Sea grass seed rope laying seeding robot

Abstract

The utility model discloses a sea grass seed rope laying and sowing robot, and relates to the technical field of marine ecological restoration. Comprising a carrying platform, a seed rope laying structure and a hydraulic transmission structure, and the seed rope laying structure and the hydraulic transmission structure are both integrated on the carrying platform; the carrying platform is further integrated with a frame, a bottom-attaching walking mechanism, a power supply and control mechanism, an underwater searchlight, a camera and a sensor. According to the utility model, sea grass seeds are pretreated and then wrapped in the galloon to form a seed rope which is used as a seeding belt loading medium, and laying and paying-off are automatically carried out along with walking of the carrying platform through a special paying-off pipe with a prism-like external shape and a built-in seed rope guide pipe, a hydraulic transmission structure, a spring structure, a sliding plate structure, a counterweight structure and the like in the laying structure; the sea grass seed sowing device and the sea grass seed sowing method have the advantages that the sea grass seed sowing device and the sea grass seed sowing method are simple and reliable, large-scale automatic mechanical operation can be realized, and the accurate sowing depth control is beneficial to greatly improving the emergence rate of sea grass seeds.

Description

Technical Field

[0001] The utility model belongs to the technical field of marine ecological restoration, and more specifically, relates to a seeding device suitable for seaweed bed ecological restoration. Background Art

[0002] The seed method, transplantation method and habitat restoration method are the main methods for seagrass bed restoration. Among them, the biggest bottleneck of the seed method and transplantation method is the lack of automated operation equipment. Most of them rely on manual operation, have many restrictions, low operation efficiency, high operation cost, and low seedling rate, making it impossible to carry out large-scale seagrass bed ecological protection and restoration construction operations.

[0003] In addition, in the seed method, the conventional loading methods for seaweed seed sowing operations at sea include mud balls, mud boxes, net bags or direct manual sowing. The loading methods are affected by the special operating scenarios at sea. Mud balls and mud boxes are easy to become powdery and the loading capacity is limited. Net bag prefabrication is complicated and it is difficult to achieve mechanical operation. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a seaweed seed rope laying sowing robot and a sowing method, using the seed rope as a carrying tool for sowing seaweed seeds, with simple structure, convenient sowing, large carrying capacity and high germination rate.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0006] A seaweed seed rope laying and sowing robot comprises a carrying platform, a seed rope laying structure and a hydraulic transmission structure, wherein the seed rope laying structure and the hydraulic transmission structure are integrated on the carrying platform; the carrying platform is also integrated with a frame, a bottom-attached walking mechanism, a power supply and control mechanism, an underwater searchlight, a camera and a sensor.

[0007] Preferably, the seed rope laying structure includes a seed rope, a seed rope reel, a first pay-off roller, a second pay-off roller, a slide plate, a pay-off tube, and a nailing structure; the seed rope is wound around the seed rope reel in the prefabrication stage, and the seed rope reel is installed on a reel seat fixed on a frame above the front part of the carrying platform; the first pay-off roller is located horizontally in front of the seed rope reel, and the shaft seat of the first pay-off roller is rigidly connected to the reel seat of the seed rope reel through a cantilever structure, the first pay-off roller has a built-in drive motor, and the surface is designed with a rough surface to increase the friction on the seed rope and achieve active pay-off; the second pay-off roller is located at the rear and lower part of the first pay-off roller, The angle between the center line of the first pay-off roller and the second pay-off roller and the center line of the rollers of the seed rope reel and the first pay-off roller is an acute angle greater than or equal to 45°, and the shaft seat of the second pay-off roller is fixed on the slide plate; a hole is opened on the main body of the slide plate and directly below the second pay-off roller, and the seed rope passes through the hole; a pay-off tube is welded on the bottom surface of the slide plate at the hole position; the nailing structure is fixed on the frame structure of the aforementioned carrying platform, and the center line of the nail in the pay-off direction is parallel to the horizontal center line of the seed rope conduit built into the pay-off tube on the same vertical plane; the slide plate is connected to the front frame of the carrying platform through a hydraulic transmission structure.

