Automatic rolling device and method for traditional Chinese medicine seedling

Abstract

The present application belongs to the field of agricultural machinery and traditional Chinese medicine planting equipment technology, and particularly relates to an automatic seedling rolling device and method for traditional Chinese medicine seedlings, comprising: a feeding mechanism for conveying seedlings to a conveying mechanism; the conveying mechanism comprises an encoder for obtaining conveying displacement information; a vision system for identifying seedling posture information; a control system for controlling a parallel robot assembly to grab seedlings and adjust the posture, and then placing the seedlings to a seedling rolling mechanism based on the seedling posture information and the conveying displacement information; the seedling rolling mechanism comprises a seedling rolling support, a base tape unwinding assembly is arranged on the seedling rolling support, a tape fixing device and a pressing device are arranged downstream of the base tape unwinding assembly, and a winding assembly is arranged at one end of the seedling rolling support away from the base tape unwinding assembly; the present application realizes the continuous operation of automatic conveying, posture identification, dynamic grabbing, fixed-distance placement and winding of seedlings.

Description

Technical Field

[0001] This invention belongs to the technical field of agricultural machinery and Chinese medicinal herb planting equipment, and particularly relates to an automatic seedling rolling device and method for Chinese medicinal herbs. Background Technology

[0002] Rhizome-type medicinal herbs are typically produced through centralized seedling cultivation followed by field transplanting. To ensure proper spacing, orientation, and planting quality during transplanting, seedlings need to be prepared, supplied, or pre-treated before transplanting. Currently, transplanting or seedling supply still largely relies on manual placement of seedlings one by one to the transplanting or supplying equipment. This manual operation is not only labor-intensive but also easily affected by the operator's skill level, work rhythm, and fatigue, leading to inconsistent seedling posture, significant spacing errors, and issues such as missed or duplicate placement. For bare-root seedlings of rhizome-type medicinal herbs, the seedlings typically exhibit significant differences in length, irregular curvature, and require differentiation between the seedling tip and root direction. If a continuous seedling strip with consistent orientation and stable spacing cannot be formed before subsequent placement or transplanting, it will affect the continuous seedling supply by the transplanting machine and the quality of field planting. While existing technologies include conveyor belt seedling supply, manual seedling placement, and semi-automatic transplanting equipment, these devices are usually unable to simultaneously perform continuous operations such as seedling posture recognition, dynamic grasping, seedling head orientation, base belt and adhesive tape bonding, and seedling tape winding. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic seedling rolling device and method for Chinese medicinal herbs to solve the above-mentioned problems.

[0004] To achieve the above objectives, the present invention provides the following solution: An automatic seedling rolling device for Chinese medicinal herbs includes: Feeding mechanism; A conveying mechanism, one end of which is disposed at the unloading end of the feeding mechanism, is used to receive and convey seedlings falling from the unloading end of the feeding mechanism. The conveying mechanism includes an encoder, which is used to acquire the conveying displacement information of the conveying mechanism. A seedling rolling mechanism is provided on one side of the conveying mechanism. The seedling rolling mechanism is used to compress the base belt, seedlings and adhesive tape into a seedling belt and wind it into a roll. A parallel robot assembly is disposed above the conveying mechanism and the seedling rolling mechanism, for moving seedlings from the conveying mechanism to the seedling rolling mechanism, while adjusting the posture of the seedlings; A vision system is mounted on the parallel robot assembly and located above the conveying mechanism; the vision system is used to identify seedling posture information. The control system is electrically connected to the feeding mechanism, the conveying mechanism, the encoder, the seedling rolling mechanism, the parallel robot assembly, and the vision system. The control system controls the actions of the parallel robot assembly based on the seedling posture information and the conveying displacement information. The seedling rolling mechanism includes a seedling rolling support, on which a base tape unwinding assembly is provided. Downstream of the base tape unwinding assembly, a tape fixing device and a pressing device for pressing the tape to the base tape are provided. The tape fixing device is located above the base tape unwinding assembly. At the end of the seedling rolling support away from the base tape unwinding assembly, a winding assembly is provided. The winding assembly is located downstream of the tape fixing device.

[0005] Preferably, the baseband unwinding assembly includes a baseband rotating shaft disposed at one end of the seedling roll support. The baseband rotating shaft is rotatably connected to the seedling roll support. Two baseband fixing devices are detachably connected to the seedling roll support. The two baseband fixing devices are located at both ends of the baseband roll and are in sliding contact with the ends of the baseband roll. A baseband guiding device and a baseband limiting device are sequentially disposed downstream of the baseband rotating shaft. The baseband guiding device and the baseband limiting device are both fixedly installed at the ends of the seedling roll support. The baseband roll is sleeved on the outside of the baseband rotating shaft. The ends of the baseband roll are sequentially fixed to the seedling roll conveyor belt on the seedling roll support after passing through the baseband guiding device and the baseband limiting device. As the seedling roll conveyor belt unwinds, the seedling roll conveyor belt is connected to the seedling roll drive motor.

[0006] Preferably, the winding assembly includes a seedling tray shaft, which is rotatably connected to one end of a shaft support rod. The other end of the shaft support rod is hinged to the seedling winding bracket. The seedling tray shaft is connected to the seedling winding drive motor via a transmission system. Multiple seedling tray groups are fixedly connected to the seedling tray shaft. Each seedling tray group includes two seedling trays, which are coaxially fixed to the seedling tray shaft. The top end of the shaft support rod is connected to the movable end of a winding diameter adjustment device, which is used to adjust the tilt angle of the shaft support rod to adapt to changes in winding diameter.

[0007] Preferably, the conveying mechanism includes a conveying bracket, on which a seedling conveyor belt is provided. The seedling conveyor belt is driven by a conveying drive motor, which is fixedly installed on the conveying bracket. The encoder is fixedly installed on the conveying bracket, and the sensing shaft of the encoder is tactilely connected to the seedling conveyor belt. Adjustable support feet are installed at the four corners of the bottom of the conveying bracket.

[0008] Preferably, the feeding mechanism includes a feeding bracket, a conveyor belt bracket above the feeding bracket, a feeding conveyor belt on the conveyor belt bracket, the upper end of the feeding conveyor belt being positioned above the upstream of the seedling conveyor belt, the feeding conveyor belt being driven by a feeding drive assembly, the feeding drive assembly being fixedly installed on one side of the conveyor belt bracket, one end of the conveyor belt bracket being connected to the feeding bracket via a connecting plate, and the other end of the conveyor belt bracket being connected to two uprights via another connecting plate, the two uprights being vertically slidably connected to the feeding bracket, an angle adjustment device being provided between the conveyor belt bracket and the feeding bracket for adjusting the tilt angle of the conveyor belt bracket, an arc-shaped slide rail being provided on the connecting plate, a slider being slidably connected within the arc-shaped slide rail, the slider being fixedly connected to the feeding bracket, and a bolt being threaded onto the slider for fixing the conveyor belt bracket and the feeding bracket relatively. When adjusting the tilt angle of the conveyor belt bracket, the bolt is loosened, and the slider moves within the arc-shaped slide rail to avoid interference.

