Automatic gap filling seedling picking device based on gap filling seedling gripper and gap filling seedling picking method of automatic gap filling seedling picking device

Abstract

The invention belongs to the technical field of automatic seedling elimination and supplement, and particularly relates to an automatic seedling elimination and supplement device based on a seedling supplement gripper and an elimination and supplement method thereof.The automatic seedling elimination and supplement device comprises a supporting frame, the surface of the supporting frame is in transmission connection with a conveying belt, a fixing frame is placed on the conveying belt, the conveying belt is used for conveying the fixing frame, and the fixing frame is used for placing qualified seedlings; a positioning frame is arranged on one side of the conveying belt, two first guide rails are arranged on the upper surface of the positioning frame, first guide rods are slidably connected into the two first guide rails, a cross rod is fixedly connected between the two first guide rods, a sliding block is slidably connected to the surface of the cross rod, and a clamping jaw assembly is slidably arranged on one side of the sliding block. The clamping jaw assembly is used for supplementing the qualified seedlings with the seedlings, and by arranging the clamping jaw assembly, the problem that the roots of the qualified seedlings are exposed due to the fact that nutrient soil at the bottom is scattered in the existing grabbing process is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic replanting, and particularly relates to an automatic replanting device based on a replanting gripper and a replanting method thereof. BACKGROUND

[0002] In modern agricultural production, high quality of plug seedlings is required. The device aims to automatically identify and remove unqualified seedlings through machine vision technology and a replanting gripper, and supplement qualified seedlings to ensure the uniform quality of seedlings and the efficiency of mechanized transplanting.

[0003] Firstly, the machine vision system takes a top view image of the plug seedlings to identify and judge the quality and position of the seedlings in each hole. Then, the position information of the unqualified seedlings is transmitted to the controller. Then, the replanting mechanism removes the unqualified seedlings or substrate blocks according to the position information. Then, the replanting gripper is positioned above the qualified seedlings on the seedling supply tray. This process can be achieved through a machine vision system which can identify and locate the position of each seedling on the seedling supply tray, thereby guiding the precise movement of the replanting gripper. After positioning is completed, the replanting gripper will descend and clamp the qualified seedling. During clamping, the gripper will clamp from both sides of the culture soil, and clamping will be performed after the descending part is lowered by a certain length. However, because the existing culture frame has a shape of wide at the top and narrow at the bottom, the gripper cannot completely clamp it, resulting in the bottom loose culture soil falling off during the transfer of the qualified seedlings, thereby exposing the root of the qualified seedling, causing damage to the root system or water loss, and further affecting the survival rate and growth of the seedlings, resulting in unqualified seedling quality.

[0004] Therefore, the application provides an automatic replanting device based on a replanting gripper and a replanting method thereof. SUMMARY

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background art.

[0006] The technical scheme adopted by the application to solve the technical problems is: the automatic replanting device based on a replanting gripper and the replanting method thereof, which comprises a support frame, the surface of the support frame is drivingly connected with a conveyor belt, the conveyor belt is used for conveying a fixed frame, the fixed frame is used for placing qualified seedlings, one side of the conveyor belt is provided with a positioning frame, the upper surface of the positioning frame is provided with two first guide rails, two first guide rods are slidingly connected in the first guide rails, a cross bar is fixedly connected between the two first guide rods, a sliding block is slidingly connected to the surface of the cross bar, a clamping jaw assembly is slidingly arranged on one side of the sliding block, the clamping jaw assembly is used for replanting the qualified seedlings, The clamping jaw assembly comprises a second guide rail fixed on one side of the sliding block, a first guide plate slidably connected on one side of the second guide rail, a first hydraulic cylinder fixed on the lower surface of the first guide plate, a connecting rod fixed on the output end of the first hydraulic cylinder, and two second hydraulic cylinders slidably connected on the lower surface of the connecting rod; The output end of each second hydraulic cylinder is fixed with a bottom plate, and the two sides of the bottom plate are slidably connected with side plates, the side plates are controlled by an air pump, and one side of each side plate is provided with an adaptive assembly. The adaptive assembly comprises a hook plate slidably arranged on one side of each side plate, and the hook plate can adapt to the shape of the fixed frame which is wide at the top and narrow at the bottom; the qualified seedlings in the fixed frame are arranged in corresponding positions.

