Full-automatic planting machine for sugarcane tissue culture seedlings

Abstract

The utility model discloses a full-automatic planting machine for sugarcane tissue culture seedlings, which is used for planting the sugarcane tissue culture seedlings on a paper chain seedling raising tray into planting ditches and comprises a traveling mechanism, a guide mechanism and a control mechanism, the traveling mechanism is provided with a working platform, the working platform is provided with a placing area and a planting area, and the guide mechanism is arranged on the working platform. The guide mechanism connects the planting area and the planting ditch; the carrying mechanism is arranged on the working platform, and the carrying mechanism can carry the paper chain seedling raising plates; the traction mechanism is arranged on the guide mechanism, the traction mechanism can slide relative to the guide mechanism, and the traction mechanism can pull the paper chain of the paper chain seedling raising plate to be fixed from the planting area to the planting ditch. According to the full-automatic planting machine for the sugarcane tissue culture seedlings, the tissue culture seedlings do not need to be manually placed on a seed sowing device for seed sowing and planting, full-automatic planting of the tissue culture seedlings is achieved, and the full-automatic planting machine belongs to the technical field of sugarcane planting equipment.

Description

Technical Field

[0001] The utility model relates to the technical field of sugarcane planting equipment, in particular to a full-automatic planting machine for sugarcane tissue culture seedlings. Background Art

[0002] Sugarcane tissue culture seedlings refer to sugarcane seedlings that are cultivated through axillary bud, stem tip and callus culture technology without quarantine diseases and have complete roots, stems and leaves for field planting. Sugarcane tissue culture seedlings have the advantages of fast growth, strong tillering ability, high stem formation rate, high yield and low seed usage. They can accelerate the rapid reproduction of sugarcane varieties, solve the problem of large amounts of raw sugarcane consumed due to large seed usage, and make the seed supply not limited by time and temperature. The use of sugarcane tissue culture seedlings is an important guarantee for improving sugarcane yield and quality, and can also extend the perennial life of sugarcane.

[0003] At present, sugarcane tissue culture seedlings are automatically planted by sugarcane planting machines, which include a frame, a seeding device, a rotary tillage device, a row-opening and soil-raising device, a straightening and compacting device and a ground wheel. When using the sugarcane planter, workers are required to first place the sugarcane seedlings on the sugarcane seedling placement rack into the seed guide tube of the seeding device with their roots facing downward and their seedlings facing upward, and fully automated planting of sugarcane tissue culture seedlings cannot be achieved. Utility Model Content

[0004] In view of the above shortcomings, the utility model provides a fully automatic planting machine for sugarcane tissue culture seedlings, which solves the problem that when planting sugarcane tissue culture seedlings, the existing sugarcane planting machines still need workers to put the sugarcane seedlings on the sugarcane seedling placement rack into the seed guide tube of the seed discharging device with the roots facing downward and the seedlings facing upward, and the fully automatic planting of sugarcane tissue culture seedlings cannot be achieved.

[0005] The specific technical solutions are as follows:

[0006] A fully automatic planting machine for sugarcane tissue culture seedlings is used to plant sugarcane tissue culture seedlings on paper chain seedling trays into planting furrows, comprising: a walking mechanism, a working platform is provided on the walking mechanism, the working platform is provided with a placement area and a planting area, the placement area is used to place trays with paper chain seedling trays and empty trays that have been planted, and the planting area is used to place trays with paper chain seedling trays for planting; a guiding mechanism, the guiding mechanism is arranged on the working platform, the guiding mechanism connects the planting area with the planting furrow, and the guiding mechanism is used to limit the movement path of the paper chain of the paper chain seedling tray from the planting area to the planting furrow; a transporting mechanism, the transporting mechanism is arranged on the working platform, the transporting mechanism is used to transport the trays with paper chain seedling trays in the placement area to the planting area, and is used to transport the empty trays that have been planted in the planting area to the placement area; and a pulling mechanism, the pulling mechanism is arranged on the guiding mechanism, the pulling mechanism can slide relative to the guiding mechanism, and the pulling mechanism can pull the paper chain of the paper chain seedling tray from the planting area to the planting furrow for fixing.

[0007] Preferably, the guiding mechanism includes a connecting platform, a gathering section and a guiding section, the connecting platform is connected to the planting area, one end of the gathering section is connected to the connecting platform, the other end of the gathering section is connected to one end of the guiding section, and the other end of the guiding section extends toward the planting ditch.

