Automatic seedling separating machine based on intelligent agricultural transplanting technology

Abstract

The invention discloses an automatic seedling separating machine based on an intelligent agricultural transplanting technology, the automatic seedling separating machine comprises a six-axis robot used for clamping seedlings and a storage and separation assembly used for storing and separating the seedlings, the six-axis robot and the storage and separation assembly are arranged close to each other, and the six-axis robot picks up the seedlings on the storage and separation assembly and transfers the seedlings to a designated position; the six-axis robot and the storage and separation assembly are both arranged on the frame, and walking wheels for driving the frame to move and guide wheels for adjusting the walking direction of the frame are arranged below the frame. A seedling conveying assembly used for sliding of seedlings can also be arranged above the frame, and the bottom of the seedling conveying assembly slides in the soil to form planting furrows in a ploughing mode. The storage and separation assembly is arranged, the storage and separation assembly comprises the second annular belt and the lifting plate which are arranged on the inner side of the bin body and distributed left and right, and the first annular belt arranged on the outer side of the bin body, seedling separation treatment of batch seedlings is achieved, the manual seedling separation mode is changed, the seedling separation efficiency is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, specifically to an automated seedling transplanter based on smart agricultural transplanting technology. Background Technology

[0002] In the agricultural production chain, seedling transplanting is a crucial link between seedling cultivation and field planting, directly affecting the crop's growth cycle, survival rate, and final yield. Whether it's vegetables, flowers, or cash crops, after seedlings have reached a certain stage of development, transplanting is necessary to adjust planting density and optimize the growth environment, creating favorable conditions for subsequent photosynthesis and nutrient absorption. Especially for large-scale planting bases, the efficiency and quality of the transplanting process are among the core factors determining production pace and economic benefits.

[0003] For a long time, the transplanting of seedlings in my country's agricultural production has mainly relied on manual labor, a method with significant shortcomings: Low efficiency: Manual seedling division requires selecting, taking, and planting seedlings one by one. The number of seedlings divided per hour is usually less than a thousand, which is difficult to meet the needs of "completing large-scale transplanting in a short time" in large-scale planting. Especially during the tight transplanting window period, the delay in progress can easily affect crop growth.

[0004] High labor intensity: During the seedling separation process, operators need to bend over, squat, or perform repetitive hand movements for long periods of time, which can easily lead to occupational diseases such as lumbar muscle strain and joint damage. Moreover, with the increasing aging of the rural labor force, the shortage of young and middle-aged laborers has become more prominent, and the sustainability of manual seedling separation is facing challenges.

[0005] Poor accuracy and consistency: Manual seedling separation relies on experience-based judgment, leading to inconsistent selection criteria for seedling size and growth status, as well as random errors in planting spacing and depth. This inconsistency results in uneven crop growth in the later stages, increasing the difficulty of field management and reducing yield per unit area.

[0006] Restricting Modernization: The reliance on manual labor in traditional seedling separation methods contradicts the trend of large-scale, standardized, and intelligent agricultural development. It is difficult to adapt to the assembly line production mode of automated seedling greenhouses and intelligent planting bases, becoming a prominent bottleneck in the process of agricultural modernization. Summary of the Invention

[0007] The purpose of this invention is to provide an automated seedling transplanting machine based on smart agricultural transplanting technology, which aims to improve the problems of low efficiency and high labor intensity of manual seedling transplanting in agricultural planting.

[0008] The invention is implemented as follows: an automated seedling separator based on smart agricultural transplanting technology includes a six-axis robot for picking up seedlings and a storage and separation component for storing and separating seedlings. The six-axis robot and the storage and separation component are arranged adjacent to each other, and the six-axis robot picks up seedlings from the storage and separation component and transfers them to a designated location. Both the six-axis robot and the storage and separation component are mounted on a frame. Below the frame, there are wheels for moving the frame and guide wheels for adjusting the direction of movement of the frame. A seedling delivery component can also be installed above the frame for the seedlings to slide down. The bottom of the seedling delivery component plows a planting trench in the soil, and the roots of the seedlings detached from the seedling delivery component fall into the planting trench.

