Greenhouse plug seedling transplanter and side row transplanting method

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a greenhouse plug seedling transplanter and a side row transplanting method.The greenhouse plug seedling transplanter comprises a rack, a power source, a control device, a tray conveying device, a seedling taking device, a side row seedling feeding device, a planting device, a walking device and an air compressor; the power supply, the control device, the tray conveying device, the seedling taking device, the side row seedling feeding device, the planting device and the air compressor are fixedly mounted on the rack; the seedling taking device is located behind the tray conveying device and comprises a seedling missing detection device and a seedling taking clamping jaw; the planting device is located below the seedling taking device and comprises a planting cup, a planting lifting mechanism and a flat plate type telescopic mechanism, and the planting cup can transversely move to the edge row position during edge row transplanting; the side row seedling feeding device comprises a shear fork type transverse relay conveying mechanism, and plug seedlings are conveyed to the planting device through stretching and retracting during side row transplanting. The device is suitable for greenhouse plug seedling transplanting operation, can solve the problems of low side row height and difficulty in mechanical operation in a greenhouse, and can realize seedling missing detection and seedling filling.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, specifically a greenhouse tray seedling transplanter and a side-row transplanting method. Background Technology

[0002] With the development of facility agriculture, the demand for mechanized transplanting of seedlings in greenhouse trays is becoming increasingly urgent. However, greenhouses typically have an arched front roof or low wall structure, and the edge area (side row) exhibits a significant "low outside, high inside" wedge-shaped spatial characteristic. The vertical working height of the side row in most greenhouses is between 0.8 and 1.2 meters. In some older greenhouses or greenhouses with a large slope angle, the minimum working height of the side row is less than 0.6 meters. Manual transplanting requires bending over, making mechanical operation difficult.

[0003] Existing greenhouse transplanters mostly adopt a "gantry-type" or "chassis-enclosed" structure. For example, Chinese invention patent CN105766174A discloses a greenhouse tray seedling transplanter, in which the transplanting robot arm is installed inside the frame via guide rails, and the working range is strictly limited to the projected area of ​​the frame chassis. The transplanting arm of such equipment cannot extend to the outside of the frame. If edge operation is required, the entire tall frame must be driven into the low edge area, which can easily cause physical interference between the top of the frame and the front roof frame of the greenhouse.

[0004] In addition, some technologies attempt to use simple lateral sliding mechanisms, such as the fixed-distance seedling transplanter disclosed in Chinese patent CN216761784U. Although it has a certain lateral adjustment capability, its working end is still rigidly connected to the bottom of the main beam, lacking the ability to actively avoid obstacles and long-distance "relay transmission". When facing uneven greenhouse walls or extremely limited space, mechanical collisions are likely to occur.

[0005] Therefore, the industry urgently needs a technical solution that breaks through the limitations of traditional "rack-based operation" and can actively adapt to low and confined spaces without moving the main rack, through cantilever extension and multi-stage relay transmission. Summary of the Invention

[0006] The purpose of this invention is to provide a greenhouse tray seedling transplanter and a side row transplanting method. The transplanter has a simple and compact structure, and each actuator has an independent motor control, making it flexible in operation. It can complete the detection and replanting of missing seedlings without the need for a special replanting device. At the same time, this invention can complete side row transplanting in narrow spaces.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a greenhouse tray seedling transplanter, comprising a frame, a power supply, a control device, a tray conveying device, a seedling picking device, a side-row seedling delivery device, a planting device, a walking device, and an air compressor. The frame is mounted on the walking device, and the power supply, control device, tray conveying device, seedling picking device, side-row seedling delivery device, planting device, and air compressor are fixedly mounted on the frame.

[0008] Preferably, the planting device is located below the seedling taking device and includes a planting cup, a planting lifting mechanism, a flat telescopic mechanism, and a planting intermediate transmission mechanism. The planting cup is mounted on the planting lifting mechanism, which is mounted on both sides of the planting intermediate transmission mechanism. The planting intermediate transmission mechanism is mounted on the flat telescopic mechanism. The planting cup includes a fixed half-cup, a rotating half-cup, and a drive mechanism for controlling the opening and closing of the rotating half-cup relative to the fixed half-cup. The flat telescopic mechanism includes a moving layer, a fixed layer, an intermediate gear, a transmission gear, a rack, and rollers. The fixed layer is mounted on the frame, and a U-shaped long slide groove is provided at the bottom of the fixed layer. The transmission gear and the intermediate gear are mounted on the fixed layer. The intermediate gear meshes with the transmission gear, and the transmission gear meshes with the rack. The rack is fixedly mounted on the moving layer, and the moving layer is mounted on the rollers. The rollers are slidably mounted in the U-shaped long slide groove of the fixed layer to support and guide the moving layer. When transplanting in the middle row, the flat telescopic mechanism is in a retracted state, and when transplanting in the side row, the flat telescopic mechanism is in an extended state, moving the planting cup laterally to the side row position on the side of the frame.