[0008] Preferably, the transport mechanism includes a bracket, a transverse sliding assembly, a longitudinal sliding assembly, a lifting assembly, a rotating assembly and an end effector. The bracket is fixed on the working platform, the longitudinal sliding assembly is erected on the working platform through the bracket, the transverse sliding assembly is connected to the movable end of the longitudinal sliding assembly, the lifting assembly is connected to the movable end of the transverse sliding assembly, the rotating assembly is connected to the movable end of the lifting assembly, and the end effector is connected to the movable end of the rotating assembly. The end effector is used to cooperate with the tray of the paper chain seedling tray.

[0009] Preferably, the longitudinal sliding assembly includes a longitudinal rotating motor, a first screw rod, a first sliding seat and a first sliding rod. The first screw rod and the first sliding rod are parallel to each other. The first sliding rod is mounted on the working platform through a bracket. The longitudinal rotating motor is fixed on the bracket. The first screw rod is fixedly connected to the output shaft of the longitudinal rotating motor. The first screw rod is rotatably connected to the bracket. The first sliding seat is threadedly connected to the first screw rod. The first sliding seat is slidably connected to the first sliding rod, and the transverse sliding assembly is connected to the first sliding seat.

[0010] Preferably, the transverse sliding assembly includes a transverse rotating motor, a second screw rod, a second sliding seat and a second sliding rod, the second sliding rod is fixed to the first sliding seat, the second sliding rod and the second screw rod are parallel to each other, the second sliding rod and the first sliding rod are perpendicular to each other, the transverse rotating motor is fixed to the first sliding seat, the second screw rod is fixedly connected to the output shaft of the transverse rotating motor, the second screw rod is rotatably connected to the first sliding seat, the second sliding seat is threadedly connected to the screw rod, the second sliding seat is slidably connected to the second sliding rod, and the lifting assembly is connected to the second sliding seat.

[0011] Preferably, the lifting assembly includes a lifting and rotating motor, a driving gear, a lifting rod, a third sliding rod and a lifting platform. The lifting and rotating motor is fixed on the second sliding seat. The lifting rod and the third sliding rod are both slidingly connected to the second sliding seat. The lifting rod is provided with a rack along the length direction. The driving gear is sleeved on the output shaft of the lifting and rotating motor. The driving gear is meshed with the rack. The lifting platform is respectively connected and fixed to the lifting rod and the third sliding rod, the rotating assembly is connected to the lifting platform, the lifting rod and the third sliding rod are parallel to each other, the lifting rod and the first sliding rod are perpendicular to each other, and the lifting rod and the second sliding rod are perpendicular to each other.

[0012] Preferably, the rotating assembly includes a rotating motor and a rotating platform, the rotating motor and the lifting platform are fixedly connected, the rotating platform is fixedly connected to the output shaft of the rotating motor, and the end effector is connected to the rotating platform.

[0013] Preferably, the end effector comprises two clamping jaws, which are symmetrically arranged on the rotating platform. A tray is provided at the bottom of the paper chain seedling tray, and a slot is provided on the tray. The clamping jaws are connected to the slot in a plug-in manner.

[0014] Preferably, the pulling mechanism includes a pulling robot, an electric push rod and a moving assembly, the moving assembly is arranged on the guide mechanism, the moving assembly can slide relative to the guide mechanism, the electric push rod is connected to the moving assembly so as to slide along the guide mechanism with the moving assembly, and the pulling robot is connected to the output shaft of the electric push rod.

[0015] Preferably, the pulling robot is an arc-shaped sleeve structure.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The sugarcane tissue culture seedling fully-automatic planting machine of the utility model can realize the fully-automatic planting of sugarcane tissue culture seedlings, without the need to manually place the tissue culture seedlings on the seeding device for seeding and planting; specifically, the walking mechanism drives the entire fully-automatic planting machine to walk on the planting site, and the working platform is used to stack the trays with paper chain seedling trays and the empty trays that have been planted; the transport mechanism is used to transport the trays with paper chain seedling trays to the planting area on the working platform, and then the pulling mechanism is used to pull the ends of the paper chain seedling trays so that the sugarcane tissue culture seedlings are pulled along the guide mechanism to the planting ditch and inserted into the soil, the walking mechanism starts to move, and the end inserted into the soil pulls the remaining sugarcane tissue culture seedlings located on the working platform and the guide mechanism to the planting ditch, and the planting can be completed by subsequent covering with soil; when all the sugarcane tissue culture seedlings on the paper chain seedling trays are pulled out of the planting area, the transport mechanism transports the trays to the placement area of ​​the working platform, and places another tray with paper chain seedling trays in the planting area, and the above process is repeated to continuously and automatically plant the sugarcane tissue culture seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the embodiment of the utility model, the following will briefly introduce the drawings required for the description of the embodiment. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0019] Figure 1 This is a three-dimensional picture of the fully automatic planting machine for sugarcane tissue culture seedlings.

