected between the push plate and the supporting horizontal plate, wherein the space between the adjusting plate and the push plate is connected to the vent through a pipe, and a water distribution component is provided between the bottom end of the drain pipe and the push plate.

[0014] As a preferred embodiment of the present invention, the water distribution assembly includes a water replenishment ring rotatably connected to the bottom end of the drain pipe, the water replenishment ring being connected to the drain pipe, a friction groove being provided at the bottom of the push plate, a linkage shaft being rotatably connected to the bottom of the drain pipe, a friction wheel being fixedly connected to the top end of the linkage shaft and fitting against the friction groove, and a fixing frame being fixedly connected between the bottom end of the linkage shaft and the water replenishment ring.

[0015] As a preferred embodiment of the present invention, the seedling fixing assembly includes rotating plates symmetrically hinged to each other on one side of the connecting frame. A seedling fixing claw is slidably connected inside the rotating plate. An annular cylinder is fixedly connected between the rotating plate and the connecting frame. The annular cylinder and the rotating plate are connected to the air supply device through a pipe. The axis of the annular cylinder and the axis of the rotating plate are on the same straight line. The end of the seedling fixing claw is arc-shaped and is located below the water replenishment ring.

[0016] A method for integrating seedling raising and transplanting in forestry planting includes the following steps:

[0017] Step 1: Place the seedling tray in the designated position on the equipment, and place the growing pot containing the measured amount of nutrient soil in the conveying position of the equipment;

[0018] Step 2: First, the equipment will transport the growth pots in a straight line to the rotating platform. At the same time, the equipment will grab the seedlings and some soil on the seedling trays and transfer them to the top of the growth pots. During the transfer process, the seedlings will be stabilized to prevent them from tilting.

[0019] Step 3: When the seedlings are moved above the growing pot, stop transporting the growing pot and at the same time transplant the seedlings into the growing pots one by one;

[0020] Step 4: After transplanting, continue transporting the growing pots and repeat the above process to continue transplanting the seedlings.

[0021] Step 5: After the seedlings are transplanted, they will be transported to the next process. The equipment will then replenish a certain amount of water around the seedling trunk and compact the soil around the seedling trunk during the watering process to achieve the effect of stabilizing the seedlings.

[0022] Compared with the prior art, the present invention provides an integrated equipment and method for seedling raising and transplanting in forestry planting, which has the following beneficial effects:

[0023] 1. In this integrated seedling raising and transplanting equipment for forestry planting, the growing pot can be transported by the conveying mechanism, and the seedlings on the growing pot can be transplanted to the designated position in the growing pot by the transplanting mechanism. At the same time, during the transfer of the seedlings, the seedling stabilizing component can fix the seedling trunk to prevent the seedlings from shifting or tilting during the transfer. This not only ensures the accuracy of the seedling transplanting position, thereby improving the stable survival rate of the seedlings, but also improves the transplanting efficiency.

[0024] 2. In this integrated seedling raising and transplanting equipment for forestry planting, a water replenishment control mechanism can replenish a certain amount of water in the growth pot when the transport stops. At the same time, the seedling fixing component can fix the seedlings to improve the stability of the seedlings and reduce soil adhesion on the equipment. In addition, it can improve the cleanliness of the leaf surface while ensuring leaf humidity, which is beneficial to the photosynthesis of the leaves.

[0025] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This invention can improve the efficiency and effect of seedling transplantation, ensure the accuracy of seedling transplantation location, improve the stability of seedling fixation, and promote the photosynthesis of leaves. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0027] Figure 1 This is a three-dimensional illustration of the present invention. Figure 1 ;

[0028] Figure 2 This is a three-dimensional illustration of the present invention. Figure 2 ;

[0029] Figure 3 This is a partial structural diagram of the present invention. Figure 1 ;

[0030] Figure 4 This is a partial structural diagram of the present invention. Figure 2 ;

[0031] Figure 5 This is a schematic diagram of the gripping mechanism in this invention;

[0032] Figure 6 This is a partial cross-sectional structural diagram of the gripping mechanism in this invention;

[0033] Figure 7 This is a schematic diagram of the structure of the conveying equipment and the water tank in this invention;

[0034] Figure 8 This is a schematic diagram of the main sectional view of the conveying equipment and water tank in this invention;

[0035] Figure 9 This is a partial top-view cross-sectional structural diagram of the drainage pipe, supporting horizontal plate, and push plate in this invention;

[0036] Figure 10 For the present invention Figure 8 A schematic diagram of the structure of part A.

