Automatic rhizome traditional Chinese medicinal material seedling clamping, separating, conveying and transplanting device and method

Abstract

The application discloses a kind of root-stem Chinese medicinal material seedling automatic clamping separation conveying transplanting device and method in the technical field of agricultural machinery, including connecting support component, flexible conveying transplanting component, reciprocating clamping component, left side quantitative seedling feeding component, right side quantitative seedling feeding component and electrical control system composition, left side quantitative seedling feeding component, right side quantitative seedling feeding component will the whole bundle root-stem seedling of consistent head quantitative separation and feed into clamping position, by reciprocating clamping component from single seedling clamping separation, into flexible conveying transplanting component, so as to seedling is conveyed to transplanting ground, electrical control system cooperatively controls each component cooperation operation;The application can realize the intelligent automatic separation transplanting of root-stem Chinese medicinal material seedling, solve the existing Chinese medicinal material seedling transplanting process existing seedling separation difficult, labor intensity is big, efficiency is low and the problem that damage is caused to medicinal plant seedling in transplanting process, influence its survival rate and subsequent growth.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an automatic clamping, separating, conveying, and transplanting device and method for seedlings of rhizomes and other medicinal herbs. Background Technology

[0002] Rhizome-based medicinal herbs, such as Astragalus membranaceus, Codonopsis pilosula, Scutellaria baicalensis, Panax ginseng, and Panax notoginseng, are major traditional Chinese medicinal materials, and their cultivation scale has been continuously expanding in recent years. However, in the seedling transplanting stage, manual seedling division has long been the main method, resulting in prominent problems such as high labor intensity, low efficiency, and inconsistent planting quality. With the continuous loss of young and middle-aged agricultural labor, the dilemma of "difficulty in hiring labor and high labor costs" is becoming increasingly prominent, seriously restricting the development of large-scale and standardized cultivation of medicinal herbs.

[0003] Currently, most existing semi-mechanized transplanting equipment uses manual seedling placement after trenching or simple mechanical feeding methods. Due to the irregular shape of rhizomatous seedlings, their intertwined root systems, and their delicate and easily damaged nature, such equipment is difficult to adapt to their physical characteristics, resulting in difficulties in seedling separation, discontinuous feeding, blockages, and high damage rates. This leads to serious problems such as missed planting, replanting, and gaps in the rows.

[0004] In addition, traditional transplanting equipment has a low level of intelligence, making it impossible to accurately pick up individual plants, transport them in an orderly manner, and plant them at fixed intervals. This makes it difficult to meet the stringent requirements of large-scale, standardized planting for transplanting quality and efficiency.

[0005] Therefore, there is an urgent need to develop a device and method that integrates intelligent automatic clamping, efficient separation, orderly conveying and precise transplanting, to break through the technical bottlenecks of "difficult seedling acquisition, difficult separation, high damage and poor quality" in the transplanting of root and rhizome medicinal materials, and to provide core technical support for the full mechanization of root and rhizome medicinal materials. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic clamping, separating, conveying, and transplanting device and method for rhizomatous Chinese medicinal herb seedlings, in order to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An automatic clamping, separating, conveying, and transplanting device for seedlings of rhizomes and other medicinal herbs includes a connecting support component; The top center of the connecting bracket component is equipped with, from front to back along the walking direction, a flexible conveying and transplanting component, a reciprocating clamping component, a left-side quantitative seedling feeding component, a right-side quantitative seedling feeding component, and an electrical control system. The connecting bracket component includes a vertical section and a horizontal section connected to the top rear end of the vertical section. The flexible conveying and transplanting component is continuously arranged along the vertical and horizontal sections of the connecting bracket component. The reciprocating clamping component is located on the horizontal section of the connecting bracket component and above the flexible conveying and transplanting component. The left quantitative seedling feeding component and the right quantitative seedling feeding component are symmetrically arranged at the rear end of the horizontal section of the connecting bracket component. The electrical control system is electrically connected to the flexible conveyor transplanting component, the reciprocating clamping component, the left quantitative seedling feeding component, and the right quantitative seedling feeding component, respectively, to control the coordinated operation of each component.

[0008] Furthermore, the connecting bracket components include a left-side conveying and transplanting bracket assembly, a right-side conveying and transplanting bracket assembly, a rear connecting plate, a seedling protection mechanism fixing plate, a middle connecting support tube, and a clamping and separating connecting bracket assembly; The left-side and right-side conveyor-transplanter components are mirror images of each other, and are symmetrically installed on the left and right sides of the connecting bracket component, respectively. Both the left and right conveyor transplanter components have roller motor mounting holes and motor fixing plates at the upper rear end, tension wheel mounting and adjustment holes, tension adjustment connecting plates and proximity switch sensor mounting holes in the middle, idler roller mounting holes and idler roller connecting plates at the upper front end, and idler roller adjustment holes and height adjustment connecting plates at the lower front end. The rear connecting plate is installed at the rear end of the connecting bracket component, and its left and right ends are fixedly connected to the left conveying and transplanting bracket assembly and the right conveying and transplanting bracket assembly, respectively. The seedling protection mechanism fixing plate is installed at the front end of the connecting bracket component. Its left and right ends are fixedly connected to the left conveying and transplanting bracket assembly and the right conveying and transplanting bracket assembly, respectively. The upper end of the seedling protection mechanism fixing plate is provided with a seedling protection mechanism installation adjustment hole. The left and right ends of the middle connecting support tube are fixedly connected to the left side conveying and transplanting bracket assembly and the right side conveying and transplanting bracket assembly, respectively. The clamping and separating connection bracket assembly includes a profile frame and a steel plate. The profile frame is fixedly installed on the left conveying and transplanting bracket assembly and the right conveying and transplanting bracket assembly, and the steel plate is fixedly installed on top of the profile frame.

[0009] Furthermore, the flexible conveyor transplanting components include a partitioned conveyor belt, a roller motor, idlers, a mounting base, a seedling height adjustment mounting base, a tensioning wheel mechanism, a flexible seedling protection mechanism, and a conveyor belt speed collector mounting base; The partition conveyor belt includes a flexible conveyor belt and partitions, with the partitions arranged in multiple rows evenly on the flexible conveyor belt. The spacing between each row of partitions is greater than the width of the fixed plate of the seedling protection mechanism, and the front and rear spacing of each row of partitions is consistent. The roller motor passes through the roller motor mounting hole at the rear end of the connecting bracket component and is driven by the partition conveyor belt. The roller motor is fixedly assembled with the motor fixing plate of the connecting bracket component through the mounting base. There are two idlers, one of which passes through the idler mounting hole above the front end of the connecting bracket component and engages with the partition conveyor belt. This idler is also assembled with the idler connecting plate of the connecting bracket component via a mounting seat. Another idler roller passes through the idler roller adjustment hole below the front end of the connecting bracket component and engages with the partition conveyor belt, and is assembled with the height adjustment connecting plate of the connecting bracket component through the seedling height adjustment mounting seat; The tensioning wheel mechanism includes a tensioning wheel, a spacer wheel, a connecting shaft, a tension adjusting seat, and bearings; The connecting shaft is installed in the tension wheel mounting adjustment hole of the connecting bracket component, and is assembled with the tension adjustment connecting plate through the tension adjustment seat. The tension of the flexible conveyor belt can be adjusted by the connecting bolts. The spacer wheel is mounted on the connecting shaft via bearings, and multiple tensioning wheels are provided and evenly installed on the spacer wheel; The width of the tensioning wheel is less than the spacing between each row of partitions; the width of the spacer wheel is greater than the width of the partition, and the diameter of the spacer wheel is less than the difference between the radius of the tensioning wheel and the height of the partition, in order to avoid the partition and simultaneously tension the flexible conveyor belt. The flexible seedling protection mechanism is installed at the front end and fixed to the seedling protection mechanism fixing plate to protect the seedlings from moving away from the flexible conveyor belt. The conveyor belt speed acquisition device mounting base is equipped with a speed acquisition wheel, which is installed in the proximity switch sensor mounting hole of the left conveyor transplant bracket assembly. The outer circumference of the speed acquisition wheel is in close contact with the inner side of the flexible conveyor belt. It can rotate freely as the flexible conveyor belt moves to collect the linear speed of the flexible conveyor belt.