[0007] Preferably, the lower surface of each side plate is provided with a sliding groove, a sliding plate is slidably connected in the sliding groove, the lower surface of the sliding plate is fixed with a hook plate, the cross section of the sliding plate and the sliding groove is in the shape of "T", and the hook plate will continue to move downward after contacting the culture soil in the fixed frame. The extrusion of the inclined surfaces on both sides of the inner wall of the fixed frame makes the hook plate slide along the sliding groove through the sliding block, so as to clamp the qualified seedlings. When the two hook plates extend to a certain length, the hook plates are fixed and limited by the fixed part, and then the second hydraulic cylinder is started to drive the hook plates to transport the seedlings, preventing the falling of the nutrient soil.

[0008] Preferably, the fixed part comprises a first groove body provided on one side of each side plate, two slide rods are slidably arranged on one side of the first groove body, a spring is sleeved on the circumference of each slide rod, the same connecting plate is fixed on the two slide rods, two taper blocks are fixed on one side of the connecting plate, and the taper blocks are used to increase the contact area and the stress point when the culture soil is transported.

[0009] Preferably, the fixed part further comprises a third hydraulic cylinder fixed on both sides of the second hydraulic cylinder, a connecting shaft is fixed on the output end of each third hydraulic cylinder, and an abutting block is fixed on the bottom end of the connecting shaft.

[0010] Preferably, when the connecting plate is extruded by the inner wall of the fixed frame, the connecting plate will compress the spring. When the hook plate extends to a certain length, the second hydraulic cylinder stops moving downward, the third hydraulic cylinder is started to drive the connecting shaft at the output end to move downward, the downward movement of the connecting shaft drives the abutting block at the bottom end to abut against the connecting plate, and then the connecting plate is limited to rebound and reset under the action of the spring. The second hydraulic cylinder is lifted to lift the qualified seedlings and the nutrient soil of the roots.

[0011] Preferably, one side of each of the side plates is provided with a limiting piece, the limiting piece comprises a second groove body opened in one side of the side plate, a rotating plate is rotatably arranged in the second groove body, the rotating plates in the two side plates can abut the upper side of the nutrient soil and extrude the nutrient soil to compact it.

[0012] Preferably, a positioning shaft is fixedly connected to the inner wall of the second groove body, the two ends of the positioning shaft are fixedly connected with second torsional springs, the second torsional springs are used for automatic reset of the rotating plate, a fixed plate is fixedly connected to the circumferential surface of the connecting shaft, the fixed plate can extrude the rotating plate to cause rotation of the rotating plate, so that the two rotating plates extrude the upper surface of the nutrient soil, and the nutrient soil can be made more compact.

[0013] Preferably, a connecting column is further fixedly connected to the second groove body, the two ends of the connecting column are fixedly connected with first torsional springs, the two first torsional springs are fixedly connected with the same limiting tube, and a pushing plate is fixedly connected to the circumferential surface of the limiting tube.

[0014] Preferably, the pushing plate is an electrically controlled electromagnetic pushing plate, when the qualified seedling is clamped, the rotating plate is opened to compact and limit the upper surface of the nutrient soil, but part of the soil enters the second groove body, so when the rotation of the qualified seedling is completed, the electromagnetic controlled pushing plate is started to rotate around the connecting column to clean the soil in the first groove body, and then the pushing plate loses magnetism and is reset under the action of the first torsional spring.

[0015] A replanting method based on a replanting gripper, and the specific steps include: Machine vision detection: the machine vision system is used for quality detection of the fixed frame seedlings, and the positions of unqualified or empty holes are identified; Replanting and replanting: the substrate or seedling at the unqualified position is clamped out through the replanting device, and at the same time, the replanting gripper grasps new seedlings from the qualified seedling tray and fills them into the empty holes according to the information provided by the machine vision system; Conveying and classification: the fixed frame after replanting is sent out through the conveying belt, and at the same time, the source seedling tray is also sent out from another conveying belt, so that efficient and accurate replanting operation is realized, and the quality of the fixed frame seedlings is ensured.

[0016] The beneficial effects of the present application are as follows: 1. An automatic replanting device based on a replanting gripper and a replanting method thereof, which realizes continuous transmission of a fixed frame through a conveying belt on a support frame, qualified seedlings to be replanted are placed in the fixed frame, when the fixed frame is transmitted to a specified position, a first guide rail on a positioning frame guides a first guide rod and a cross bar to move above the fixed frame, a sliding block on the cross bar is adjusted in position to ensure that a jaw assembly accurately aligns with the position of the seedlings to be replanted, the jaw assembly is vertically lifted through a first guide plate on a second guide rail and a first hydraulic cylinder, a second hydraulic cylinder further adjusts the lateral position of the jaw, a side plate is driven to slide by a gas pump, and a hook plate is designed to flexibly adapt to the shape of the fixed frame which is wide at the top and narrow at the bottom, so as to ensure that the jaw assembly stably clamps the seedlings.