[0008] Preferably, the outer structure of the pay-off tube is similar to a diamond column in the pay-off direction, and the cross-section perpendicular to the pay-off direction is designed to be a diamond-like structure. The two side surfaces below the diamond column have a smaller angle to form two blade-like cut surfaces, and the two side surfaces above the diamond column are not closed to form a narrow plane. The upper edge lines of the two side surfaces are welded to the bottom surface of the skateboard before and after the opening of the skateboard. A seed rope conduit is built in the middle of the narrow plane formed above the diamond column and at a position tangent to the two diamond side surfaces. The seed rope conduit starts from the plane formed between the side surfaces above the diamond column and ends at the diamond section at the tail, and contains an elbow greater than 90 degrees to guide the seed rope sent from obliquely above in a horizontal direction. The inner diameter of the seed rope conduit is about 16-18mm, and the height difference between the horizontal center line of the seed rope conduit and the bottom surface of the skateboard is designed to be the sowing depth of seaweed seeds, i.e. 1-3cm.

[0009] Preferably, the seed rope laying structure also includes an obstacle avoidance structure and a counterweight structure; the obstacle avoidance structure is welded to the front end of the skateboard and is used to push away debris in the forward direction of the robot during its walking process; the counterweight structure is fixedly connected to the upper surface of the skateboard, with the purpose of achieving the bottom pressure of the skateboard under different seabed conditions.

[0010] Preferably, the obstacle avoidance structure is in the shape of an upwardly-curved, outwardly-protruding ridge, and the counterweight structure can achieve counterweighting by filling and draining water from a water tank, or by adding and removing standard metal counterweights, or by inflating and deflating airbags.

[0011] Preferably, the hydraulic transmission structure includes a hydraulic rod, a spring, a first connecting rod, a second connecting rod, and a third connecting rod; the hydraulic rod is driven by hydraulic pressure, and the upper end is fixed on the horizontal frame in front of the upper part of the aforementioned carrying platform, the lower end is rigidly connected to the upper end of the spring, and the lower end of the spring is rigidly connected to the middle position of the first connecting rod; the first connecting rod is horizontally welded to the upper surface of the aforementioned slide, and its middle position is rigidly connected to the lower end of the spring, and two second connecting rods and two third connecting rods are symmetrically designed at both ends; one end of the two second connecting rods is hinged to the end point of the first connecting rod, and the other end is respectively fixedly connected to the vertical frame in front of the aforementioned carrying platform; one end of the two third connecting rods is also hinged to the end point of the first connecting rod, and the other end is respectively clamped in the vertical groove on the vertical frame in front of the aforementioned carrying platform, and can slide up and down in the vertical groove; the angle between the center line of the hydraulic rod and the spring and the horizontal plane of the slide board is 45°-60°.

[0012] The method for laying seaweed seed ropes and sowing using a seaweed seed rope laying and sowing robot comprises the following steps:

[0013] The first step is to prepare seaweed seed ropes: wrap the moist seaweed seeds with organic mud to form small mud balls with a short diameter of 3mm and a long diameter of 5mm, prepare yarn tapes and fine cotton threads with a width of 16-18mm, use a seed rope prefabrication machine to wrap the prefabricated small mud balls in the yarn tape to form a seaweed seed rope with a diameter of 6-8mm, and wind the seaweed seed rope on a reel to form a seed rope reel. The prepared seaweed seed rope reel is soaked in seawater for standby use;

[0014] The second step is preparation before sowing: first, install the seaweed seed rope reel on the reel seat in front of the upper part of the aforementioned carrying platform, manually pull the head of the seaweed seed rope, pass the seed rope around the first pay-off roller shaft and the second pay-off roller shaft, and pass through the opening on the slide plate. After that, the seed rope is brought into the seed rope conduit built into the pay-off tube by a special tool, the seed rope hook, and then continue to pull the seaweed seed rope, so that the seed rope passes directly below the nailing structure 12 and reserves a length of not less than 300mm. The head of the seed rope is bonded to the bottom frame of the carrying platform 1 by glutinous rice glue; then, according to the geological conditions of the operation area on that day, such as silt seabed, silt and sand mixed seabed or sandy seabed, etc., adjust the counterweight of the counterweight structure 11 so that the slide plate 8 has a suitable bottom pressure during the operation;