[0010] Furthermore, the reciprocating clamping component includes a motor A, a motor mounting base, a synchronous pulley, a synchronous belt, a drive shaft, a left crank-connecting rod mechanism, a right crank-connecting rod mechanism, a pneumatic clamp connection adjustment seat, a flexible pneumatic clamp mechanism, and a profile; The left crank-connecting rod mechanism includes a crank, a connecting rod, a reciprocating rod, a guide rail seat, and a left crank-connecting rod mechanism bracket. The reciprocating rod is slidably connected in the guide rail seat, and the two ends of the connecting rod are rotatably connected to the reciprocating rod and the crank, respectively. The right crank-connecting rod mechanism includes a crank, a connecting rod, a reciprocating rod, a guide rail seat, and a right crank-connecting rod mechanism bracket, and the left crank-connecting rod mechanism bracket and the right crank-connecting rod mechanism bracket are arranged in a mirror symmetrical manner; The left and right ends of the drive shaft are respectively connected to the crank ends of the left crank-connecting rod mechanism and the right crank-connecting rod mechanism, and drive the reciprocating rod to reciprocate. Both the drive shaft and motor A are equipped with synchronous pulleys. The synchronous pulleys are set on two synchronous pulleys, and motor A is installed in the middle position inside the reciprocating clamping component through the motor mounting base and profile, and drives the drive shaft to rotate through the synchronous pulleys and synchronous belt. The pneumatic clamp connection adjustment seat includes a connecting base, a pneumatic clamp connection plate, a return spring, a pneumatic clamp connector guide plate, and an adjustment bolt; The air clamp connecting plate is provided with a guide rod, an air clamp mounting hole and a square mounting hole. The air clamp connector guide rod plate is provided with a through hole and a guide rod hole, and a return spring is installed between the air clamp connecting plate and the air clamp connector guide rod plate. The outer contour of the connecting base is designed to be square. The connecting base passes through the square mounting hole of the air clamp connecting plate. The guide rod of the air clamp connecting plate passes through the guide rod hole of the return spring and the air clamp connector guide rod plate. One end of the reciprocating rod passes through the through hole of the air clamp connector guide rod plate and is threadedly fastened to the connecting base; The clamping part of the flexible air clamp mechanism is made of silicone material, and the flexible air clamp mechanism is connected to the air clamp mounting hole of the air clamp connecting plate.

[0011] Furthermore, the left-side quantitative seedling feeding component includes a quantitative feeding support plate mechanism, a flexible belt feeding mechanism, a push rod active feeding mechanism, and a connecting support base; The quantitative feeding support plate mechanism is installed inside the clamping and separating connecting bracket assembly via a connecting support base, and the flexible belt feeding mechanism and the push rod active feeding mechanism are respectively installed at the rear end and lower end of the quantitative feeding support plate mechanism; The left and right quantitative seedling feeding components are arranged in a mirror symmetrical manner. The right quantitative seedling feeding component includes a mirror image of the quantitative feeding support plate mechanism, a mirror image of the flexible belt feeding mechanism, a mirror image of the push rod active feeding mechanism, and a connecting support base. The left and right quantitative seedling feeding components are connected and fastened in the middle by bolts and installed inside the clamping and separating connecting bracket assembly.

[0012] Furthermore, the quantitative feeding support plate mechanism includes a quantitative feeding support plate, a flexible seedling protection plate, an inlet groove, and a vibration motor; The front end of the quantitative feeding support plate is equipped with a seedling inlet, which can be used to clamp seedlings through a flexible air clamp mechanism and an air clamp connecting adjustment seat. The rear end is designed with a square hole for installing a flexible belt feeding mechanism. The front end of the flexible seedling protection plate is equipped with a flexible rod, which can hold root and stem seedlings and is installed on the upper end of the quantitative feeding support plate. The inlet trough is installed below the front end of the quantitative feeding support plate, and the inlet trough does not interfere with the partition conveyor belt; the vibrating motor is installed at the lower end of the inlet trough. The quantitative feeding support plate mechanism and its mirror image are symmetrically installed inside the clamping and separating connecting bracket assembly. The mirror image of the quantitative feeding support plate mechanism includes the quantitative feeding support plate mirror image, the flexible seedling protection plate, the inlet groove mirror image, and the vibration motor.

[0013] Furthermore, the flexible belt feeding mechanism includes a left connecting plate, a right connecting plate, a middle connecting plate, a motor B, a drive wheel, a driven wheel, a silicone belt, and a tensioning wheel; The left connecting plate and the right connecting plate of the belt feeding mechanism are respectively installed on the left and right sides, and the middle connecting plate of the two belt feeding mechanisms is connected between the left connecting plate and the right connecting plate of the belt feeding mechanism. The driving wheel and the driven wheel are installed between the left connecting plate and the right connecting plate of the belt feeding mechanism, and the motor B is connected to the driving wheel and installed on the right connecting plate of the belt feeding mechanism. The silicone belt is fitted onto the drive pulley and the driven pulley, and the tension pulley is installed below the middle of the drive pulley and the driven pulley to tension the silicone belt; The flexible belt feeding mechanism and its mirror image are symmetrically installed inside the clamping and separating connecting bracket assembly. The mirror image of the flexible belt feeding mechanism includes a mirror image of the left connecting plate of the belt feeding mechanism, a mirror image of the right connecting plate of the belt feeding mechanism, a middle connecting plate of the belt feeding mechanism, motor B, driving wheel, driven wheel, silicone belt, and tensioning wheel.

[0014] Furthermore, the push rod active feeding mechanism includes a left connecting plate of the push rod feeding mechanism, a right connecting plate of the push rod feeding mechanism, a feeding push rod, a gear, a rack, a bearing, a guide rod, a spring, and a front connecting plate; The left connecting plate and the right connecting plate of the push rod feeding mechanism are respectively located on the left and right sides, and the left connecting plate of the push rod feeding mechanism is provided with a guide rod through hole; The front end of the seedling push rod is provided with an arc groove, which is designed to accommodate one seedling. The lower end is provided with a meshing tooth, the middle is provided with a long strip-shaped mounting hole, and the rear end is provided with a guide rod mounting hole. The seedling push rod is mounted above the push rod active feeding mechanism through bearings and bolts. Two gears are provided and are installed between the seedling push rod and the rack via bearings and bolts, and mesh with the seedling push rod; The rack is mounted below the push rod active feeding mechanism via bearings and bolts, meshes with two gears, and has an elongated mounting hole in the middle; The guide rod passes through the guide rod through hole and the spring in sequence on the left connecting plate of the push rod feeding mechanism, and connects with the guide rod mounting hole of the seedling feeding push rod; The front connecting plate is slidably installed in the long mounting hole of the rack via bearings and bolts. When the adjusting bolt moves backward, it strikes the rack, and through gear transmission, it drives the seedling push rod to move forward, pushing the seedling to the flexible air clamp mechanism for clamping. The push rod active feeding mechanism and the push rod active feeding mechanism are symmetrically installed inside the clamping and separating connecting bracket assembly; The structure of the mirror body of the push rod active feeding mechanism is the same as that of the push rod active feeding mechanism, and includes the mirror body of the left connecting plate of the push rod feeding mechanism, the mirror body of the right connecting plate of the push rod feeding mechanism, the feeding push rod, gear, rack, bearing, guide rod, spring and front connecting plate.