[0037] In the diagram: 1. Support frame; 2. Servo motor; 3. Rotating shaft; 4. Connecting rod; 5. Annular conveyor plate; 6. Outer limiting ring; 7. Support rod; 8. Inner limiting ring; 9. First conveying device; 10. Second conveying device; 11. Growth basin; 12. First guide plate; 13. Second guide plate; 14. Gantry frame; 15. Placement platform; 16. Feeding component; 17. Picking and placing component; 18. Adjustable distance frame; 19. Gripping mechanism; 191. Positioning rod; 192. Gripping cylinder; 193. Connecting component; 194. Gripper; 195. Fixing rod; 196. Pressure plate; 197. First spring; 198. Lateral telescopic plate; 199. Seedling stabilizing ring; 1910. Second spring; 1911. Connecting pipe; 1912. Air vent; 1913. Pressure relief port; 1914. Through hole; 20. Connecting frame; 21. Water tank; 22. Drain pipe; 23. Adjusting plate; 24. Supporting horizontal plate; 25. Push plate; 26. Drain outlet; 27. Third spring; 28. Friction groove; 29. ​​Friction wheel; 30. Linkage shaft; 31. Fixing frame; 32. Water replenishment ring; 33. Rotating plate; 34. Seedling stabilizing claw; 35. Ring cylinder. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Example 1:

[0040] Reference Figures 1-10 An integrated seedling transplanting device for forestry planting includes a support frame 1 and a gantry frame 14, and further includes: a conveying mechanism mounted on the support frame 1, on which a growth pot 11 is mounted, and a guide component connected to the conveying mechanism is mounted on the support frame 1; a transplanting mechanism mounted on the gantry frame 14, used to transplant seedlings from the seedling tray into the growth pot 11 between the guide component; a connecting frame 20 fixedly connected to the conveying mechanism, on which a water trough 21 is fixedly connected, and a drain pipe 22 is connected to the bottom of the water trough 21, and a water replenishment control mechanism is provided between the connecting frame 20 and the drain pipe 22, used to replenish a certain amount of water to the area around the growth pot 11; and a seedling fixing component mounted on the side of the connecting frame 20 near the growth pot 11, used to fix the seedlings in the growth pot 11 during water replenishment.

[0041] In this embodiment, a growth pot 11 containing a certain amount of soil is placed on a conveying mechanism. First, the growth pot 11 is conveyed in a straight line, and then in a circular path. At the same time, the transplanting mechanism grabs and transfers the seedlings in the seedling tray, and fixes the seedling stems during the transfer process to prevent the seedlings from shifting or tilting. Then, the seedlings can be transplanted to the designated position in the growth pot 11. After the transplanting is completed, the growth pot 11 can be continuously conveyed. Furthermore, the seedlings are watered by a water replenishment control mechanism, and the seedlings are fixed during the water replenishment process. This not only ensures the stability of the fixation, but also reduces the adhesion of soil on the equipment, so as to facilitate the subsequent fixation of the seedlings.

[0042] Reference Figures 1-3 The conveying mechanism includes a servo motor 2 fixedly connected to the support 1. The output end of the servo motor 2 is fixedly connected to a rotating shaft 3. A connecting rod 4 is fixedly connected to the rotating shaft 3. An annular conveying disk 5 is fixedly connected to the connecting rod 4. A first conveying device 9 and a second conveying device 10 are on the support 1. The first conveying device 9 and the second conveying device 10 are symmetrically arranged, and the ends of the first conveying device 9 and the second conveying device 10 are in contact with the annular conveying disk 5.

[0043] In this embodiment, it should be explained that the servo motor 2 is electrically connected to the vision sensor through a PLC control system, which is used to control the opening and closing of the servo motor 2, the first conveying device 9, and the second conveying device 10. Both the first conveying device 9 and the second conveying device 10 adopt the conveying method of conveyor belt. The size of the annular conveyor plate 5, the first conveying device 9, and the second conveying device 10 matches the size of the growth pot 11.

[0044] Reference Figure 1 and Figure 3 The guiding assembly includes an outer limiting ring 6 fixedly connected to the bracket 1 near the outer wall of the annular conveyor plate 5. Multiple sets of support rods 7 are fixedly connected to the inner wall of the outer limiting ring 6 away from the gantry frame 14. An inner limiting ring 8 that fits against the inner wall of the annular conveyor plate 5 is fixedly connected to the end of the support rod 7. A first guide plate 12 is fixedly connected to the end of the first conveying device 9 near the annular conveyor plate 5. A second guide plate 13 is fixedly connected to the end of the second conveying device 10 near the annular conveyor plate 5.