[0009] Preferably, the side-row seedling delivery device is located above the planting device and includes a scissor-fork type horizontal relay conveying mechanism, a seedling receiving cup, a seedling delivery cylinder, and a seedling cup limiting slide bar. The scissor-fork type horizontal relay conveying mechanism is mounted on the frame, and the seedling receiving cup and the seedling cup limiting slide bar are mounted on the scissor-fork type horizontal relay conveying mechanism. The seedling delivery cylinder is connected to the scissor-fork type horizontal relay conveying mechanism. The scissor-fork type horizontal relay conveying mechanism includes a short rod, a long rod, a pin, and a mounting base. The mounting base is fixedly mounted on the frame, and a slot is provided on the mounting base for the seedling cup limiting slide bar to slide. Each end of the scissor-fork type horizontal relay conveying mechanism is connected by two short rods of the same length through a pin. Inside the scissor-fork type horizontal relay conveying mechanism, multiple long rods of the same length are connected to each other through pins. During side-row transplanting, the scissor-fork type horizontal relay conveying mechanism, under the action of the seedling delivery cylinder, extends and retracts to deliver the seedlings from the trays to the top of the planting device.

[0010] Preferably, the driving mechanism includes a large gear, a small gear, a small motor, a rotation limiting rail, and a fixed support rail. The cup body of the fixed half-cup is nested inside the rotating half-cup. The large gear is fixedly connected to the rotating half-cup, the small gear meshes with the large gear, the small motor is mounted on the fixed half-cup and fixedly connected to the small gear, and the small motor is controlled by a control device to realize the rotation of the rotating half-cup. The rotation limiting rail is fixedly connected to the rotating half-cup, and the fixed support rail is fixedly connected to the fixed half-cup. The rotation limiting rail is installed inside the fixed support rail.

[0011] Preferably, the tray conveying device includes a conveyor chain, a conveyor motor, a tray support crossbar, and a pressure plate track. The tray support crossbar is installed on the conveyor chain, and the pressure plate track is installed on the outside of the conveyor chain. The conveyor motor is connected to the conveyor chain and a control device, which can realize tray stepping and empty tray collection.

[0012] Preferably, the seedling picking device is located behind the tray conveying device and includes a seedling missing detection device, a seedling picking gripper, and a displacement device. The displacement device includes a gripper lateral movement mechanism, a gripper longitudinal movement mechanism, and a gripper vertical movement mechanism. The gripper lateral movement mechanism includes a linear motor module. The seedling missing detection device and the seedling picking gripper are mounted on the gripper lateral movement mechanism.

[0013] Preferably, the four seedling-picking claws are installed in a group on the claw lateral movement mechanism. The seedling-picking claws are controlled by a control device to open and close. An air compressor provides power for the opening and closing of the seedling-picking claws. The lateral movement of the four seedling-picking claws is individually controlled by a linear motor module, which can realize the independent unequal lateral movement of each seedling-picking claw.

[0014] Preferably, the missing seedling detection device includes a detection camera, which is mounted on the lateral movement mechanism of the gripper. The detection camera is connected to the missing seedling detection control system, which is installed in the control device. After detecting missing seedlings, the missing seedling detection control system controls the seedling picking gripper, which can move laterally and open and close independently, to directly replant the seedlings without the need for a separate replanting mechanism.

[0015] Preferably, the planting lifting mechanism includes a lifting chain, a lifting sprocket, and a planting cup mounting seat. The planting lifting mechanism is installed vertically, and each planting cup mounting seat is fixedly installed on two parallel lifting chains to maintain stability. The lifting chains are installed on the lifting sprocket. When the lifting sprocket rotates clockwise, the planting cup mounting seat moves upward, and when the lifting sprocket rotates counterclockwise, the planting cup mounting seat moves downward.

[0016] Preferably, the seedling cup includes a front half cup, a rear half cup, a pull rod, a tension spring, a pull wire, a mounting rod, and a seedling cup mounting base. The seedling cup mounting base has a circular slot. The front half cup is fixedly connected to the seedling cup mounting base. The seedling cup mounting base is mounted on the pin of the scissor-type transverse relay conveying mechanism. The circular slot of the seedling cup mounting base passes through the seedling cup limiting slide rod. The rear half cup is mounted on the front half cup by a tension spring. The pull rod and the mounting rod have holes for the pull wire to pass through. The pull rod is mounted on the rear half cup, and the mounting rod is mounted on the scissor-type transverse relay conveying mechanism. Both ends of the pull wire pass through the mounting rod, and the pull wire passes through the pull rod.

[0017] This invention provides a method for transplanting greenhouse plug seedlings in rows, based on the aforementioned greenhouse plug seedling transplanter, the steps of which include:

[0018] Step 1: The greenhouse tray seedling transplanter starts transplanting from the innermost row of the east-west planting row closest to the vertical wall, and completes the transplanting of the middle rows row by row.