[0020] Figure 2 This is the rear view of the fully automatic planting machine for sugarcane tissue culture seedlings.

[0021] Figure 3 This is the front view of the fully automatic planting machine for sugarcane tissue culture seedlings.

[0022] Figure 4 It is a three-dimensional diagram of the transport mechanism.

[0023] Figure 5 This is the front view of the transport mechanism.

[0024] Figure 6 Assembly drawing of the guide mechanism and traction mechanism.

[0025] Figure 7 A cross-sectional view of the guide mechanism and the traction mechanism.

[0026] Figure 8 It is the assembly side view of the guide mechanism and traction mechanism.

[0027] Among them, 1 is a walking mechanism, 2 is a working platform, 21 is a placement area, 22 is a planting area, 3 is a guiding mechanism, 31 is a connecting platform, 32 is a gathering section, 33 is a guiding section, 5 is a pulling mechanism, 51 is an electric push rod, 52 is a pulling manipulator, 53 is a moving motor, 6 is a tray, 61 is a slot, 7 is a paper chain seedling tray, 8 is a transport mechanism, 81 is a bracket, 82 is a longitudinal sliding component, 821 is a longitudinal rotating motor, 822 is a first sliding rod, 823 is the first screw rod, 824 is the first sliding seat, 83 is the lateral sliding assembly, 831 is the lateral rotation motor, 832 is the second sliding rod, 833 is the second screw rod, 834 is the second sliding seat, 84 is the lifting assembly, 841 is the lifting and rotating motor, 842 is the lifting rod, 843 is the third sliding rod, 844 is the driving gear, 845 is the lifting platform, 86 is the rotating assembly, 861 is the rotating motor, 862 is the rotating platform, and 87 is the end actuator. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0030] In the description of the present utility model, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0032] like Figure 1-8 As shown, the present embodiment provides a fully automatic planting machine for sugarcane tissue culture seedlings, which is used to plant sugarcane tissue culture seedlings on a paper chain seedling tray 7 into a planting ditch, comprising: a walking mechanism 1, a working platform 2 is provided on the walking mechanism 1, the working platform 2 is provided with a placement area 21 and a planting area 22, the placement area 21 is used to place a tray 6 with a paper chain seedling tray 7 and an empty tray 6 that has been planted, and the planting area 22 is used to place a tray 6 with a paper chain seedling tray 7 for planting; a guiding mechanism 3, the guiding mechanism 3 is arranged on the working platform 2, the guiding mechanism 3 connects the planting area 22 with the planting ditch, and the guiding mechanism 3 is used to limit the movement path of the paper chain of the paper chain seedling tray 7 from the planting area 22 to the planting groove; a transport mechanism 8, the transport mechanism 8 is arranged on the working platform 2, the transport mechanism 8 is used to transport the tray 6 with the paper chain seedling tray 7 in the placement area 21 to the planting area 22, and is used to transport the empty tray 6 that has been planted in the planting area 22 to the placement area 21; and a pulling mechanism 5, the pulling mechanism 5 is arranged on the guide mechanism 3, the pulling mechanism 5 can slide relative to the guide mechanism 3, and the pulling mechanism 5 can pull the paper chain of the paper chain seedling tray 7 from the planting area 22 to the planting groove for fixing.