[0015] Furthermore, the electrical control system includes a main controller, a roller motor driver, a stepper motor driver, a conveyor belt speed acquisition encoder, a proximity switch sensor, an air pump, air pipes, a pneumatic solenoid valve, a pneumatic solenoid valve controller, a camera, warning lights, wiring harnesses, and a control cabinet. The main controller is equipped with a display screen, start button, stop button and emergency stop button, and is electrically connected to the roller motor driver, stepper motor driver, conveyor belt speed acquisition encoder, proximity switch sensor, pneumatic solenoid valve controller and camera and warning light through wiring harness to transmit signals and control commands; The roller motor driver is electrically connected to the roller motor. There are three stepper motor drivers, which are electrically connected to one motor A and two motors B, respectively. The conveyor belt speed acquisition encoder is assembled with the conveyor belt speed acquisition device mounting base; The proximity switch sensor is assembled and installed with the proximity switch sensor mounting base, and is electrically connected to the pneumatic solenoid valve controller to ensure that when the reciprocating rod is at its maximum stroke, the bolt head at the crank and connecting rod hinge can trigger the switch sensor to open. The air pump is connected to the pneumatic solenoid valve through an air pipe. The pneumatic solenoid valve is electrically connected to the pneumatic solenoid valve controller. The pneumatic solenoid valve is then connected to two flexible air clamp mechanisms through an air pipe. The camera is installed in the middle of the front side of the gripping and separating connecting bracket assembly, with the camera facing the partition conveyor belt; Two warning lights are provided, which are installed on both sides of the front of the clamping and separating connection bracket assembly; The control cabinet is installed below the main controller and houses one roller motor driver, three stepper motor drivers, and two pneumatic solenoid valve controllers.

[0016] This invention provides an automated method for picking, separating, conveying, and transplanting seedlings of rhizomes and other medicinal herbs, using the aforementioned equipment, and comprising the following steps: S1. Click the green start button on the main controller to start working; take out the whole bundle of Chinese medicinal seedlings with the same head, and put them into the left quantitative seedling feeding unit and the right quantitative seedling feeding unit at regular intervals. The seedling heads in the left quantitative seedling feeding unit should face left, and the seedling heads in the right quantitative seedling feeding unit should face right. S2. The main controller sends instructions to the roller motor driver to drive the roller motor to rotate. The main controller also sends instructions to the three stepper motor drivers to drive one motor A and two motors B to rotate. S3. Two motors B drive the silicone belts of the left and right quantitative seedling feeding components respectively, moving a certain amount of seedlings downwards to the feeding inlet. S4. Motor A drives the air clamp connecting adjustment seat and flexible air clamp mechanism on both sides of the reciprocating clamping component to move in a straight reciprocating motion; the flexible air clamp mechanism moves backward in a straight line, and just before it reaches the seedling feeding port, the adjusting bolt of the air clamp connecting adjustment seat hits the rack of the push rod active feeding mechanism, which drives the seedling feeding push rod to move forward and pushes the seedlings at the seedling feeding port forward. S5. When the flexible air clamp mechanism reaches the seedling feeding port, it triggers the proximity switch sensor to open, the pneumatic solenoid valve controller to work, controls the pneumatic solenoid valve to open, the flexible air clamp mechanism to communicate with the air pump, the flexible air clamp mechanism clamp head closes, and clamps the first seedling pushed by the seedling feeding push rod. S6. The reciprocating clamping component drives the flexible air clamp mechanism to clamp a seedling and move it forward in a straight line. When the seedling is pulled out from the flexible seedling protection plate and reaches the seedling inlet of the inlet groove, the flexible air clamp mechanism opens and, with the vibration of the vibrating motor, it quickly falls down onto the partition conveyor belt. S7. The reciprocating gripping component continuously repeats the SS operation. Based on the speed of the conveyor belt collected by the encoder, the separation and gripping frequency is controlled to achieve continuous automatic gripping of seedlings. After transplanting, click the red stop button on the main controller to stop the operation. S8. The roller motor of the flexible conveyor transplanting component drives the partition conveyor belt to move and transport the seedlings forward to the transplanting site. When passing the camera recognition point, the number and type of seedlings are recorded. At the same time, it checks whether any seedlings are missing. If any seedlings are missing on one side of the partition conveyor belt, the warning light on the corresponding side will flash red slowly to remind the person to add seedlings to the partition conveyor belt. S9. When the conveyor belt speed acquisition encoder detects that the partition conveyor belt is not moving and the roller motor has no speed signal, the reciprocating gripping component stops working and the warning lights on both sides continue to light red to alarm. S10. When the conveyor belt speed acquisition encoder detects that the conveyor belt is not moving and the roller motor has a speed signal, the warning lights on both sides will flash red rapidly to alarm. At this time, click the emergency stop button on the main controller to stop the operation. It is necessary to manually check whether the partition conveyor belt is stuck or whether the tension is insufficient and it is slipping.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention consists of a connecting support component, a flexible conveying and transplanting component, a reciprocating clamping component, a left-side quantitative seedling feeding component, and a right-side quantitative seedling feeding component. It can realize the automated separation and transplanting of Chinese medicinal herb seedlings, solving the problems of high labor intensity and low efficiency in the existing transplanting of Chinese medicinal herb seedlings. 2. The push rod active feeding mechanism of the present invention can actively push the seedlings to the reciprocating clamping component for clamping, effectively solving the problems of seedlings not being able to be clamped and seedlings separating, and improving the success rate of transplanting machine seedling separation; 3. The electrical control system of this invention can alarm and monitor according to the transplanting situation, record the number and specifications of seedlings, and check whether any seedlings are missing, so as to realize the real-time perception of Chinese medicinal seedlings and improve the intelligence of the transplanting machine. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of one side of the overall structure of the device of the present invention; Figure 2 This is a schematic diagram of the other side of the overall structure of the device of the present invention; Figure 3 This is a schematic diagram of the structure of the connecting bracket component of the present invention; Figure 4 This is a schematic diagram of the flexible conveying and transplanting component of the present invention; Figure 5 This is a schematic diagram of the tensioning wheel mechanism of the present invention; Figure 6 This is a schematic diagram of the reciprocating clamping component of the present invention; Figure 7 for Figure 6 Schematic diagram of the structure at point A in the middle; Figure 8 This is a schematic diagram of the structure of the left and right quantitative seedling feeding components of the present invention; Figure 9 This is a schematic diagram of the quantitative feeding support plate mechanism of the present invention; Figure 10 This is a schematic diagram showing the position of the vibration motor of the present invention; Figure 11 This is a schematic diagram of the flexible belt feeding mechanism of the present invention; Figure 12 This is a schematic diagram of the active feeding mechanism of the push rod of the present invention; Figure 13 This is a schematic diagram of the structure of the gear and rack of the present invention; Figure 14 This is a schematic diagram of the electrical control system of the present invention; Figure 15 This is a schematic diagram of the seedling clamping method of the present invention.