[0017] 2. An automatic replanting device based on a replanting gripper and a replanting method thereof, which rotates a rotating plate arranged in a second groove body to tightly press the nutrient soil above when needed, and the rotating plates in the two side plates work together to ensure that the nutrient soil is uniformly and stably compacted, improve the compactness of the nutrient soil, and help the stable growth of the seedlings, and the compacted distance is a certain distance away from the stem of the seedlings, so as to not cause damage to the seedlings. BRIEF DESCRIPTION OF DRAWINGS

[0018] The application will be further described below with reference to the drawings.

[0019] Figure 1 is a perspective view of embodiment one of the application; Figure 2 is a structural schematic view of a connecting rod of the application; Figure 3 is a structural schematic view of a bottom plate of the application; Figure 4 is a structural schematic view of a side plate of the application; Figure 5 is a sectional view of the side plate of the application; Figure 6 is an enlarged view of A in the application Figure 5 ; Figure 7 is a structural schematic view of a third hydraulic cylinder of the application; In the figure: 1, support frame; 11, conveying belt; 12, fixed frame; 2, positioning frame; 21, first guide rail; 22, first guide rod; 23, cross bar; 24, sliding block; 25, second guide rail; 26, first guide plate; 27, first hydraulic cylinder; 28, connecting rod; 29, second hydraulic cylinder; 3, third hydraulic cylinder; 31, connecting shaft; 32, fixed plate; 33, abutting block; 4. Base plate; 41. Side plate; 42. First groove; 43. Connecting plate; 44. Slide rod; 45. Spring; 46. Cone block; 47. Sliding groove; 48. Sliding plate; 49. Hook plate; 410. Second groove; 411. Rotating plate; 412. Connecting column; 413. First torsion spring; 414. Limiting tube; 415. Paddle plate; 416. Positioning shaft; 417. Second torsion spring. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] Example 1: As Figures 1 to 7 As shown in the embodiment of the present invention, an automatic seedling removal device and its removal method based on a seedling removal gripper include a support frame 1. A conveyor belt 11 is connected to the surface of the support frame 1. A fixed frame 12 is placed on the conveyor belt 11. The conveyor belt 11 is used to transport the fixed frame 12, and the fixed frame 12 is used to place qualified seedlings. A positioning frame 2 is provided on one side of the conveyor belt 11. Two first guide rails 21 are opened on the upper surface of the positioning frame 2. A first guide rod 22 is slidably connected in each of the two first guide rails 21. A crossbar 23 is fixedly connected between the two first guide rods 22. A slider 24 is slidably connected to the surface of the crossbar 23. A gripper assembly is slidably provided on one side of the slider 24. The gripper assembly is used to remove qualified seedlings. The gripper assembly includes the slider 24. A second guide rail 25 is fixedly connected to one side of the fixed frame 12. A first guide plate 26 is slidably connected to one side of the second guide rail 25. A first hydraulic cylinder 27 is fixedly connected to the lower surface of the first guide plate 26. A connecting rod 28 is fixedly connected to the output end of the first hydraulic cylinder 27. Two second hydraulic cylinders 29 are slidably connected to the lower surface of the connecting rod 28. A base plate 4 is fixedly connected to the output end of each second hydraulic cylinder 29. Side plates 41 are slidably connected to both sides of the base plate 4. The side plates 41 are controlled by an air pump. An adaptation component is provided on one side of each side plate 41. The adaptation component includes a hook plate 49 slidably set on one side of each side plate 41. The hook plate 49 can adapt to the shape of the fixed frame 12, which is wider at the top and narrower at the bottom. The qualified seedlings in the fixed frame 12 are arranged to be replanted in the corresponding positions.

