Intelligent seedling transplanting machine

Abstract

This invention relates to the field of agricultural machinery technology, and specifically discloses an intelligent seedling transplanter. It includes a concave connecting plate with a small motor mounted on one side; a threaded short rod with an internally threaded sleeve on its outer side; and a conical sponge that uses flexible contact with the seedling, in conjunction with a conical clamping plate, to clamp the seedling. The conical sponge has a conical clamping plate on one side. This intelligent seedling transplanter uses a flexible conical sponge on one side of the conical clamping plate to press against the seedling, preventing excessive clamping force that could damage the seedling when clamping different seedlings. A T-shaped rod and a circular sleeve sliding between the connecting plate and the concave connecting plate stabilize and limit the vertical movement of the concave connecting plate, preventing shaking and soil scattering from the seedling roots when the electric push rod drives the concave connecting plate up and down.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an intelligent seedling transplanting machine. Background Technology

[0002] The intelligent seedling transplanter integrates advanced mechanical, electronic, and sensor technologies, enabling it to automatically complete a series of complex operations from seedling collection to transplanting. The seedling collection and transplanting processes rely on a high-precision robotic arm and an intelligent vision recognition system. The robotic arm can accurately position the seedlings in the seedling tray, and with the assistance of the vision system, it can flexibly adjust the seedling collection action based on the seedling's growth status and position information. During transplanting, it can precisely control the plant spacing, row spacing, and depth, ensuring that each seedling is planted in the optimal position. Through modular design, it enables collaborative operation between indoor seedling systems and field transplanters, making it widely applicable to the large-scale transplanting of various crops such as corn and millet. Compared to traditional manual transplanting and ordinary mechanized transplanting, the intelligent seedling transplanter significantly improves operational efficiency.

[0003] Existing seedling transplanting machines mostly use rigid metal clamps to grasp seedlings during transplanting. However, when grasping different seedlings, the clamps need to be adjusted to match the force, which can cause the seedlings to be damaged by excessive clamping force. Therefore, we have proposed an intelligent seedling transplanting machine. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides an intelligent seedling transplanting machine, comprising:

[0005] A limiting rod, wherein both ends of the limiting rod are provided with side plates;

[0006] A threaded rod, one end of which is equipped with a servo motor;

[0007] A flexible seedling clamping device is used for the flexible clamping and transplanting of seedlings.

[0008] An infrared rangefinder is installed on one side of the flexible seedling clamping device and fixedly connected to the other side of the flexible seedling clamping device. The infrared rangefinder is used to detect the distance between the bottom of the flexible seedling clamping device and the soil surface.

[0009] An intelligent vision camera is installed on the side of the flexible seedling clamping device away from the infrared rangefinder and fixedly connected to one side of the flexible seedling clamping device. The intelligent vision camera is used to detect the growth status and position of the seedlings.

[0010] A control panel is located on top of the flexible seedling clamping device and is fixedly connected to the top of the flexible seedling clamping device. The control panel is used to control the seedling clamping operation of the flexible seedling clamping device. The input terminal of the control panel is electrically connected to the infrared rangefinder.

[0011] One end of the limiting rod is fixedly connected to one side of the side plate, one end of the threaded rod is rotatably connected to one side of the side plate via a rotating bolt, one end of the threaded rod is fixedly connected to the drive shaft of the servo motor, the output end of the servo motor is fixedly connected to one side of the side plate, the flexible seedling clamping device is sleeved on the threaded rod and threadedly connected to the threaded rod, the flexible seedling clamping device is sleeved on the limiting rod and slidably connected to the limiting rod, and the top of the arc-shaped connecting rod is fixedly connected to the outer side of the limiting rod.

[0012] The flexible seedling clamping device includes:

[0013] A concave connecting plate, wherein a small motor is provided on one side of the concave connecting plate;

[0014] A threaded short rod is provided with an internal threaded sleeve on its outer side. The internal threaded sleeve can be removed from the threaded short rod and the clamp can be replaced by threaded engagement between the threaded short rod and the internal threaded sleeve. This prevents the existing seedling transplanter from being unable to replace the clamp with one that is compatible with different types of seedlings, resulting in poor seedling picking and transplanting effect.

[0015] A conical sponge is used to clamp seedlings by making flexible contact with the seedlings in conjunction with a conical clamp. The conical sponge, made of flexible material, is placed on one side of the conical clamp to make squeezing contact with the seedlings, preventing the seedlings from being damaged by excessive clamping force when clamping different seedlings. A conical clamp is provided on one side of the conical sponge.

[0016] One side of the concave connecting plate is fixedly connected to the output end of the small motor. The drive shaft of the small motor passes through one side of the concave connecting plate and is fixedly connected to one end of the threaded short rod. The internal threaded sleeve is fitted on the threaded short rod and threadedly connected to the threaded short rod. The bottom of the internal threaded sleeve is fixedly connected to the top of the conical clamping plate. One side of the conical clamping plate is fixedly connected to one side of the conical sponge.

[0017] One side of the concave connecting plate is fixedly connected to one side of the infrared rangefinder, and the side of the concave connecting plate away from the infrared rangefinder is fixedly connected to one side of the intelligent vision camera.

[0018] A top connecting rod is fixedly connected to the outer side of the limiting rod, and a seedling rack is fixedly connected to the bottom of the top connecting rod. Side connecting plates are fixedly connected to both sides of the side plate, and electric rollers are rotatably connected to the bottom of the side plate through a rotating bolt.