[0033] Specifically, the paper chain seedling tray 7 is a tool for plant seedling cultivation, which is mainly composed of a chain structure made of paper. This seedling tray has many advantages, including convenient handling and storage, space saving, good air permeability and degradability. In practical applications, the paper chain seedling tray 7 can be mechanized by a transplanter, thereby improving the efficiency of seedling cultivation and transplanting. In the specific use process, the paper chain seedling tray 7 needs to be unfolded into a chain structure first, and then the paper pots are separated by a transplanter to provide seedlings for transplanting operations. This example uses the paper chain seedling tray 7 to cultivate sugarcane tissue culture seedlings. Compared with the traditional sugarcane seedling tray, there is no need to manually split the sugarcane tissue culture seedlings into individual forms. It only needs to be unfolded into a chain structure and directly planted in the planting ditch of the planting site.

[0034] The walking mechanism 1 of this embodiment can be an existing planting machine, the difference is that there is no need for a seeding device, but the seeding device is replaced by the guide mechanism 3 of this embodiment, and then the transport mechanism 8 and the guide mechanism 3 are installed at the corresponding positions on the planter, and the pulling mechanism 5 is installed on the guide mechanism 3 to realize the fully automatic planting of sugarcane tissue culture seedlings, without the need to manually place the sugarcane tissue culture seedlings into the seeding device. Specifically, the walking mechanism includes a frame, which is provided with ground wheels; a furrowing system, which is installed on the front side of the frame and is used to dig planting furrows; a soil covering and film covering system, which is installed on the rear side of the frame and is used to cover the planting furrows with soil and film after sowing; the guide mechanism 3 of this embodiment is arranged between the furrowing system and the soil covering and film covering system, the guide mechanism guides the sugarcane tissue culture seedlings on the paper chain seedling tray into the planting furrow dug by the furrowing system, and the soil covering and film covering system covers the sugarcane tissue culture seedlings in the planting furrow with soil; and the transport mechanism is installed on the frame to transport the paper chain seedling tray to the machine At the connection between the frame and the guide mechanism, the pulling mechanism 5 is installed at the guide mechanism 3 to pull the paper chain structure of the paper chain seedling tray to the planting ditch; of course, the walking mechanism can also be provided with a fertilization and water spraying structure (the furrowing system and the soil covering and film covering system are existing structures and will not be elaborated here, for example, CN115413435A is a furrowing system and soil covering and film covering system in a sugarcane horizontal planter with continuous seed supply and precise planting, and CN116711485A is another example. The rotary tillage device, row opening and soil raising device, and straightening and compacting device in a sugarcane healthy tissue culture seedling planter).

[0035] In addition, the walking mechanism 1 can also be the walking structure of an existing paper tray transplanter, and then be pulled manually, or it can be pulled by other existing walking structures, such as a tractor (for example, the 2CZY-2C sugarcane planter is a fully suspended sugarcane planter with a traction bucket powered by a tractor, which can complete 9 processes at one time, including trenching, fertilizing, cutting, sowing, watering (optional), covering, film laying, soiling, and pressing. The continuous cropping of the 9 processes is beneficial to seedling protection and moisture conservation).

[0036] The guide mechanism 3 can adopt the guide groove structure of the existing paper tray transplanter, that is, the structure of the existing paper tray transplanter without the wheel set and the push rod part.

[0037] The transport mechanism 8 can adopt an existing truss manipulator, and the truss manipulator can be used to transport the paper chain seedling tray 7 to the corresponding position. It only needs to place the paper chain seedling tray 7 on the corresponding pallet 6, and then the clamping claws at the end of the truss manipulator can cooperate with the corresponding pallet 6 for transport. For example, the clamping claws at the end of the truss manipulator can be similar to the two forks at the front end of a forklift, and the pallet 6 can be an existing bracket that cooperates with a forklift for transport.

[0038] The pulling mechanism 5 can also adopt a truss manipulator. Since the existing paper chain seedling tray 7 is manually fixed to the ground at one end during planting, and then the paper tray transplanter is pushed to move, the paper chain seedling tray 7 is pulled by the end fixed to the ground to form a chain structure arranged on the ground. In order to solve the problem of manual fixation, the fully automatic planting machine of this embodiment uses the pulling mechanism 5 to first clamp the end of the paper chain seedling tray 7, and then follows the guide mechanism 3 to the planting ditch, and inserts the end into the soil of the planting ditch, so as to realize automatic planting without manual pulling and fixation. Of course, in some embodiments, the pulling mechanism 5 can also be realized by a manipulator in cooperation with a sliding structure and a lifting structure. The sliding structure can be realized by using an existing gear rack in cooperation with a motor. The lifting structure can be realized by an electric push rod 51 or a screw rod assembly in cooperation with a motor. The manipulator is an existing clamp, which directly clamps the sugarcane tissue culture seedlings around and then inserts the entire clamp into the soil to fix the sugarcane tissue culture seedlings. The manipulator can also be an arc-shaped sleeve structure formed by cutting the cylindrical structure in half, and then half-surrounding the sugarcane tissue culture seedlings at the end of the paper chain seedling tray 7, cooperates with the groove bottom plane of the guide mechanism 3, moves to the end of the guide mechanism 3 and falls into the planting ditch, and then uses the electric push rod 51 to drive the sugarcane tissue culture seedlings to be inserted into the soil and fixed. The remaining sugarcane tissue culture seedlings are pulled to the planting ditch by the sugarcane tissue culture seedling fixed in the soil, thereby completing the planting of a tray of sugarcane tissue culture seedlings in a paper chain seedling tray.