[0022] Specifically, because the existing cultivation frame is wider at the top and narrower at the bottom, the gripper cannot completely grasp it. As a result, when transferring qualified seedlings, the gripper is located in the upper middle part of the cultivation soil, causing the loose cultivation soil at the bottom to fall off, exposing the roots of the qualified seedlings. This leads to root damage or dehydration, which in turn affects the survival rate and growth of the seedlings, resulting in substandard seedling quality. Therefore, the present application solves this problem by setting a certain structure, first, the continuous transmission of the fixed frame 12 is realized through the conveying belt 11 on the support frame 1, the qualified seedlings to be supplemented are placed in the fixed frame 12, when the fixed frame 12 is transmitted to the specified position, the first guide rail 21 on the positioning frame 2 guides the first guide rod 22 and the cross rod 23 to move above the fixed frame 12, the slider 24 on the cross rod 23 is adjusted in position to ensure that the jaw assembly accurately aligns the position of the seedling to be supplemented, the jaw assembly is vertically lifted through the first guide plate 26 and the first hydraulic cylinder 27 on the second guide rail 25, and the second hydraulic cylinder 29 further adjusts the lateral position of the jaw, the side plate 41 is driven by the air pump to slide, and the hook plate 49 is designed to adapt to the shape of the fixed frame 12 which is wide at the top and narrow at the bottom, so as to ensure that the jaw assembly stably clamps the seedlings, then the jaw assembly accurately places the seedlings in the corresponding position of the fixed frame 12, and the whole process is highly automated, greatly improving the efficiency and accuracy of the seedling supplementing operation, the device realizes the automatic seedling supplementing through the precise control of the mechanical structure, significantly improves the agricultural production efficiency, reduces the labor cost, the flexible design of the jaw assembly, especially the adaptability of the hook plate 49, ensures that the jaw can stably clamp and place the seedlings, avoids the damage of the seedlings in the process of supplementing, and at the same time, the device is easy to maintain and adjust, and can be adjusted according to the size and shape of different seedlings, improving its versatility and practicality. The problem of exposing the root of the qualified seedling due to the scattering of the bottom nutrient soil in the existing grabbing process is solved.

[0023] As shown in Figure 3 The lower surface of each side plate 41 is provided with a sliding groove 47, and the sliding plate 48 is slidably connected in the sliding groove 47, and the lower surface of the sliding plate 48 is fixedly connected with the hook plate 49, the cross section of the sliding plate 48 and the sliding groove 47 is "T" shape, the hook plate 49 will continue to move downward after contacting with the culture soil in the fixed frame 12, the extrusion of the inclined surface on the inner wall of the fixed frame 12 makes the hook plate 49 slide along the sliding groove 47 through the sliding block, so as to clamp the qualified seedlings, until the two hook plates 49 extend to a certain length, the hook plate 49 is fixed and limited through the fixed part, and then the second hydraulic cylinder 29 is started to drive the hook plate 49 to transport the seedlings, preventing the falling of the nutrient soil.

[0024] Specifically, the stable sliding of the hook plate 49 is realized by the cooperation of the sliding groove 47 on the lower surface of the side plate 41 and the "T"-shaped cross section of the sliding plate 48. When the hook plate 49 contacts the culture soil in the fixed frame 12 and is pressed downward, it will slide along the sliding groove 47. In this process, the inclined surface of the inner wall of the fixed frame 12 will extrude the hook plate 49, causing it to gradually penetrate into the inside of the fixed frame 12 and clamp the seedling. When the hook plate 49 extends to a certain length, the hook plate 49 is limited by the fixing part to ensure stable clamping of the seedling. Subsequently, the second hydraulic cylinder 29 is started to drive the hook plate 49 and the clamped seedling for transfer. During the entire process, the design of the hook plate 49 effectively prevents the falling of the nutrient soil, improves the stability and accuracy of clamping the seedling, and avoids the scattering of the nutrient soil during the transfer process, thereby protecting the root system of the seedling and improving the survival rate of the seedling.

[0025] As shown in Figure 3 , the fixing part of the present embodiment includes a first groove 42 opened on one side of each side plate 41. A sliding plate 48 is arranged on one side of the first groove 42. The sliding plate 48 is provided with a sliding groove 47 on the side facing the first groove 42. The sliding groove 47 is in sliding connection with the first groove 42. The sliding plate 48 is provided with a hook plate 49 on the side facing the first groove 42. The hook plate 49 is in sliding connection with the sliding groove 47. The hook plate 49 is provided with a fixed frame 12 on the side facing the sliding groove 47. The fixed frame 12 is in sliding connection with the sliding groove 47. The fixed frame 12 is provided with a first hydraulic cylinder 28 on the side facing the sliding groove 47. The first hydraulic cylinder 28 is in sliding connection with the sliding groove 47. The first hydraulic cylinder 28 is provided with a second hydraulic cylinder 29 on the side facing the sliding groove 47. The second hydraulic cylinder 29 is in sliding connection with the sliding groove 47.

[0026] Specifically, the fixing part utilizes the elastic cooperation of the sliding rod 44 and the spring 45, and the contact of the taper block 46 and the culture soil. After the hook plate 49 penetrates into the fixed frame 12 and clamps the seedling, the sliding rod 44 slides in the first groove 42, the spring 45 is compressed, the connecting plate 43 drives the taper block 46 to approach the culture soil. At this time, due to the special shape of the taper block 46, it can increase the contact area and stress point with the culture soil, so as to clamp the seedling more stably. The setting of the taper block 46 improves the stability of clamping and also reduces the shaking of the seedling during the transfer process, further protecting the root system of the seedling.