[0009] Preferably, the end effector of the six-axis robot is equipped with a gripper with a flexible structure, and an industrial camera is disposed on the six-axis robot near the gripper. The industrial camera and the six-axis robot are electrically connected to the control system.

[0010] Preferably, the storage and separation component includes a chamber, a lifting plate, a first annular belt, and a second annular belt; the inner side of the chamber is divided into left and right spaces, with the left space adjacent to the six-axis robot; the lifting plate is located in the right space of the chamber, and seedlings are placed on the lifting plate; the second annular belt is inclinedly arranged in the left space of the chamber, and the top of the second annular belt protrudes from the chamber; the first annular belt is vertically arranged on the left side of the chamber, and the top of the second annular belt is directly above the first annular belt.

[0011] Preferably, a base frame is provided below the lifting plate, and a connecting rope is connected to the end of the base frame and the lifting plate. The free end of the connecting rope passes over the top of the bin and then distributes in the opposite direction, and the free end of the connecting rope is wound around the winding shaft. A drive shaft is connected between the two winding shafts, and a gearbox is provided on the side of the drive shaft through a worm gear and a worm. The gearbox connects the motor and the drive shaft. An end plate is fixedly provided at the right corner of the bin, and the end plate passes through the end groove at the end of the lifting plate. A pulley is provided at the top of the bin. The bent part of the connecting rope is supported on the pulley. The winding shaft is connected to the bottom of the bin through a second bearing seat.

[0012] Preferably, support rollers are provided at both the upper and lower ends of the second annular belt, and the ends of the support rollers are connected to the side wall of the bin body and installed on the bin body through a third bearing seat; multiple protruding plates are provided at equal intervals on the side wall of the second annular belt; the second annular belt divides the space on the left side of the bin body to form a triangular space with an open top, and the protruding plate at the bottom of the second annular belt is in movable contact with the right side wall of the space on the left side of the bin body; a second sprocket is provided at the end of the support roller at the bottom of the second annular belt, and a first sprocket is provided at the end of a certain winding shaft. The first sprocket and the second sprocket are connected by a chain, and the diameter of the first sprocket is larger than the diameter of the second sprocket.

[0013] Preferably, an isolation plate is fixedly installed on the inner side of the storage chamber, and the height of the isolation plate is less than the right side wall of the right space; the seedlings located above the isolation plate pass over the isolation plate and fall into the triangular space, and the convex plate drives the seedlings to rise during the rotation of the second annular belt.

[0014] Preferably, support rollers are also provided through both ends of the first annular belt, and the two support rollers are mounted on the triangular frame of the silo body through the fourth bearing seat; a third sprocket is sleeved on the end of the support roller of the first annular belt near the silo body, and the third sprocket is connected to the second sprocket by a chain.

[0015] Preferably, the top shaft of the guide wheel is connected through the end of the connecting frame via a bearing, and a telescopic cylinder is hinged to the side of the drive plate installed on the top of the top shaft. The other end of the telescopic cylinder is hinged to the other end of the connecting frame, and the connecting frame is fixedly installed at the end of the frame; the shaft connecting the two opposite traveling wheels is connected to the motor.

[0016] Preferably, the seedling delivery assembly includes a conveying device, a support frame, a guide plate, and a plow head arranged vertically; the conveying device is rotatably mounted on the support frame, the support frame is mounted on a frame, the guide plate is located below the edge of the support frame, the plow head is fixedly located on the side of the guide plate, and the plow head is located on the side away from the opening of the guide plate; a partition plate is provided between two adjacent guide plates, and a baffle is provided on the side of the two guide plates that are far away from each other, the main body of the partition plate and the baffle is located on the side of the guide plate away from the plow head.