[0019] Step 2: After the transplanting operation of the row closest to the edge row in the middle row is completed, the transplanter travels in the opposite direction along that row to carry out the edge row transplanting operation;

[0020] Step 3: The flat-plate telescopic mechanism is activated, causing the planting device to move laterally from inside the frame to the side of the frame.

[0021] Step 4: The side-row seedling delivery device is activated, initially in the retracted position, waiting for the seedling picker to deliver the seedling;

[0022] Step 5: The seedling retrieval device opens the seedling retrieval jaws and moves to the seedling retrieval position, closes the seedling retrieval jaws and moves vertically upward to complete the retrieval of the plug tray seedlings, and returns to the seedling placement preparation position;

[0023] Step Six: The missing seedling detection device detects missing seedlings in the seedling clamps after the seedlings have been taken, and prepares for transplanting.

[0024] Step 7: Move the two seedling grippers laterally to the top of the seedling cup of the retracted side-mounted seedling delivery device on the side of the frame, open the seedling grippers, and complete the seedling delivery;

[0025] Step 8: After receiving the seedlings, the side-row seedling delivery device extends and delivers the seedlings from the trays horizontally to the top of the planting cup of the planting device. The seedling cup opens, completing the seedling delivery. Subsequently, the scissor-fork type horizontal relay conveying mechanism of the side-row seedling delivery device retracts under the action of the seedling delivery cylinder, making way for vertical working space.

[0026] Step 9: The planting device moves downwards with the seedlings in the plug trays. When it reaches the lowest point, the planting cup is opened to complete the transplanting of the seedlings in the plug trays.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. The greenhouse plug seedling transplanter provided by the present invention has a compact structure and fewer operation steps, which can realize the transplanting of plug seedlings in greenhouses with high transplanting efficiency and save labor costs.

[0029] 2. The greenhouse tray seedling transplanter provided by this invention can detect and replant missing seedlings, reduce missed plantings, and improve economic benefits.

[0030] 3. The greenhouse tray transplanter provided by this invention can solve the problem of limited space for east-west planting operations in greenhouses, and realize mechanized greenhouse transplanting operations. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0032] Figure 1 This is a schematic diagram of the structure of a greenhouse tray seedling transplanter according to the present invention;

[0033] Figure 2 This is a top view of a greenhouse tray seedling transplanter according to the present invention;

[0034] Figure 3 This is a side view of a greenhouse tray seedling transplanter according to the present invention;

[0035] Figure 4 This is a schematic diagram of the tray conveying device;

[0036] Figure 5 This is a schematic diagram of the seedling collection device;

[0037] Figure 6 This is a schematic diagram of the planting device.

[0038] Figure 7 This is a schematic diagram of the edge-row seedling delivery device;

[0039] Figure 8 This is a schematic diagram of the planting cup structure;

[0040] Figure 9 This is a schematic diagram of a scissor-type transverse relay conveyor mechanism.

[0041] Figure 10 This is a schematic diagram of the seedling cup structure;

[0042] Figure 11 This is a schematic diagram of a flat-plate telescopic mechanism.

[0043] Figure 12 This is a schematic diagram showing the positional relationship of the greenhouse planting rows;

[0044] Figure 13The flowchart is for the seedling replenishment algorithm.

[0045] In the diagram: 1. Frame, 2. Power supply, 3. Control device, 4. Tray conveying device, 41. Conveyor chain, 42. Conveyor motor, 43. Tray support crossbar, 44. Pressure plate track, 5. Seedling picking device, 51. Seedling missing detection device, 511. Detection camera, 52. Seedling picking gripper, 53. Displacement mechanism, 531. Gripper lateral movement mechanism, 5311. Linear motor module, 532. Gripper longitudinal movement mechanism, 533. Gripper vertical movement mechanism, 6. Side-mounted seedling delivery device, 61. Scissor-type lateral relay conveying mechanism, 611. Short rod, 612. Long rod, 613. Pin, 614. Mounting base, 62. Seedling cup, 621. Front half cup, 622. Rear half cup, 623. Pull rod, 624. Tension spring. 625. Pull wire, 626. Mounting rod, 627. Seedling cup mounting base, 63. Seedling delivery cylinder, 64. Seedling cup limiting slide bar, 7. Planting device, 71. Planting cup, 711. Fixed half cup, 712. Rotating half cup, 713. Large gear, 714. Small gear, 715. Small motor, 716. Rotation limiting rail, 717. Fixed support rail, 72. Planting lifting mechanism, 721. Lifting chain, 722. Lifting sprocket, 723. Planting cup mounting base, 73. Flat telescopic mechanism, 731. Moving layer, 732. Fixed layer, 733. Intermediate gear, 734. Transmission gear, 735. Rack, 736. Roller, 74. Planting intermediate transmission mechanism, 8. Walking device, 9. Air compressor. Detailed Implementation