[0015] The third step is the offshore seeding operation: after the carrying platform 1 arrives at the operating sea area, the hydraulic rod 13 is driven to lower the slide plate 8, and the hydraulic rod 13 is continued to be driven, so that the diamond-shaped wire-releasing tube 9 under the slide plate 8 cuts into the seabed bottom; at the same time, the nailing structure 12 is driven to insert the nail into the seabed, and one end of the seaweed seed rope is immersed in the seabed; then, the hydraulic rod 13 is slightly retracted, so that the hydraulic rod 13 provides a compression driving force for the slide plate 8 while providing a part of the spring to float up and down. The slide plate 8 is also closely attached to the surface of the seabed under the joint action of the counterweight block and the hydraulic driving force; then the walking mechanism of the carrying platform 1 is driven to start laying and sowing, and at the same time, the first wire-releasing roller 6 is driven to start actively releasing the seed rope. As the carrying platform 1 moves forward, the slide plate 8 also moves forward closely to the surface of the seabed under the action of the hydraulic transmission mechanism 3, and is welded under the slide plate 8 and cuts in. The pay-off tube 9 in the seabed also moves forward. The seed rope in the pay-off tube 9 has its head fixed in the seabed, and the first pay-off roller 6 continuously feeds the seed rope, so the seed rope is also laid in the seabed as the pay-off tube 9 moves. Due to the external rhombus-shaped cross-section design of the pay-off tube 9 and the filling and compacting effect of the slide plate 8, the seed rope is also laid, buried and compacted in the seabed in the area where the slide plate 8 passes, and the laying depth is exactly the height difference of 1-3cm between the horizontal center line of the pay-off tube 9 and the bottom surface of the slide plate 8; when the seabed surface has a high or low slope, the slide plate 8 rises or falls accordingly against the seabed surface, and the rise and fall amplitude is buffered and absorbed by the spring 14. Because the height difference between the horizontal pay-off center line of the pay-off tube 9 and the slide plate 8 is fixed, the laying depth of the seed rope remains unchanged; when the operation in one area is completed, the seed rope is manually cut off, and the hydraulic rod 13 is retracted to end the laying and sowing operation.

[0016] The beneficial effects of adopting the above technical solution are:

[0017] 1. Using gauze to wrap seagrass seeds to form seagrass seed ropes, which serve as a protective and carrying medium for seagrass seed sowing, is the first innovation in seagrass bed ecological restoration. It has the characteristics of convenient sowing, large carrying capacity, and seagrass seeds are not easy to lose.

[0018] 2. In the utility model, the outer cross-section of the line-laying tube of the offshore operation machinery adopts a rhombus-like structure. The two inclined planes below the rhombus have a small angle to form a sharp edge, which is convenient for cutting into the seabed. The two upper inclined planes shrink but do not close, and the narrow surface formed is easy to bury. The line-laying tube is fixed under the slide plate. Under the action of the slide plate, the seed rope laying process can achieve laying, burying and compacting without the need for additional components such as trenching plows, soil gathering structures and compaction structures.

[0019] 3. The utility model is designed with a slide plate structure, and the bottom pressure of the slide plate is adjusted by a counterweight block, which has strong adaptability to different seabed geology such as silt, mud and sand mixture or sand;

[0020] 4. In the utility model, a spring is designed between the hydraulic rod and the slide, and the pay-off tube is welded to the bottom of the slide. When the seabed surface rises or falls, the slide rises or falls accordingly close to the seabed surface. The rise and fall amplitude is buffered by the spring. Since the height difference between the horizontal pay-off center line of the pay-off tube and the slide is fixed, the laying depth of the seed rope remains unchanged, so that the key factor in the seeding process, namely the seeding depth, can be controlled. This is simple and reliable, and helps to greatly improve the germination rate of seaweed seeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the overall structural diagram of the seeding robot;

[0022] Figure 2 It is a top view structural diagram of the sowing robot;