[0009] Preferably, feeding side baffles are fixed to both sides of the conveyor belt support, a feeding hopper is provided at the lower end of the conveyor belt support, and multiple seedling separating baffles are provided on the feeding conveyor belt, with the multiple seedling separating baffles arranged in a sequential and spaced manner along the feeding direction of the feeding conveyor belt.

[0010] Preferably, the parallel robot assembly includes multiple vertically arranged support columns, which are arranged in an array. Adjacent support columns are fixedly connected by support beams. The top of each support column is fixedly connected to a mounting base. A stationary platform is fixedly connected to the bottom surface of the mounting base. Multiple horizontally arranged gripping motors are fixedly connected to the bottom surface of the stationary platform. The gripping motors are circumferentially spaced. One end of an active arm is fixedly connected to the output shaft of each gripping motor. The other end of the active arm is hinged to one end of a driven arm. The other end of the driven arm is hinged to the outer edge of the moving platform. An end-rotor motor is coaxially fixed to the top surface of the moving platform. The output shaft of the end-rotor motor extends through the bottom surface of the moving platform and is connected to a flexible gripper via a spring flange.

[0011] Preferably, the vision system includes an industrial camera, which is fixedly mounted on the crossbeam of the support via a camera mounting bracket. A supplementary light is coaxially sleeved on the outer side of the industrial camera, and the supplementary light is fixedly mounted on the crossbeam of the support via a supplementary light mounting bracket. The industrial camera is positioned above the seedling conveyor belt.

[0012] Preferably, one end of the seedling roll support is rotatably connected to a roll, the axis of the roll is perpendicular to the direction of seedling movement, the roll is located downstream of the pressing device and upstream of the seedling tray shaft, when the seedling belt moves out from the pressing device, it enters between the seedling roll conveyor belt and the roll to press the seedling belt.

[0013] An automatic seedling rolling method for Chinese medicinal herbs, based on the aforementioned automatic seedling rolling device for Chinese medicinal herbs, comprises the following steps: The seedlings are sequentially transported to the conveying mechanism via the feeding mechanism; The conveying mechanism drives the seedlings forward, while the encoder acquires the conveying displacement information of the conveying mechanism in real time, and the vision system acquires the seedling posture information in real time and transmits it to the control system. Based on the acquired transport displacement information and seedling posture information, the control system controls the parallel robot component to grasp the seedlings and adjust their posture, and then places the seedlings on the baseband of the seedling rolling mechanism. Adhesive tape is placed on the base belt containing the seedlings, and a pressing device compresses the tape, seedlings, and base belt into a seedling strip, which is then wound into a roll.

[0014] Compared with the prior art, the present invention has the following advantages and technical effects: This invention achieves automatic feeding and continuous conveying of seedlings through a feeding mechanism and a conveying mechanism, reducing the labor intensity and operational instability of manual seedling placement. By recognizing seedling posture information through a vision system and combining it with conveying displacement information obtained from an encoder, the control system controls the actions of parallel robot components based on the posture and displacement information. This enables precise tracking, grasping, and posture adjustment of moving seedlings, ensuring that seedlings are placed on the baseband with a consistent orientation. Furthermore, by utilizing the conveying displacement information, it achieves fixed-distance placement between adjacent seedlings. Through the cooperation of the baseband unwinding assembly, tape fixing device, pressing device, and winding assembly, the baseband, seedlings, and tape are continuously pressed together to form a seedling tape, which is then wound into a roll. This achieves fully automated continuous operation from seedling feeding, posture recognition, dynamic grasping, fixed-distance placement to winding into a roll. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in 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: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3This is the front view of the present invention; Figure 4 This is a first-view perspective view of the seedling rolling mechanism in this invention; Figure 5 This is a second-view perspective view of the seedling rolling mechanism in this invention; Figure 6 This is an overall schematic diagram of the conveying mechanism in this invention; Figure 7 This is a front view of the parallel robot assembly in this invention; Figure 8 This is an isometric view of the parallel robot assembly in this invention; Figure 9 This is a first-view perspective view of the feeding mechanism in this invention; Figure 10 This is a second-view perspective view of the feeding mechanism in this invention; Figure 11 This is a schematic diagram of the overall vision system in this invention; Among them, 100, seedling rolling mechanism; 101, seedling rolling support; 102, seedling rolling drive motor; 103, seedling tray; 104, base belt fixing device; 105, base belt guiding device; 106, base belt limiting device; 107, pressing device; 108, tape fixing device; 109, tape guiding device; 110, roll diameter adjustment device; 111, transmission system; 112, base belt rotating shaft; 113, seedling tray rotating shaft; 114, seedling rolling conveyor belt; 115, roll; 200, conveying mechanism; 201, conveying support; 202, seedling conveyor belt; 203, encoder; 204, conveying drive motor; 205, adjustable support legs; 300, parallel robot component; 301. 302. Support column; 303. Support beam; 304. Installation foundation; 305. Gripping motor; 306. Static platform; 307. Moving platform; 308. Driving arm; 309. Spring flange; 310. Flexible gripper; 311. End-rotor motor; 400. Feeding mechanism; 401. Feeding support; 402. Angle adjustment device; 403. Feeding conveyor belt; 404. Seedling separator baffle; 405. Feeding side baffle; 406. Feeding drive assembly; 407. Feeding hopper; 500. Vision system; 501. Industrial camera; 502. Camera mounting bracket; 503. Supplemental lighting; 504. Supplemental lighting mounting bracket; 600. Control system. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] Reference Figures 1 to 11 This invention discloses an automatic seedling rolling device for Chinese medicinal herbs, comprising: Feeding mechanism 400; The conveying mechanism 200 is set at one end of the unloading end of the feeding mechanism 400 and is used to receive and convey the seedlings falling from the unloading end of the feeding mechanism 400. The conveying mechanism 200 includes an encoder 203, which is used to acquire the conveying displacement information of the conveying mechanism 200. The seedling rolling mechanism 100 is located on one side of the conveying mechanism 200. The seedling rolling mechanism 100 is used to press the base belt, seedlings and adhesive tape into a seedling belt and wind it into a roll. The parallel robot component 300 is positioned above the conveying mechanism 200 and the seedling rolling mechanism 100, and is used to move the seedlings from the conveying mechanism 200 to the seedling rolling mechanism 100, while adjusting the posture of the seedlings. A vision system 500 is mounted on the parallel robot assembly 300 and located above the conveying mechanism 200. The vision system 500 is used to identify seedling posture information. The control system is electrically connected to the feeding mechanism 400, the conveying mechanism 200, the encoder 203, the seedling rolling mechanism 100, the parallel robot component 300, and the vision system 500. The control system controls the action of the parallel robot component 300 based on the seedling posture information and the conveying displacement information. The seedling rolling mechanism 100 includes a seedling rolling support 101, on which a base tape unwinding assembly is provided. Downstream of the base tape unwinding assembly, a tape fixing device 108 and a pressing device 107 for pressing the tape and the base tape together are provided. The tape fixing device 108 is located above the base tape unwinding assembly. A winding assembly is provided at the end of the seedling rolling support 101 away from the base tape unwinding assembly. The winding assembly is located downstream of the tape fixing device 108.