[0019] A threaded torsion block is threaded through and connected to the side of the concave connecting plate away from the small motor. An arc-shaped baffle is fixedly connected to the inner side of the concave connecting plate. By setting an arc-shaped baffle with a through-threaded sleeve block on the inner side of the concave connecting plate, the bottom of the threaded short rod is covered for dust protection, preventing excessive mud and dust from adhering to the threaded surface when the threaded short rod is close to the soil surface during transplanting, thus affecting the thread fit. An electric push rod is fixedly connected to the top of the concave connecting plate, and a docking plate is fixedly connected to the top of the electric push rod. The bottom of the docking plate is fixed. A T-shaped round rod is connected, and a circular sleeve is slidably connected to the outer side of the T-shaped round rod. The T-shaped round rod and the circular sleeve are slidably engaged between the docking plate and the concave connecting plate to stabilize and limit the vertical movement of the concave connecting plate, preventing the soil at the roots of the seedlings from scattering when the electric push rod drives the concave connecting plate to move up and down. An electric slide rail is slidably connected to the top of the docking plate, and an internally threaded sleeve is fixedly connected to the middle of the top of the electric slide rail. A square sleeve is fixedly connected to the top of the electric slide rail near the end.

[0020] The internal threaded sleeve is fitted onto the threaded rod and threadedly connected to the threaded rod; the square sleeve is fitted onto the limiting rod and slidably connected to the limiting rod; the top of the internal threaded sleeve is fixedly connected to the bottom of the control panel; and the top of the square sleeve is fixedly connected to the bottom of the control panel.

[0021] The arc-shaped baffle passes through the internal threaded sleeve block on the side away from the concave connecting plate and is slidably connected to the internal threaded sleeve block. The bottom of the circular sleeve is fixedly connected to the top of the concave connecting plate.

[0022] Furthermore, a soil-turning device is provided to loosen the soil to which the seedlings are to be inserted. An arc-shaped connecting rod is provided on the outside of the flexible seedling clamping device, and the end of the arc-shaped connecting rod away from the limiting rod is fixedly connected to the outside of the soil-turning device.

[0023] The soil-turning device includes a first circular plate, a drive motor fixedly connected to one side of the first circular plate, and a drive shaft of the drive motor passing through a second circular plate and fixedly connected to a hollow circular shell. A conical spike is fixedly connected to the outer side of the hollow circular shell. As the hollow circular shell rotates, the conical spike continuously pierces the soil and loosens it, preventing the soil where seedlings will be planted from becoming too compacted, which would hinder transplanting and affect the subsequent growth of the seedlings. An oblique spike is fixedly connected to the outer side of the conical spike, and the conical spike... When the hollow cylindrical shell pierces the soil, it causes the outer inclined spikes to crush and overturn the surrounding soil. This prevents the limited overturning area of ​​the conical spikes from leaving some soil un-loosened, which could affect subsequent transplanting. An arc-shaped guide plate is fixedly connected to the outer side of the hollow cylindrical shell. By placing the arc-shaped guide plate at the location of the exhaust hole on the outer side of the hollow cylindrical shell, the ejected gas is guided to the surface of the conical spikes for dust removal, preventing excessive mud and dust from accumulating on the surface of the conical spikes after prolonged use. The hollow shell, no longer sharp enough to hinder soil turning, is rotatably connected to a second circular plate via a bearing on the side away from the first circular plate. An auxiliary mechanism is fixedly connected to the side of the second circular plate away from the hollow shell. A high-pressure air pump is fixedly connected to the inner side of the auxiliary mechanism. An electric heating plate is fixedly connected to the inner wall of the hollow shell. An exhaust hole is provided on the outer side of the hollow shell. Gas is heated by the electric heating plate and discharged through the exhaust hole to dry the soil outside the hollow shell, preventing the soil where seedlings will be inserted from being too moist and sticky. This causes damp clay to adhere to various parts, affecting the use of the equipment. The outer side of the first circular plate is fixedly connected to one end of the arc-shaped connecting rod, and the outer side of the second circular plate is fixedly connected to one end of the arc-shaped connecting rod. Multiple conical spikes are provided, and the multiple conical spikes are distributed on the outer side of the hollow circular shell. Multiple arc-shaped guide plates are provided, and the multiple arc-shaped guide plates are distributed on the outer side of the hollow circular shell. One side of the auxiliary mechanism is fixedly connected to one side of the first circular plate, and the air outlet of the high-pressure air pump is connected to the side of the hollow circular shell near the second circular plate.

[0024] Furthermore, the auxiliary mechanism includes a circular sleeve and a side connecting rod. The circular sleeve, located on one side of the first circular plate, encloses the drive motor for dust protection, preventing damage from prolonged exposure to dust and splashed mud near the soil-turned area. One end of the side connecting rod is fixedly connected to an annular electric slide rail. An internal slider is rotatably connected to the inner side of the annular electric slide rail. An arc-shaped stop is fixedly connected to one side of the internal slider. This arc-shaped stop covers and protects the guide rail area of ​​the annular electric slide rail, preventing dust and mud from accumulating around the rail and affecting the rotation of the internal slider. A strip scraper is fixedly connected to one side of the internal slider. The strip scraper rotates continuously... The surface of the dust filter disc is scraped clean to prevent it from being covered by ash and clogging the filter holes due to prolonged suction, which would affect ventilation. A dust filter disc is installed on one side of the strip scraper. By installing the dust filter disc at the air inlet of the high-pressure air pump, the air entering the hollow shell is filtered for dust, preventing excessive ash from accumulating inside the hollow shell and becoming difficult to handle. One side of the circular sleeve plate is fixedly connected to one side of the first disc. The end of the side connecting rod away from the annular electric slide rail is fixedly connected to one side of the second disc. The side of the dust filter disc away from the strip scraper is fixedly connected to one side of the high-pressure air pump. Two built-in sliders are provided, and the two built-in sliders are distributed inside the annular electric slide rail.