[0045] In this embodiment, the outer limiting ring 6 and the inner limiting ring 8 are used to limit the growth pot 11. When the growth pot 11 is transported by the first conveying device 9 to the annular conveying plate 5, the first guide plate 12 can ensure the stability of the transport of the growth pot 11. When the growth pot 11 is transported from the annular conveying plate 5 to the second conveying device 10, under the action of the second guide plate 13, the growth pot 11 can be transported to the second conveying device 10, thus completing the transport of the seedling after transplanting.

[0046] Reference Figure 1 , Figure 2 and Figure 4 The transplanting mechanism includes a feeding component 16 slidably connected to the gantry frame 14. The bottom of the feeding component 16 is symmetrically slidably connected to a pick-and-place component 17. An adjusting frame 18 is slidably connected between the two sets of pick-and-place components 17. A gripping mechanism 19 is provided on the adjusting frame 18. A placement platform 15 is fixedly connected to the side of the gantry frame 14 near the feeding component 16. The placement platform 15 is located below the gripping mechanism 19. The feeding component 16, the pick-and-place component 17, and the adjusting frame 18 are all electrically driven. A vision sensor is provided on the gripping mechanism 19.

[0047] In this embodiment, it should be explained that the visual sensor is electrically connected to the feeding component 16, the picking and placing component 17, and the adjusting frame 18. That is, the position of the feeding component 16, the picking and placing component 17, and the adjusting frame 18 on the gantry frame 14 can be adjusted by the visual sensor. This is a conventional method in the prior art, so it will not be described in detail. The feeding component 16 is used to realize the transfer of seedlings, the picking and placing component 17 is used to realize the picking and placing of seedlings, and the adjusting frame 18 is used to match the position of the seedling tray and the growth pot 11.

[0048] Reference Figures 4-6The gripping mechanism 19 includes a positioning rod 191 fixedly connected to the adjusting frame 18. A gripping cylinder 192 is slidably connected to the positioning rod 191. A connector 193 is symmetrically arranged at the bottom of the gripping cylinder 192. A gripper 194 is fixedly connected to the end of the connector 193 away from the gripping cylinder 192. The gripping cylinder 192 and the positioning rod 191 are electrically driven. The gripper 194 is conical. A seedling stabilizing component is arranged on the side of the gripping cylinder 192 near the gripper 194.

[0049] In this embodiment, by adjusting the position of the gripping cylinder 192 on the positioning rod 191, the gripper 194 can be matched with the position of the growth pot 11 on the annular conveyor plate 5. By adjusting the distance between the grippers 194 by the gripping cylinder 192, the gripping and release of the seedlings can be realized. The gripping cylinder 192 is electrically connected to the vision sensor. The specific structure can be referred to the technical solutions in the prior art, which can be known by those skilled in the art, so as to realize the transfer of seedlings between the seedling tray and the growth pot 11.

[0050] Reference Figures 5-6 The seedling stabilization assembly includes a fixed rod 195 symmetrically fixedly connected to the gripping cylinder 192. A pressure plate 196 is slidably connected to the bottom of the fixed rod 195. A first spring 197 is fixedly connected between the pressure plate 196 and the fixed rod 195. A transverse telescopic plate 198 is fixedly connected to the side of the fixed rod 195 near the connector 193. A second spring 1910 is fixedly connected inside the transverse telescopic plate 198. A seedling stabilization ring 199 is fixedly connected to the end of the transverse telescopic plate 198. A connecting pipe 1911 is connected to the transverse telescopic plate 198. A vent 1912 communicating with the transverse telescopic plate 198 is opened inside the fixed rod 195. A pressure relief port 1913 communicating with the vent 1912 is provided at the bottom of the fixed rod 195. A through hole 1914 is opened on the pressure plate 196.