[0017] Preferably, the conveying device includes two end frames distributed vertically and multiple conveying pipes distributed between the two end frames; the support frame includes a chassis and a central shaft, the edge of the chassis is provided with through holes, the central shaft passes through the chassis and is mounted on the frame at the bottom of the central shaft via a bearing seat, and a fourth sprocket at the bottom of the central shaft is connected to a fifth sprocket via a chain, and the central shaft of the fifth sprocket is connected to a motor.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention includes a storage and separation component comprising a second annular belt and a lifting plate disposed on the inner side of the chamber and distributed on the left and right, and a first annular belt disposed on the outer side of the chamber. During the process of the lifting plate lifting the seedlings, the seedlings stacked on top can pass over the isolation plate and fall to the bottom of the second annular belt. Then, as the second annular belt rotates and drives the convex plate to rise, the seedlings are gradually output. The seedlings output from the chamber fall onto the rotating first annular belt, avoiding seedling accumulation and facilitating the picking up by a six-axis robot. This enables batch seedling separation, changes the manual seedling separation method, improves seedling separation efficiency, and reduces labor intensity.

[0019] 2. The present invention also includes a seedling delivery component, which includes multiple rotating delivery pipes, a guide plate located below the delivery pipes, and a plow. The delivery pipes, whose bottoms are blocked by the chassis, receive the seedlings that have detached from the six-axis robot. Then, the delivery pipes drive the seedlings to move to the through holes of the chassis. Under the action of gravity, the seedlings fall along the guide plate, and finally, the roots of the seedlings land in the planting furrow created by the plow, thus realizing the planting of the seedlings.

[0020] 3. The seedling delivery component, storage and separation component, and six-axis robot of this invention are set on the same frame, which can realize the seedling separation process first and then the seedling planting. This changes the current situation where the seedling separation and planting are separated by a long time, saves labor and improves planting efficiency. Attached Figure Description

[0021] Figure 1 This is a front view of the entire invention; Figure 2 This is a top view of the entire invention; Figure 3 This is a left view of the entire invention; Figure 4 This is a right view of the entire invention; Figure 5 This is a first perspective view of the entire invention; Figure 6 This is a second perspective view of the entire invention; Figure 7 This is a schematic diagram of the structure of the framework and seedling delivery component of the present invention; Figure 8 This is a first structural schematic diagram of the seedling delivery component of the present invention; Figure 9 This is a schematic diagram of the second structure of the seedling delivery component of the present invention; Figure 10 This is a schematic diagram of the structure of the conveying device of the present invention; Figure 11 This is a schematic diagram of the support frame of the present invention; Figure 12 This is a schematic diagram of the structure of the six-axis robot and the storage and separation component of the present invention; Figure 13 This is a schematic diagram of the structure for storing the separation component of the present invention; Figure 14 This is a structural schematic diagram of the chamber and lifting plate of the present invention; Figure 15 This is a schematic diagram of the structure of the container body of the present invention; Figure 16 This is a schematic diagram of the structure of the second annular belt of the present invention; Figure 17 This is a schematic diagram of the lifting plate of the present invention.

[0022] In the diagram: 1. Frame; 11. Walking wheel; 12. Guide wheel; 13. Connecting frame; 14. Telescopic cylinder; 15. Motor; 16. Electrical control box; 17. Battery pack; 2. Six-axis robot; 21. Industrial camera; 22. Gripper; 3. Seedling delivery assembly; 31. Conveying device; 311. End frame; 312. Conveying pipe; 32. Support frame; 321. Central shaft; 322. Chassis; 323. Through hole; 324. Fourth sprocket; 325. First bearing seat; 33. Guide plate; 34. 35. Plowshare; 36. Divider plate; 4. Baffle plate; 5. Storage and separation components; 6. First annular belt; 7. Second annular belt; 8. Convex plate; 9. Chamber body; 10. End plate; 11. Pulley; 12. Second annular belt; 13. Third sprocket; 14. Lifting plate; 15. Connecting rope; 16. Winding shaft; 17. Drive shaft; 18. Gearbox; 19. Base frame; 10. Worm gear; 11. End groove; 12. Disc. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: Example 1 To enable the separation of seedlings during the transplanting process, this example provides a seedling separation device.