[0046] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0047] like Figure 1-13 This invention provides a greenhouse tray seedling transplanter. The components of the equipment are made of wear-resistant, corrosion-resistant, and high-temperature-resistant materials. It includes a frame 1, a power supply 2, a control device 3, a tray conveying device 4, a seedling picking device 5, a side-row seedling delivery device 6, a planting device 7, a walking device 8, and an air compressor 9. The frame 1 is mounted on the walking device 8. The power supply 2, control device 3, tray conveying device 4, seedling picking device 5, side-row seedling delivery device 6, planting device 7, and air compressor 9 are fixedly mounted on the frame 1. Each actuator is powered by a separate motor. The power supply 2 supplies power to each motor, and the control device 3 controls the operation of each actuator.

[0048] Advantageously, the planting device 7 is located below the seedling taking device 5, and includes a planting cup 71, a planting lifting mechanism 72, a flat telescopic mechanism 73, and a planting intermediate transmission mechanism 74. The planting cup 71 is mounted on the planting lifting mechanism 72, the planting lifting mechanism 72 is mounted on both sides of the planting intermediate transmission mechanism 74, and the planting intermediate transmission mechanism 74 is mounted on the flat telescopic mechanism 73. The planting cup 71 includes a fixed half-cup 711, a rotating half-cup 712, and a drive mechanism for controlling the opening and closing of the rotating half-cup relative to the fixed half-cup. The flat telescopic mechanism 73 includes a moving layer 731, a fixed layer 732, an intermediate gear 733, a transmission gear 734, a rack 735, and a roller 736. The fixed layer 732 is mounted on the frame 1, and a U-shaped long slide groove is provided at the bottom of the fixed layer 732. The transmission gear 734... The intermediate gear 733 is mounted on the fixed layer 732 and meshes with the transmission gear 734. The transmission gear 734 meshes with the rack 735. The rack 735 is fixedly mounted on the movable layer 731, which is mounted on the roller 736. The roller 736 is slidably mounted in the U-shaped long groove of the fixed layer 732 to support and guide the movable layer 731. When transplanting in the middle row, the flat plate telescopic mechanism 73 is in the retracted state, and when transplanting in the side row, the flat plate telescopic mechanism 73 is in the extended state, which laterally moves the planting cup 71 to the side row position on the side of the frame 1. It should be noted that, in order to prevent the rotating half cup from interfering with the fixed parts during the opening process, the large gear 713 preferably adopts a sector gear structure, that is, the tooth surface is only retained within the effective meshing stroke, so as to reduce weight and avoid spatial collision.

[0049] As a preferred embodiment, the flat-plate telescopic mechanism may also use a synchronous belt module or an electric push rod to replace the gear set mentioned above, in order to simplify the structure.

[0050] Advantageously, the side-row seedling delivery device 6 is located above the planting device 7, and includes a scissor-fork type transverse relay conveying mechanism 61, a seedling receiving cup 62, a seedling delivery cylinder 63, and a seedling cup limiting slide bar 64. The scissor-fork type transverse relay conveying mechanism 61 is mounted on the frame 1, the seedling receiving cup 62 and the seedling cup limiting slide bar 64 are mounted on the scissor-fork type transverse relay conveying mechanism 61, and the seedling delivery cylinder 63 is connected to the scissor-fork type transverse relay conveying mechanism 61. The scissor-fork type transverse relay conveying mechanism 61 includes a short rod 611, a long rod 612, and a pin. 613. Mounting base 614. Mounting base 614 is fixedly mounted on frame 1. Mounting base 614 has slots for the sliding of seedling cup limiting slide rod 64. The two ends of the scissor fork type transverse relay conveying mechanism 61 are connected by two short rods 611 of the same length through pin shaft 613. The inside of the scissor fork type transverse relay conveying mechanism 61 is connected to each other by multiple long rods 612 of the same length through pin shaft 613. When transplanting in rows, the scissor fork type transverse relay conveying mechanism 61, under the action of seedling delivery cylinder 63, conveys the seedlings in the plug tray to the top of the planting device 7 by extension and retraction.