[0020] The attached diagram lists the components represented by each number as follows: 100-Connecting bracket component, 110-Left side conveying transplanter bracket assembly, 120-Right side conveying transplanter bracket assembly, 130-Rear side connecting plate, 140-Seedling protection mechanism fixing plate, 150-Middle connecting support tube, 160-Clamping and separating connecting bracket assembly; 200-Flexible conveyor transplanting component, 210-Partitioned conveyor belt, 211-Flexible conveyor belt, 212-Partition, 220-Drum motor, 230-Idler roller, 240-Mounting base, 250-Seedling height adjustment mounting base, 260-Tension wheel mechanism, 261-Tension wheel, 262-Spacer wheel, 263-Connecting shaft, 264-Tension adjustment base, 265-Bearing, 270-Flexible seedling protection mechanism, 280-Conveyor belt speed collector mounting base; 300-Reciprocating clamping component, 310-Motor A, 320-Motor mounting base, 330-Synchronous pulley, 340-Synchronous belt, 350-Drive shaft, 360-Left crank-connecting rod mechanism, 361-Crank, 362-Connecting rod, 363-Reciprocating rod, 364-Guide rail seat, 365-Left crank-connecting rod mechanism bracket, 370-Right crank-connecting rod mechanism, 380-Air clamp connection adjustment seat, 381-Connecting base, 382-Air clamp connection plate, 383-Reset spring, 384-Air clamp connector guide plate, 385-Adjusting bolt, 390-Flexible air clamp mechanism, 3010-Profile; 400-Left side quantitative seedling feeding component, 410-Quantitative feeding support plate mechanism, 411-Quantitative feeding support plate, 412-Flexible seedling protection plate, 413-Inlet groove, 414-Vibration motor, 420-Flexible belt feeding mechanism, 421-Left connecting plate of belt feeding mechanism, 422-Right connecting plate of belt feeding mechanism, 423-Middle connecting plate of belt feeding mechanism, 424-Motor B, 425-Driving wheel, 426-Driven wheel, 427-Silicone belt, 428-Tensioning wheel, 430-Push rod active feeding mechanism, 431-Left connecting plate of push rod feeding mechanism, 432-Right connecting plate of push rod feeding mechanism, 433-Seedling feeding push rod, 434-Gear, 435-Rack, 436-Bearing, 437-Guide rod, 438-Spring, 439-Front connecting plate, 440-Connecting support seat; 500-Right side quantitative seedling feeding component, 511-Mirror image of quantitative feeding support plate, 513-Mirror image of inlet groove, 520-Mirror image of flexible belt feeding mechanism, 521-Mirror image of left connecting plate of belt feeding mechanism, 522-Mirror image of right connecting plate of belt feeding mechanism, 530-Mirror image of push rod active feeding mechanism. 600-Electrical control system, 610-Main controller, 640-Conveyor belt speed acquisition encoder, 650-Proximity switch sensor, 660-Air pump, 680-Pneumatic solenoid valve, 6010-Camera, 6011 Warning light, 6013-Control cabinet. Detailed Implementation

[0021] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0022] Please refer to the accompanying drawings. This invention provides a technical solution: An automatic clamping, separating, conveying, and transplanting device for seedlings of rhizomes and other medicinal herbs, such as Figure 1 , Figure 2 As shown, it includes a connecting bracket component 100; The top center of the connecting bracket component 100 is equipped with a flexible conveying and transplanting component 200, a reciprocating clamping component 300, a left quantitative seedling feeding component 400, a right quantitative seedling feeding component 500, and an electrical control system 600, arranged sequentially from front to back along the walking direction. The connecting bracket component 100 includes a vertical section and a horizontal section connected to the top rear end of the vertical section. The flexible conveying and transplanting component 200 is continuously arranged along the vertical and horizontal sections of the connecting bracket component 100. The reciprocating clamping component 300 is located on the horizontal section of the connecting bracket component 100 and above the flexible conveying and transplanting component 200. The left quantitative seedling feeding component 400 and the right quantitative seedling feeding component 500 are symmetrically arranged at the rear end of the horizontal section of the connecting bracket component 100. The electrical control system 600 is electrically connected to the flexible conveyor transplanting component 200, the reciprocating clamping component 300, the left quantitative seedling feeding component 400, and the right quantitative seedling feeding component 500, respectively, to control the coordinated operation of each component.

[0023] Specifically, such as Figure 3 As shown, the connecting bracket component 100 includes a left-side conveying and transplanting bracket assembly 110, a right-side conveying and transplanting bracket assembly 120, a rear connecting plate 130, a seedling protection mechanism fixing plate 140, a middle connecting support tube 150, and a clamping and separating connecting bracket assembly 160. The left-side conveying and transplanting bracket assembly 110 and the right-side conveying and transplanting bracket assembly 120 are arranged in a mirror image symmetrically and are respectively symmetrically installed on the left and right sides of the connecting bracket component 100; Both the left-side conveyor transplanter assembly 110 and the right-side conveyor transplanter assembly 120 have roller motor mounting holes and motor fixing plates at the upper rear end, tension wheel mounting and adjustment holes, tension adjustment connecting plates and proximity switch sensor mounting holes in the middle, idler roller mounting holes and idler roller connecting plates at the upper front end, and idler roller adjustment holes and height adjustment connecting plates at the lower front end. The rear connecting plate 130 is installed at the rear end of the connecting bracket component 100, and its left and right ends are fixedly connected to the left conveying and transplanting bracket assembly 110 and the right conveying and transplanting bracket assembly 120, respectively. The seedling protection mechanism fixing plate 140 is installed at the front end of the connecting bracket component 100, and its left and right ends are fixedly connected to the left conveying and transplanting bracket assembly 110 and the right conveying and transplanting bracket assembly 120 respectively. The upper end of the seedling protection mechanism fixing plate 140 is provided with a seedling protection mechanism installation adjustment hole. The left and right ends of the middle connecting support tube 150 are fixedly connected to the left conveying and transplanting bracket assembly 110 and the right conveying and transplanting bracket assembly 120, respectively. The clamping and separating connecting bracket assembly 160 includes a profile frame and a steel plate. The profile frame is fixedly installed on the left conveying and transplanting bracket assembly 110 and the right conveying and transplanting bracket assembly 120, and the steel plate is fixedly installed on top of the profile frame.

[0024] Specifically, such as Figure 4 As shown, the flexible conveyor transplanting component 200 includes a partition conveyor belt 210, a roller motor 220, an idler roller 230, a mounting base 240, a seedling height adjustment mounting base 250, a tensioning wheel mechanism 260, a flexible seedling protection mechanism 270, and a conveyor belt speed collector mounting base 280. The partition conveyor belt 210 includes a flexible conveyor belt 211 and partitions 212. The partitions 212 are evenly arranged in multiple rows on the flexible conveyor belt 211. The spacing between each row of partitions 212 is greater than the width of the seedling protection mechanism fixing plate 140. The front and rear spacing of each row of partitions 212 is consistent. The roller motor 220 passes through the roller motor mounting hole at the rear end of the connecting bracket component 100 and is driven to connect with the partition conveyor belt 210. The roller motor 220 is fixedly assembled with the motor fixing plate of the connecting bracket component 100 through the mounting base 240. Two idler rollers 230 are provided. One idler roller 230 passes through the idler roller mounting hole above the front end of the connecting bracket component 100 and cooperates with the partition conveyor belt 210. The idler roller 230 is assembled with the idler roller connecting plate of the connecting bracket component 100 through the mounting base 240. Another idler roller 230 passes through the idler roller adjustment hole below the front end of the connecting bracket component 100 and cooperates with the partition conveyor belt 210, and is assembled with the height adjustment connecting plate of the connecting bracket component 100 through the seedling height adjustment mounting seat 250. like Figure 5 As shown, the tensioning wheel mechanism 260 includes a tensioning wheel 261, a spacer wheel 262, a connecting shaft 263, a tension adjusting seat 264, and a bearing 265; The connecting shaft 263 is installed in the tension wheel mounting adjustment hole of the connecting bracket component 100, and is assembled with the tension adjustment connecting plate through the tension adjustment seat 264. The tension of the flexible conveyor belt 211 can be adjusted by the connecting bolts. Spacer wheel 262 is mounted on connecting shaft 263 via bearing 265, and tensioning wheel 261 is provided in multiple form and evenly mounted on spacer wheel 262; The width of the tensioning wheel 261 is less than the spacing between each row of partitions 212; the width of the spacer wheel 262 is greater than the width of the partition 212, and the diameter of the spacer wheel 262 is less than the difference between the radius of the tensioning wheel 261 and the height of the partition 212, so as to avoid the partition 212 and simultaneously tension the flexible conveyor belt 211. The flexible seedling protection mechanism 270 is installed at the front end and fixed on the seedling protection mechanism fixing plate 140 to protect the seedlings from moving away from the flexible conveyor belt 211. The conveyor belt speed acquisition device mounting base 280 is equipped with a speed acquisition wheel, which is installed in the proximity switch sensor mounting hole of the left conveyor transplant bracket assembly 110. The outer circumference of the speed acquisition wheel is in close contact with the inner side of the flexible conveyor belt 211. It can rotate freely as the flexible conveyor belt 211 moves to acquire the linear speed of the flexible conveyor belt 211.