[0027] As shown in Figure 7 , the fixing part of the present embodiment further includes a third hydraulic cylinder 3 fixed on both sides of the second hydraulic cylinder 29. The output end of each third hydraulic cylinder 3 is fixedly connected with a connecting shaft 31. The bottom end of the connecting shaft 31 is fixedly connected with an abutting block 33.

[0028] Specifically, the third hydraulic cylinder 3 enables the abutting block 33 to extend and abut on the fixed frame 12 or the hook plate 49 as needed, providing additional support force for the hook plate 49 to ensure the stability of the seedling during the transfer process, enhancing the safety during the transfer process and improving the survival rate of the seedling.

[0029] As shown in Figure 4As shown, when the connecting plate 43 is pressed by the inner wall of the fixed frame 12, the spring 45 is compressed. When the hook plate 49 extends to a certain length, the second hydraulic cylinder 29 stops moving downward, and the third hydraulic cylinder 3 drives the connecting shaft 31 at the output end to move downward. The downward movement of the connecting shaft 31 drives the abutting block 33 at the bottom end to abut against the connecting plate 43, thereby limiting the rebound of the connecting plate 43 under the action of the spring 45. The second hydraulic cylinder 29 is lifted to lift the qualified seedlings and the nutrient soil at the root thereof.

[0030] Specifically, in the process of the hook plate 49 penetrating into the fixed frame 12 to clamp the seedlings, the connecting plate 43 is pressed by the inner wall of the fixed frame 12, thereby compressing the spring 45. When the hook plate 49 reaches the predetermined depth, the second hydraulic cylinder 29 stops pressing downward. At this time, the third hydraulic cylinder 3 is started to drive the connecting shaft 31 at the output end and the abutting block 33 at the bottom end to move downward. After the abutting block 33 contacts the connecting plate 43, the rebound of the connecting plate 43 under the action of the spring 45 is effectively prevented, thereby ensuring that the hook plate 49 stably clamps the seedlings. Subsequently, the second hydraulic cylinder 29 is lifted to lift the qualified seedlings and the nutrient soil at the root thereof, thereby completing the preparation for transfer and avoiding the seedlings from falling off or being damaged due to the rebound of the connecting plate 43 during the transfer process. The seedling root system and the attached nutrient soil are effectively protected.

[0031] Embodiment Two: As shown in Figures 1 to 7 Another embodiment of the present application is that each side plate 41 is provided with a limiting piece. The limiting piece includes a second groove 410 formed on one side of the side plate 41, and a rotating plate 411 rotatably arranged in the second groove 410. The rotating plates 411 in the two side plates 41 can abut against the upper side of the nutrient soil and press the nutrient soil.

[0032] Specifically, the limiting piece can rotate to the upper side of the nutrient soil and press the nutrient soil when needed through the rotating plate 411 rotatably arranged in the second groove 410. The rotating plates 411 in the two side plates 41 can cooperate to ensure that the nutrient soil is uniformly and stably compacted, thereby improving the compactness of the nutrient soil and being conducive to the stable growth of the seedlings. The compacted distance is away from the stem of the seedlings by a certain distance, so that the seedlings are not damaged.

[0033] As shown in Figure 5 and Figure 6 The inner wall of the second groove 410 is fixedly connected with a positioning shaft 416, and the two ends of the positioning shaft 416 are fixedly connected with second torsional springs 417. The second torsional springs 417 are used for automatic resetting of the rotating plate 411. The circumferential surface of the connecting shaft 31 is fixedly connected with a fixed plate 32. The fixed plate 32 can press the rotating plate 411 to cause rotation of the rotating plate 411, so that the two rotating plates 411 press the upper surface of the nutrient soil, and the nutrient soil becomes more compact.

[0034] Specifically, As Figure 6 shown, the second groove body 410 is also fixedly connected with a connecting column 412, and the two ends of the connecting column 412 are fixedly connected with first torsion springs 413. The two first torsion springs 413 are fixedly connected with the same limiting tube 414, and the circumferential surface of the limiting tube 414 is fixedly connected with a push plate 415.