[0025] This invention provides an intelligent seedling transplanting machine. It has the following beneficial effects:

[0026] 1. This intelligent seedling transplanter uses a flexible conical sponge on one side of the conical clamp to press against the seedlings, preventing excessive clamping force that could damage the seedlings when gripping different seedlings. As the hollow shell rotates, the conical spikes continuously penetrate the soil and loosen it, preventing the soil from being too compact and hindering the transplanting process, which would negatively impact the seedlings' subsequent growth. A circular sleeve on one side of the first circular plate protects the drive motor from dust and debris, preventing damage caused by prolonged exposure to dust and splashes of mud near the soil-turning area.

[0027] 2. This intelligent seedling transplanter is equipped with a flexible seedling clamping device. A flexible conical sponge is placed on one side of the conical clamping plate to press against the seedling, preventing excessive clamping force that could damage the seedling when clamping different types of seedlings. A T-shaped rod and a circular sleeve slide between the connecting plate and the concave connecting plate to stabilize and limit the vertical movement of the concave connecting plate, preventing soil from scattering from the seedling roots when the electric push rod drives the concave connecting plate up and down. An arc-shaped baffle with a threaded sleeve is installed inside the concave connecting plate to cover the bottom of the threaded short rod for dust protection, preventing excessive dirt and dust from adhering to the threaded surface and affecting the threaded fit when the threaded short rod is close to the soil surface during transplanting. The threaded short rod can be removed from the threaded short rod and the clamp replaced by threaded engagement with the inner threaded sleeve, preventing existing seedling transplanters from having difficulty changing clamps to suit different types of seedlings, resulting in poor seedling removal and transplanting results.

[0028] 3. This intelligent seedling transplanter is equipped with a soil-turning device. As the hollow shell rotates, the conical spikes continuously pierce the soil and loosen it, preventing the soil from becoming too compacted and hindering the transplanting process, which would negatively impact the seedlings' subsequent growth. As the conical spikes penetrate the soil, they also drive the outer, angled spikes to crush and turn over the surrounding soil, preventing areas from remaining loose and affecting the transplanting results. Gas is heated by an electric heating plate and discharged through an exhaust hole to dry the soil outside the hollow shell, preventing damp, sticky soil from adhering to parts and affecting the machine's operation. An arc-shaped guide plate at the exhaust hole on the outside of the hollow shell directs the gas to the surface of the conical spikes for dust removal, preventing excessive grime from accumulating on the spikes after prolonged use and dulling their sharpness.

[0029] 4. This intelligent seedling transplanter is equipped with auxiliary mechanisms. A circular sleeve is installed on one side of the first circular plate to enclose the drive motor for dust protection, preventing damage caused by dust and splashing mud and ash when the drive motor is near the soil turning area for a long time. A dust filter circular plate is installed at the air inlet of the high-pressure air pump to filter dust from the air entering the hollow circular shell, preventing excessive mud and ash from accumulating inside the hollow circular shell and becoming difficult to handle. The rotating strip scraper constantly scrapes and cleans the surface of the dust filter circular plate, preventing the surface of the dust filter circular plate from gradually being covered by mud and ash due to long-term suction, which would block the dust filter holes and affect the ventilation effect. An arc-shaped stop is installed on one side of the built-in slider to cover and protect the guide rail area of ​​the annular electric slide rail, preventing excessive dust and ash from accumulating in the guide rail area around the annular electric slide rail and affecting the rotation of the built-in slider. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the intelligent seedling transplanting machine of the present invention;

[0031] Figure 2 This is a side view of the intelligent seedling transplanter of the present invention;

[0032] Figure 3 This is a schematic diagram of the control flow of the control panel of the present invention;

[0033] Figure 4 This is a schematic diagram of the bottom structure of the flexible seedling clamping device of the present invention;

[0034] Figure 5 This is a schematic diagram of the bottom two structures of the flexible seedling clamping device of the present invention;

[0035] Figure 6 This is a schematic diagram of the soil-turning device of the present invention;

[0036] Figure 7 This is a schematic diagram of the internal structure of the soil-turning device of the present invention;

[0037] Figure 8 This is a schematic diagram of the auxiliary mechanism structure of the present invention;

[0038] Figure 9 This is a side sectional view of the auxiliary mechanism of the present invention.

[0039] In the diagram: 1. Limiting rod; 2. Side plate; 3. Threaded rod; 4. Servo motor; 5. Flexible seedling clamping device; 6. Soil turning device; 7. Arc-shaped connecting rod; 8. Infrared rangefinder; 9. Intelligent vision camera; 10. Seedling rack; 11. Top connecting rod; 12. Side connecting plate; 13. Electric roller; 14. Control panel; 501. Concave connecting plate; 502. Small motor; 503. Threaded short rod; 504. Internal threaded sleeve block; 505. Conical sponge; 506. Conical clamping plate; 507. Threaded torsion block; 508. Arc-shaped baffle; 509. Electric push rod; 510. Connecting plate; 511. T-shaped circle 512. Rod; 513. Circular sleeve; 514. Electric slide rail; 515. Internal threaded sleeve plate; 516. Square sleeve plate; 607. First circular plate; 608. Drive motor; 609. Hollow circular shell; 6000. Conical spike; 601. Slanted spike; 602. Arc-shaped guide plate; 603. Second circular plate; 604. Auxiliary mechanism; 605. High-pressure air pump; 616. Heating plate; 617. Exhaust hole; 6081. Circular sleeve plate; 6082. Side connecting rod; 6083. Annular electric slide rail; 6084. Built-in slider; 6085. Arc-shaped stop; 6086. Strip scraper; 6087. Dust filter circular plate. Detailed Implementation

[0040] 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.

[0041] Please see Figures 1-5 This invention provides an intelligent seedling transplanting machine, comprising:

[0042] Limiting rod 1, with side plates 2 at both ends of limiting rod 1;

[0043] A threaded rod 3, with a servo motor 4 installed at one end of the threaded rod 3;

[0044] Flexible seedling clamping device 5, which is used for flexible clamping and transplanting of seedlings;

[0045] An infrared rangefinder 8 is installed on one side of the flexible seedling clamping device 5 and fixedly connected to one side of the flexible seedling clamping device 5. The infrared rangefinder 8 is used to detect the distance between the bottom of the flexible seedling clamping device 5 and the soil surface.