[0039] A positioning frame can be set in the planting area 22. The positioning frame is two mutually perpendicular flat plates, which can position the tray 6 carrying the paper chain seedling tray 7, facilitate the transportation mechanism 8 to transport it to a fixed position, and also facilitate the pulling mechanism 5 to directly pull the sugarcane tissue culture seedlings to the planting ditch.

[0040] Principle: The whole automatic planting machine is driven to walk on the planting site by the walking mechanism 1, and the planting trench is dug on the planting site by the trenching system or rotary tillage device on the walking mechanism. The working platform 2 is used to stack the trays 6 with paper chain seedling trays 7 and the empty trays 6 that have been planted. The trays 6 with paper chain seedling trays 7 are transported to the planting area 22 on the working platform 2 by the transporting mechanism 8, and the ends of the paper chain seedling trays 7 are pulled by the pulling mechanism 5 so that the sugarcane tissue culture seedlings are pulled along the guide mechanism 3 to the planting trench and inserted into the soil. The walking mechanism 1 The chain structure moves, and one end of the chain structure inserted into the soil pulls the rest of the sugarcane tissue culture seedlings on the working platform 2 and the guide mechanism 3 to the planting ditch, and the soil covering system on the walking mechanism is used to cover the planting ditch, and the planting is completed; when all the sugarcane tissue culture seedlings on a paper chain seedling tray 7 are pulled out of the planting area 22, the transport mechanism 8 transports the paper chain seedling tray 7 to the placement area 21 of the working platform 2, and places another tray 6 with the paper chain seedling tray 7 in the planting area 22, and the above process is repeated to continuously and automatically plant sugarcane tissue culture seedlings.

[0041] In some embodiments, the guide mechanism 3 includes a connection platform 31, a collection section 32 and a guide section 33. The connection platform 31 is connected to the planting area 22, one end of the collection section 32 is connected to the connection platform 31, the other end of the collection section 32 is connected to one end of the guide section 33, and the other end of the guide section 33 extends toward the planting ditch. Specifically, the connection platform 31 is a bottom plate plus two vertical plates fixed vertically relative to the bottom plate. The width of the connection point between the connection platform 31 and the planting area 22 is equal to or slightly larger than the width of the paper chain seedling tray 7, and then gradually decreases, that is, the spacing between the two vertical plates fixed vertically relative to the bottom plate gradually decreases. The collection section 32 is consistent with the connection platform 31 in structure, which is a bottom plate plus two vertical plates fixed vertically relative to the bottom plate. The spacing between the two vertical plates of the collection section 32 is also gradually reduced, and the guide section 33 is composed of a bottom plate and two vertical plates relatively parallel to each other. The spacing between the two vertical plates is slightly larger than the outer diameter of the soil block at the bottom of the sugarcane tissue culture seedlings, so that the sugarcane tissue culture seedlings are distributed with the seedlings facing up and the soil facing down and moved to the planting ditch. The principle is that the connecting platform 31 is connected with the planting area 22. When the pulling mechanism 5 pulls the sugarcane tissue culture seedlings to move from the connecting platform 31, the connecting platform 31 is used to limit the movement path of the sugarcane tissue culture seedlings, so that the sugarcane tissue culture seedlings move toward the gathering section 32. The gradually contracting structure of the gathering section 32 is used to gradually straighten the sugarcane tissue culture seedlings, that is, the sugarcane tissue culture seedlings face upward, the soil moves in the gathering section 32, and finally is straightened by the guide section 33 throughout the whole process and guided to move toward the planting ditch.