[0019] During operation, the feeding mechanism 400 sequentially transports seedlings to the unloading end of the conveying mechanism 200. The conveying mechanism 200 receives the seedlings and transports them forward. The encoder 203 acquires the displacement information of the conveying mechanism in real time. The vision system 500 collects images of the seedlings above the conveying mechanism and identifies their posture information. After receiving the conveying displacement information fed back by the encoder 203 and the posture information identified by the vision system 500, the control system generates a grasping decision and controls the action of the parallel robot component 300. The parallel robot component 300 grasps the seedlings from the conveying mechanism 200, adjusts the seedling posture, and moves them onto the base belt of the seedling rolling mechanism 100. In the seedling rolling mechanism 100, the base belt unwinding component releases the base belt, the tape fixing device 108 releases the tape, the pressing device 107 presses the tape, the base belt, and the seedlings placed between them together to form a seedling strip, and the winding component winds the seedling strip into a roll. This solves the technical problems of high labor intensity, inconsistent seedling posture, difficulty in controlling plant spacing, and difficulty in forming continuous seedling strip rolls by manual seedling feeding.

[0020] In a further optimized design, the baseband unwinding assembly includes a baseband rotating shaft 112 located at one end of the seedling roll support 101. The baseband rotating shaft 112 is rotatably connected to the seedling roll support 101. Two baseband fixing devices 104 are detachably connected to the seedling roll support 101. The two baseband fixing devices 104 are located at both ends of the baseband roll and slide in contact with the ends of the baseband roll. Downstream of the baseband rotating shaft 112, a baseband guiding device 105 and a baseband limiting device 106 are sequentially arranged. Both the baseband guiding device 105 and the baseband limiting device 106 are fixedly installed at the ends of the seedling roll support 101. The baseband roll is sleeved on the outside of the baseband rotating shaft 112. The ends of the baseband roll are sequentially fixed to the seedling roll conveyor belt 114 on the seedling roll support 101 after passing through the baseband guiding device 105 and the baseband limiting device 106. As the seedling roll conveyor belt 114 unwinds, the seedling roll conveyor belt 114 is connected to the seedling roll drive motor 102.

[0021] The base tape roll is mounted on the base tape rotating shaft 112, which is rotatably connected to the seedling roll support 101. Two base tape fixing devices 104 are located at both ends of the base tape roll and slide in contact, axially limiting the base tape roll. During operation, the ends of the base tape roll pass sequentially through the base tape guiding device 105 and the base tape limiting device 106, and are then fixed to the seedling roll conveyor belt 114 after being guided and limited. As the seedling roll drive motor 102 drives the seedling roll conveyor belt 114, the base tape is pulled and unwound under the action of friction. The base tape guiding device 105 ensures that the base tape travels along the correct path, the base tape limiting device 106 prevents the base tape from deviating in the width direction, and the two base tape fixing devices 104 prevent the base tape roll from moving axially, so that the base tape can enter the subsequent process with a stable lateral position and conveying path, solving the technical problems of base tape deviation and unwinding.

[0022] The scheme is further optimized. The winding assembly includes a seedling tray shaft 113, which is rotatably connected to one end of a shaft support rod. The other end of the shaft support rod is hinged to the seedling roll support 101. The seedling tray shaft 113 is connected to the seedling roll drive motor 102 through a transmission system 111. Multiple seedling tray groups are fixedly connected to the seedling tray shaft 113. Each seedling tray group includes two seedling trays 103. The seedling trays 103 are coaxially fixed to the seedling tray shaft 113. The top end of the shaft support rod is connected to the movable end of a roll diameter adjustment device 110. The roll diameter adjustment device 110 is used to adjust the tilt angle of the shaft support rod to adapt to changes in roll diameter.

[0023] The transmission system 111 is electrically connected to a speed regulating mechanism for adjusting the operating speed of the seedling tray shaft 113 and the transmission system 111.

[0024] During operation, the seedling tray shaft 113 is connected to the seedling rolling drive motor 102 via the transmission system 111, which drives the seedling tray shaft 113 to rotate. Multiple sets of seedling trays, each consisting of two seedling trays 103, are fixedly attached to the seedling tray shaft 113. The pressed seedling strip is pulled to the outer circumference of the seedling tray 103 and continuously wound into a seedling strip roll under the rotation of the seedling tray shaft 113. One end of the shaft support is hinged to the seedling rolling bracket 101, and the other end is rotatably connected to the seedling tray shaft 113, forming a swing arm structure. The roll diameter adjustment device 110 is connected to the top of the shaft support. As the roll diameter of the seedling strip increases, the roll diameter adjustment device 110 gradually adjusts the tilt angle of the shaft support, allowing the position of the seedling tray 103 to adapt to changes in roll diameter, maintaining the seedling strip at a suitable angle and tension during winding. This solves the technical problems of uneven winding tension and uneven winding when the roll diameter of the seedling strip changes.

[0025] In a further optimized design, the conveying mechanism 200 includes a conveying bracket 201, on which a seedling conveyor belt 202 is mounted. The seedling conveyor belt 202 is connected to a conveying drive motor 204, which is fixedly mounted on the conveying bracket 201. An encoder 203 is fixedly mounted on the conveying bracket 201, and the sensing shaft of the encoder 203 is tactilely connected to the seedling conveyor belt 202. Adjustable support feet 205 are installed at the four corners of the bottom of the conveying bracket 201.

[0026] During operation, the conveyor bracket 201 serves as the mounting base, and the conveyor drive motor 204 drives the seedling conveyor belt 202 to move, carrying the seedlings forward. The encoder 203 is fixedly mounted on the conveyor bracket 201, with its sensing shaft rolled into the seedling conveyor belt 202. By detecting the linear velocity of the seedling conveyor belt 202 or the rotation angle of the drive roller, it acquires real-time conveying displacement information and feeds it back to the control system. Adjustable feet 205 are installed at the four corners of the bottom of the conveyor bracket 201 to adjust the overall height and levelness of the conveyor bracket 201. The rolling connection of the encoder 203 avoids measurement errors caused by slippage, improves the accuracy of conveying displacement information acquisition, and solves the technical problem of inaccurate seedling position tracking during dynamic grasping.