[0046] The intelligent vision camera 9 is set on the side of the flexible seedling clamping device 5 away from the infrared rangefinder 8 and is fixedly connected to one side of the flexible seedling clamping device 5. The intelligent vision camera 9 is used to detect the growth status and position of the seedlings.

[0047] Control panel 14 is located on top of flexible seedling clamping device 5 and is fixedly connected to the top of flexible seedling clamping device 5. Control panel 14 is used to control the seedling clamping operation of flexible seedling clamping device 5. The input terminal of control panel 14 is electrically connected to infrared rangefinder 8.

[0048] One end of the limiting rod 1 is fixedly connected to one side of the side plate 2, one end of the threaded rod 3 is rotatably connected to one side of the side plate 2 through a rotating bolt, one end of the threaded rod 3 is fixedly connected to the drive shaft of the servo motor 4, the output end of the servo motor 4 is fixedly connected to one side of the side plate 2, the flexible seedling clamping device 5 is sleeved on the threaded rod 3 and threadedly connected to the threaded rod 3, the flexible seedling clamping device 5 is sleeved on the limiting rod 1 and slidably connected to the limiting rod 1, and the top of the arc-shaped connecting rod 7 is fixedly connected to the outside of the limiting rod 1.

[0049] The flexible seedling clamping device 5 includes:

[0050] A concave connecting plate 501, on one side of which is a small motor 502;

[0051] A threaded short rod 503, with an internally threaded sleeve 504 provided on the outer side of the threaded short rod 503;

[0052] The conical sponge 505, in conjunction with the conical clamp 506, performs the clamping operation on the seedling by making flexible contact with the seedling. The conical clamp 506 is provided on one side of the conical sponge 505.

[0053] One side of the concave connecting plate 501 is fixedly connected to the output end of the small motor 502. The drive shaft of the small motor 502 passes through one side of the concave connecting plate 501 and is fixedly connected to one end of the threaded short rod 503. The internal threaded sleeve 504 is sleeved on the threaded short rod 503 and threadedly connected to the threaded short rod 503. The bottom of the internal threaded sleeve 504 is fixedly connected to the top of the conical clamping plate 506. One side of the conical clamping plate 506 is fixedly connected to one side of the conical sponge 505.

[0054] One side of the concave connecting plate 501 is fixedly connected to one side of the infrared rangefinder 8, and the side of the concave connecting plate 501 away from the infrared rangefinder 8 is fixedly connected to one side of the intelligent vision camera 9.

[0055] A top connecting rod 11 is fixedly connected to the outer side of the limiting rod 1, and a seedling rack 10 is fixedly connected to the bottom of the top connecting rod 11. Side connecting plates 12 are fixedly connected to both sides of the side plate 2, and electric rollers 13 are rotatably connected to the bottom of the side plate 12 through a rotating bolt.

[0056] A threaded torsion block 507 is threaded through and threaded to the side of the concave connecting plate 501 away from the small motor 502. An arc-shaped baffle 508 is fixedly connected to the inner side of the concave connecting plate 501. An electric push rod 509 is fixedly connected to the top of the concave connecting plate 501. A docking plate 510 is fixedly connected to the top of the electric push rod 509. A T-shaped round rod 511 is fixedly connected to the bottom of the docking plate 510. A circular sleeve 512 is sleeved and slidably connected to the outer side of the T-shaped round rod 511. An electric slide rail 513 is slidably connected to the top of the docking plate 510. An internally threaded sleeve plate 514 is fixedly connected to the middle of the top of the electric slide rail 513. A square sleeve plate 515 is fixedly connected to the top of the electric slide rail 513 near the end.

[0057] The internal threaded sleeve 514 is sleeved on the threaded long rod 3 and threadedly connected to the threaded long rod 3. The square sleeve 515 is sleeved on the limiting long rod 1 and slidably connected to the limiting long rod 1. The top of the internal threaded sleeve 514 is fixedly connected to the bottom of the control panel 14. The top of the square sleeve 515 is fixedly connected to the bottom of the control panel 14.

[0058] The side of the arc-shaped baffle 508 away from the concave connecting plate 501 passes through the internal threaded sleeve 504 and is slidably connected to the internal threaded sleeve 504. The bottom of the circular sleeve 512 is fixedly connected to the top of the concave connecting plate 501.

[0059] The control panel 14 includes a signal receiving module, a signal processing module, a storage module, and a control module. The output terminal of the signal receiving module is electrically connected to the input terminal of the signal processing module, and the output terminal of the signal processing module is electrically connected to the input terminal of the control module. The storage module is electrically connected to the control module. The signal receiving module is used to receive electrical signals transmitted from the infrared rangefinder 8 and the intelligent vision camera 9 to the control panel 14. The signal processing module is used to convert and process the electrical signals received by the signal receiving module. The control module is used to compare the signals inside the signal processing module with the signals inside the storage module and control the seedling clamping operation of the flexible seedling clamping device 5. The storage module is used to store multiple sets of distance threshold information and provide them to the control module for comparison. The control module can control the signals inside the signal processing module to be compared with any set of distance threshold information.

[0060] In use, the control panel 14 controls the flexible seedling clamping device 5 to move the clamped seedling downwards. As the seedling moves downwards, the infrared rangefinder 8 moves downwards along with it and constantly detects the distance to the soil surface. The detected distance value is transmitted to the signal receiving module in the control panel 14. The signal receiving module transmits the received value information to the signal processing module for conversion and processing. Then, the control module controls the processed signal to be compared with the distance threshold information set in the storage module. When the processed signal matches the distance threshold information set in the storage module, the control module controls the flexible seedling clamping device 5 to stop moving downwards.