[0042] In some embodiments, the transport mechanism 8 includes a bracket 81, a transverse sliding assembly 83, a longitudinal sliding assembly 82, a lifting assembly 84, a rotating assembly 86 and an end effector 87. The bracket 81 is fixed on the working platform 2, the longitudinal sliding assembly 82 is erected on the working platform 2 through the bracket 81, the transverse sliding assembly 83 is connected to the movable end of the longitudinal sliding assembly 82, the lifting assembly 84 is connected to the movable end of the transverse sliding assembly 83, the rotating assembly 86 is connected to the movable end of the lifting assembly 84, and the end effector 87 is connected to the movable end of the rotating assembly 86. The end effector 87 is used to cooperate with the tray 6 of the paper chain seedling tray 7. Specifically, the bracket 81 includes four vertical rods distributed in a rectangular shape, and the four vertical rods are fixed on the working platform 2. The two ends of the first slide rod 822 of the longitudinal sliding component 82 are respectively fixed to the two vertical rods. There are two longitudinal sliding components 82. The first slide rods 822 of the two longitudinal sliding components 82 are respectively fixed on the four vertical rods, so that the two first sliding seats 824 are fixed to the two ends of the second slide rod 832 of the transverse sliding component 83; the transverse sliding component 83, the longitudinal sliding component 82, and the lifting component 84 can all be formed by a screw assembly in conjunction with a motor, or by a motor and a belt assembly, or by a motor and a gear rack. The rotating component 86 can be formed by a motor driving a rotating seat. Through the conveying mechanism 8 set up in this way, it is possible to realize movement in four directions: transverse, longitudinal, height, and circumferential, ensuring that the end actuator 87 can be driven to the position of the paper chain seedling tray 7 for conveying.

[0043] In some embodiments, the longitudinal sliding assembly 82 includes a longitudinal rotating motor 821, a first screw rod 823, a first sliding seat 824 and a first sliding rod 822, the first screw rod 823 and the first sliding rod 822 are parallel to each other, the first sliding rod 822 is erected on the working platform 2 through a bracket 81, the longitudinal rotating motor 821 is fixed on the bracket 81, the first screw rod 823 is fixedly connected to the output shaft of the longitudinal rotating motor 821, the first screw rod 823 is rotationally connected to the bracket 81, the first sliding seat 824 is threadedly connected to the first screw rod 823, the first sliding seat 824 is slidingly connected to the first sliding rod 822, and the transverse sliding assembly 83 is connected to the first sliding seat 824. By setting such a longitudinal sliding assembly 82, the structure is simple and easy to assemble. The principle is: the longitudinal rotating motor 821 is used to drive the first screw rod 823 to rotate, and the first sliding seat 824 moves axially along the first screw rod 823, thereby driving the transverse sliding assembly 83 to move in the longitudinal direction.

[0044] In some embodiments, the lateral sliding assembly 83 includes a lateral rotation motor 831, a second screw rod 833, a second sliding seat 834, and a second sliding rod 832. The second sliding rod 832 is fixed to the first sliding seat 824. The second sliding rod 832 and the second screw rod 833 are parallel to each other, and the second sliding rod 832 and the first sliding rod 822 are perpendicular to each other. The lateral rotation motor 831 is fixed to the first sliding seat 824. The second screw rod 833 is fixedly connected to the output shaft of the lateral rotation motor 831. The second screw rod 833 is rotationally connected to the first sliding seat 824. The second sliding seat 834 is threadedly connected to the screw rod. The second sliding seat 834 is slidingly connected to the second sliding rod 832, and the lifting assembly 84 is connected to the second sliding seat 834. By setting such a lateral sliding assembly 83, the structure is simple and the assembly is convenient. The principle is: utilize the transverse rotating motor 831 to drive the second screw rod 833 to rotate, so that the second sliding seat 834 moves in the axial direction of the second screw rod 833, thereby driving the lifting assembly 84 to move in the transverse direction. Since the transverse sliding assembly 83 can move in the longitudinal direction, the lifting assembly 84 can move in both the transverse and longitudinal directions.