[0024] like Figure 12 As shown, the seedling separation device includes a six-axis robot 2 and a storage and separation component 4. Both the six-axis robot 2 and the storage and separation component 4 are mounted on the same frame 1, with the six-axis robot 2 located on the central axis of the frame 1, while the storage and separation component 4 is installed offset from the central axis of the frame 1. Seedlings are stacked inside the storage and separation component 4, and the seedlings are separated under the action of the storage and separation component 4. After a seedling is output from the storage and separation component 4, the six-axis robot 2 identifies and grasps the seedling, then transfers it to the corresponding position, achieving seedling separation again.

[0025] like Figure 12 As shown, a gripper 22 is installed at the end of the six-axis robot 2. The end of the gripper 22 is made of rubber to reduce damage to the seedlings. Additionally, an industrial camera 21 is mounted on the six-axis robot 2 near the gripper 22. The industrial camera 21 and the six-axis robot 2 are electrically connected to the control system. A light source is even provided for the industrial camera 21 so that it can clearly capture images of the seedlings.

[0026] The control system includes at least the main control module, robot control module, motor control module, sensor acquisition module, communication network module, and battery management module, which are installed in the electrical control box 16. Since the above modules are already publicly available, only some of the modules will be briefly introduced below.

[0027] The main control module is the "brain" of the system, and it needs to handle tasks such as logic control, motion planning, and sensor data fusion simultaneously. The selection of the module must take into account the requirements for real-time performance and computing power. Examples include industrial PCs (IPCs) and PLCs (Programmable Logic Controllers).

[0028] The robot control module needs to work in conjunction with the main controller, and the core is "motion command issuance + status feedback".

[0029] The sensor acquisition module senses the environment and status, focuses on the "data transmission and analysis" of sensors such as industrial cameras, and feeds the results back to the main controller.

[0030] The communication network module allows staff to remotely operate the device, or the device can work according to a predetermined program to complete the unmanned sorting of seedlings as needed, providing support for unmanned operation of the device to move and complete seedling planting, and thus enabling the corresponding work to be completed with the support of existing smart agriculture technologies.

[0031] In order to ensure the normal operation of the six-axis robot 2 and the storage separation component 4, a battery pack 17 can be installed on the frame 1, and the battery pack 17 is connected to the battery management module to provide power for the operation of the device.

[0032] like Figure 13 , Figure 14 As shown, the storage and separation component 4 includes a chamber 43, a lifting plate 47, a first annular belt 41, and a second annular belt 42. The inner side of the chamber 43 is divided into left and right spaces, with the left space adjacent to the six-axis robot 2. The lifting plate 47 is located in the right space of the chamber 43, and seedlings are placed on the lifting plate 47. A vibration motor can be installed below the lifting plate 47. Therefore, as the lifting plate 47 rises, it lifts the seedlings. When the seedlings are located on the middle side wall of the two spaces, they will slide from the right space to the left space due to vibration and tilting. The second annular belt 42 is tilted in the left space of the chamber 43, and it divides the left space of the chamber 43 into a triangular space with an open top. The top of the second annular belt 42 protrudes from the chamber 43. As the second annular belt 42 rotates, the seedlings in the triangular space are gradually lifted until they reach the top of the second annular belt 42. The first annular belt 41 is vertically positioned on the left side of the chamber 43, and the top of the second annular belt 42 is directly above the first annular belt 41. Seedlings that have moved to the top of the second annular belt 42 fall onto the first annular belt 41. Because the first annular belt 41 rotates, the fallen seedlings are prevented from accumulating, which makes it easier for the six-axis robot 2 to pick up the seedlings and transfer them to other locations.

[0033] like Figure 15As shown, in order to divide the storage chamber 43 into left and right spaces, an isolation plate 433 is fixedly installed on the inner side of the storage chamber 43. The height of the isolation plate 433 is less than the right side wall of the right space, so that when the seedlings rise in the right space, the output direction of the seedlings can be restricted.