[0035] Specifically, the cooperation of the positioning shaft 416 and the second torsion spring 417 enables the rotating plate 411 to maintain the initial position when not acted by external force. When the connecting shaft 31 and the fixed plate 32 thereon descend, the fixed plate 32 will press the rotating plate 411, causing the rotating plate 411 to rotate around the positioning shaft 416, and then the two rotating plates 411 act in concert to press the upper surface of the nutrient soil, so that it becomes more compact. When the connecting shaft 31 rises and the fixed plate 32 no longer presses the rotating plate 411, the elastic force of the second torsion spring 417 will cause the rotating plate 411 to automatically reset to the initial state, realizing automatic compaction of the nutrient soil and improving work efficiency.

[0036] As Figure 6 shown, the push plate 415 is an electrically controlled electromagnetic push plate 415. When the qualified seedling is clamped, the rotating plate 411 will open to compact and limit the upper surface of the nutrient soil. However, part of the soil will enter the second groove body 410. Therefore, after the transfer of the qualified seedling is completed, the electromagnetic control push plate 415 is started to rotate around the connecting column 412 to clean the soil blocks in the first groove body 42, and then the push plate 415 loses magnetism and is reset under the action of the first torsion spring 413.

[0037] Specifically, the design of the electrically controlled electromagnetic push plate 415 enables the push plate 415 to rotate around the connecting column 412 to clean the soil blocks entering the second groove body 410 after the qualified seedling is clamped and the nutrient soil is compacted. After cleaning is completed, the electromagnetic control is turned off, and the push plate 415 is automatically reset under the action of the first torsion spring 413, ready for the next operation. This effectively solves the problem of soil blocks entering the second groove body 410, avoids equipment blockage and damage, and also improves the cleanliness and service life of the equipment.

[0038] A kind of based on filling seedling gripper's method of picking up and filling, specific steps include: Machine vision detection: using machine vision system to detect the quality of fixed frame 12 seedlings, and identifying the position of unqualified or hole; Picking and filling: through picking device, the substrate or seedling of unqualified position is clamped out, at the same time, filling seedling gripper picks new seedlings from qualified seedling tray according to the information provided by machine vision system and fills into hole; Transportation and classification: the fixed frame 12 after the completion of the replacement is sent out by the conveyor belt 11, at the same time, the source seedling tray is also sent out from another conveyor belt 11, realizing efficient and accurate replacement work and ensuring the quality of the seedlings in the fixed frame 12.

[0039] Working principle, first of all, through the conveyor belt 11 on the support frame 1, the continuous transmission of the fixed frame 12 is realized, the qualified seedlings to be supplemented are placed in the fixed frame 12, when the fixed frame 12 is transmitted to the specified position, the first guide rail 21 on the positioning frame 2 guides the first guide rod 22 and the cross bar 23 to move above the fixed frame 12, the slider 24 on the cross bar 23 slides to adjust the position, ensuring that the claw assembly accurately aligns the position of the seedlings to be supplemented, the claw assembly realizes vertical lifting through the first guide plate 26 and the first hydraulic cylinder 27 on the second guide rail 25, and the second hydraulic cylinder 29 further adjusts the transverse position of the claw, the side plate 41 is driven by the air pump to slide, and the design of the hook plate 49 can flexibly adapt to the shape of the fixed frame 12 which is wide at the top and narrow at the bottom, ensuring that the claw assembly stably clamps the seedlings, then the claw assembly accurately places the seedlings in the corresponding position of the fixed frame 12; Through the cooperation of the sliding groove 47 on the lower surface of the side plate 41 and the "T" shaped section of the sliding plate 48, the stable sliding of the hook plate 49 is realized, when the hook plate 49 contacts the culture soil in the fixed frame 12 and is forced to press down, it will slide along the sliding groove 47, in this process, the inclined surface of the inner wall of the fixed frame 12 will extrude the hook plate 49, making it gradually penetrate into the inside of the fixed frame 12 and clamp the seedlings, when the hook plate 49 extends to a certain length, the hook plate 49 is limited by the fixed part, ensuring that it stably clamps the seedlings, then the second hydraulic cylinder 29 starts to drive the hook plate 49 and the clamped seedlings for transfer, during the whole process, the design of the hook plate 49 effectively prevents the falling of the nutrient soil, improves the stability and accuracy of clamping seedlings, and also avoids the scattering of nutrient soil during the transfer process, thereby protecting the root system of the seedlings; In the process of the hook plate 49 penetrating into the fixed frame 12 to clamp the seedlings, the connecting plate 43 will be extruded by the inner wall of the fixed frame 12, and then the spring 45 will be compressed, when the hook plate 49 reaches the predetermined depth, the second hydraulic cylinder 29 stops pressing down, at this time the third hydraulic cylinder 3 starts to drive the connecting shaft 31 at the output end and the abutting block 33 at the bottom end to move downward, after the abutting block 33 contacts the connecting plate 43, it effectively prevents the connecting plate 43 from rebounding under the action of the spring 45, ensuring that the hook plate 49 stably clamps the seedlings, then the second hydraulic cylinder 29 lifts, lifting the qualified seedlings and the nutrient soil of their roots together, completing the transfer preparation, avoiding the seedlings from falling off or being damaged due to the rebound of the connecting plate 43 during the transfer process, effectively protecting the seedling root system and the nutrient soil attached thereto; The efficiency and accuracy of seedling replacement are greatly improved, the device realizes automatic seedling replacement through the precise control of the mechanical structure, significantly improves the agricultural production efficiency, reduces the labor cost, the flexible design of the clamping jaw assembly, especially the adaptability of the hook plate 49, ensures that the clamping jaw can stably clamp and place seedlings, avoids damage to seedlings during the replacement process, meanwhile, the device is easy to maintain and adjust, can be adjusted according to the size and shape of different seedlings, improves the universality and practicality; In addition, the limiting piece is a rotating plate 411 arranged in the second groove body 410, which can be rotated to the top of the nutrient soil and tightly pressed when needed, and the rotating plates 411 in the two side plates 41 work together to ensure that the nutrient soil is evenly and stably compacted, improve the compactness of the nutrient soil, and help the stable growth of seedlings, and the compacted distance is still a certain distance away from the stem of the seedling, which will not cause damage to the seedling; Meanwhile, the design of the electrically controlled electromagnetic control plate 415 makes it possible to start the electromagnetic control after the qualified seedlings are clamped and the nutrient soil is compacted, so that the plate 415 rotates around the connecting column 412, thereby cleaning the soil blocks in the second groove body 410, after cleaning, the electromagnetic control is closed, and the plate 415 is automatically reset under the action of the first torsional spring 413, ready for the next operation, effectively solving the problem of soil blocks entering the second groove body 410, avoiding equipment blockage and damage, and also improving the cleanliness and service life of the equipment.