[0061] At this time, the intelligent vision camera 9 monitors and detects the location of the seedling transplant. The area value detected by the intelligent vision camera 9 is transmitted to the signal receiving module in the control panel 14. The signal receiving module transmits the received numerical information to the signal processing module for conversion and processing. Then, the control module controls the processed signal to be compared with the area threshold information set in the storage module. When the processed signal matches the area threshold information set in the storage module, the control module controls the flexible seedling clamping device 5 to move upward back.

[0062] The seedling transplanter is moved by the electric roller 13. During movement, the soil around the seedling to be planted is loosened by the soil-turning device 6. Simultaneously, the servo motor 4 rotates the threaded rod 3. This rotation moves the flexible seedling clamping device 5, which is threaded to it and limited by the limiting rod 1, above the seedling rack 10 to pick up the seedling. After picking, the servo motor 4 flips the flexible seedling clamping device 5 back to the soil above the seedling to be planted for insertion. The threaded rod 3 rotates and engages with the inner threaded sleeve 514, and is connected to the limiting rod 1 by the square sleeve 515. The limit switch moves the electric slide rail 513 to the top of the seedling rack 10. At this time, the electric push rod 509 pushes the concave connecting plate 501 downward, causing the inner conical clamping plate 506 to move downward and insert into the seedling rack 10. At the same time, the small motor 502 is started to drive the threaded short rod 503 to rotate. Through the threaded engagement with the inner threaded sleeve 504, the inner threaded sleeve 504 and the conical clamping plate 506 move towards each other to remove the seedlings on the seedling rack 10. A flexible conical sponge 505 is set on one side of the conical clamping plate 506 to squeeze and contact the seedlings. After the seedlings are removed, the electric push rod 509 drives the concave connecting plate 501 to move upward back, and the seedlings are removed by connecting the plate 51. A T-shaped round rod 511 and a circular sleeve 512 are slidably engaged between the concave connecting plate 501 and the concave connecting plate 501 to stabilize and limit the vertical movement of the concave connecting plate 501. Simultaneously, the servo motor 4 drives the threaded rod 3 to reverse, causing the electric slide rail 513 to move back and move the seedlings held by the conical sponge 505 inside the concave connecting plate 501 to the desired insertion position. The electric slide rail 513 drives the connecting plate 510 to adjust the spacing between each seedling. Then, the electric push rod 509 pushes the concave connecting plate 501 downwards, causing the seedlings held by the conical clamp 506 to insert into the soil. At the same time, the small motor 502 drives the threaded rod 3 to reverse. The reverse rotation of the threaded short rod 503 causes the conical clamp 506 to move relative to the seedling and no longer clamp it. When the conical clamp 506 moves relative to the seedling, the soil on both sides is backfilled from the sloping sides of the conical clamp 506 to bury the seedling roots. The bottom of the threaded short rod 503 is covered and dustproofed by setting an arc-shaped baffle 508 through the internal threaded sleeve 504 on the inner side of the concave connecting plate 501. When different types of seedlings need to be taken out for transplanting, the threaded torsion block 507 is rotated to gradually move away from the threaded short rod 503. At this time, the threaded short rod 503 can be removed from the threaded short rod 503 and the clamp replaced by the threaded engagement between the threaded short rod 503 and the internal threaded sleeve 504.

[0063] Please see Figures 1-9 The present invention provides an intelligent seedling transplanter: a soil turning device 6, which is used to turn the soil to which the seedlings are to be inserted until it is loose. An arc-shaped connecting rod 7 is provided on the outside of the flexible seedling clamping device 5, and the end of the arc-shaped connecting rod 7 away from the limiting long rod 1 is fixedly connected to the outside of the soil turning device 6.

[0064] The soil-turning device 6 includes a first circular plate 601. A drive motor 602 is fixedly connected to one side of the first circular plate 601. The drive shaft of the drive motor 602 passes through a second circular plate 607 and is fixedly connected to a hollow circular shell 603. A conical spike 604 is fixedly connected to the outer side of the hollow circular shell 603. An inclined spike 605 is fixedly connected to the outer side of the conical spike 604. An arc-shaped guide plate 606 is fixedly connected to the outer side of the hollow circular shell 603. The side of the hollow circular shell 603 away from the first circular plate 601 is rotatably connected to the second circular plate 607 via a bearing. An auxiliary mechanism 608 is fixedly connected to the side of the second circular plate 607 away from the hollow circular shell 603. A high-pressure air pump is fixedly connected to the inner side of the auxiliary mechanism 608. 609. An electric heating plate 610 is fixedly connected to the inner wall of the hollow round shell 603. An exhaust hole 611 is opened on the outer side of the hollow round shell 603. The outer side of the first round plate 601 is fixedly connected to one end of the arc-shaped connecting rod 7. The outer side of the second round plate 607 is fixedly connected to one end of the arc-shaped connecting rod 7. Multiple conical spikes 604 are provided and distributed on the outer side of the hollow round shell 603. Multiple arc-shaped guide plates 606 are provided and distributed on the outer side of the hollow round shell 603. One side of the auxiliary mechanism 608 is fixedly connected to one side of the first round plate 601. The air outlet of the high-pressure air pump 609 is connected to the side of the hollow round shell 603 near the second round plate 607.