[0045] In some embodiments, the lifting assembly 84 includes a lifting and rotating motor 841, a driving gear 844, a lifting rod 842, a third sliding rod 843 and a lifting platform 845. The lifting and rotating motor 841 is fixed on the second sliding seat 834. The lifting rod 842 and the third sliding rod 843 are both slidably connected to the second sliding seat 834. Specifically, a through hole can be set in the second sliding seat 834 for the lifting rod 842 and the third sliding rod 843 to slide. The lifting rod 842 is provided with a rack along the length direction. The driving gear 844 is sleeved on the output shaft of the lifting and rotating motor 841. The driving gear 844 is meshed with the rack. The lifting platform 845 is respectively connected and fixed to the lifting rod 842 and the third sliding rod 843. The rotating assembly 86 is connected to the lifting platform 845. The lifting rod 842 and the third sliding rod 843 are parallel to each other, the lifting rod 842 and the first sliding rod 822 are perpendicular to each other, and the lifting rod 842 and the second sliding rod 832 are perpendicular to each other. By setting such a lifting assembly 84, the structure is simple and easy to assemble. The principle is: the lifting and rotating motor 841 drives the driving gear 844 to rotate, and the driving gear 844 is meshed with the rack, so the rack is driven by the driving gear 844 to slide along the second sliding seat 834, and the through hole set on the sliding seat is perpendicular to the working platform 2, so that the lifting rod 842 and the third sliding rod 843 can slide vertically relative to the working platform 2. Since the lifting component 84 is set in the horizontal sliding component 83 and the longitudinal sliding component 82, the lifting component 84 can move in the horizontal and longitudinal directions, and the rotating component 86 connected to the lifting platform 845 can move in the horizontal, longitudinal and vertical (height) directions.

[0046] In some embodiments, the rotating assembly 86 includes a rotating motor 861 and a rotating platform 862, the rotating motor 861 and the lifting platform 845 are fixedly connected, the rotating platform 862 is fixedly connected to the output shaft of the rotating motor 861, and the end effector 87 is connected to the rotating platform 862. By setting such a rotating assembly 86, the structure is simple and easy to assemble. The principle is: the rotating platform 862 is directly driven to rotate by the rotating motor 861. Since the rotating motor 861 is fixedly connected to the lifting platform 845, the rotating platform 862 can move in four directions: horizontal, longitudinal, vertical (height) and circumferential rotation.

[0047] In some embodiments, the end effector 87 includes two clamps, which are symmetrically arranged on the rotating platform 862. A tray 6 is provided at the bottom of the paper chain seedling tray 7. The tray 6 is provided with a slot 61. The clamps are connected to the slot 61 in a plug-in manner.

[0048] In some embodiments, the pulling mechanism 5 includes a pulling manipulator 52, an electric push rod 51, and a moving assembly. The moving assembly is arranged on the guide mechanism 3. The moving assembly can slide relative to the guide mechanism 3. The electric push rod 51 is connected to the moving assembly so as to slide along the guide mechanism 3 with the moving assembly. The pulling manipulator 52 is connected to the output shaft of the electric push rod 51. The moving assembly can use a moving motor 53. A moving slide rail is arranged on the guide mechanism 3. The moving motor 53 is connected to a roller. The roller is placed on the moving slide rail, thereby driving the moving motor 53 to move along the moving slide rail. Then, a bearing is sleeved on the output shaft of the moving motor 53. The inner ring of the bearing is fixedly connected to the moving motor 53. The outer ring of the bearing is relatively fixed to the moving motor 53. The electric push rod 51 is fixed to the outer ring of the bearing. The pulling manipulator 52 is fixedly connected to the output shaft of the electric push rod 51.

[0049] In some embodiments, the pulling manipulator 52 is an arc-shaped sleeve structure. Specifically, the arc-shaped sleeve is hollow inside, open at the bottom, and has a pressure plate at the top that does not interfere with the sugarcane tissue culture seedlings. The electric push rod 51 drives the arc-shaped sleeve to be inserted from above the sugarcane tissue culture seedlings, and finally surrounds the sides of the sugarcane tissue culture seedlings and presses against the top of the soil part of the sugarcane tissue culture seedlings, and cooperates with the guide component to support the bottom of the sugarcane tissue culture seedlings, so that in the process of the moving component driving the electric push rod 51 to move, the sugarcane tissue culture seedlings will not fall off the pulling manipulator 52. When the moving component drives the sugarcane tissue culture seedlings to the junction of the guide component and the planting ditch, the electric push rod 51 is started, and the pressure plate pushes the sugarcane tissue culture seedlings to move toward the planting ditch until the electric push rod 51 inserts the arc-shaped sleeve into the soil, that is, the soil part of the sugarcane tissue culture seedlings is squeezed and inserted into the soil, and then the electric push rod 51 is reset, the walking mechanism 1 is started, and the sugarcane tissue culture seedlings inserted into the soil pull the remaining sugarcane tissue culture seedlings on the working platform 2 and the guide mechanism 3 to the planting ditch.