[0051] Beneficially, a nonlinear mapping control model is established between the seedling delivery stroke and the driving amount of the seedling delivery cylinder. Both the short rod 611 and the long rod 612 of the scissor-type transverse relay conveying mechanism are rigid rods. The length of the short rod 611 is half the length of the long rod 612. The gap between each hinge point is ≤0.02mm. The number of scissor-type units n is a positive integer, and each unit has a symmetrical structure. The seedling delivery cylinder 63 is a servo cylinder with a telescopic control accuracy ≤±0.1mm. Let the length of the long rod 612 be L. 长 The short rod 611 has a length of L. 短 The scissor-fork angle is α, the initial angle is α0, and the target angle is α. t By deriving the geometric relationship between the lengths of the short rod 611 and the long rod 612, the mapping relationship between the seedling delivery stroke X and the scissor fork angle α is obtained. This is equivalent to X = 3nL 短 cosα, actual seedling delivery route The adjustment range is adaptable to 50-500mm, and the seedling delivery cylinder has a drive volume of 63 S. drive Based on the geometric relationship between the horizontal distance 'a' and the vertical distance 'b' of the installation position of the seedling delivery cylinder 63, the following derivation is made: The theoretical calculation value and the actual driving amount of the seedling delivery cylinder 63 have an error of ≤±0.3mm. To compensate for the influence of machining tolerances and hinge clearances, the model introduces a closed-loop feedback compensation mechanism, which uses a laser displacement sensor with an accuracy of ±0.05mm to collect the actual seedling delivery stroke X. r , when the deviation When the absolute value is greater than 0.5 mm, through Correct the target angle and recalculate the driving force, where The control process consists of initialization, stroke setting, angle inversion, driving quantity calculation, driving execution, and feedback correction, ensuring that the seedlings in the plug trays are accurately placed directly above the planting device 7 during side row transplanting, thereby improving the transplant survival rate.

[0052] During operation, the seedling delivery cylinder 63 drives the outermost short rod 611 of the scissor-fork type transverse relay conveying mechanism 61 to move, thereby driving the long rod 612 to move, thus realizing the extension and retraction of the scissor-fork type transverse relay conveying mechanism 61, thereby realizing the seedling receiving cup 62 receiving and delivering seedlings during the side row transplanting operation. When retracted, the seedling receiving cup 62 is located below the seedling taking device 5 to receive seedlings, and when extended, the seedling receiving cup 62 moves to the planting device 7 at the side row position to deliver seedlings.

[0053] Advantageously, the drive mechanism includes a large gear 713, a small gear 714, a small motor 715, a rotation limit rail 716, and a fixed support rail 717. The cup body of the fixed half cup 711 is nested inside the rotating half cup 712. The large gear 713 is fixedly connected to the rotating half cup 712. The small gear 714 meshes with the large gear 713. The small motor 715 is mounted on the fixed half cup 711 and fixedly connected to the small gear 714. The small motor 715 is controlled by the control device 3 to realize the rotation of the rotating half cup 712. The rotation limit rail 716 is fixedly connected to the rotating half cup 712. The fixed support rail 717 is fixedly connected to the fixed half cup 711. The rotation limit rail 716 is installed inside the fixed support rail 717.

[0054] Advantageously, the tray conveying device 4 includes a conveying chain 41, a conveying motor 42, a tray support crossbar 43, and a pressure plate track 44. The tray support crossbar 43 is installed on the conveying chain 41, and the pressure plate track 44 is installed on the outside of the conveying chain 41. The conveying motor 42 is connected to the conveying chain 41 and the control device 3, which can realize tray stepping and empty tray collection.

[0055] Advantageously, the seedling picking device 5 is located behind the tray conveying device 4 and includes a seedling missing detection device 51, a seedling picking gripper 52, and a displacement device 53. The displacement device 53 includes a gripper lateral movement mechanism 531, a gripper longitudinal movement mechanism 532, and a gripper vertical movement mechanism 533. The gripper lateral movement mechanism 531 includes a linear motor module 5311. The seedling missing detection device 51 and the seedling picking gripper 52 are mounted on the gripper lateral movement mechanism 531.

[0056] Advantageously, the four seedling-picking claws 52 are installed in a group on the claw lateral movement mechanism 531. The seedling-picking claws 52 are controlled to open and close by the control device 3. The air compressor 9 provides power for the opening and closing of the seedling-picking claws 52. The four seedling-picking claws 52 pick up four seedlings from the plug tray at a time, and the seedlings are placed in two batches, with two seedlings placed in each batch, reducing the frequency of seedling picking. The lateral movement of the four seedling-picking claws 52 is controlled individually by the linear motor module 5311, which can realize the independent unequal lateral movement of each seedling-picking claw 52.