[0023] Figure 3 yes Figure 2 A-direction view in the figure;

[0024] Figure 4 yes Figure 2 B view in the figure;

[0025] Figure 5 It is a schematic diagram of the structure of the wire-releasing tube;

[0026] In the figure: 1. Carrying platform; 2. Seeding rope laying structure; 3. Hydraulic transmission structure; 4. Seeding rope; 5. Seeding rope reel; 6. First pay-off roller; 7. Second pay-off roller; 8. Slide plate; 9. Pay-off tube; 10. Obstacle avoidance structure; 11. Counterweight structure; 12. Nailing structure; 13. Hydraulic rod; 14. Spring; 15. First connecting rod; 16. Second connecting rod; 17. Third connecting rod. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] like Figure 1-4 As shown, the seaweed seed rope laying robot includes three parts: a carrying platform 1, a seed rope laying structure 2, and a hydraulic transmission structure 3. The seed rope laying structure 2 and the hydraulic transmission structure 3 are integrated on the carrying platform 1. The carrying platform 1 also integrates a frame, a bottom-attached walking mechanism, a power supply and control mechanism, an underwater searchlight, a camera and a sensor (not shown), etc.

[0029] The seed rope laying structure 2 includes a seed rope 4, a seed rope reel 5, a first pay-off roller 6, a second pay-off roller 7, a slide plate 8, a pay-off tube 9, and a nailing structure 12. The seed rope 4 is wound on the seed rope reel 5 in the prefabrication stage, and the seed rope reel 5 is installed on a reel seat on a frame fixed to the front part above the carrying platform 1. The first pay-off roller 6 is located horizontally in front of the seed rope reel 5, and the shaft seat of the first pay-off roller 6 is rigidly connected to the reel seat of the seed rope reel 5 through a cantilever structure. The first pay-off roller 6 has a built-in driving motor, and the surface is designed with a rough surface to increase the friction on the seed rope and achieve active pay-off; the second pay-off roller 7 is located at the rear and lower part of the first pay-off roller 6, and the angle between the center line of the first pay-off roller 6 and the second pay-off roller 7 and the center line of the rollers of the seed rope reel 5 and the first pay-off roller 6 is an acute angle greater than or equal to 45°, and the shaft seat of the second pay-off roller 7 is fixed on the slide plate 8; a hole is opened on the main body of the slide plate 8 and directly below the second pay-off roller 7, and the seed rope passes through this hole; a pay-off tube 9 is welded on the bottom surface of the slide plate 8 at the hole position. The nailing structure 12 is fixed on the frame structure of the aforementioned carrying platform 1, and the center line of the nail in the line-releasing direction is parallel to the horizontal center line of the seed rope conduit built into the line-releasing tube 9 on the same vertical plane; the slide plate 8 is connected to the front frame of the carrying platform 1 through the hydraulic transmission structure 3. When the seabed surface rises or falls, the slide plate 8 rises or falls with the seabed surface, and the rise and fall amplitude is buffered by the spring 14.

[0030] The nailing structure 12 is installed on the carrying platform 1, including a nailing frame, a spring, a nail feeding plate, a bench nail, a nail pressing leg and a nail pressing driving mechanism; the nailing frame is welded on the carrying platform 1, and the nailing frame is an H-shaped cantilever structure. There are grooves in the H-shaped columns and the structures on both sides of the cantilever. One end of the spring is welded to the enclosure on the outside of the cantilever structure of the nailing frame, and the other end is welded to one end face of the nail feeding plate. The other end face of the nail feeding plate is pressed on one side of the bench nail, and a plurality of bench nails are neatly arranged, and both ends are stuck in the slots on the cantilever of the nailing frame. Under the joint action of the spring and the nail feeding plate, the bench nail continuously moves forward along the groove in the cantilever, and slides into the grooves of the columns on both sides of the H-shaped structure of the nailing frame. The pressure nail leg is a structure with two pressure legs, which is located between the columns on both sides of the H-shaped structure and above the horizontal plane where the bench nails are located. Under the action of the driving mechanism, the pressure nail legs exert downward pressure on the bench nails moved downward, so that they are driven into the bottom of the seabed and the seed rope is fixed in the groove opened by the line-releasing tube 9; the pressure nail driving mechanism can be a hydraulic mechanism, or it can be a mechanical mechanism such as a four-link mechanism, gears, etc.