[0051] In this embodiment, when grasping and transferring seedlings, the gas supply device delivers gas into the transverse telescopic plate 198 through the connecting pipe 1911, thereby causing the two sets of seedling stabilizing rings 199 to move closer together. When the gripper 194 contacts the soil surface in the seedling tray, it will cause the pressure plate 196 to retract into the fixing rod 195. When the through hole 1914 moves to the vent 1912, the gas in the transverse telescopic plate 198 can be discharged through the vent 1912. Subsequently, the seedling stabilizing rings 199 will move away from each other, and the gripper 194 will... When the seedlings are grasped, the seedlings and stems can pass through the seedling stabilizing ring 199. After the seedlings are grasped, the pressing plate 196 will extend to the initial position and seal the vent 1912. At the same time, the gas generated by the gas supply equipment will drive the horizontal telescopic plate 198 to extend outward again, causing the seedling stabilizing rings 199 to move closer together, thereby fixing the seedling stem. When the seedlings are transplanted into the growth pot 11, the same principle applies to ensure the stability of the seedlings' position during the transfer process, thereby improving the accuracy of the seedling transplant position.

[0052] Reference Figure 2 , Figures 7-10 The water replenishment control mechanism includes an adjusting plate 23 fixedly connected to the side of the connecting frame 20 near the drain pipe 22. A supporting horizontal plate 24 is connected to the drain pipe 22. A push plate 25 is slidably connected between the adjusting plate 23 and the supporting horizontal plate 24. A drain outlet 26 is provided on the push plate 25. A third spring 27 is fixedly connected between the push plate 25 and the supporting horizontal plate 24. The space between the adjusting plate 23 and the push plate 25 is connected to the vent 1912 through a pipe. A water distribution component is provided between the bottom end of the drain pipe 22 and the push plate 25. The water distribution component includes a water replenishment ring 32 rotatably connected to the bottom end of the drain pipe 22. The water replenishment ring 32 is connected to the drain pipe 22. A friction groove 28 is provided at the bottom of the push plate 25. A linkage shaft 30 is rotatably connected to the bottom of the drain pipe 22. A friction wheel 29 that fits against the friction groove 28 is fixedly connected to the top end of the linkage shaft 30. A fixing frame 31 is fixedly connected between the bottom end of the linkage shaft 30 and the water replenishment ring 32.

[0053] In this embodiment, initially, water is added to the water tank 21. During the transport process of the growth pot 11, the gas discharged from the vent 1912 enters the regulating plate 23, causing the push plate 25 to move towards the support plate 24. At this time, the water in the water tank 21 flows into the water replenishment ring 32 through the drain pipe 22 and the drain outlet 26. Simultaneously, under the action of the friction groove 28, the friction wheel 29 rotates, which in turn rotates the water replenishment ring 32, causing the water to flow into the growth pot 11 in a cone shape. Furthermore, because the exhaust pressure of the vent 1912 is relatively high initially, the rotation speed of the water replenishment ring 32 is relatively fast, resulting in a larger water replenishment radius. In other words, the water flow is not... The water supply ring 32 will come into contact with the leaves of the seedlings. When the push plate 25 moves to the initial position, the rotation speed of the water supply ring 32 will gradually decrease under the action of friction, and the radius of the water flow will gradually decrease, so that a small amount of water will come into contact with the leaves of the seedlings. This not only avoids the risk of disease caused by a large amount of water coming into contact with the leaves, but also avoids physical damage and scorching to the leaves caused by a large amount of water flow. On the other hand, the local humidity of the leaves can be increased by a small amount of water flow, reducing the evaporation of water from the leaves and helping the seedlings to stay firm. It can also wash away the soil that sticks to the leaves during the transplanting process, ensuring that the leaves are clean and conducive to the photosynthesis of the leaves, thereby improving the transplanting effect of the seedlings.

[0054] Reference Figure 8 The seedling fixing component includes a rotating plate 33 that is symmetrically hinged to one side of the connecting frame 20. A seedling fixing claw 34 is slidably connected inside the rotating plate 33. An annular cylinder 35 is fixedly connected between the rotating plate 33 and the connecting frame 20. The annular cylinder 35 and the rotating plate 33 are connected to the air supply equipment through a pipe. The axis of the annular cylinder 35 and the axis of the rotating plate 33 are on the same straight line. The end of the seedling fixing claw 34 is arc-shaped and located below the water replenishment ring 32.

[0055] In this embodiment, during the water replenishment process, the gas supply device delivers gas to the rotating plate 33 and the annular cylinder 35, causing the rotating plate 33 to rotate towards one side of the growth pot 11. At the same time, the seedling fixing claws 34 extend outward from the rotating plate 33, thereby fixing the seedlings in the growth pot 11. In addition, the seedling fixing claws 34 can also guide the water flow, allowing the water to flow to the seedling stem without contacting the seedling leaves, thus improving the water replenishment effect of the seedlings. At the same time, the water flow can also wash away the soil adhering to the seedling fixing claws 34, so as to facilitate the subsequent fixing of the seedlings.