[0057] Advantageously, the missing seedling detection device 51 includes a detection camera 511, which is mounted on the gripper lateral movement mechanism 531. The detection camera 511 is connected to the missing seedling detection control system, which is installed in the control device 3. This missing seedling detection control system has a built-in visual seedling replenishment algorithm. After detecting missing seedlings, it controls the seedling-taking gripper 52, which can move laterally and open and close independently, to directly replenish the seedlings without the need for a separate seedling replenishment mechanism. The visual seedling replenishment algorithm first uses the detection camera 511 to collect data from the seedling-taking gripper 52. The seedling condition image is used to convert the seedling condition of the four seedling picking claws 52 into a binary state matrix where "1" represents seedlings present and "0" represents missing seedlings. Based on the matrix, the number of missing seedlings K is counted and its parity is determined, and a targeted seedling replenishment strategy is implemented: When K is odd (K=1 or 3), to ensure the synchronization of double-row transplanting, an even-odd balance strategy is implemented. When K=1, the seedling picking claw 52 adjacent to the missing seedling picking claw 52 discards the seedlings from the trays, and the remaining two seedling picking claws 52 complete one double-row seedling replenishment operation. When K=3, the current seedling replenishment is abandoned, and the four seedling picking claws 52 execute the next seedling picking action. When K is even (K=0, 2, or 4), the synchronization of double-row transplanting is satisfied, and seedling replenishment can be performed directly. When K=0, the four seedling picking claws 52 directly perform two replenishment operations as if there were no missing seedlings. When seedlings are placed, if K=2, the remaining two seedling-holding grippers 52 with seedlings will directly place the seedlings. If K=4, the four seedling-holding grippers 52 with missing seedlings will be directly controlled to perform the next seedling-holding action. The linear motor module 5311 of the gripper lateral movement mechanism 531 works in conjunction with the seedling replenishment strategy to reset the spacing of the seedling-holding grippers 52 according to the preset compensation formula, so that the effective seedling placement spacing meets the transplanting agronomic requirements before placing the seedlings. At the same time, the visual seedling replenishment algorithm is equipped with an abnormal alarm mechanism. If an abnormality in the state matrix or a gripper action failure is detected, the alarm module of the control device 3 will be triggered and the transplanting operation will be suspended. Relying on the structural characteristics of the independent lateral movement and independent opening and closing of the seedling-holding grippers 52, the algorithm can realize the integrated execution of missing seedling detection, intelligent decision-making and seedling replenishment action, which simplifies the overall structure of the equipment while ensuring the synchronization and spacing accuracy of double-row transplanting.

[0058] Advantageously, the planting lifting mechanism 72 includes a lifting chain 721, a lifting sprocket 722, and a planting cup mounting seat 723. The planting lifting mechanism 72 is installed in a vertical direction. Each planting cup mounting seat 723 is fixedly installed on two parallel lifting chains 722 to maintain stability. The lifting chain 821 is installed on the lifting sprocket 722.

[0059] During operation, the intermediate transmission mechanism 74 rotates, which drives the lifting sprocket 722 to rotate, which in turn drives the lifting chain 721 to rotate, which in turn drives the planting cup mounting base 723 to move. When the lifting sprocket 722 rotates clockwise, the planting cup mounting base 723 moves upward, which in turn drives the planting cup 71 to move upward to receive the seedling. When the lifting sprocket 722 rotates counterclockwise, the planting cup mounting base 723 moves downward, which in turn drives the planting cup 71 to move downward to plant the seedling.

[0060] Advantageously, the seedling cup 62 includes a front half cup 621, a rear half cup 622, a pull rod 623, a tension spring 624, a pull wire 625, a mounting rod 626, and a seedling cup mounting base 627. The seedling cup mounting base 627 has a circular slot. The front half cup 621 is fixedly connected to the seedling cup mounting base 627. The seedling cup mounting base 627 is mounted on the pin 613 of the scissor-type transverse relay conveying mechanism 61. The circular slot of the seedling cup mounting base 627 passes through the seedling cup limiting slide rod 64. The rear half cup 622 is mounted on the front half cup 621 via the tension spring 624. The pull rod 623 and the mounting rod 625... The 6 has a hole for the pull wire 625 to pass through. The pull rod 623 is installed on the rear half cup 622. The mounting rod 626 is installed on the scissor-type transverse relay conveyor mechanism 61. The two ends of the pull wire 625 pass through the mounting rod 626 and are limited. The pull wire 625 passes through the pull rod 623. When the scissor-type transverse relay conveyor mechanism 61 extends a certain length, the pull wire 625 is in a taut state, pulling the rear half cup 622 to open a certain angle. When the scissor-type transverse relay conveyor mechanism 61 retracts, the pull wire 625 is in a slack state, and the rear half cup 622 closes with the front half cup 621 under the action of the tension spring 624.

[0061] This invention provides a method for transplanting greenhouse plug seedlings in rows, based on the aforementioned greenhouse plug seedling transplanter, the steps of which include:

[0062] Step 1: The greenhouse tray seedling transplanter starts transplanting from the innermost row of the east-west planting row closest to the vertical wall, and completes the transplanting of the middle rows row by row.

[0063] Step 2: After the transplanting operation of the row closest to the edge row in the middle row is completed, the transplanter travels in the opposite direction along that row to carry out the edge row transplanting operation;

[0064] Step 3: The flat telescopic mechanism 73 is activated, causing the planting device 7 to move laterally from inside the frame 1 to the side position of the frame 1.