[0034] like Figure 17 As shown, in order to control the lifting plate 47, an end plate 431 is fixedly installed at the right corner of the space of the compartment 43. The end plate 431 is provided through the end groove 477 at the end of the lifting plate 47, which restricts the lifting plate 47 to be stably and movable in the right space. A base frame 475 is provided below the lifting plate 47. A connecting rope 471 is connected to the end of the base frame 475 and the lifting plate 47. The free end of the connecting rope 471 passes over the top of the compartment 43 and then distributes in the opposite direction. The free end of the connecting rope 471 is wound on the winding shaft 472. At the same time, the bent part of the connecting rope 471 is supported by the pulley 432. The pulley 432 is fixedly installed on the top of the compartment 43. With the support of the pulley 432, the connecting rope 471 is stably installed. The height of the lifting plate 47 can be adjusted when the winding shaft 472 rotates.

[0035] like Figure 17 As shown, in order to control the rotation of the take-up shaft 472, the take-up shaft 472 is connected to the bottom of the housing 43 via a second bearing seat. A drive shaft 473 is connected between the two take-up shafts 472. A gearbox 474 is provided on the side of the drive shaft 473 via a worm gear and a worm 476. The power input shaft of the gearbox 474 is connected to the power output shaft of the motor 15 via a sprocket and a chain. Therefore, the power transmission between the motor 15 and the drive shaft 473 is realized under the action of the gearbox 474. That is, when the motor 15 is working, it drives the drive shaft 473 and the take-up shaft 472 to rotate, realizing the winding and unwinding of the end of the connecting rope 471.

[0036] like Figure 17 As shown, in order to achieve regular winding of the connecting rope 471, two discs 478 are mounted in parallel on the winding shaft 472, and the connecting rope 471 is wound inside the discs 478.

[0037] like Figure 16 As shown, in order to gradually output the seedlings piled up in the triangular space through the operation of the second annular belt 42, support rollers are installed through both the upper and lower ends of the second annular belt 42. The ends of the support rollers penetrate through the side wall of the chamber 43 and are connected to the chamber 43 through a third bearing seat, thus achieving an inclined and stable installation of the second annular belt 42. Multiple protruding plates 421 are evenly spaced on the side wall of the second annular belt 42. The protruding plate 421 located at the bottom of the second annular belt 42 is in active contact with the isolation plate 433, blocking the channel for the seedlings to fall to the bottom of the left space. Under the action of the protruding plate 421, the seedlings can be controlled to rise, gradually outputting the piled seedlings.

[0038] like Figure 13 As shown, in order to control the rotation of the second annular belt 42, a second sprocket 45 is provided at the end of the bottom support roller of the second annular belt 42, and a first sprocket 44 is provided at the end of a certain winding shaft 472. The first sprocket 44 and the second sprocket 45 are connected by a chain, and the diameter of the first sprocket 44 is larger than the diameter of the second sprocket 45. During the process of the lifting plate 47 rising, the second annular belt 42 rotates, and by utilizing the diameter difference between the first sprocket 44 and the second sprocket 45, the rotation speed of the second annular belt 42 is greater than the rising speed of the lifting plate 47, thus providing support for the effective output of seedlings.

[0039] like Figure 13 As shown, in order to receive and move the falling seedlings, support rollers are also installed through both ends of the first annular belt 41. The two support rollers are mounted on the triangular frame of the storage chamber 43 through the fourth bearing seat. A third sprocket 46 is sleeved on the end of the support roller of the first annular belt 41 near the storage chamber 43. The third sprocket 46 is connected to the second sprocket 45 by a chain.

[0040] This embodiment features a storage and separation component. During the process of the lifting plate supporting the seedlings as they rise, the seedlings stacked on top can pass over the isolation plate and fall to the bottom of the second annular belt. Then, as the second annular belt rotates and drives the convex plate to rise, the seedlings are gradually output. The seedlings in the output chamber fall onto the rotating first annular belt, avoiding seedling accumulation and making it easier for the six-axis robot to pick them up. This enables batch seedling separation, changes the manual seedling separation method, improves seedling separation efficiency, and reduces labor intensity.