[0031] like Figure 5As shown, the outer structure of the pay-off tube 9 is similar to a diamond column in the pay-off direction, and the cross-section perpendicular to the pay-off direction is designed as a diamond-like structure. The angles between the two side surfaces below the diamond column are small, forming two knife-like cut surfaces, and the two side surfaces above the diamond column are not closed, forming a narrow plane between them for easy burial. The upper edge lines of the two side surfaces are welded to the bottom surface of the slide plate 8 before and after the opening of the slide plate 8. A seed rope conduit is built in the middle position of the narrow plane formed above the diamond column and at a position tangent to the two diamond side surfaces. The seed rope conduit starts from the plane formed between the side surfaces above the diamond column and ends at the diamond section at the tail, and contains an elbow greater than 90 degrees to guide the seed rope sent from the upper side to the horizontal direction. The inner diameter of the seed rope conduit is about 16-18 mm, and the height difference between the horizontal center line of the seed rope conduit and the bottom surface of the slide plate 8 is designed to be the sowing depth of seaweed seeds, i.e. 1-3 cm. Since the height difference between the horizontal center line of the pay-off tube 9 and the slide 8 is fixed, the laying depth of the seed rope remains unchanged, so that the key factor in the sowing process, namely the sowing depth, can be controlled. It is simple and reliable, which helps to greatly improve the emergence rate of seaweed seeds.

[0032] The rope laying structure 2 also includes an obstacle avoidance structure 10 and a counterweight structure 11; the obstacle avoidance structure 10 is in the shape of an upward protruding ridge, welded to the front end of the slide 8, and is used to push away debris in the forward direction of the robot during walking. The counterweight structure 11 can achieve counterweight by filling and draining water from a water tank, or by adding and removing standard metal counterweight blocks, or by filling and draining air in an airbag. The counterweight structure 11 is fixedly connected to the upper surface of the slide 8, with the purpose of achieving the bottom pressure of the slide 8 under different seabed conditions.

[0033] The hydraulic transmission structure 3 includes a hydraulic rod 13, a spring 14, a first connecting rod 15, a second connecting rod 16, and a third connecting rod 17; the hydraulic rod 13 is driven by hydraulic pressure, the upper end of which is fixed on the horizontal frame in front of the upper part of the aforementioned loading platform 1, the lower end is rigidly connected to the upper end of the spring 14, and the lower end of the spring 14 is rigidly connected to the middle position of the first connecting rod 15; the first connecting rod 15 is horizontally welded to the upper surface of the aforementioned slide 8, the middle position of which is rigidly connected to the lower end of the spring 14, and two second connecting rods 16 and two third connecting rods 17 are symmetrically designed at both ends; one end of the two second connecting rods 16 is hinged to the end point of the first connecting rod 15, and the other end is respectively fixedly connected to the vertical frame in front of the aforementioned loading platform 1; one end of the two third connecting rods 17 is also hinged to the end point of the first connecting rod 15, and the other end is respectively clamped in the vertical groove on the vertical frame in front of the aforementioned loading platform 1, and can slide up and down in the vertical groove; the angle between the center line of the hydraulic rod 13 and the spring 14 and the horizontal plane of the slide 8 is 45°-60°.

[0034] The method for laying seaweed seed ropes and sowing using a seaweed seed rope laying and sowing robot comprises the following steps:

[0035] The first step is to prepare seaweed seed ropes: wrap the moist seaweed seeds with organic mud to form small mud balls with a short diameter of 3mm and a long diameter of 5mm, prepare yarn tapes and fine cotton threads with a width of 16-18mm, use a seed rope prefabrication machine to wrap the prefabricated small mud balls in the yarn tape to form a seaweed seed rope with a diameter of 6-8mm, and wind the seaweed seed rope on a reel to form a seed rope reel. The prepared seaweed seed rope reel is soaked in seawater for standby use;