[0065] Step 4: The side-row seedling delivery device 6 is activated, initially in the retracted position, waiting for the seedling picker 52 to deliver the seedling;

[0066] Step 5: The seedling taking device 5 opens the seedling taking claw 52 and moves to the seedling taking position, closes the seedling taking claw 52 and moves vertically upward to complete the taking of the plug tray seedling, and returns to the seedling preparation position;

[0067] Step 6: The seedling shortage detection device 51 detects the seedling shortage on the seedling clamp 52 after the seedlings have been taken, and prepares for seedling transplanting.

[0068] Step 7: Move the two seedling grippers 52 laterally to the side of the frame 1, above the seedling cup 62 of the retracted side-mounted seedling delivery device 6, open the seedling grippers 52, and complete the seedling delivery.

[0069] Step 8: After receiving the seedling, the side-row seedling delivery device 6 extends and delivers the seedlings from the tray laterally to the planting cup 71 of the planting device 7. The seedling receiving cup 62 opens, completing the seedling delivery. Subsequently, the scissor-fork type horizontal relay conveying mechanism of the side-row seedling delivery device retracts under the action of the seedling delivery cylinder, making way for vertical working space.

[0070] Step 9: The planting device 7 moves downwards with the seedlings in the plug trays. When it reaches the lowest point, the planting cup 71 is opened to complete the transplanting of the seedlings in the plug trays.

[0071] Furthermore, considering that the surface of the greenhouse wall may be uneven or have protruding foreign objects, in order to prevent the scissor-fork type transverse relay conveying mechanism 61 from rigidly colliding with the wall during its extension, the present invention also integrates flexible avoidance protection logic.

[0072] Specifically, a laser rangefinder sensor interface is reserved at the end of the edge-row seedling delivery device 6 (such as the outside of the seedling cup mounting base 627). In edge-row transplanting mode, the control device 3 monitors the distance D between the end of the mechanism and the obstacle (wall) in front in real time. real The system has a preset security threshold D. safe It is 50mm.

[0073] When D is detected real < D safe At that time, control device 3 immediately triggers the following safety interrupt procedure:

[0074] 1. Control the seedling delivery cylinder 63 to stop its extension action and maintain its current position;

[0075] 2. Control the flat-plate telescopic mechanism 73 to retract slightly (e.g., retract 10mm) to release mechanical stress;

[0076] 3. Trigger the buzzer alarm to prompt manual intervention for inspection.

[0077] This strategy effectively addresses the risk of equipment collisions caused by spatial estimation errors in unstructured greenhouse environments, significantly improving the robot's environmental adaptability and operational safety.

Claims

1. A greenhouse tray seedling transplanter, characterized in that: It includes a frame, power supply, control device, tray conveying device, seedling picking device, side-row seedling delivery device, planting device, walking device, and air compressor. The frame is mounted on the walking device, and the power supply, control device, tray conveying device, seedling picking device, side-row seedling delivery device, planting device, and air compressor are fixedly mounted on the frame. The planting device is located below the seedling taking device and includes a planting cup, a planting lifting mechanism, a flat telescopic mechanism, and a planting intermediate transmission mechanism. The planting cup is installed on the planting lifting mechanism, the planting lifting mechanism is installed on both sides of the planting intermediate transmission mechanism, and the planting intermediate transmission mechanism is installed on the flat telescopic mechanism. The planting cup includes a fixed half-cup, a rotating half-cup, and a drive mechanism that controls the opening and closing of the rotating half-cup relative to the fixed half-cup. The flat-plate telescopic mechanism is a cantilever flat-plate telescopic module, which includes a moving layer, a fixed layer, and a linear drive component that drives the moving layer to reciprocate laterally relative to the fixed layer; the fixed layer is installed on the frame, and the moving layer is slidably connected to the fixed layer through a guide structure, which is used to support the entire planting device to extend outward from the frame. The side-row seedling delivery device is located above the planting device and includes a multi-stage linkage scissor-fork type transverse relay conveying mechanism, a seedling receiving cup, a seedling delivery cylinder, and a seedling cup limiting slide bar. One end of the transverse relay conveying mechanism is fixedly installed on the frame, and the other end is suspended and connected to the seedling receiving cup, which is used to establish a flexible conveying channel from the inside of the frame to the outer side-row area in a limited space.

2. The greenhouse tray seedling transplanter according to claim 1, characterized in that: The driving mechanism includes a large gear, a small gear, a small motor, a rotation limit rail, and a fixed support rail. The cup body of the fixed half-cup is nested inside the rotating half-cup. The large gear is fixedly connected to the rotating half-cup, and the small gear meshes with the large gear. The small motor is mounted on the fixed half-cup and fixedly connected to the small gear. The small motor is controlled by a control device to realize the rotation of the rotating half-cup. The rotation limit rail is fixedly connected to the rotating half-cup, and the fixed support rail is fixedly connected to the fixed half-cup. The rotation limit rail is installed inside the fixed support rail.