[0041] Example 2 like Figures 1-7 As shown, based on Embodiment 1, in order to adjust the position of the seedling separating device as needed, a traveling wheel 11 for moving the frame 1 and a guide wheel 12 for adjusting the traveling direction of the frame 1 are provided below the frame 1. The top shaft of the guide wheel 12 is connected to the end of the connecting frame 13 through a bearing, and a telescopic cylinder 14 is hinged to the side of the driving plate mounted on the top of the top shaft. The other end of the telescopic cylinder 14 is hinged to the other end of the connecting frame 13, which is fixedly installed at the end of the frame 1. Therefore, when the telescopic cylinder 14 is working, the orientation of the guide wheel 12 can be adjusted, thereby adjusting the traveling direction of the frame 1. The shafts connected to the two opposing traveling wheels 11 are connected to another motor 15, so that when the motor 15 is working, it can drive the traveling wheels 11 to rotate, providing power for the movement of the frame 1. In this case, a telescopic cylinder control module also needs to be added to the control system.

[0042] Example 3 like Figures 1-7As shown, based on embodiment 1 or 2, in order to plant seedlings during the movement of frame 1, a seedling delivery component 3 can be set above frame 1. The bottom of the seedling delivery component 3 plows a planting trench in the soil, and the roots of the seedlings detached from the seedling delivery component 3 fall into the planting trench. Then, the soil is pushed into the planting trench to cover the bottom of the seedlings.

[0043] like Figure 8 As shown, specifically, the seedling delivery assembly 3 includes a conveying device 31, a support frame 32, a guide plate 33, and a plow head 34. The conveying device 31 is rotatably mounted on the support frame 32, which is mounted on the frame 1. The guide plate 33 is located below the edge of the support frame 32, and the plow head 34 is fixedly located on the side of the guide plate 33, away from the opening of the guide plate. During the movement of the frame 1, the plow head 34 sinks into the soil and forms a planting furrow. The six-axis robot 2 picks up seedlings from the first annular belt 41 and transfers them to the conveying device 31, then inserts the seedlings into a channel of the conveying device 31. When the channel is aligned with the guide plate 33, the seedlings fall along the direction of the guide plate 33, with their roots submerged in the planting furrow. By repeating the above steps, seedlings can be separated and planted during the movement of the frame 1, changing the current situation of manual seedling separation and planting.

[0044] like Figure 8 , Figure 9 As shown, in order to cover the roots of the seedlings after they are submerged in the planting trench, a partition plate 35 is provided between two adjacent guide plates 33, and a baffle plate 36 is provided on the side of the two guide plates 33 that is far away from each other. The main body of the partition plate 35 and the baffle plate 36 is located on the side of the guide plate 33 that is far away from the plow head 34. At the same time, the distance between the partition plate 35 and the baffle plate 36 near the plow head 34 is greater than the distance at the other end. In addition, the distance between the partition plate 35 and the baffle plate 36 near the plow head 34 is also greater than the size of the guide plate 33. This way, after the plow head 34 passes, the soil is gathered up with the cooperation of the baffle plate 36 and the partition plate 35 and guided to move into the planting trench, thus covering the roots of the seedlings.

[0045] like Figure 10 As shown, in order to transport the seedlings falling into the conveying device 31 one by one to the guide plate 33, the conveying device 31 includes two end frames 311 distributed vertically and multiple conveying pipes 312 distributed between the two end frames 311. The end frames 311 are set as a ring structure, and the multiple conveying pipes 312 are distributed along the circumference of the end frames 311. At the same time, the upper and lower ends of the conveying pipes 312 are fixedly connected to the end frames 311 respectively, so that when the end frames 311 rotate, the multiple conveying pipes 312 can be driven to rotate synchronously around the axis.