[0025] Specifically, such as Figure 6 As shown, the reciprocating clamping component 300 includes a motor A 310, a motor mounting base 320, a synchronous pulley 330, a synchronous belt 340, a drive shaft 350, a left crank connecting rod mechanism 360, a right crank connecting rod mechanism 370, a pneumatic clamp connection adjustment seat 380, a flexible pneumatic clamp mechanism 390, and a profile 3010. The left crank-connecting rod mechanism 360 includes a crank 361, a connecting rod 362, a reciprocating rod 363, a guide rail seat 364, and a left crank-connecting rod mechanism bracket 365. The reciprocating rod 363 is slidably connected in the guide rail seat 364, and the two ends of the connecting rod 362 are rotatably connected to the reciprocating rod 363 and the crank 361, respectively. The right crank-connecting rod mechanism 370 includes a crank 361, a connecting rod 362, a reciprocating rod 363, a guide rail seat 364, and a right crank-connecting rod mechanism bracket, and the left crank-connecting rod mechanism bracket 365 and the right crank-connecting rod mechanism bracket are arranged in a mirror symmetrical manner. The left and right ends of the drive shaft 350 are respectively connected to the crank 361 ends of the left crank-connecting rod mechanism 360 and the right crank-connecting rod mechanism 370, and drive the reciprocating rod 363 to reciprocate. Both the drive shaft 350 and the motor A 310 are equipped with synchronous pulleys 330. The synchronous pulleys 330 are arranged on the two synchronous pulleys 330. The motor A 310 is installed in the middle position inside the reciprocating clamping component 300 through the motor mounting base 320 and the profile 3010, and drives the drive shaft 350 to rotate through the synchronous pulleys 330 and the synchronous belt 340. like Figure 7 As shown, the air clamp connection adjustment seat 380 includes a connection base 381, an air clamp connection plate 382, ​​a return spring 383, an air clamp connector guide plate 384, and an adjustment bolt 385. The air clamp connecting plate 382 is provided with a guide rod, an air clamp mounting hole and a square mounting hole. The air clamp connector guide rod plate 384 is provided with a through hole and a guide rod hole, and the return spring 383 is installed between the air clamp connecting plate 382 and the air clamp connector guide rod plate 384. The outer contour of the connecting base 381 is designed to be square. The connecting base 381 passes through the square mounting hole of the air clamp connecting plate 382. The guide rod of the air clamp connecting plate 382 passes through the guide rod hole of the reset spring 383 and the air clamp connector guide rod plate 384. One end of the reciprocating rod 363 passes through the through hole of the air clamp connector guide plate 384 and is threadedly fastened to the connecting base 381; The clamping part of the flexible air clamp mechanism 390 is made of silicone material, and the flexible air clamp mechanism 390 is connected to the air clamp mounting hole of the air clamp connecting plate 382.

[0026] Specifically, such as Figure 8 As shown, the left-side quantitative seedling feeding component 400 includes a quantitative feeding support plate mechanism 410, a flexible belt feeding mechanism 420, a push rod active feeding mechanism 430, and a connecting support base 440. The quantitative feeding support plate mechanism 410 is installed inside the clamping and separating connecting bracket assembly 160 via the connecting support base 440, and the flexible belt feeding mechanism 420 and the push rod active feeding mechanism 430 are respectively installed at the rear end and the lower end of the quantitative feeding support plate mechanism 410. The left quantitative seedling feeding component 400 and the right quantitative seedling feeding component 500 are arranged in a mirror symmetrical manner. The right quantitative seedling feeding component 500 includes a mirror image of a quantitative feeding support plate mechanism, a mirror image of a flexible belt feeding mechanism 520, a mirror image of a push rod active feeding mechanism 530, and a connecting support base 440. The left quantitative seedling feeding component 400 and the right quantitative seedling feeding component 500 are connected and fastened in the middle by bolts and installed inside the clamping and separating connecting bracket assembly 160.

[0027] Specifically, such as Figure 9 , Figure 10 As shown, the quantitative feeding support plate mechanism 410 includes a quantitative feeding support plate 411, a flexible seedling protection plate 412, an inlet groove 413, and a vibration motor 414. The front end of the quantitative feeding support plate 411 is provided with a seedling feeding port, which can be used to clamp seedlings through the flexible air clamp mechanism 3-6 and the air clamp connecting adjustment seat 3-5. The rear end is designed with a square hole for installing the flexible belt feeding mechanism. The front end of the flexible seedling protection plate 412 is provided with a flexible rod, which can hold root and stem seedlings and is installed on the upper end of the quantitative feeding support plate 411. The inlet groove 413 is installed below the front end of the quantitative feeding support plate 411, and the inlet groove 413 does not interfere with the partition conveyor belt 210; the vibration motor 414 is installed at the lower end of the inlet groove 413. The quantitative feeding support plate mechanism 410 and its mirror image are symmetrically installed inside the clamping and separating connecting bracket assembly 160. The mirror image of the quantitative feeding support plate mechanism includes a quantitative feeding support plate mirror image 511, a flexible seedling protection plate 412, an inlet groove mirror image 513, and a vibration motor 414.

[0028] Specifically, such as Figure 11 As shown, the flexible belt feeding mechanism 420 includes a left connecting plate 421, a right connecting plate 422, a middle connecting plate 423, a motor B 424, a drive wheel 425, a driven wheel 426, a silicone belt 427, and a tension wheel 428. The left connecting plate 421 and the right connecting plate 422 of the belt feeding mechanism are respectively installed on the left and right sides, and the middle connecting plate 423 of the two belt feeding mechanisms is connected between the left connecting plate 421 and the right connecting plate 422 of the belt feeding mechanism. The driving wheel 425 and the driven wheel 426 are installed between the left connecting plate 421 and the right connecting plate 422 of the belt feeding mechanism, and the motor B 424 is connected to the driving wheel 425 and installed on the right connecting plate 422 of the belt feeding mechanism. The silicone belt 427 is fitted onto the drive pulley 425 and the driven pulley 426, and the tension pulley 428 is installed below the middle of the drive pulley 425 and the driven pulley 426, and tensions the silicone belt 427. The flexible belt feeding mechanism 420 and its mirror image 520 are symmetrically installed inside the clamping and separating connecting bracket assembly 160. The mirror image 520 of the flexible belt feeding mechanism includes a left connecting plate mirror image 521, a right connecting plate mirror image 522, a middle connecting plate 423, a motor B 424, a drive wheel 425, a driven wheel 426, a silicone belt 427, and a tensioning wheel 428.

[0029] Specifically, such as Figure 12 , 13As shown, the push rod active feeding mechanism 430 includes a left connecting plate 431, a right connecting plate 432, a seedling feeding push rod 433, a gear 434, a rack 435, a bearing 436, a guide rod 437, a spring 438, and a front connecting plate 439. The left connecting plate 431 and the right connecting plate 432 of the push rod feeding mechanism are respectively located on the left and right sides, and the left connecting plate 431 of the push rod feeding mechanism is provided with a guide rod through hole. The front end of the seedling push rod 433 is provided with an arc groove, which is designed to accommodate one seedling. The lower end is provided with a meshing tooth, the middle is provided with a long strip-shaped mounting hole, and the rear end is provided with a guide rod mounting hole. The seedling push rod 433 is mounted above the push rod active feeding mechanism 430 through a bearing 436 and bolts. Two gears 434 are provided and are installed between the seedling push rod 433 and the rack 435 by bearings 436 and bolts, and mesh with the seedling push rod 433. The rack 435 is mounted below the push rod active feeding mechanism 430 via bearing 436 and bolts, meshing with two gears 434, and the rack 435 has an elongated mounting hole in the middle; The guide rod 437 passes through the guide rod through hole and the spring 438 of the left connecting plate 431 of the push rod feeding mechanism in sequence, and is connected to the guide rod mounting hole of the seedling push rod 433; The front connecting plate 439 is slidably installed in the long strip mounting hole of the rack 435 through the bearing 436 and bolt. The adjusting bolt 385 moves backward to strike the rack 435, and through the gear 434, it drives the seedling push rod 433 to move forward and push the seedling to the flexible air clamp mechanism 390 for clamping. The push rod active feeding mechanism 430 and its mirror image 530 are symmetrically installed inside the clamping and separating connecting bracket assembly 160. The structure of the push rod active feeding mechanism mirror body 530 is the same as that of the push rod active feeding mechanism 430, and includes the push rod feeding mechanism left connecting plate mirror body, push rod feeding mechanism right connecting plate mirror body, seedling push rod 433, gear 434, rack 435, bearing 436, guide rod 437, spring 438 and front connecting plate 439.