[0056] In this invention, when transplanting seedlings, firstly, a growth pot 11 containing a certain amount of soil is placed on the first conveying device 9, and a seedling tray is placed on the placement platform 15. The servo motor 2 is started to drive the annular conveying disk 5 to rotate, and the growth pot 11 is conveyed by the first conveying device 9 to the annular conveying disk 5. Finally, it is conveyed to the second conveying device 10 through the second guide plate 13. At the same time, the seedlings in the seedling tray are grasped by the feeding component 16, the picking and placing component 17, the distance adjustment frame 18, the positioning rod 191, the gripping cylinder 192 and the gripper 194.

[0057] During the transport of the growing pot 11, the air supply device delivers gas into the transverse telescopic plate 198 through the connecting pipe 1911, causing the two sets of seedling stabilizing rings 199 to move closer together. When the grippers 194 contact the soil surface in the seedling tray, they cause the pressure plate 196 to retract into the fixing rod 195. When the through hole 1914 moves to the vent 1912, the gas in the transverse telescopic plate 198 can be discharged through the vent 1912. Subsequently, the seedling stabilizing rings 199 will move away from each other, and the grippers 194 will press against the seedlings. During the grasping process, the seedlings and seedling stems can pass through the seedling stabilizing ring 199. After the seedlings are grasped, the pressing plate 196 will extend to the initial position and block the vent 1912. At the same time, the gas generated by the gas supply equipment will drive the horizontal telescopic plate 198 to extend outward again, causing the seedling stabilizing rings 199 to move closer together, thereby fixing the seedling stem. When transplanting the seedlings into the growth pot 11, the same principle applies to ensure the stability of the seedlings' position during the transfer process, thereby improving the accuracy of the seedling transplanting position.

[0058] After transplanting, the growing pot 11 continues to transport the seedlings. During subsequent transplanting, the push plate 25, under the action of the third spring 27, blocks the drain pipe 22. When the transport stops, the gas discharged from the vent 1912 enters the regulating plate 23, causing the push plate 25 to move. At this time, the water in the water tank 21 flows into the water replenishment ring 32 through the drain pipe 22 and the drain outlet 26. Simultaneously, under the action of the friction groove 28, the friction wheel 29 rotates, which in turn rotates the water replenishment ring 32, causing the water to flow into the growing pot 11 in a cone shape. Furthermore, because the initial exhaust pressure of the vent 1912 is relatively high, the rotation speed of the water replenishment ring 32 is relatively fast, resulting in a larger water replenishment radius. In other words, the water flow will not come into contact with the leaves of the seedlings at this time. When the push plate 25 moves to the initial position, the rotation speed of the water supply ring 32 will gradually decrease under the action of friction, and the radius of the water flow will gradually decrease, so that a small part of the water flow comes into contact with the leaves of the seedlings. This not only avoids the risk of disease caused by a large amount of water coming into contact with the leaves, but also avoids physical damage and scorching to the leaves caused by a large amount of water flow. On the other hand, the local humidity of the leaves can be increased by a small amount of water flow, reducing the evaporation of water from the leaves and helping the seedlings to stay firm. It can also wash away the soil that sticks to the leaves during the transplanting process, ensuring that the leaves are clean, which is conducive to the photosynthesis of the leaves and improves the transplanting effect of the seedlings.

[0059] At the same time, the gas generated by the gas supply equipment is delivered to the rotating plate 33 and the annular cylinder 35, which drives the rotating plate 33 to rotate to one side of the growth pot 11. Meanwhile, the seedling fixing claws 34 extend outward from the rotating plate 33 to fix the seedlings in the growth pot 11. In addition, the seedling fixing claws 34 can also guide the water flow, so that the water flows to the seedling stem without contacting the seedling leaves, thereby improving the watering effect of the seedlings. At the same time, the water flow can also wash away the soil adhering to the seedling fixing claws 34 to facilitate the subsequent fixing of the seedlings.