[0046] like Figure 11As shown, the support frame 32 includes a chassis 322 and a central shaft 321. The chassis 322 is fixedly mounted on the frame 1, and a through hole 323 is provided on the edge of the chassis 322. The central shaft 321 passes through the chassis 322 and is mounted on the frame 1 at the bottom of the central shaft 321 via a first bearing seat 325. At the same time, a fourth sprocket 324 located at the bottom of the central shaft 321 is connected to a fifth sprocket via a chain. The central shaft of the fifth sprocket is connected to the motor 15 via a power reversal device such as a bevel gear or a worm gear, so that the central shaft 321 can be driven to rotate when the motor 15 is working.

[0047] like Figure 8 , Figure 9 As shown, the conveying device 31 is mounted on the support frame 32. The central shaft 321 passes through two end frames 311 distributed vertically, and the central shaft 321 is fixedly connected to the end frames 311. This allows the central shaft 321 to rotate, driving multiple conveying pipes 312 to rotate. Furthermore, through holes 323 are positioned along the rotation path of the multiple conveying pipes 312. Therefore, when the central shaft 321 rotates, one conveying pipe 312 can be aligned with the through hole 323, while the bottoms of the remaining conveying pipes 312 are blocked by the chassis 322. Thus, the seedlings picked up by the six-axis robot 2 are placed into the blocked conveying pipes 312. The conveying pipes 312 then move the seedlings, controlling their movement to the through hole 323. Finally, the seedlings slide down the length of the guide plate 33 into the planting trench.

[0048] In this embodiment, the seedling delivery component, the storage and separation component, and the six-axis robot are all mounted on the same frame. This allows for seedling separation before planting, changing the previous situation where seedling separation and planting were separated by a long time, saving labor and improving planting efficiency.

[0049] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automated seedling transplanter based on smart agricultural transplanting technology, characterized in that, It includes a six-axis robot (2) for picking up seedlings and a storage and separation component (4) for storing and separating seedlings. The six-axis robot (2) and the storage and separation component (4) are arranged close to each other, and the six-axis robot (2) picks up seedlings on the storage and separation component (4) and transfers them to a designated location. Both the six-axis robot (2) and the storage and separation component (4) are set on a frame (1).

2. The automated seedling transplanter based on smart agricultural transplanting technology according to claim 1, characterized in that, The end of the six-axis robot (2) is equipped with a gripper (22) with a flexible structure, and an industrial camera (21) is arranged on the six-axis robot (2) near the gripper (22). The industrial camera (21) and the six-axis robot (2) are electrically connected to the control system.

3. The automated seedling transplanter based on smart agricultural transplanting technology according to claim 1, characterized in that, The storage and separation component (4) includes a storage chamber (43), a lifting plate (47), a first annular belt (41), and a second annular belt (42). The inner side of the storage chamber (43) is divided into two spaces, left and right, and the left space is adjacent to the six-axis robot (2). The lifting plate (47) is located in the right space of the storage chamber (43), and seedlings are placed on the lifting plate (47). The second annular belt (42) is inclined in the left space of the storage chamber (43), and the top of the second annular belt (42) protrudes from the storage chamber (43). The first annular belt (41) is vertically arranged on the left side of the storage chamber (43), and the top of the second annular belt (42) is directly above the first annular belt (41).

4. An automated seedling transplanter based on smart agricultural transplanting technology according to claim 3, characterized in that, A base frame (475) is provided below the lifting plate (47). A connecting rope (471) is connected to the ends of the base frame (475) and the lifting plate (47). The free end of the connecting rope (471) passes over the top of the chamber (43) and then distributes in the opposite direction. The free end of the connecting rope (471) is wound around the winding shaft (472). A drive shaft (473) is connected between the two winding shafts (472). A gearbox (473) is provided on the side of the drive shaft (473) through a worm gear and a worm (476). 74), the gearbox (474) connects the motor (15) and the drive shaft (473); an end plate (431) is fixedly installed at the right corner of the space of the chamber (43), and the end plate (431) is installed through the end groove (477) at the end of the lifting plate (47); a pulley (432) is installed at the top of the chamber (43); the bent part of the connecting rope (471) is supported on the pulley (432); the winding shaft (472) is connected to the bottom of the chamber (43) through the second bearing seat.