[0040] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, the above examples and descriptions in the specification are only to illustrate the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An automatic seedling removal and replanting device based on a seedling grabber, comprising a support frame (1), wherein a conveyor belt (11) is connected to the surface of the support frame (1), a fixed frame (12) is placed on the conveyor belt (11), the conveyor belt (11) is used to transport the fixed frame (12), the fixed frame (12) is used to place qualified seedlings, a positioning frame (2) is provided on one side of the conveyor belt (11), two first guide rails (21) are provided on the upper surface of the positioning frame (2), a first guide rod (22) is slidably connected in each of the two first guide rails (21), a crossbar (23) is fixedly connected between the two first guide rods (22), a slider (24) is slidably connected to the surface of the crossbar (23), a gripper assembly is slidably provided on one side of the slider (24), the gripper assembly is used to replant qualified seedlings, characterized in that: The gripper assembly includes a second guide rail (25) fixedly connected to one side of a slider (24), a first guide plate (26) slidably connected to one side of the second guide rail (25), a first hydraulic cylinder (27) fixedly connected to the lower surface of the first guide plate (26), a connecting rod (28) fixedly connected to the output end of the first hydraulic cylinder (27), and two second hydraulic cylinders (29) slidably connected to the lower surface of the connecting rod (28). Each of the second hydraulic cylinders (29) has a base plate (4) fixedly connected to its output end. Both sides of the base plate (4) are slidably connected to side plates (41). The side plates (41) are controlled by an air pump. Each side plate (41) has an adaptation component on one side. The adaptation component includes a hook plate (49) that is slidably disposed on one side of each side plate (41). The hook plate (49) is adaptable to the shape of the fixed frame (12) which is wider at the top and narrower at the bottom. The qualified seedlings in the fixed frame (12) are arranged to be replanted in the corresponding positions.

2. The automatic seedling removal device based on a seedling gripper according to claim 1, characterized in that: Each of the side plates (41) has a sliding groove (47) on its lower surface. A sliding plate (48) is slidably connected in the sliding groove (47). A hook plate (49) is fixed to the lower surface of the sliding plate (48). The cross-sections of the sliding plate (48) and the sliding groove (47) are both "T" shaped. After the hook plate (49) comes into contact with the potting soil in the fixed frame (12), it will continue to move downward. The pressure of the inclined surfaces on both sides of the inner wall of the fixed frame (12) causes the hook plate (49) to slide along the sliding groove (47) through the sliding block, thereby clamping the qualified seedlings. After the two hook plates (49) extend to a certain length, the hook plates (49) are fixed and limited by the fixed parts. Then the second hydraulic cylinder (29) is started to drive the hook plate (49) to transfer the seedlings and prevent the potting soil from falling off.