[0036] The second step is preparation before sowing: first, install the seaweed seed rope reel on the reel seat in front of the upper part of the aforementioned carrying platform 1, manually pull the head of the seaweed seed rope, pass the seed rope around the first pay-off roller 6 and the second pay-off roller 7, and pass through the opening on the slide plate 8. After that, the seed rope is brought into the seed rope conduit built into the pay-off tube 9 by a special tool seed rope hook, and then continue to pull the seaweed seed rope, so that the seed rope passes directly below the nailing structure 12 and reserves a length of not less than 300mm. The head of the seed rope is bonded to the bottom frame of the carrying platform 1 by glutinous rice glue; then, according to the geological conditions of the operation area on that day, such as silt seabed, silt and sand mixed seabed or sandy seabed, etc., adjust the counterweight of the counterweight structure 11 so that the slide plate 8 has a suitable bottom pressure during the operation;

[0037] The third step is the offshore seeding operation: after the carrying platform 1 arrives at the operating sea area, the hydraulic rod 13 is driven to lower the slide plate 8, and the hydraulic rod 13 is continued to be driven, so that the diamond-shaped wire-releasing tube 9 under the slide plate 8 cuts into the seabed bottom; at the same time, the nailing structure 12 is driven to insert the nail into the seabed, and one end of the seaweed seed rope is immersed in the seabed; then, the hydraulic rod 13 is slightly retracted, so that the hydraulic rod 13 provides a compression driving force for the slide plate 8 while providing a part of the spring to float up and down. The slide plate 8 is also closely attached to the surface of the seabed under the joint action of the counterweight block and the hydraulic driving force; then the walking mechanism of the carrying platform 1 is driven to start laying and sowing, and at the same time, the first wire-releasing roller 6 is driven to start actively releasing the seed rope. As the carrying platform 1 moves forward, the slide plate 8 also moves forward closely to the surface of the seabed under the action of the hydraulic transmission mechanism 3, and is welded under the slide plate 8 and cuts in. The pay-off tube 9 in the seabed also moves forward. The seed rope in the pay-off tube 9 has its head fixed in the seabed, and the first pay-off roller 6 continuously feeds the seed rope, so the seed rope is also laid in the seabed as the pay-off tube 9 moves. Due to the external rhombus-shaped cross-section design of the pay-off tube 9 and the filling and compacting effect of the slide plate 8, the seed rope is also laid, buried and compacted in the seabed in the area where the slide plate 8 passes, and the laying depth is exactly the height difference of 1-3cm between the horizontal center line of the pay-off tube 9 and the bottom surface of the slide plate 8; when the seabed surface has a high or low slope, the slide plate 8 rises or falls accordingly against the seabed surface, and the rise and fall amplitude is buffered and absorbed by the spring 14. Because the height difference between the horizontal pay-off center line of the pay-off tube 9 and the slide plate 8 is fixed, the laying depth of the seed rope remains unchanged; when the operation in one area is completed, the seed rope is manually cut off, and the hydraulic rod 13 is retracted to end the laying and sowing operation.