[0065] The auxiliary mechanism 608 includes a circular sleeve plate 6081 and a side connecting rod 6082. One end of the side connecting rod 6082 is fixedly connected to an annular electric slide rail 6083. An internal slider 6084 is rotatably connected to the inner side of the annular electric slide rail 6083. An arc-shaped stop block 6085 is fixedly connected to one side of the internal slider 6084. A strip scraper 6086 is fixedly connected to one side of the strip scraper 6086. A dust filter circular plate 6087 is provided on one side of the strip scraper 6086. One side of the circular sleeve plate 6081 is fixedly connected to one side of the first circular plate 601. The end of the side connecting rod 6082 away from the annular electric slide rail 6083 is fixedly connected to one side of the second circular plate 607. The side of the dust filter circular plate 6087 away from the strip scraper 6086 is connected to a high-voltage... One side of the air pump 609 is fixedly connected, and two built-in sliders 6084 are provided, which are distributed inside the annular electric slide rail 6083. In use, before the flexible seedling clamping device 5 inserts the seedling into the soil for transplanting, the electric roller 13 drives the entire seedling transplanter to move, and at the same time, the arc-shaped connecting rod 7 drives the soil turning device 6 to move together. When the soil turning device 6 moves, the drive motor 602 is started to drive the hollow round shell 603 to rotate. The rotation of the hollow round shell 603 drives the outer conical spike 604 and the arc-shaped guide plate 606 to rotate together. As the hollow round shell 603 rotates, the conical spike 604 continuously pierces into the soil and turns the soil to a loose state. When the hollow shell 603 penetrates the soil, it causes the outer inclined spikes 605 to crush and overturn the surrounding soil. Simultaneously, a high-pressure air pump 609 injects gas into the hollow shell 603. The gas enters the hollow shell 603, contacts the heating plate 610, and heats up. It then exits through the exhaust hole 611 onto the inner side of the arc-shaped guide plate 606, flowing along its arc-shaped path and diffusing outwards. The gas is heated by the heating plate 610 and discharged through the exhaust hole 611, drying the soil outside the hollow shell 603. The arc-shaped guide plate 606, positioned at the location of the exhaust hole 611 on the outside of the hollow shell 603, guides the ejected gas to the surface of the conical spikes 604. The air is then blown clean. A circular sleeve plate 6081 is provided on one side of the first circular plate 601 to enclose the drive motor 602 for dust protection. A dust filter circular plate 6087 is provided at the air inlet of the high-pressure air pump 609 to filter dust from the air entering the hollow circular shell 603. At the same time, the built-in slider 6084 is driven to rotate by the annular electric slide rail 6083. When the built-in slider 6084 rotates, it drives the arc-shaped stop block 6085 and the strip scraper 6086 to rotate together. When the strip scraper 6086 rotates, it constantly scrapes and cleans the surface of the dust filter circular plate 6087. An arc-shaped stop block 6085 is provided on one side of the built-in slider 6084 to cover and protect the guide rail area of ​​the annular electric slide rail 6083.

[0066] When the present invention is in operation, the control panel 14 controls the flexible seedling clamping device 5 to move the clamped seedling downwards. As the seedling moves downwards, the infrared rangefinder 8 moves downwards along with it and constantly detects the distance to the soil surface. The detected distance value is transmitted to the signal receiving module in the control panel 14. The signal receiving module transmits the received value information to the signal processing module for conversion and processing. Then, the control module controls the processed signal to be compared with the distance threshold information set in the storage module. When the processed signal matches the distance threshold information set in the storage module, the control module controls the flexible seedling clamping device 5 to stop moving downwards.

[0067] At this time, the intelligent vision camera 9 monitors and detects the location of the seedling transplant. The area value detected by the intelligent vision camera 9 is transmitted to the signal receiving module in the control panel 14. The signal receiving module transmits the received numerical information to the signal processing module for conversion and processing. Then, the control module controls the processed signal to be compared with the area threshold information set in the storage module. When the processed signal matches the area threshold information set in the storage module, the control module controls the flexible seedling clamping device 5 to move upward back.