3. The greenhouse tray seedling transplanter according to claim 1, characterized in that: The tray conveying device includes a conveyor chain, a conveyor motor, a tray support crossbar, and a pressure plate track. The tray support crossbar is installed on the conveyor chain, and the pressure plate track is installed on the outside of the conveyor chain. The conveyor motor is connected to the conveyor chain and a control device, which can realize tray stepping and empty tray collection.

4. A greenhouse tray seedling transplanter according to claim 1, characterized in that: The seedling picking device is located behind the tray conveying device and includes a seedling missing detection device, a seedling picking gripper, and a displacement device. The displacement device includes a gripper lateral movement mechanism, a gripper longitudinal movement mechanism, and a gripper vertical movement mechanism. The gripper lateral movement mechanism includes a linear motor module. The seedling missing detection device and the seedling picking gripper are mounted on the gripper lateral movement mechanism.

5. A greenhouse tray seedling transplanter according to claim 4, characterized in that: The seedling-picking claws are installed in groups of four on the claw lateral movement mechanism. The opening and closing of the seedling-picking claws are controlled by a control device. An air compressor provides power for the opening and closing of the seedling-picking claws. The lateral movement of the four seedling-picking claws is individually controlled by a linear motor module, which can realize the independent unequal lateral movement of each seedling-picking claw.

6. A greenhouse tray seedling transplanter according to claim 4, characterized in that: The missing seedling detection device includes a detection camera, which is mounted on the lateral movement mechanism of the gripper. The detection camera is connected to the missing seedling detection control system, which is installed in the control device. After detecting missing seedlings, the missing seedling detection control system controls the seedling picking gripper, which can move laterally and open and close independently, to directly replant the seedlings without the need for a separate seedling replanting mechanism.

7. A greenhouse tray seedling transplanter according to claim 1, characterized in that: The planting lifting mechanism includes a lifting chain, a lifting sprocket, and a planting cup mounting base. The planting lifting mechanism is installed vertically. Each planting cup mounting base is fixedly installed on two parallel lifting chains to maintain stability. The lifting chain is installed on the lifting sprocket. When the lifting sprocket rotates clockwise, the planting cup mounting base moves upward. When the lifting sprocket rotates counterclockwise, the planting cup mounting base moves downward.

8. A greenhouse tray seedling transplanter according to claim 1, characterized in that: The seedling cup includes a front half cup, a rear half cup, a pull rod, a tension spring, a pull wire, a mounting rod, and a seedling cup mounting base. The seedling cup mounting base has a circular slot. The front half cup is fixedly connected to the seedling cup mounting base. The seedling cup mounting base is mounted on the pin of the transverse relay conveying mechanism. The circular slot of the seedling cup mounting base passes through the seedling cup limiting slide rod. The rear half cup is mounted on the front half cup by a tension spring. The pull rod and the mounting rod have holes for the pull wire to pass through. The pull rod is mounted on the rear half cup, and the mounting rod is mounted on the transverse relay conveying mechanism. Both ends of the pull wire pass through the mounting rod, and the pull wire passes through the pull rod.

9. A method for transplanting greenhouse plug seedlings in rows, based on the greenhouse plug seedling transplanter described in claims 1-8, characterized in that, The steps for transplanting along the border include: Step 1: The greenhouse tray seedling transplanter starts transplanting from the innermost row of the east-west planting row closest to the vertical wall, and completes the transplanting of the middle rows row by row. Step 2: After the transplanting operation of the row closest to the edge row in the middle row is completed, the transplanter travels in the opposite direction along that row to carry out the edge row transplanting operation; Step 3: The flat-plate telescopic mechanism is activated, causing the planting device to move laterally from inside the frame to the side of the frame. Step 4: The side-row seedling delivery device is activated, initially in the retracted position, waiting for the seedling picker to deliver the seedling; Step 5: The seedling retrieval device opens the seedling retrieval jaws and moves to the seedling retrieval position, closes the seedling retrieval jaws and moves vertically upward to complete the retrieval of the plug tray seedlings, and returns to the seedling placement preparation position; Step Six: The missing seedling detection device detects missing seedlings in the seedling clamps after the seedlings have been taken, and prepares for transplanting. Step 7: Move the two seedling grippers laterally to the top of the seedling cup of the retracted side-mounted seedling delivery device on the side of the frame, open the seedling grippers, and complete the seedling delivery; Step 8: After receiving the seedlings, the side-row seedling delivery device extends and delivers the seedlings from the trays horizontally to the top of the planting cup of the planting device. The seedling cup opens, completing the seedling delivery. Subsequently, the scissor-fork type horizontal relay conveying mechanism of the side-row seedling delivery device retracts under the action of the seedling delivery cylinder, making way for vertical working space. Step 9: The planting device moves downwards with the seedlings in the plug trays. When it reaches the lowest point, the planting cup is opened to complete the transplanting of the seedlings in the plug trays.

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