[0027] Further optimizing the design, the feeding mechanism 400 includes a feeding bracket 401, a conveyor belt bracket above the feeding bracket 401, and a feeding conveyor belt 403 mounted on the conveyor belt bracket. The upper end of the feeding conveyor belt 403 is positioned above and upstream of the seedling conveyor belt 202. The feeding conveyor belt 403 is connected to a feeding drive assembly 406, which is fixedly mounted on one side of the conveyor belt bracket. One end of the conveyor belt bracket is connected to the feeding bracket 401 via a connecting plate, and the other end of the conveyor belt bracket is connected to another... The connecting plate is connected to two uprights, which are vertically slidably connected to the feeding bracket 401. An angle adjustment device 402 is provided between the conveyor belt bracket and the feeding bracket 401 to adjust the tilt angle of the conveyor belt bracket. An arc-shaped slide is provided on the connecting plate, and a slider is slidably connected in the arc-shaped slide. The slider is fixed to the feeding bracket 401, and bolts are threaded on the slider to fix the conveyor belt bracket and the feeding bracket 401 relatively. When adjusting the tilt angle of the conveyor belt bracket, the bolts are loosened, and the slider moves in the arc-shaped slide to avoid interference.

[0028] During operation, seedlings enter the feeding conveyor belt 403 from the feeding hopper. The feeding drive assembly 406 drives the feeding conveyor belt 403 to move, lifting the seedlings from the lower end to the upper end before they fall into the conveying mechanism 200. An angle adjustment device 402 is located between the conveyor belt support and the feeding support 401, used to adjust the inclination angle of the conveyor belt support. During adjustment, the bolts are loosened, and the slider fixed to the feeding support 401 slides within the arc-shaped slide rail of the connecting plate, causing the conveyor belt support to rotate around its hinge point at one end. After reaching the desired angle, the bolts are tightened, fixing the conveyor belt support and the feeding support 401 relatively fixed. Two uprights are vertically slidably connected to the feeding support 401, compensating for height changes during inclination angle adjustment. This structure can adjust the feeding inclination angle according to seedling characteristics and operational requirements, solving the problem of smooth conveying of different seedlings during the feeding process.

[0029] The scheme is further optimized by fixing feeding side baffles 405 on both sides of the conveyor belt support, providing a feeding hopper 407 at the lower end of the conveyor belt support, and providing multiple seedling separating baffles 404 on the feeding conveyor belt 403. The multiple seedling separating baffles 404 are arranged in a sequential and spaced manner along the feeding direction of the feeding conveyor belt 403.

[0030] When seedlings enter the feeding conveyor belt 403, they first fall into the feeding hopper 407, where they are collected and guided to the surface of the conveyor belt. Feeding side baffles 405 on both sides of the feeding conveyor belt 403 prevent seedlings from slipping off. Multiple seedling separating baffles 404 are arranged sequentially at intervals along the feeding direction of the feeding conveyor belt 403, separating the seedlings into single plants or single rows as the conveyor belt moves forward. Through the centralized collection by the feeding hopper 407, the lateral restraint by the feeding side baffles 405, and the interval separation by the seedling separating baffles 404, the seedlings enter the conveying mechanism 200 in an orderly manner, solving the technical problems of seedling stacking, slipping, and disordered arrangement during the feeding process.

[0031] Further optimizing the scheme, the parallel robot component 300 includes multiple vertically arranged support columns 301, which are arranged in an array. Adjacent support columns 301 are fixedly connected by support beams 302. The top of the multiple support columns 301 is fixedly connected to the mounting base 303. The bottom surface of the mounting base 303 is fixedly connected to the stationary platform 305. The bottom surface of the stationary platform 305 is fixedly connected to multiple horizontally arranged gripping motors 304. The multiple gripping motors 304 are evenly spaced around the periphery. One end of the active arm 307 is fixedly connected to the output shaft of the gripping motor 304. The other end of the active arm 307 is hinged to one end of the driven arm 308. The other end of the driven arm 308 is hinged to the outer edge of the moving platform 306. The top surface of the moving platform 306 is coaxially fixedly connected to the end rotary motor 311. The output shaft of the end rotary motor 311 extends out of the bottom surface of the moving platform 306 and is connected to the flexible gripper 310 through a spring flange 309.

[0032] During operation, multiple support columns 301 and support beams 302 form a stable support frame, with the mounting base 303 fixed to the top of the columns. A static platform 305 is fixed to the bottom surface of the mounting base 303, and multiple gripping motors 304 are horizontally positioned on the bottom surface of the static platform 305 and evenly spaced circumferentially. Each gripping motor 304 drives the active arm 307 to swing, which in turn drives the driven arm 308 to move, which in turn pulls the moving platform 306 to translate within space. A rotary motor 311 at the top of the moving platform 306 drives a spring flange 309 and a flexible gripper 310 to rotate around a vertical axis, adjusting the gripping angle of the gripper. The flexible gripper 310, with the elastic cushioning effect of the spring flange 309, contacts and clamps the seedling, reducing the impact of clamping. By utilizing the high-speed, high-precision motion of parallel robots, the angle adjustment of the end-effector rotary motor, and the flexible buffering of the spring flange, precise and flexible grasping and posture adjustment of bare-root seedlings of rhizomes are achieved, solving the technical problems of large differences in seedling morphology, easy damage from being pinched, and difficulty in adjusting the grasping angle.

[0033] In a further optimized design, the vision system 500 includes an industrial camera 501, which is fixedly mounted on the support beam 302 via a camera mounting bracket 502. A supplementary light 503 is coaxially mounted on the outer side of the industrial camera 501, and the supplementary light 503 is fixedly mounted on the support beam 302 via a supplementary light mounting bracket 504. The industrial camera 501 is positioned above the seedling conveyor belt 202.

[0034] During operation, the industrial camera 501 is fixedly mounted on the support beam 302 via the camera mounting bracket 502, with its lens facing the seedling conveyor belt 202 to capture images of the moving seedlings. A supplementary light 503 is coaxially mounted on the outside of the industrial camera 501 and fixed via the supplementary light mounting bracket 504, providing uniform illumination to the shooting area and eliminating shadows and reflections. The control system processes the acquired images, identifying the direction, angle, and grasping point of the seedlings. The cooperation between the industrial camera 501 and the supplementary light 503 ensures clear and stable image acquisition, solving the problem of decreased recognition accuracy caused by uneven lighting.

[0035] In a further optimized design, a roller 115 is rotatably connected to one end of the seedling support 101. The axis of the roller 115 is perpendicular to the direction of seedling movement. The roller 115 is located downstream of the pressing device 107 and upstream of the seedling tray shaft 113. When the seedling belt moves out from the pressing device 107, it enters between the seedling conveyor belt 114 and the roller 115 to press the seedling belt.

[0036] During operation, the base belt is released by the base belt unwinding assembly, and the seedlings are placed onto the base belt by the parallel robot assembly 300. Adhesive tape covers the seedlings and base belt, and the pressing device 107 presses the three together to form a seedling belt. After the seedling belt is removed from the pressing device 107, it enters between the seedling conveyor belt 114 and the drum 115, with the axis of the drum 115 perpendicular to the direction of seedling movement. Guided by the outer arc surface of the drum 115, the seedling belt changes its direction of travel and is subjected to uniform radial pressure, further adhering the base belt, seedlings, and adhesive tape. It then enters the subsequent winding assembly with a stable direction and tension. The drum 115 solves the technical problems that may occur between the pressing and winding of the seedling belt, such as poor adhesion between the base belt and adhesive tape, loose seedlings, and skewed travel paths, reducing the risk of uneven winding of the seedling belt.