3. The automatic seedling removal device based on a seedling gripper according to claim 2, characterized in that: The fastener includes a first groove (42) formed on one side of each side plate (41). Two slide rods (44) are slidably arranged on one side of the first groove (42). A spring (45) is sleeved on the circumferential surface of each slide rod (44). The two slide rods (44) are fixed to the same connecting plate (43). Two cone blocks (46) are fixed to one side of the connecting plate (43). The cone blocks (46) are used to increase the contact area and increase the force points during the transfer of the culture soil.

4. An automatic seedling removal device based on a seedling gripper according to claim 3, characterized in that: The fixing component also includes a third hydraulic cylinder (3) fixed to both sides of the second hydraulic cylinder (29), and each of the third hydraulic cylinders (3) has a connecting shaft (31) fixed to its output end, and an abutment block (33) fixed to the bottom end of the connecting shaft (31).

5. An automatic seedling removal device based on a seedling gripper according to claim 4, characterized in that: When the connecting plate (43) is squeezed by the inner wall of the fixed frame (12), the connecting plate (43) will compress the spring (45). When the hook plate (49) extends to a certain length, the second hydraulic cylinder (29) stops moving downward. The third hydraulic cylinder (3) starts to drive the connecting shaft (31) at its output end to move downward. The downward movement of the connecting shaft (31) will drive the bottom abutment block (33) to abut against the connecting plate (43). Then the connecting plate (43) is restricted to rebound and reset under the action of the spring (45). The second hydraulic cylinder (29) is lifted to lift the qualified seedlings and the nutrient soil at their roots.

6. An automatic seedling removal device based on a seedling gripper according to claim 5, characterized in that: Each of the side plates (41) is provided with a limiting member on one side. The limiting member includes a second groove (410) opened on one side of the side plate (41). A rotating plate (411) is rotatably arranged in the second groove (410). The rotating plates (411) in the two side plates (41) can abut against the top of the nutrient soil, squeeze the nutrient soil, and press it tightly.

7. An automatic seedling removal device based on a seedling gripper according to claim 6, characterized in that: The inner wall of the second groove (410) is fixed with a positioning shaft (416), and both ends of the positioning shaft (416) are fixed with a second torsion spring (417). The second torsion spring (417) is used for the automatic reset of the rotating plate (411). A fixing plate (32) is fixed on the circumferential surface of the connecting shaft (31). The fixing plate (32) can squeeze the rotating plate (411) to cause the rotating plate (411) to rotate, so that the two rotating plates (411) can squeeze the upper surface of the nutrient soil, which can make the nutrient soil more compact.

8. An automatic seedling removal device based on a seedling gripper according to claim 6, characterized in that: A connecting column (412) is also fixedly connected inside the second groove (410). Both ends of the connecting column (412) are fixedly connected to a first torsion spring (413). The two first torsion springs (413) are fixedly connected to the same limiting tube (414). A lever plate (415) is fixedly connected to the circumferential surface of the limiting tube (414).

9. An automatic seedling removal device based on a seedling gripper according to claim 8, characterized in that: The dial plate (415) is an electric electromagnetic control dial plate (415). When the qualified seedling is picked up, the rotating plate (411) will open to compact and limit the upper surface of the nutrient soil. However, some soil will enter the second trough (410). Therefore, after the transfer of the qualified seedling is completed, the electromagnetic control dial plate (415) is started to rotate around the connecting column (412) to clean the soil in the first trough (42). Then the dial plate (415) loses its magnetism and is reset under the action of the first torsion spring (413).

10. A method for removing seedlings based on a seedling gripper, applied to an automatic seedling removal device based on a seedling gripper according to any one of claims 1-9, characterized in that: The specific steps include: Machine vision inspection: The quality of the seedlings in the fixed frame (12) is inspected using a machine vision system to identify the locations of unqualified or empty holes; Seedling removal and replanting: The seedling removal device removes the substrate or seedlings from unqualified locations. At the same time, the replanting gripper grabs new seedlings from qualified seedling trays and fills the empty holes based on information provided by the machine vision system. Conveying and sorting: The fixed frame (12) after the patching is completed is sent out by the conveyor belt (11), and at the same time, the source seedling tray is also sent out by another conveyor belt (11), so as to realize efficient and accurate patching operation and ensure the quality of the seedlings in the fixed frame (12).

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