[0030] Furthermore, the electrical control system 600 includes a main controller 610, a roller motor driver, a stepper motor driver, a conveyor belt speed acquisition encoder 640, a proximity switch sensor 650, an air pump 660, an air pipe, a pneumatic solenoid valve 680, a pneumatic solenoid valve controller, a camera 6010, a warning light 6011, a wiring harness, and a control cabinet 6013. The main controller 610 is equipped with a display screen, start button, stop button and emergency stop button, and is electrically connected to the roller motor driver, stepper motor driver, conveyor belt speed acquisition encoder, proximity switch sensor, pneumatic solenoid valve controller, camera 6010 and warning light through a wiring harness to transmit signals and control commands. The roller motor driver is electrically connected to the roller motor 220. There are three stepper motor drivers, which are electrically connected to one motor A 310 and two motors B 424 respectively. The conveyor belt speed acquisition encoder 640 is assembled with the conveyor belt speed acquisition device mounting base 280; The proximity switch sensor 650 is assembled and installed with the proximity switch sensor mounting base and electrically connected to the pneumatic solenoid valve controller, ensuring that when the reciprocating rod 363 is at its maximum stroke, the bolt head at the hinge of the crank 361 and the connecting rod 362 can trigger the switch sensor 650 to open. The air pump 660 is connected to the pneumatic solenoid valve 680 through an air pipe. The pneumatic solenoid valve 680 is electrically connected to the pneumatic solenoid valve controller. The pneumatic solenoid valve 680 is then connected to two flexible air clamp mechanisms 390 through an air pipe. The camera 6010 is installed in the middle of the front side of the clamping and separating connecting bracket assembly 160, with the camera facing the partition conveyor belt 210; Two warning lights 6011 are provided, which are respectively installed on both sides of the front of the clamping and separating connecting bracket assembly 160; The control cabinet 6013 is installed below the main controller 610 and houses one roller motor driver, three stepper motor drivers, and two pneumatic solenoid valve controllers.

[0031] The working method of the above equipment is as follows: Figure 14 , Figure 15 As shown, it includes the following steps: S1. Click the green start button on the main controller 610 to start working; take out the whole bundle of Chinese medicinal seedlings with the same head and put them into the left quantitative seedling feeding component 400 and the right quantitative seedling feeding component 500 at regular intervals. The seedlings in the left quantitative seedling feeding component 400 should face left and the seedlings in the right quantitative seedling feeding component 500 should face right. S2. The main controller 610 sends instructions to the roller motor driver to drive the roller motor 220 to rotate. The main controller 610 also sends instructions to the three stepper motor drivers to drive one motor A 310 and two motors B 424 to rotate respectively. S3. Two motors B 424 drive the silicone belts 427 of the left quantitative seedling feeding component 400 and the right quantitative seedling feeding component 500 respectively, driving a certain amount of seedlings downwards to the feeding port. S4. Motor A 310 drives the air clamp connecting adjustment seat 380 and flexible air clamp mechanism 390 on both sides of the reciprocating clamping component 300 to move linearly back and forth. The flexible air clamp mechanism 390 moves backward in a straight line. Before it reaches the seedling feeding port, the adjusting bolt 385 of the air clamp connecting adjustment seat 380 hits the rack 435 of the push rod active feeding mechanism 430, which drives the seedling feeding push rod 433 to move forward and push the seedling at the seedling feeding port forward. S5. When the flexible air clamp mechanism 390 reaches the seedling feeding port, it triggers the proximity switch sensor 650 to open, the pneumatic solenoid valve controller works, controls the pneumatic solenoid valve 680 to open, the flexible air clamp mechanism 390 and the air pump 660 are connected, the flexible air clamp mechanism 390 clamps close, and clamps the first seedling pushed by the seedling feeding push rod 433. S6. The reciprocating clamping component 300 drives the flexible air clamping mechanism 390 to clamp a seedling and move it forward in a straight line. When the seedling is pulled out from the flexible seedling protection plate 412 and reaches the seedling inlet of the inlet groove 413, the flexible air clamping mechanism 390 opens and vibrates with the vibration motor 414, and quickly falls down onto the partition conveyor belt 210. S7. The reciprocating gripping component 300 continuously repeats the operations of S2-S6. Based on the speed of the conveyor belt, the encoder 640 collects the speed of the partition conveyor belt 210, and controls the separation gripping frequency to achieve continuous automatic gripping of seedlings. After transplanting, click the red stop button on the main controller 610 to stop the operation. S8. The roller motor 220 of the flexible conveyor transplanting component 200 drives the partition conveyor belt 210 to move, and carries the seedlings forward to the transplanting site. When the seedlings pass the identification point of the camera 6010, the number and type of seedlings are recorded. At the same time, it is checked whether any seedlings are missing. If any seedlings are missing on one side of the partition conveyor belt 210, the warning light 6011 on the corresponding side will flash red light slowly to remind the person to add seedlings to the partition conveyor belt 210. S9. When the conveyor belt speed acquisition encoder 640 detects that the partition conveyor belt 210 is not moving and the roller motor 220 has no speed signal, the reciprocating clamping component 300 stops working and the warning lights 6011 on both sides continue to light up red to alarm. S10. When the conveyor belt speed acquisition encoder 640 detects that the conveyor belt is not moving and the roller motor 220 has a speed signal, the warning lights 6011 on both sides will flash red light to alarm. At this time, click the emergency stop button of the main controller 610 to stop the work. It is necessary to manually check whether the partition conveyor belt 210 is stuck or slipping due to insufficient tension.

[0032] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0033] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic clamping, separating, conveying, and transplanting device for seedlings of rhizomes and other medicinal herbs, comprising a connecting support component (100), characterized in that: The top center of the connecting bracket component (100) is equipped with a flexible conveying and transplanting component (200), a reciprocating clamping component (300), a left quantitative seedling feeding component (400), a right quantitative seedling feeding component (500), and an electrical control system (600) in sequence from front to back along the walking direction. The connecting bracket component (100) includes a vertical section and a horizontal section connected to the top rear end of the vertical section. The flexible conveying and transplanting component (200) is continuously arranged along the vertical and horizontal sections of the connecting bracket component (100). The reciprocating clamping component (300) is located on the horizontal section of the connecting bracket component (100) and above the flexible conveying and transplanting component (200). The left quantitative seedling feeding component (400) and the right quantitative seedling feeding component (500) are symmetrically arranged at the rear end of the horizontal section of the connecting bracket component (100). The electrical control system (600) is electrically connected to the flexible conveying and transplanting component (200), the reciprocating clamping component (300), the left quantitative seedling feeding component (400), and the right quantitative seedling feeding component (500) respectively, and controls the coordinated operation of each component.

2. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 1, characterized in that: The connecting bracket component (100) includes a left-side conveying transplant bracket assembly (110), a right-side conveying transplant bracket assembly (120), a rear connecting plate (130), a seedling protection mechanism fixing plate (140), a middle connecting support tube (150), and a clamping and separating connecting bracket assembly (160). The left-side transplanting support assembly (110) and the right-side transplanting support assembly (120) are arranged in a mirror symmetrical manner and are respectively symmetrically installed on the left and right sides of the connecting support component (100); The left-side conveying transplanter assembly (110) and the right-side conveying transplanter assembly (120) are provided with roller motor mounting holes and motor fixing plates at the upper rear end, tension wheel mounting adjustment holes, tension adjustment connecting plates and proximity switch sensor mounting holes in the middle, idler roller mounting holes and idler roller connecting plates at the upper front end, and idler roller adjustment holes and height adjustment connecting plates at the lower front end. The rear connecting plate (130) is installed at the rear end of the connecting bracket component (100), and its left and right ends are fixedly connected to the left conveying transplant bracket assembly (110) and the right conveying transplant bracket assembly (120) respectively. The seedling protection mechanism fixing plate (140) is installed at the front end of the connecting bracket component (100), and its left and right ends are fixedly connected to the left side conveying transplant bracket assembly (110) and the right side conveying transplant bracket assembly (120) respectively. The upper end of the seedling protection mechanism fixing plate (140) is provided with a seedling protection mechanism installation adjustment hole. The left and right ends of the intermediate connecting support tube (150) are fixedly connected to the left side conveying transplant bracket assembly (110) and the right side conveying transplant bracket assembly (120), respectively. The clamping and separating connecting bracket assembly (160) includes a profile frame and a steel plate. The profile frame is fixedly installed on the left conveying and transplanting bracket assembly (110) and the right conveying and transplanting bracket assembly (120), and the steel plate is fixedly installed on the top of the profile frame.

3. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 2, characterized in that: The flexible conveyor transplanting component (200) includes a partition conveyor belt (210), a roller motor (220), a roller (230), a mounting base (240), a seedling height adjustment mounting base (250), a tensioning wheel mechanism (260), a flexible seedling protection mechanism (270), and a conveyor belt speed collector mounting base (280). The partition conveyor belt (210) includes a flexible conveyor belt (211) and partitions (212), and the partitions (212) are evenly arranged in multiple rows on the flexible conveyor belt (211); The roller motor (220) passes through the roller motor mounting hole at the rear end of the connecting bracket component (100) and is driven to connect with the partition conveyor belt (210). The roller motor (220) is fixedly assembled with the motor fixing plate of the connecting bracket component (100) through the mounting base (240). Two idler rollers (230) are provided. One idler roller (230) passes through the idler roller mounting hole above the front end of the connecting bracket component (100) and cooperates with the partition conveyor belt (210). The idler roller (230) is assembled with the idler roller connecting plate of the connecting bracket component (100) through the mounting seat (240). Another roller (230) passes through the roller adjustment hole below the front end of the connecting bracket component (100) and engages with the partition conveyor belt (210), and is assembled with the height adjustment connecting plate of the connecting bracket component (100) via the seedling height adjustment mounting seat (250); The tensioning wheel mechanism (260) includes a tensioning wheel (261), a spacer wheel (262), a connecting shaft (263), a tension adjusting seat (264), and a bearing (265). The connecting shaft (263) is installed in the tension wheel mounting adjustment hole of the connecting bracket component (100) and is assembled with the tension adjustment connecting plate through the tension adjustment seat (264); The spacer wheel (262) is mounted on the connecting shaft (263) via a bearing (265), and multiple tensioning wheels (261) are provided and evenly mounted on the spacer wheel (262); The flexible seedling protection mechanism (270) is installed at the front end and fixed on the seedling protection mechanism fixing plate (140). The conveyor belt speed collector mounting base (280) is equipped with a speed collection wheel, which is installed in the proximity switch sensor mounting hole of the left conveyor transplant bracket assembly (110), and the outer circumference of the speed collection wheel is in close contact with the inner side of the flexible conveyor belt (211).

4. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 1, characterized in that: The reciprocating clamping component (300) includes a motor A (310), a motor mounting base (320), a synchronous pulley (330), a synchronous belt (340), a drive shaft (350), a left crank-connecting rod mechanism (360), a right crank-connecting rod mechanism (370), a pneumatic clamp connection adjustment seat (380), a flexible pneumatic clamp mechanism (390), and a profile (3010). The left crank-connecting rod mechanism (360) includes a crank (361), a connecting rod (362), a reciprocating rod (363), a guide rail seat (364), and a left crank-connecting rod mechanism bracket (365). The reciprocating rod (363) is slidably connected in the guide rail seat (364), and the two ends of the connecting rod (362) are rotatably connected to the reciprocating rod (363) and the crank (361) respectively. The right crank-connecting rod mechanism (370) includes a crank (361), a connecting rod (362), a reciprocating rod (363), a guide rail seat (364), and a right crank-connecting rod mechanism bracket, and the left crank-connecting rod mechanism bracket (365) and the right crank-connecting rod mechanism bracket are arranged in a mirror symmetrical manner. The left and right ends of the drive shaft (350) are respectively connected to the crank (361) ends of the left crank-connecting rod mechanism (360) and the right crank-connecting rod mechanism (370); Both the drive shaft (350) and the motor A (310) are equipped with synchronous pulleys (330). The synchronous pulleys (330) are arranged on two synchronous pulleys (330), and the motor A (310) is installed in the middle position inside the reciprocating clamping component (300) through the motor mounting base (320) and the profile (3010). The air clamp connection adjustment seat (380) includes a connection base (381), an air clamp connection plate (382), a return spring (383), an air clamp connector guide plate (384), and an adjustment bolt (385). The air clamp connecting plate (382) is provided with a guide rod, an air clamp mounting hole and a square mounting hole. The air clamp connector guide rod plate (384) is provided with a through hole and a guide rod hole. The reset spring (383) is installed between the air clamp connecting plate (382) and the air clamp connector guide rod plate (384). The connecting base (381) passes through the square mounting hole of the air clamp connecting plate (382), and the guide rod of the air clamp connecting plate (382) passes through the guide rod hole of the reset spring (383) and the air clamp connector guide rod plate (384). One end of the reciprocating rod (363) passes through the through hole of the air clamp connector guide plate (384) and is threadedly fastened to the connecting base (381); The flexible air clamp mechanism (390) is connected to the air clamp mounting hole of the air clamp connecting plate (382).

5. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 1, characterized in that: The left-side quantitative seedling feeding component (400) includes a quantitative feeding support plate mechanism (410), a flexible belt feeding mechanism (420), a push rod active feeding mechanism (430), and a connecting support base (440). The quantitative feeding support plate mechanism (410) is installed inside the clamping and separating connecting bracket assembly (160) via a connecting support base (440), and the flexible belt feeding mechanism (420) and the push rod active feeding mechanism (430) are respectively installed at the rear end and the lower end of the quantitative feeding support plate mechanism (410); The left quantitative seedling feeding component (400) and the right quantitative seedling feeding component (500) are arranged in a mirror symmetrical manner, and the left quantitative seedling feeding component (400) and the right quantitative seedling feeding component (500) are connected and fastened in the middle by bolts, and installed inside the clamping and separating connecting bracket assembly (160).

6. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 5, characterized in that: The quantitative feeding support plate mechanism (410) includes a quantitative feeding support plate (411), a flexible seedling protection plate (412), an inlet groove (413), and a vibration motor (414). The front end of the quantitative feeding support plate (411) is provided with a seedling feeding port, and the front end of the flexible seedling protection plate (412) is provided with a flexible rod and installed on the upper end of the quantitative feeding support plate (411). The inlet groove (413) is installed below the front end of the quantitative feeding support plate (411), and the vibration motor (414) is installed at the lower end of the inlet groove (413). The quantitative feeding support plate mechanism (410) and the mirror body of the quantitative feeding support plate mechanism are symmetrically installed inside the clamping and separating connecting bracket assembly (160), and the mirror body of the quantitative feeding support plate mechanism includes the quantitative feeding support plate mirror body (511), the flexible seedling protection plate (412), the inlet groove mirror body (513), and the vibration motor (414).

7. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 5, characterized in that: The flexible belt feeding mechanism (420) includes a left connecting plate (421), a right connecting plate (422), a middle connecting plate (423), a motor B (424), a drive wheel (425), a driven wheel (426), a silicone belt (427), and a tensioning wheel (428). The left connecting plate (421) and the right connecting plate (422) of the belt feeding mechanism are respectively installed on the left and right sides, and the middle connecting plate (423) of the two belt feeding mechanisms is connected between the left connecting plate (421) and the right connecting plate (422). The driving wheel (425) and the driven wheel (426) are installed between the left connecting plate (421) and the right connecting plate (422) of the belt feeding mechanism, and the motor B (424) is connected to the driving wheel (425) and installed on the right connecting plate (422) of the belt feeding mechanism; The silicone belt (427) is fitted onto the drive wheel (425) and the driven wheel (426), and the tension wheel (428) is installed below the middle of the drive wheel (425) and the driven wheel (426) to tension the silicone belt (427). The flexible belt feeding mechanism (420) and its mirror image (520) are symmetrically installed inside the clamping and separating connecting bracket assembly (160). The mirror image (520) of the flexible belt feeding mechanism includes a left connecting plate mirror image (521), a right connecting plate mirror image (522), a middle connecting plate (423), a motor B (424), a drive wheel (425), a driven wheel (426), a silicone belt (427), and a tensioning wheel (428).

8. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 5, characterized in that: The push rod active feeding mechanism (430) includes a left connecting plate (431), a right connecting plate (432), a feeding push rod (433), a gear (434), a rack (435), a bearing (436), a guide rod (437), a spring (438), and a front connecting plate (439). The left connecting plate (431) and the right connecting plate (432) of the push rod feeding mechanism are respectively located on the left and right sides, and the left connecting plate (431) of the push rod feeding mechanism is provided with a guide rod through hole; The front end of the seedling push rod (433) is provided with an arc groove, the lower end is provided with a meshing tooth, the middle is provided with a long strip-shaped mounting hole, the rear end is provided with a guide rod mounting hole, and the seedling push rod (433) is installed above the push rod active feeding mechanism (430). Two gears (434) are provided and are installed between the seedling push rod (433) and the rack (435) by bearings (436) and bolts, and mesh with the seedling push rod (433); The rack (435) is installed below the push rod active feeding mechanism (430) and meshes with two gears (434). The rack (435) has an elongated mounting hole in the middle. The guide rod (437) passes through the guide rod through hole and the spring (438) of the left connecting plate (431) of the push rod feeding mechanism in sequence, and is connected to the guide rod mounting hole of the seedling push rod (433); The front connecting plate (439) is slidably mounted in the elongated mounting hole of the rack (435) via a bearing (436) and bolts; The push rod active feeding mechanism (430) and its mirror image (530) are symmetrically installed inside the clamping and separating connecting bracket assembly (160); The push rod active feeding mechanism mirror body (530) includes a push rod feeding mechanism left connecting plate mirror body, a push rod feeding mechanism right connecting plate mirror body, a feeding push rod (433), a gear (434), a rack (435), a bearing (436), a guide rod (437), a spring (438), and a front connecting plate (439).

9. The automatic clamping, separating, conveying, and transplanting device for rhizome-type medicinal herb seedlings according to claim 1, characterized in that: The electrical control system (600) includes a main controller (610), a roller motor driver, a stepper motor driver, a conveyor belt speed acquisition encoder (640), a proximity switch sensor (650), an air pump (660), an air pipe, a pneumatic solenoid valve (680), a pneumatic solenoid valve controller, a camera (6010), a warning light (6011), a wiring harness, and a control cabinet (6013). The main controller (610) is equipped with a display screen, a start button, a stop button and an emergency stop button, and is electrically connected to a roller motor driver, a stepper motor driver, a conveyor belt speed acquisition encoder, a proximity switch sensor, a pneumatic solenoid valve controller and a camera (6010) and a warning light via a wiring harness; The roller motor driver is electrically connected to the roller motor (220), and there are three stepper motor drivers, which are electrically connected to one motor A (310) and two motors B (424) respectively; The conveyor belt speed acquisition encoder (640) is assembled with the conveyor belt speed acquisition mount (280); The proximity switch sensor (650) is assembled and installed with the proximity switch sensor mounting base and is electrically connected to the pneumatic solenoid valve controller. The air pump (660) is connected to the pneumatic solenoid valve (680) via an air pipe. The pneumatic solenoid valve (680) is electrically connected to the pneumatic solenoid valve controller. The pneumatic solenoid valve (680) is then connected to two flexible air clamp mechanisms (390) via an air pipe. The camera (6010) is installed in the middle of the front side of the clamping and separating connecting bracket assembly (160), with the camera facing the partition conveyor belt (210). Two warning lights (6011) are provided, which are respectively installed on both sides of the front of the clamping and separating connecting bracket assembly (160); The control cabinet (6013) is installed below the main controller (610) and houses the roller motor driver, stepper motor driver and pneumatic solenoid valve controller.

10. A method for automatically picking, separating, conveying, and transplanting seedlings of rhizomes and other medicinal herbs, using the equipment described in any one of claims 1 to 9, characterized in that... Includes the following steps: S1. The electrical control system (600) starts the equipment, takes out the whole bundle of Chinese medicinal seedlings with the same head, and puts them into the left quantitative seedling feeding component (400) and the right quantitative seedling feeding component (500) at a time. The seedling heads in the left quantitative seedling feeding component (400) face to the left, and the seedling heads in the right quantitative seedling feeding component (500) face to the right. S2. The electrical control system (600) sends commands to drive the flexible conveyor transplanting component (200), the reciprocating clamping component (300), the left quantitative seedling feeding component (400), and the right quantitative seedling feeding component (500) to move. S3, the left quantitative seedling feeding component (400) and the right quantitative seedling feeding component (500) drive a certain amount of seedlings downward to the seedling feeding port; S4. The structure in the reciprocating clamping component (300) moves in a straight line and reciprocates. Just before reaching the seedling feeding port, the structure that hits the left quantitative seedling feeding component (400) moves forward and pushes the seedlings at the seedling feeding port forward. S5. When the reciprocating gripper (300) reaches the seedling feeding port, the electrical control system (600) controls the structure of the reciprocating gripper (300) to grip the first seedling pushed by the left quantitative seedling feeding device (400). S6. The reciprocating gripper (300) grips a seedling and moves forward in a straight line, pulling the seedling out from the left quantitative feeding part (400). When it reaches the seedling inlet, the reciprocating gripper (300) opens, allowing the seedling to fall quickly onto the flexible conveying and transplanting part (200). S7. The reciprocating gripping component (300) continuously repeats the operations of S2-S6. Based on the speed of the flexible conveying and transplanting component (200) collected by the air control system (600), the separation and gripping frequency is controlled to achieve continuous automatic gripping of seedlings. S8. The flexible conveyor transplanting component (200) drives the seedlings forward to the transplanting site and records the number and quality of the seedlings. At the same time, it checks whether the seedlings are missing. If there are missing seedlings on one side of the flexible conveyor transplanting component (200), the electrical control system (600) emits a red light alarm to remind people to manually add seedlings to the flexible conveyor transplanting component (200). S9. When the flexible conveying and transplanting component (200) does not move, the reciprocating clamping component (300) stops working, and the electrical control system (600) continuously emits a red light alarm. S10. When the electrical control system (600) collects information that the flexible conveying and transplanting component (200) is not moving, the electrical control system (600) sends a fast-flashing red light alarm, thereby clicking the emergency stop button to stop working. It is necessary to manually check whether the internal structure of the flexible conveying and transplanting component (200) is stuck or whether the tension is insufficient and slips.

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