[0037] An automatic seedling rolling method for Chinese medicinal herbs, based on an automatic seedling rolling device for Chinese medicinal herbs, includes the following steps: The seedlings are sequentially transported to the conveying mechanism 200 via the feeding mechanism 400; The conveying mechanism 200 drives the seedlings to move forward, while the encoder 203 acquires the conveying displacement information of the conveying mechanism 200 in real time, and the vision system 500 acquires the seedling posture information in real time and transmits it to the control system 600. Based on the acquired transport displacement information and seedling posture information, the control system 600 controls the parallel robot component 300 to grasp the seedlings and adjust their posture, and then places the seedlings on the baseband of the seedling rolling mechanism 100. The tape is placed on the base belt containing the seedlings, and the pressing device 107 presses the tape, seedlings and base belt into a seedling tape and then winds it into a roll.

[0038] An automatic seedling rolling device for Chinese medicinal herbs includes a seedling rolling mechanism 100, a conveying mechanism 200, a parallel robot assembly 300, a feeding mechanism 400, a vision system 500, and a control system 600. The feeding mechanism 400 is located at one end of the conveying mechanism 200 and is used to orderly convey the Chinese medicinal herb seedlings to the conveying mechanism 200. The conveying mechanism 200 is located between the unloading end of the feeding mechanism 400 and the parallel robot assembly 300, and is used to receive the seedlings conveyed by the feeding mechanism 400 and convey them forward. The parallel robot assembly 300 is located between the conveying mechanism 200 and the seedling rolling mechanism 100, and is used to grab the seedlings on the conveying mechanism 200 and place them on the seedling rolling mechanism 100. The seedling rolling mechanism 100 is located downstream of the parallel robot assembly 300 and is used to compress the base tape, seedlings, and adhesive tape into a seedling tape and wind it into a roll. The vision system 500 is mounted on the parallel robot assembly 300 and located above the conveying mechanism 200, and is used to identify seedling posture information. The control system 600 is electrically connected to the feeding mechanism 400, the conveying mechanism 200, the encoder 203, the seedling rolling mechanism 100, the parallel robot assembly 300, and the vision system 500, and is used to receive feedback signals from each mechanism and issue control commands.

[0039] The feeding mechanism 400 includes a feeding support 401, a conveyor belt support, a feeding conveyor belt 403, a feeding drive assembly 406, an angle adjustment device 402, a feeding hopper 407, a feeding side baffle 405, and a seedling separating baffle 404. The feeding support 401 is fixedly installed on the outer side of one end of the conveying mechanism 200, serving as the bottom support foundation for the feeding mechanism 400. The conveyor belt support is located above the feeding support 401, and the feeding conveyor belt 403 is mounted on it. The feeding conveyor belt 403 is inclined, with its high end located above the upstream end of the seedling conveyor belt 202 and its low end located at the feeding hopper 407. The feeding conveyor belt 403 is connected to the feeding drive assembly 406, which is fixedly installed on one side of the conveyor belt support and drives the feeding conveyor belt 403 from its low end to its high end. A feeding hopper 407 is fixedly installed at the lower end of the conveyor belt support to receive and transport medicinal herb seedlings. The seedlings enter the lower end of the feeding conveyor belt 403 through the feeding hopper 407. Two feeding side baffles 405 are provided, fixedly installed on opposite sides of the conveyor belt support and located on both sides of the width direction of the feeding conveyor belt 403 to prevent seedlings from slipping sideways. Multiple seedling separating baffles 404 are provided, arranged sequentially at intervals along the feeding direction of the feeding conveyor belt 403. Each separating baffle 404 is fixedly installed on the surface of the feeding conveyor belt 403 and separates the seedlings into single plants or single rows as the feeding conveyor belt 403 moves. One end of the conveyor belt support is connected to the feeding support 401 via a connecting plate, and the other end of the conveyor belt support is connected to two uprights via another connecting plate. The two uprights are vertically slidably connected to the feeding support 401, allowing that end of the conveyor belt support to slide up and down relative to the feeding support 401. An angle adjustment device 402 is located between the conveyor belt support and the feeding support 401 to adjust the inclination angle of the conveyor belt support relative to the feeding support 401. An arc-shaped slide rail is provided on the connecting plate, and a slider is slidably connected within the arc-shaped slide rail. The slider is fixed to the feeding support 401, and bolts are threaded onto the slider to fix the conveyor belt support relative to the feeding support 401. When adjusting the inclination angle of the conveyor belt support, the bolts are loosened, and the slider moves within the arc-shaped slide rail, causing the conveyor belt support to rotate around its hinge point at one end. After reaching the desired inclination angle, the bolts are tightened.

[0040] The conveying mechanism 200 includes a conveying support 201, a seedling conveyor belt 202, a conveying drive motor 204, an encoder 203, and adjustable support legs 205. The conveying support 201 is fixedly installed between the feeding mechanism 400 and the parallel robot assembly 300, serving as the supporting foundation for the conveying mechanism 200. The seedling conveyor belt 202 is mounted on the conveying support 201, with one end located below the upper end of the feeding conveyor belt 403, used to receive seedlings falling from the feeding conveyor belt 403. The seedling conveyor belt 202 is connected to the conveying drive motor 204, which is fixedly installed on the conveying support 201, and drives the seedling conveyor belt 202 to move, thus conveying the seedlings forward along the conveying direction. The encoder 203 is fixedly mounted on the conveyor bracket 201. The sensing shaft of the encoder 203 is tactilely connected to the drive roller or transmission roller of the seedling conveyor belt 202 to detect the linear speed of the seedling conveyor belt 202 or the rotation angle of the drive roller in real time, so as to obtain conveying displacement information. Four adjustable feet 205 are provided and are respectively installed at the four corners of the bottom of the conveyor bracket 201 to adjust the overall height and level of the conveyor bracket 201.