[0060] Example 2:

[0061] A method for integrating seedling raising and transplanting in forestry planting includes the following steps:

[0062] Step 1: Place the seedling tray at the designated location on the equipment, and place the growth pot 11 containing a measured amount of nutrient soil at the conveying position on the equipment;

[0063] Step 2: First, the equipment will transport the growth pot 11 in a straight line to the rotating platform. At the same time, the equipment will grab the seedlings and some soil on the seedling tray and transfer them to the top of the growth pot 11. During the transfer process, the seedling stems will be stabilized to prevent them from tilting.

[0064] Step 3: When the seedlings are transferred to the top of the growth pot 11, stop transporting the seedlings to the growth pot 11 and at the same time transplant the seedlings into the growth pot 11 individually.

[0065] Step 4: After transplanting, continue to transport the seedlings in the growing pot 11 and repeat the above process to continue transplanting the seedlings.

[0066] Step 5: After the seedlings are transplanted, they will be transported to the next process. The equipment will then replenish a certain amount of water around the seedling trunk and compact the soil around the seedling trunk during the watering process to achieve the effect of stabilizing the seedlings.

[0067] Components not described in detail in this article are existing technologies.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated seedling raising and transplanting device for forestry planting, comprising a support frame (1) and a gantry frame (14), characterized in that, Also includes: A conveying mechanism is provided on the support (1), a growth pot (11) is provided on the conveying mechanism, and a guide component connected to the conveying mechanism is provided on the support (1); A transplanting mechanism, set on the gantry (14), is used to transplant seedlings from the seedling tray into the growing pot (11) between the seedling guide components; A connecting frame (20) is fixedly connected to the conveying mechanism. A water tank (21) is fixedly connected to the connecting frame (20). A drain pipe (22) is connected to the bottom of the water tank (21). A water replenishment control mechanism is provided between the connecting frame (20) and the drain pipe (22) to replenish a certain amount of water to the area around the growth pot (11). The seedling fixing component is set on the side of the connecting frame (20) near the growing pot (11) and is used to fix the seedlings in the growing pot (11) when watering. The transplanting mechanism includes a feeding component (16) slidably connected to the gantry frame (14). The bottom of the feeding component (16) is symmetrically slidably connected to a pick-and-place component (17). An adjustable frame (18) is slidably connected between the two sets of pick-and-place components (17). A gripping mechanism (19) is provided on the adjustable frame (18). Among them, the gantry frame (14) is fixedly connected to a placement platform (15) on the side near the feeding component (16). The placement platform (15) is located below the gripping mechanism (19). The feeding component (16), the pick-and-place component (17) and the distance adjustment frame (18) are all electrically driven. The gripping mechanism (19) is equipped with a vision sensor. The gripping mechanism (19) includes a positioning rod (191) fixedly connected to the adjusting frame (18), a gripping cylinder (192) slidably connected to the positioning rod (191), and a connecting piece (193) symmetrically arranged at the bottom of the gripping cylinder (192). A gripper (194) is fixedly connected to the end of the connecting piece (193) away from the gripping cylinder (192). The gripping cylinder (192) and the positioning rod (191) are electrically driven. The gripper (194) is conical. A seedling stabilizing component is provided on the side of the gripping cylinder (192) near the gripper (194). The gripping mechanism (19) includes a positioning rod (191) fixedly connected to the adjusting frame (18), a gripping cylinder (192) slidably connected to the positioning rod (191), and a connecting piece (193) symmetrically arranged at the bottom of the gripping cylinder (192). A gripper (194) is fixedly connected to the end of the connecting piece (193) away from the gripping cylinder (192). The gripping cylinder (192) and the positioning rod (191) are electrically driven. The gripper (194) is conical. A seedling stabilizing component is provided on the side of the gripping cylinder (192) near the gripper (194). The seedling stabilizing assembly includes fixed rods (195) symmetrically fixedly connected to the gripping cylinder (192). A pressure plate (196) is slidably connected to the bottom of the fixed rod (195). A first spring (197) is fixedly connected between the pressure plate (196) and the fixed rod (195). A transverse telescopic plate (198) is fixedly connected to the side of the fixed rod (195) near the connector (193). A second spring (197) is fixedly connected inside the transverse telescopic plate (198). 910), the end of the transverse telescopic plate (198) is fixedly connected to a seedling stabilizing ring (199), the transverse telescopic plate (198) is connected to a connecting pipe (1911), the inside of the fixed rod (195) is provided with a vent (1912) connected to the transverse telescopic plate (198), the bottom of the fixed rod (195) is provided with a pressure relief port (1913) connected to the vent (1912), and the pressure plate (196) is provided with a through hole (1914).