[0038] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A seaweed seed rope laying and sowing robot, characterized in that: The invention comprises three parts: a carrying platform (1), a rope laying structure (2), and a hydraulic transmission structure (3). The rope laying structure (2) and the hydraulic transmission structure (3) are both integrated on the carrying platform (1); the carrying platform (1) is also integrated with a frame, a bottom-attached walking mechanism, a power supply and control mechanism, an underwater searchlight, a camera and a sensor; The seed rope laying structure (2) comprises a seed rope (4), a seed rope reel (5), a first pay-off roller (6), a second pay-off roller (7), a slide plate (8), a pay-off tube (9), and a nailing structure (12); the seed rope (4) is wound on the seed rope reel (5) in the prefabrication stage, and the seed rope reel (5) is installed on a reel seat fixed on a frame at the front upper part of the carrying platform (1); the first pay-off roller (6) is located horizontally in front of the seed rope reel (5), and the shaft seat of the first pay-off roller (6) is rigidly connected to the reel seat of the seed rope reel (5) through a cantilever structure; the first pay-off roller (6) has a built-in drive motor, and the surface is designed with a rough surface to increase the friction force on the seed rope and achieve active pay-off; the second pay-off roller (7) is located at the rear and lower part of the first pay-off roller (6). The angle between the center line of the first pay-off roller (6) and the second pay-off roller (7) and the center line of the first pay-off roller (6) is an acute angle greater than or equal to 45°, and the shaft seat of the second pay-off roller (7) is fixed on the slide plate (8); a hole is opened on the body of the slide plate (8) and directly below the second pay-off roller (7), and the seed rope passes through this hole; the bottom surface of the slide plate (8) is welded with a pay-off tube (9) at the hole position; the nailing structure (12) is fixed on the frame structure of the aforementioned carrying platform (1), and the center line of the nail in the pay-off direction is parallel to the horizontal center line of the seed rope conduit built into the pay-off tube (9) on the same vertical plane; the slide plate (8) is connected to the front frame of the carrying platform (1) through a hydraulic transmission structure (3); The outer structure of the wire-releasing tube (9) is similar to a rhombus column in the wire-releasing direction, and the cross-section perpendicular to the wire-releasing direction is designed to be a rhombus-like structure. The two side surfaces below the rhombus column have a small angle, forming two blade-like cut surfaces. The two side surfaces above the rhombus column are not closed, and a narrow plane is formed between them. The upper edges of the two side surfaces are welded to the bottom surface of the slide plate (8) before and after the opening of the slide plate (8). A seed rope conduit is built in the middle position of the narrow plane formed above the rhombus column and at a position tangent to the two rhombus side surfaces. The seed rope conduit starts from the plane formed between the side surfaces above the rhombus column and ends at the rhombus section at the tail. It contains an elbow greater than 90 degrees to guide the seed rope sent from the upper side to the horizontal direction. The inner diameter of the seed rope conduit is 16-18 mm. The height difference between the horizontal center line of the seed rope conduit and the bottom surface of the slide plate (8) is designed to be the sowing depth of seaweed seeds, that is, 1-3 cm.

2. The seaweed seed rope laying and sowing robot according to claim 1, characterized in that: The rope laying structure (2) further comprises an obstacle avoidance structure (10) and a counterweight structure (11); the obstacle avoidance structure (10) is welded to the front end of the slide plate (8); the counterweight structure (11) is fixedly connected to the upper surface of the slide plate (8) to adjust the bottom pressure of the slide plate (8) under different seabed conditions.

3. The seaweed seed rope laying and sowing robot according to claim 2, characterized in that: The obstacle avoidance structure (10) is in the shape of an upwardly curved and outwardly protruding roof ridge, and the counterweight structure (11) realizes counterweighting by filling and draining water from a water tank, or by adding and removing standard metal counterweight blocks, or by filling and draining air from an air bag.

4. The seaweed seed rope laying and sowing robot according to claim 1, characterized in that: The hydraulic transmission structure (3) comprises a hydraulic rod (13), a spring (14), a first connecting rod (15), a second connecting rod (16), and a third connecting rod (17); the hydraulic rod (13) is driven by hydraulic pressure, the upper end of which is fixed to a horizontal frame in front of the upper part of the aforementioned loading platform (1), the lower end of which is rigidly connected to the upper end of the spring (14), and the lower end of the spring (14) is rigidly connected to the middle position of the first connecting rod (15); the first connecting rod (15) is horizontally welded to the upper surface of the aforementioned slide plate (8), the middle position of which is rigidly connected to the lower end of the spring (14), and the two ends are symmetrically designed with Two second connecting rods (16) and two third connecting rods (17); one end of the two second connecting rods (16) is hinged to the end point of the first connecting rod (15), and the other end is fixedly connected to the vertical frame in front of the aforementioned loading platform (1); one end of the two third connecting rods (17) is also hinged to the end point of the first connecting rod (15), and the other end is respectively clamped in the vertical groove on the vertical frame in front of the aforementioned loading platform (1), and slides up and down in the vertical groove; the angle between the center line of the hydraulic rod (13) and the spring (14) and the horizontal plane of the slide plate (8) is 45°-60°.

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