[0041] The parallel robot assembly 300 includes support columns 301, support beams 302, mounting bases 303, a stationary platform 305, a gripping motor 304, an active arm 307, a driven arm 308, a moving platform 306, an end effector motor 311, a spring flange 309, and a flexible gripper 310. Multiple support columns 301 are provided, vertically arranged and arrayed, with adjacent support columns 301 fixedly connected by the support beams 302. The bottom of each support column 301 is fixedly mounted on the ground or mounting base, and the top of each support column 301 is fixedly connected to the mounting base 303. The mounting base 303 is a horizontally arranged plate-like or frame structure, serving as the upper mounting base for the parallel robot. The stationary platform 305 is fixedly connected to the bottom surface of the mounting base 303. Multiple gripping motors 304 are provided, horizontally positioned on the bottom surface of the stationary platform 305, and evenly spaced circumferentially. The output shafts of each gripping motor 304 extend radially outwards, and one end of an active arm 307 is fixedly connected to each output shaft. The other end of each active arm 307 is hinged to one end of a driven arm 308, and the other end of each driven arm 308 is hinged to the outer edge of the moving platform 306. An end-rotor motor 311 is coaxially fixed to the top surface of the moving platform 306, and its output shaft extends downwards through the bottom surface of the moving platform 306. The output shaft of the end-rotor motor 311 is connected to a flexible gripper 310 via a spring flange 309. The spring flange 309 provides elastic cushioning and adaptive floating for the flexible gripper 310. The flexible gripper 310 is a gripping component made of flexible material, used for gripping medicinal herb seedlings.

[0042] The vision system 500 includes an industrial camera 501, a camera mounting bracket 502, a supplementary light 503, and a supplementary light mounting bracket 504. The industrial camera 501 is fixedly mounted on the support beam 302 via the camera mounting bracket 502, and is positioned above the seedling conveyor belt 202, with its lens facing the seedling conveying area of ​​the seedling conveyor belt 202. The supplementary light 503 is coaxially sleeved on the outside of the industrial camera 501, and is fixedly mounted on the support beam 302 via the supplementary light mounting bracket 504. The emitting surface of the supplementary light 503 faces the imaging area of ​​the seedling conveyor belt 202, providing uniform illumination to the industrial camera 501.

[0043] The seedling rolling mechanism 100 is located on one side of the conveying mechanism 200 and includes a seedling rolling support 101, a seedling rolling drive motor 102, a base belt unwinding assembly, a tape fixing device 108, a tape guiding device 109, a pressing device 107, a roll 115, a seedling rolling conveyor belt 114, a winding assembly, and a transmission system 111. The seedling rolling support 101 serves as the supporting foundation for the seedling rolling mechanism 100 and is fixedly located on one side of the conveying mechanism 200. The base belt unwinding assembly is located at one end of the seedling rolling support 101 and includes a base belt rotating shaft 112, a base belt fixing device 104, a base belt guiding device 105, and a base belt limiting device 106. The base belt rotating shaft 112 is rotatably connected to one end of the seedling rolling support 101, and its axis is perpendicular to the seedling conveying direction. The base belt roll is sleeved on the outside of the base belt rotating shaft 112, and the base belt roll is coaxially arranged with the base belt rotating shaft 112. Two baseband fixing devices 104 are provided, detachably connected to the seedling roll support 101 and located at both ends of the baseband roll. The inner surfaces of the two baseband fixing devices 104 slide in contact with the end faces of the baseband roll for axial positioning. A baseband guide device 105 is fixedly installed on the seedling roll support 101, located downstream of the baseband shaft 112, for guiding the baseband along a predetermined path. A baseband limiting device 106 is fixedly installed on the seedling roll support 101, located downstream of the baseband guide device 105, for limiting the baseband in both the width and thickness directions. After the starting end of the baseband roll passes sequentially through the baseband guide device 105 and the baseband limiting device 106, it is fixed to the seedling roll conveyor belt 114, which is mounted on the seedling roll support 101. The seedling conveyor belt 114 is connected to the seedling drive motor 102 via a transmission system 111, which drives the seedling conveyor belt 114. As the seedling conveyor belt 114 moves, the base belt is pulled and unwound under friction. A tape fixing device 108 is mounted on the seedling support 101, downstream and above the base belt unwinding assembly, and is used to mount the tape roll. A tape guiding device 109 is located downstream of the tape fixing device 108 and guides the tape from the tape roll to cover the base belt containing the seedlings. A pressing device 107 is mounted on the seedling support 101, downstream of the tape guiding device 109, and presses the tape, seedlings, and base belt together from top to bottom, bonding them to form a continuous seedling belt. The drum 115 is rotatably connected to the seedling support 101 and is located downstream of the pressing device 107. The axis of the drum 115 is perpendicular to the direction of seedling movement. The drum 115 is used to guide and further bond the pressed seedling strip. The seedling conveyor belt 114 is set on the seedling support 101 and is located between the base strip unwinding assembly and the winding assembly. It is used to carry the base strip and seedlings forward.The winding assembly is located at the end of the seedling support 101 furthest from the base tape unwinding assembly, downstream of the tape fixing device 108 and the pressing device 107. The winding assembly includes a seedling tray shaft 113, a shaft support rod, a seedling tray 103, and a roll diameter adjustment device 110. One end of the shaft support rod is hinged to the seedling support 101, and the other end is rotatably connected to the seedling tray shaft 113. The seedling tray shaft 113 is connected to the seedling drive motor 102 via a transmission system 111. Multiple seedling trays 103 are provided, spaced apart along the axial direction of the seedling tray shaft 113, and each seedling tray 103 is coaxially fixed to the seedling tray shaft 113. The fixed end of the roll diameter adjustment device 110 is connected to the seedling support 101, and the movable end is connected to the top of the shaft support rod, used to adjust the angle of the shaft support rod relative to the seedling support 101 to accommodate changes in the roll diameter of the seedling tape.

[0044] A transmission system 111 is disposed between the seedling roll drive motor 102, the seedling roll conveyor belt 114, and the seedling tray shaft 113. The transmission system 111 includes a sprocket, a chain, and / or a drive shaft. The output end of the seedling roll drive motor 102 is connected to the input end of the transmission system 111, and the output end of the transmission system 111 is connected to the drive roller of the seedling roll conveyor belt 114 and the seedling tray shaft 113, respectively. The seedling roll drive motor 102 drives the seedling roll conveyor belt 114 and the seedling tray shaft 113 to move simultaneously or separately through the transmission system 111.

[0045] The control system 600 includes a main controller, motor drive modules, and an industrial computer. The industrial computer communicates with the industrial camera 501 of the vision system 500, receiving image data acquired by the industrial camera 501 and performing image processing to identify the direction, angle, and gripping point of the seedlings, generating gripping target information. The main controller communicates with the industrial computer, encoder 203, and each motor drive module, receiving the gripping target information output by the industrial computer and the conveying displacement information output by the encoder 203, and sending control commands to each motor drive module based on this information. The motor drive modules are electrically connected to the drive elements of the feeding drive assembly 406, conveying drive motor 204, gripping motor 304, end-rotating motor 311, seedling rolling drive motor 102, and roll diameter adjustment device 110, driving each motor according to the control commands from the main controller. The roll diameter adjustment device 110 is a cylinder, electric push rod, or lead screw mechanism.

[0046] The working method is as follows: The base tape roll is placed on the base tape shaft 112. Two base tape fixing devices 104 are installed at both ends of the base tape roll to axially limit its movement. The starting end of the base tape roll passes sequentially through the base tape guide device 105 and the base tape limiting device 106 and is then fixed to the seedling conveyor belt 114. The adhesive tape roll is installed on the adhesive tape fixing device 108, and the starting end of the adhesive tape is pulled to the pressing device 107 via the adhesive tape guide device 109. The control system 600 is started, and all mechanisms enter standby mode.