2. The integrated seedling raising and transplanting equipment for forestry planting according to claim 1, characterized in that, The conveying mechanism includes a servo motor (2) fixedly connected to the bracket (1), a rotating shaft (3) fixedly connected to the output end of the servo motor (2), a connecting rod (4) fixedly connected to the rotating shaft (3), an annular conveying disk (5) fixedly connected to the connecting rod (4), a first conveying device (9) and a second conveying device (10) on the bracket (1), the first conveying device (9) and the second conveying device (10) are symmetrically arranged, and the ends of the first conveying device (9) and the second conveying device (10) are in contact with the annular conveying disk (5).

3. The integrated seedling raising and transplanting equipment for forestry planting according to claim 2, characterized in that, The guiding assembly includes an outer limiting ring (6) fixedly connected to the bracket (1) near the outer wall of the annular conveyor plate (5). Multiple sets of support rods (7) are fixedly connected to the inner wall of the outer limiting ring (6) away from the gantry (14). An inner limiting ring (8) that fits against the inner wall of the annular conveyor plate (5) is fixedly connected to the end of the support rod (7). A first guide plate (12) is fixedly connected to one end of the first conveying device (9) near the annular conveyor plate (5). A second guide plate (13) is fixedly connected to one end of the second conveying device (10) near the annular conveyor plate (5).

4. The integrated seedling raising and transplanting equipment for forestry planting according to claim 1, characterized in that, The water replenishment control mechanism includes an adjusting plate (23) fixedly connected to the connecting frame (20) on the side near the drain pipe (22). A supporting horizontal plate (24) is connected to the drain pipe (22). A push plate (25) is slidably connected between the adjusting plate (23) and the supporting horizontal plate (24). A drain outlet (26) is opened on the push plate (25). A third spring (27) is fixedly connected between the push plate (25) and the supporting horizontal plate (24). The space between the regulating plate (23) and the push plate (25) is connected to the vent (1912) by a pipe, and a water distribution component is provided between the bottom end of the drain pipe (22) and the push plate (25).

5. The integrated seedling raising and transplanting equipment for forestry planting according to claim 4, characterized in that, The water distribution assembly includes a water replenishment ring (32) rotatably connected to the bottom end of the drain pipe (22). The water replenishment ring (32) is connected to the drain pipe (22). The bottom of the push plate (25) is provided with a friction groove (28). The bottom of the drain pipe (22) is rotatably connected with a linkage shaft (30). The top end of the linkage shaft (30) is fixedly connected with a friction wheel (29) that fits against the friction groove (28). The bottom end of the linkage shaft (30) is fixedly connected with a fixing frame (31) between it and the water replenishment ring (32).

6. The integrated seedling raising and transplanting equipment for forestry planting according to claim 5, characterized in that, The seedling fixing assembly includes rotating plates (33) that are symmetrically hinged to each other on one side of the connecting frame (20). The rotating plates (33) are slidably connected to seedling fixing claws (34). An annular cylinder (35) is fixedly connected between the rotating plates (33) and the connecting frame (20). The annular cylinder (35) and the rotating plate (33) are connected to the air supply equipment through a pipeline. The axis of the annular cylinder (35) and the axis of the rotating plate (33) are on the same straight line. The end of the seedling pressing claw (34) is arc-shaped and is located below the water replenishment ring (32).

7. A method for integrated seedling raising and transplanting for forestry planting, employing the integrated seedling raising and transplanting equipment for forestry planting as described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Place the seedling tray at the designated location on the equipment and place the growing pot (11) containing a measured amount of nutrient soil at the conveying location on the equipment; Step 2: First, the equipment will transport the growth pot (11) in a straight line to the rotating platform. At the same time, the equipment will grab the seedlings and some soil on the seedling tray and transfer them to the top of the growth pot (11). During the transfer process, the seedling stems will be stabilized to prevent the seedling stems from tilting during the transfer. Step 3: When the seedlings are transferred to the top of the growing pot (11), stop transporting the growing pot (11) and transplant the seedlings into the growing pot (11) one by one. Step 4: After transplanting, continue to transport the growing pot (11) and repeat the above process to continue transplanting the seedlings; Step 5: After the seedlings are transplanted, they will be transported to the next process. The equipment will then replenish a certain amount of water around the seedling trunk and compact the soil around the seedling trunk during the watering process to achieve the effect of stabilizing the seedlings.

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