[0068] The seedling transplanter is moved by the electric roller 13. During movement, the soil around the seedling to be transplanted is loosened by the soil-turning device 6. Simultaneously, the servo motor 4 drives the threaded rod 3 to rotate. The rotation of the threaded rod 3 moves the flexible seedling clamping device 5, which is threaded to it and limited by the limiting rod 1, to the top of the seedling rack 10 to remove the seedling. After removal, the servo motor 4 flips the flexible seedling clamping device 5 back to the soil above the seedling to be transplanted. The threaded rod 3 rotates and engages with the inner threaded sleeve 514. Through the square sleeve 515 and the limiting rod 1, the electric slide rail 513 moves to the top of the seedling rack 10. At this point, the electric push rod 50... 9. Pushing the concave connecting plate 501 downwards causes the inner conical clamping plate 506 to move downwards and insert into the seedling rack 10. At the same time, the small motor 502 is started, driving the threaded short rod 503 to rotate. Through the threaded engagement with the inner threaded sleeve 504, the inner threaded sleeve 504 and the conical clamping plate 506 move towards each other to remove the seedlings on the seedling rack 10. A flexible conical sponge 505 is placed on one side of the conical clamping plate 506 to squeeze and contact the seedlings. After the seedlings are removed, the electric push rod 509 drives the concave connecting plate 501 to move upwards. The T-shaped round rod 511 and the circular sleeve 512 are set between the docking plate 510 and the concave connecting plate 501 to slide and limit the upward and downward movement of the concave connecting plate 501. At the same time, the servo motor 4 drives the screw... The reverse rotation of the threaded rod 3 causes the electric slide rail 513 to move back and move the seedlings held by the conical sponge 505 on the inner side of the concave connecting plate 501 to the position where the seedlings need to be inserted. The electric slide rail 513 drives the connecting plate 510 to adjust the spacing between each seedling. At this time, the electric push rod 509 pushes the concave connecting plate 501 downward to insert the seedlings held by the conical clamp 506 into the soil. At the same time, the small motor 502 drives the threaded short rod 503 to reverse, causing the conical clamp 506 to move relative to each other and no longer hold the seedlings. When the conical clamp 506 moves relative to each other, the soil on both sides is backfilled from the sloping sides of the conical clamp 506 to bury the roots of the seedlings. The concave connecting plate 501 is equipped with an arc-shaped internal threaded sleeve 504 that penetrates through it. The baffle 508 provides dust protection to the bottom of the threaded short rod 503. When transplanting different types of seedlings, the threaded torsion block 507 is rotated to gradually move away from the threaded short rod 503. At this time, the threaded short rod 503 can be removed from the threaded short rod 503 by engaging with the inner threaded sleeve block 504 to replace the clamp. Before the flexible seedling clamping device 5 inserts the seedling into the soil for transplanting, the electric roller 13 drives the entire seedling transplanting machine to move, and the arc-shaped connecting rod 7 drives the soil turning device 6 to move together. When the soil turning device 6 moves, the drive motor 602 is started to drive the hollow round shell 603 to rotate. The rotation of the hollow round shell 603 drives the outer conical spike block 604 and the arc-shaped guide plate 606 to rotate together.As the hollow shell 603 rotates, the conical spikes 604 continuously pierce into the soil, turning it over and loosening it. As the conical spikes 604 penetrate the soil, they drive the outer inclined spikes 605 to crush and turn over the surrounding soil. Simultaneously, a high-pressure air pump 609 injects gas into the hollow shell 603. The gas enters the hollow shell 603, contacts the heating plate 610, and heats up. It then exits through the exhaust hole 611 onto the inner side of the arc-shaped guide plate 606, flowing along its arc-shaped path and diffusing outwards. The gas is heated by the heating plate 610 and exits through the exhaust hole 611, drying the soil outside the hollow shell 603. The exhaust hole 611 is located on the outer side of the hollow shell 603. An arc-shaped guide plate 606 directs the ejected gas to the surface of the conical spike block 604 for dust removal. A circular sleeve plate 6081 is provided on one side of the first circular plate 601 to enclose the drive motor 602 for dust protection. A dust filter circular plate 6087 is provided at the air inlet of the high-pressure air pump 609 to filter dust from the gas entering the hollow circular shell 603. Simultaneously, the built-in slider 6084 is driven to rotate by the annular electric slide rail 6083. When the built-in slider 6084 rotates, it drives the arc-shaped stop block 6085 and the strip scraper 6086 to rotate together. The strip scraper 6086 continuously scrapes and cleans the surface of the dust filter circular plate 6087 as it rotates. An arc-shaped stop block 6085 is provided on one side of the built-in slider 6084 to cover and protect the guide rail area of ​​the annular electric slide rail 6083.

[0069] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. An intelligent seedling transplanting machine, characterized in that, include: Limiting rod (1), both ends of the limiting rod (1) are provided with side plates (2); A threaded rod (3), one end of which is equipped with a servo motor (4); Flexible seedling clamping device (5) is used for flexible clamping and transplanting of seedlings; The soil turning device (6) is used to turn the soil into the seedling to be inserted until it is loose. The flexible seedling clamping device (5) is provided with an arc-shaped connecting rod (7) on the outside. An infrared rangefinder (8) is installed on one side of the flexible seedling clamping device (5) and fixedly connected to one side of the flexible seedling clamping device (5). The infrared rangefinder (8) is used to detect the distance between the bottom of the flexible seedling clamping device (5) and the soil surface. The intelligent vision camera (9) is set on the side of the flexible seedling clamping device (5) away from the infrared rangefinder (8) and fixedly connected to one side of the flexible seedling clamping device (5). The intelligent vision camera (9) is used to detect the growth status and position of the seedlings. Control panel (14), which is set on top of the flexible seedling clamping device (5) and fixedly connected to the top of the flexible seedling clamping device (5), the control panel (14) is used to control the seedling clamping operation of the flexible seedling clamping device (5), and the input end of the control panel (14) is electrically connected to the infrared rangefinder (8). The flexible seedling clamping device (5) includes: A concave connecting plate (501) is provided with a small motor (502) on one side of the concave connecting plate (501). A threaded short rod (503) is provided with an internal threaded sleeve (504) on its outer side. A conical sponge (505) is used to clamp seedlings by means of flexible contact with a conical clamp (506). The conical sponge (505) has a conical clamp (506) on one side.

2. The intelligent seedling transplanting machine according to claim 1, characterized in that: The control panel (14) includes a signal receiving module, a signal processing module, a storage module, and a control module. The output of the signal receiving module is electrically connected to the input of the signal processing module, and the output of the signal processing module is electrically connected to the input of the control module. The storage module is electrically connected to the control module. The signal receiving module is used to receive electrical signals transmitted from the infrared rangefinder (8) and the intelligent vision camera (9) to the control panel (14). The signal processing module is used to convert and process the electrical signals received by the signal receiving module. The control module is used to compare the signals inside the signal processing module with the signals inside the storage module and control the seedling clamping operation of the flexible seedling clamping device (5). The storage module is used to store multiple sets of distance threshold information and provide them to the control module for comparison. The control module can control the signals inside the signal processing module to compare with any set of distance threshold information.