[0047] The medicinal herb seedlings to be processed are loaded into the feeding hopper 407. The control system 600 controls the feeding drive component 406 to start via the motor drive module, which drives the feeding conveyor belt 403 from the lower end to the upper end. The seedlings enter the lower end of the feeding conveyor belt 403 from the feeding hopper 407 and are separated into single plants or single rows by the seedling separating baffle 404, and then conveyed upwards with the feeding conveyor belt 403. After the seedlings move to the upper end of the feeding conveyor belt 403, they fall into the upper end of the seedling conveyor belt 202 under the action of gravity.

[0048] The control system 600 controls the start of the conveyor drive motor 204 via the motor drive module, which in turn drives the seedling conveyor belt 202. The seedling conveyor belt 202 receives seedlings falling from the feeding conveyor belt 403 and moves them forward along the conveying direction. During seedling conveying, the sensing shaft of the encoder 203 rolls into contact with the drive roller or transmission roller of the seedling conveyor belt 202, detecting the rotation angle or linear velocity of the drive roller in real time, generating conveying displacement information, and transmitting it to the main controller of the control system 600. Simultaneously, the industrial camera 501 of the vision system 500 continuously captures images of the seedlings passing on the seedling conveyor belt 202, and the supplementary light 503 provides uniform illumination to the shooting area. The image data captured by the industrial camera 501 is transmitted to the industrial computer of the control system 600. The industrial computer processes the images, identifies the direction, angle, and gripping point of the seedlings, generates seedling posture information, and transmits it to the main controller.

[0049] Based on the received seedling posture information and the conveying displacement information fed back by the encoder 203, the main controller calculates the real-time position and trajectory of the seedling on the seedling conveyor belt 202, generates a grasping decision, and sends control commands to the drive modules of each grasping motor 304 and the end-effector rotary motor 311. Each grasping motor 304 drives the active arm 307 to swing according to the control commands. The active arm 307 pulls the moving platform 306 in space via the driven arm 308, aligning the flexible gripper 310 with the grasping point of the target seedling. The flexible gripper 310 contacts and clamps the seedling under the elastic buffering effect of the spring flange 309. The end-effector rotary motor 311 drives the flexible gripper 310 to rotate around the vertical axis according to the seedling posture information, adjusting the seedling to an orientation with the seedling head facing outwards. Subsequently, each gripping motor 304 actuates again, driving the platform 306 to move the flexible gripper 310 holding the seedling to the base belt of the seedling rolling mechanism 100. The flexible gripper 310 releases the seedling, so that the seedling is placed on the base belt surface of the seedling rolling conveyor belt 114 with the seedling head facing outward and according to the preset plant spacing.

[0050] The base tape unwinding assembly continuously unwinds. The seedling drive motor 102 drives the seedling conveyor belt 114 through the transmission system 111. The starting end of the base tape roll is fixed on the seedling conveyor belt 114 and is continuously pulled and unwound under the action of friction. After the base tape is released from the base tape shaft 112, it passes sequentially through the guidance of the base tape guide device 105 and the limitation of the base tape limiting device 106, entering the seedling conveyor belt 114 with a stable lateral position and conveying path. The base tape with seedlings placed on it continues to be conveyed forward with the seedling conveyor belt 114. When it reaches the tape guide device 109, the tape roll on the tape fixing device 108 continues to unwind. After being guided by the tape guide device 109, the tape covers the base tape with seedlings placed on it. The base tape, seedlings and tape are stacked together and enter the area below the pressing device 107. The pressing device 107 presses the tape, seedlings and base tape together from top to bottom, so that the three are bonded to form a continuous seedling tape.

[0051] After the continuous seedling belt is removed from the pressing device 107, it enters the space between the seedling conveyor belt 114 and the drum 115. The seedling belt passes around the outer circumference of the drum 115 and changes its direction of travel under the guidance of the outer arc surface of the drum 115. At the same time, it is subjected to uniform radial pressure, which further adheres the base belt, seedlings and adhesive tape. Then it continues to be conveyed forward with a stable direction and tension.

[0052] In the winding process, the continuous seedling tape is guided and pressed together by the drum 115 and then conveyed to the winding assembly. The seedling drive motor 102 drives the seedling tray shaft 113 to rotate through the transmission system 111, and the seedling tray shaft 113 drives each seedling tray 103 to rotate synchronously. The starting end of the continuous seedling tape passes over the drum 115 and is fixed on the outer circumference of the seedling tray 103, and is continuously wound to form a seedling tape roll as the seedling tray 103 rotates. As the diameter of the seedling tape roll gradually increases, the diameter adjustment device 110 gradually adjusts the inclination angle of the shaft support rod so that the position of the seedling tray 103 and the seedling tray shaft 113 adapts to the change in diameter, keeping the seedling tape entering the winding assembly at a suitable angle and tension until the seedling tape roll reaches the predetermined specifications, at which point the machine stops and the seedling tape roll is removed.

[0053] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0054] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automatic seedling rolling device for Chinese medicinal herbs, characterized in that, include: Feeding mechanism (400); The conveying mechanism (200) has one end disposed at the unloading end of the feeding mechanism (400) for receiving and conveying the seedlings falling from the unloading end of the feeding mechanism (400). The conveying mechanism (200) includes an encoder (203) for acquiring the conveying displacement information of the conveying mechanism (200). A seedling rolling mechanism (100) is provided on one side of the conveying mechanism (200). The seedling rolling mechanism (100) is used to press the base belt, seedlings and adhesive tape into a seedling belt and wind it into a roll. A parallel robot assembly (300) is disposed above the conveying mechanism (200) and the seedling rolling mechanism (100) for moving seedlings from the conveying mechanism (200) to the seedling rolling mechanism (100) while adjusting the posture of the seedlings. A vision system (500) is mounted on the parallel robot assembly (300) and located above the conveying mechanism (200), the vision system (500) being used to identify seedling posture information; The control system is electrically connected to the feeding mechanism (400), the conveying mechanism (200), the encoder (203), the seedling rolling mechanism (100), the parallel robot assembly (300), and the vision system (500). The control system controls the action of the parallel robot assembly (300) based on the seedling posture information and the conveying displacement information. The seedling rolling mechanism (100) includes a seedling rolling support (101), on which a base tape unwinding assembly is provided. Downstream of the base tape unwinding assembly, a tape fixing device (108) and a pressing device (107) for pressing the tape to the base tape are provided. The tape fixing device (108) is located above the base tape unwinding assembly. A winding assembly is provided at one end of the seedling rolling support (101) away from the base tape unwinding assembly. The winding assembly is located downstream of the tape fixing device (108).