5. An automated seedling transplanter based on smart agricultural transplanting technology according to claim 4, characterized in that, The second annular belt (42) has support rollers running through both its upper and lower ends, and the ends of the support rollers pass through the side wall of the bin (43) and are connected to the bin (43) via a third bearing seat; multiple protrusions (421) are evenly spaced on the side wall of the second annular belt (42); the second annular belt (42) divides the left side space of the bin (43) to form a triangular space with an open top, and the protrusions (421) at the bottom of the second annular belt (42) are in contact with the right side wall of the left side space of the bin (43); a second sprocket (45) is provided at the end of the support roller at the bottom of the second annular belt (42), and a first sprocket (44) is provided at the end of a certain winding shaft (472), the first sprocket (44) and the second sprocket (45) are connected by a chain, and the diameter of the first sprocket (44) is larger than the diameter of the second sprocket (45).

6. An automated seedling transplanter based on smart agricultural transplanting technology according to claim 5, characterized in that, An isolation plate (433) is fixedly installed on the inner side of the silo (43). The height of the isolation plate (433) is less than the right side wall of the right space. The seedlings above the isolation plate (433) pass over the isolation plate (433) and fall into the triangular space. During the rotation of the second annular belt (42), the convex plate (421) drives the seedlings to rise.

7. An automated seedling transplanter based on smart agricultural transplanting technology according to claim 5, characterized in that, Both ends of the first annular belt (41) are also provided with support rollers, and the two support rollers are installed on the triangular frame of the silo body (43) through the fourth bearing seat; a third sprocket (46) is sleeved on the end of the support roller of the first annular belt (41) near the silo body (43), and the third sprocket (46) is connected to the second sprocket (45) by a chain.

8. An automated seedling transplanter based on smart agricultural transplanting technology according to claim 4, characterized in that, The top shaft of the guide wheel (12) is connected to the end of the connecting frame (13) through a bearing, and a telescopic cylinder (14) is hinged to the side of the drive plate installed on the top of the top shaft. The end of the telescopic cylinder (14) is hinged to the other end of the connecting frame (13), and the connecting frame (13) is fixedly installed at the end of the frame (1). The shaft connecting the two opposite walking wheels (11) is connected to the motor (15).

9. An automated seedling transplanter based on smart agricultural transplanting technology according to claim 8, characterized in that, The seedling delivery assembly (3) includes a conveying device (31), a support frame (32), a guide plate (33), and a plow (34) arranged vertically. The conveying device (31) is rotatably mounted on the support frame (32), which is mounted on the frame (1). The guide plate (33) is located below the edge of the support frame (32). The plow (34) is fixedly located on the side of the guide plate (33) and is located on the side away from the opening of the guide plate (33). A partition plate (35) is provided between two adjacent guide plates (33), and a baffle (36) is provided on the side of the two guide plates (33) that are far away from each other. The main body of the partition plate (35) and the baffle (36) is located on the side of the guide plate (33) that is far away from the plow (34).

10. An automated seedling transplanter based on smart agricultural transplanting technology according to claim 9, characterized in that, The conveying device (31) includes two end frames (311) distributed vertically and multiple conveying pipes (312) distributed between the two end frames (311); the support frame (32) includes a chassis (322) and a central shaft (321). The edge of the chassis (322) is provided with a through hole (323). The central shaft (321) is set through the chassis (322) and is mounted on the frame (1) at the bottom of the central shaft (321) through a first bearing seat (325). At the same time, the fourth sprocket (324) set at the bottom of the central shaft (321) is connected to the fifth sprocket through a chain. The central shaft of the fifth sprocket is connected to the motor (15); multiple conveying pipes (312) are set on the chassis (322), and the central shaft (321) is fixedly connected to the two end frames (311).

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