3. The intelligent seedling transplanting machine according to claim 1, characterized in that: One end of the limiting rod (1) is fixedly connected to one side of the side plate (2), one end of the threaded rod (3) is rotatably connected to one side of the side plate (2) by a rotating bolt, one end of the threaded rod (3) is fixedly connected to the drive shaft of the servo motor (4), the output end of the servo motor (4) is fixedly connected to one side of the side plate (2), the flexible seedling clamping device (5) is sleeved on the threaded rod (3) and threadedly connected to the threaded rod (3), the flexible seedling clamping device (5) is sleeved on the limiting rod (1) and slidably connected to the limiting rod (1), the top of the arc-shaped connecting rod (7) is fixedly connected to the outside of the limiting rod (1), the end of the arc-shaped connecting rod (7) away from the limiting rod (1) is fixedly connected to the outside of the soil turning device (6), the concave One side of the connecting plate (501) is fixedly connected to the output end of the small motor (502). The drive shaft of the small motor (502) passes through one side of the concave connecting plate (501) and is fixedly connected to one end of the threaded short rod (503). The internal threaded sleeve (504) is sleeved on the threaded short rod (503) and threadedly connected to the threaded short rod (503). The bottom of the internal threaded sleeve (504) is fixedly connected to the top of the conical clamping plate (506). One side of the conical clamping plate (506) is fixedly connected to one side of the conical sponge (505). One side of the concave connecting plate (501) is fixedly connected to one side of the infrared rangefinder (8). The side of the concave connecting plate (501) away from the infrared rangefinder (8) is fixedly connected to the side of the intelligent vision camera (9).

4. The intelligent seedling transplanting machine according to claim 1, characterized in that: The outer side of the limiting rod (1) is fixedly connected to a top connecting rod (11), and the bottom of the top connecting rod (11) is fixedly connected to a seedling rack (10). Both sides of the side plate (2) are fixedly connected to side connecting plates (12), and the bottom of the side connecting plate (12) is rotatably connected to an electric roller (13) via a rotating bolt.

5. The intelligent seedling transplanting machine according to claim 1, characterized in that: A threaded torsion block (507) is threaded through and threaded to the side of the concave connecting plate (501) away from the small motor (502). An arc-shaped baffle (508) is fixedly connected to the inner side of the concave connecting plate (501). An electric push rod (509) is fixedly connected to the top of the concave connecting plate (501). A docking plate (510) is fixedly connected to the top of the electric push rod (509). A T-shaped round rod (511) is fixedly connected to the bottom of the docking plate (510). A circular sleeve (512) is sleeved and slidably connected to the outer side of the T-shaped round rod (511). An electric slide rail (513) is slidably connected to the top of the docking plate (510). An internally threaded sleeve plate (514) is fixedly connected to the middle of the top of the electric slide rail (513). A square sleeve plate (515) is fixedly connected to the top of the electric slide rail (513) near the end.

6. The intelligent seedling transplanting machine according to claim 5, characterized in that: The internal threaded sleeve (514) is sleeved on the threaded rod (3) and threadedly connected to the threaded rod (3). The square sleeve (515) is sleeved on the limiting rod (1) and slidably connected to the limiting rod (1). The top of the internal threaded sleeve (514) is fixedly connected to the bottom of the control panel (14). The top of the square sleeve (515) is fixedly connected to the bottom of the control panel (14). The arc-shaped baffle (508) passes through the internal threaded sleeve block (504) on the side away from the concave connecting plate (501) and is slidably connected to the internal threaded sleeve block (504). The bottom of the circular sleeve (512) is fixedly connected to the top of the concave connecting plate (501).

7. The intelligent seedling transplanting machine according to claim 1, characterized in that: The soil-turning device (6) includes a first circular plate (601), a drive motor (602) is fixedly connected to one side of the first circular plate (601), the drive shaft of the drive motor (602) passes through a second circular plate (607) and is fixedly connected to a hollow circular shell (603), a conical spike (604) is fixedly connected to the outside of the hollow circular shell (603), an inclined spike (605) is fixedly connected to the outside of the conical spike (604), and an arc-shaped guide plate is fixedly connected to the outside of the hollow circular shell (603). (606) A second circular plate (607) is rotatably connected to the side of the hollow circular shell (603) away from the first circular plate (601) via a bearing. An auxiliary mechanism (608) is fixedly connected to the side of the second circular plate (607) away from the hollow circular shell (603). A high-pressure air pump (609) is fixedly connected to the inner side of the auxiliary mechanism (608). An electric heating plate (610) is fixedly connected to the inner wall of the hollow circular shell (603). An exhaust hole (611) is opened on the outer side of the hollow circular shell (603).

8. The intelligent seedling transplanting machine according to claim 7, characterized in that: The outer side of the first circular plate (601) is fixedly connected to one end of the arc-shaped connecting rod (7), the outer side of the second circular plate (607) is fixedly connected to one end of the arc-shaped connecting rod (7), a plurality of conical spikes (604) are provided, and the plurality of conical spikes (604) are distributed on the outer side of the hollow circular shell (603), a plurality of arc-shaped guide plates (606) are provided, and the plurality of arc-shaped guide plates (606) are distributed on the outer side of the hollow circular shell (603), one side of the auxiliary mechanism (608) is fixedly connected to one side of the first circular plate (601), and the air outlet of the high-pressure air pump (609) is connected to the side of the hollow circular shell (603) near the second circular plate (607).

9. The intelligent seedling transplanting machine according to claim 7, characterized in that: The auxiliary mechanism (608) includes a circular sleeve plate (6081) and a side connecting rod (6082). One end of the side connecting rod (6082) is fixedly connected to an annular electric slide rail (6083). An internal slider (6084) is rotatably connected to the inner side of the annular electric slide rail (6083). An arc-shaped stop block (6085) is fixedly connected to one side of the internal slider (6084). A strip scraper (6086) is fixedly connected to one side of the internal slider (6084). A dust filter disc (6087) is provided on one side of the strip scraper (6086).

10. The intelligent seedling transplanting machine according to claim 9, characterized in that: One side of the circular sleeve plate (6081) is fixedly connected to one side of the first circular plate (601), the end of the side connecting rod (6082) away from the annular electric slide rail (6083) is fixedly connected to one side of the second circular plate (607), the side of the dust filter circular plate (6087) away from the strip scraper (6086) is fixedly connected to one side of the high-pressure air pump (609), and two built-in sliders (6084) are provided, and the two built-in sliders (6084) are distributed inside the annular electric slide rail (6083).

Images