2. The automatic seedling rolling device for Chinese medicinal herbs according to claim 1, characterized in that: The baseband unwinding assembly includes a baseband rotating shaft (112) disposed at one end of the seedling roll support (101). The baseband rotating shaft (112) is rotatably connected to the seedling roll support (101). Two baseband fixing devices (104) are detachably connected to the seedling roll support (101). The two baseband fixing devices (104) are located at both ends of the baseband roll and slide in contact with the ends of the baseband roll. A baseband guiding device (105) and a baseband limiting device (106) are sequentially disposed downstream of the baseband rotating shaft (112). The guide device (105) and the base belt limiting device (106) are both fixedly installed at the end of the seedling support (101). The base belt roll is sleeved on the outside of the base belt shaft (112). The end of the base belt roll passes through the base belt guide device (105) and the base belt limiting device (106) in sequence and is then fixed on the seedling conveyor belt (114) on the seedling support (101). As the seedling conveyor belt (114) unwinds, the seedling conveyor belt (114) is connected to the seedling drive motor (102) for transmission.

3. The automatic seedling rolling device for Chinese medicinal herbs according to claim 2, characterized in that: The winding assembly includes a seedling tray shaft (113), which is rotatably connected to one end of a shaft support rod. The other end of the shaft support rod is hinged to the seedling roll support (101). The seedling tray shaft (113) is connected to the seedling roll drive motor (102) via a transmission system (111). Multiple seedling tray sets are fixedly connected to the seedling tray shaft (113). Each seedling tray set includes two seedling trays (103). The seedling trays (103) are coaxially fixed to the seedling tray shaft (113). The top end of the shaft support rod is connected to the movable end of a roll diameter adjustment device (110). The roll diameter adjustment device (110) is used to adjust the tilt angle of the shaft support rod to adapt to changes in roll diameter.

4. The automatic seedling rolling device for Chinese medicinal herbs according to claim 1, characterized in that: The conveying mechanism (200) includes a conveying bracket (201), on which a seedling conveyor belt (202) is provided. The seedling conveyor belt (202) is connected to a conveying drive motor (204). The conveying drive motor (204) is fixedly installed on the conveying bracket (201). The encoder (203) is fixedly installed on the conveying bracket (201). The sensing shaft of the encoder (203) is tumbledly connected to the seedling conveyor belt (202). Adjustable feet (205) are installed at the four corners of the bottom of the conveying bracket (201).

5. The automatic seedling rolling device for Chinese medicinal herbs according to claim 1, characterized in that: The feeding mechanism (400) includes a feeding bracket (401), a conveyor belt bracket is provided above the feeding bracket (401), and a feeding conveyor belt (403) is provided on the conveyor belt bracket. The upper end of the feeding conveyor belt (403) is located above the seedling conveyor belt (202) upstream. The feeding conveyor belt (403) is connected to a feeding drive assembly (406) for transmission. The feeding drive assembly (406) is fixedly installed on one side of the conveyor belt bracket. One end of the conveyor belt bracket is connected to the feeding bracket (401) through a connecting plate, and the other end of the conveyor belt bracket is connected to the seedling conveyor belt (202). Two uprights are connected to the connecting plate, and the two uprights are vertically slidably connected to the feeding bracket (401). An angle adjustment device (402) is provided between the conveyor belt bracket and the feeding bracket (401) to adjust the tilt angle of the conveyor belt bracket. An arc-shaped slide is provided on the connecting plate, and a slider is slidably connected in the arc-shaped slide. The slider is fixed to the feeding bracket (401), and a bolt is threaded on the slider to fix the conveyor belt bracket and the feeding bracket (401) relative to each other. When adjusting the tilt angle of the conveyor belt bracket, the bolt is loosened, and the slider moves in the arc-shaped slide to avoid interference.

6. The automatic seedling rolling device for Chinese medicinal herbs according to claim 5, characterized in that: The conveyor belt support is fixed with feeding side baffles (405) on both sides. A feeding hopper (407) is provided at the lower end of the conveyor belt support. Multiple seedling separation baffles (404) are provided on the feeding conveyor belt (403). The multiple seedling separation baffles (404) are arranged in a sequential and spaced manner along the feeding direction of the feeding conveyor belt (403).

7. The automatic seedling rolling device for Chinese medicinal herbs according to claim 1, characterized in that: The parallel robot assembly (300) includes multiple vertically arranged support columns (301), which are arranged in an array. Adjacent support columns (301) are fixedly connected by support beams (302). The top of each support column (301) is fixedly connected to a mounting base (303). A static platform (305) is fixedly connected to the bottom surface of the mounting base (303). Multiple horizontally arranged gripping motors (304) are fixedly connected to the bottom surface of the static platform (305). The gripping motor (304) is circumferentially spaced, with one end of the active arm (307) fixed to the output shaft of the gripping motor (304). The other end of the active arm (307) is hinged to one end of the driven arm (308). The other end of the driven arm (308) is hinged to the outer edge of the moving platform (306). The top surface of the moving platform (306) is coaxially fixed to the end rotary motor (311). The output shaft of the end rotary motor (311) passes through the bottom surface of the moving platform (306) and is connected to the flexible gripper (310) through the spring flange (309).

8. The automatic seedling rolling device for Chinese medicinal herbs according to claim 1, characterized in that: The vision system (500) includes an industrial camera (501), which is fixedly mounted on the crossbeam (302) of the support via a camera mounting bracket (502). A supplementary light (503) is coaxially sleeved on the outside of the industrial camera (501), and the supplementary light (503) is fixedly mounted on the crossbeam (302) of the support via a supplementary light mounting bracket (504). The industrial camera (501) is positioned above the seedling conveyor belt (202).

9. The automatic seedling rolling device for Chinese medicinal herbs according to claim 1, characterized in that: One end of the seedling support (101) is rotatably connected to a roller (115). The axis of the roller (115) is perpendicular to the direction of seedling movement. The roller (115) is located downstream of the pressing device (107) and upstream of the seedling tray shaft (113). When the seedling belt moves out from the pressing device (107), it enters between the seedling conveyor belt (114) and the roller (115) to press the seedling belt.

10. A method for automatically rolling seedlings of Chinese medicinal herbs, based on the automatic seedling rolling device for Chinese medicinal herbs according to any one of claims 1-9, characterized in that, The steps are as follows: The seedlings are sequentially transported to the conveying mechanism (200) via the feeding mechanism (400). The conveying mechanism (200) drives the seedlings to move forward, while the encoder (203) acquires the conveying displacement information of the conveying mechanism (200) in real time, and the vision system (500) acquires the seedling posture information in real time and transmits it to the control system (600). Based on the acquired transport displacement information and seedling posture information, the control system (600) controls the parallel robot component (300) to grab the seedling and adjust the seedling posture, and then places the seedling on the baseband of the seedling rolling mechanism (100). The tape is placed on the base belt containing the seedlings, and the pressing device (107) presses the tape, seedlings and base belt into a seedling tape and then winds it into a roll.

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