[0050] In the above embodiments, the longitudinal rotation motor 821, the lateral rotation motor 831, the lifting rotation motor 841, and the rotary motor 861 are all existing motors, and corresponding motors on the market can be directly purchased according to the functions they realize.

[0051] In the above embodiment, the various components of the guide mechanism 3 can be fixed by bolt connection, for example, the connecting platform 31 is fixed to the working platform 2 by bolts, and the various sliding rods of the conveying mechanism 8 can be fixed by bolt connection, for example, the first sliding rod 822 is fixed to the bracket 81 by bolts, and the various screw rods of the conveying mechanism 8 are connected to the corresponding motors through couplings.

[0052] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A fully automatic planting machine for sugarcane tissue culture seedlings, used for planting sugarcane tissue culture seedlings on paper chain seedling trays into planting furrows, characterized in that: include: A walking mechanism, wherein a working platform is provided on the walking mechanism, and the working platform is provided with a placing area and a planting area. The placing area is used to place trays with paper chain seedling trays and empty trays that have been planted, and the planting area is used to place trays with paper chain seedling trays for planting sugarcane tissue culture seedlings; The guide mechanism is arranged on the working platform, the guide mechanism connects the planting area with the planting ditch, and the guide mechanism is used to limit the movement path of the paper chain of the paper chain seedling tray from the planting area to the planting ditch; the guide mechanism includes a connecting platform, a collecting section and a guiding section, the connecting platform is connected with the planting area, one end of the collecting section is connected with the connecting platform, the other end of the collecting section is connected with one end of the guiding section, and the other end of the guiding section extends toward the planting ditch; The transport mechanism is arranged on the working platform, and is used to transport the trays with paper chain seedling trays in the placement area to the planting area, and to transport the empty trays that have been planted in the planting area to the placement area; And a pulling mechanism, the pulling mechanism is arranged on the guide mechanism, the pulling mechanism can slide relative to the guide mechanism, and the pulling mechanism can pull the paper chain of the paper chain seedling tray from the planting area to the planting ditch for fixing; the pulling mechanism includes a pulling manipulator, an electric push rod and a moving component, the moving component is arranged on the guide mechanism, the moving component can slide relative to the guide mechanism, the electric push rod is connected to the moving component so as to slide on the guide mechanism with the moving component, and the pulling manipulator is connected to the output shaft of the electric push rod.

2. The fully automatic planting machine for sugarcane tissue culture seedlings according to claim 1, characterized in that: The transport mechanism includes a bracket, a transverse sliding assembly, a longitudinal sliding assembly, a lifting assembly, a rotating assembly and an end effector. The bracket is fixed on the working platform. The longitudinal sliding assembly is erected on the working platform through the bracket. The transverse sliding assembly is connected to the movable end of the longitudinal sliding assembly. The lifting assembly is connected to the movable end of the transverse sliding assembly. The rotating assembly is connected to the movable end of the lifting assembly. The end effector is connected to the movable end of the rotating assembly. The end effector is used to cooperate with the tray of the paper chain seedling tray.

3. The fully automatic planting machine for sugarcane tissue culture seedlings according to claim 2, characterized in that: The longitudinal sliding assembly includes a longitudinal rotating motor, a first screw rod, a first sliding seat and a first sliding rod. The first screw rod and the first sliding rod are parallel to each other. The first sliding rod is mounted on the working platform through a bracket. The longitudinal rotating motor is fixed on the bracket. The first screw rod is fixedly connected to the output shaft of the longitudinal rotating motor. The first screw rod is rotationally connected to the bracket. The first sliding seat is threadedly connected to the first screw rod. The first sliding seat is slidingly connected to the first sliding rod. The transverse sliding assembly is connected to the first sliding seat.

4. A fully automatic planting machine for sugarcane tissue culture seedlings according to claim 3, characterized in that: The transverse sliding assembly includes a transverse rotating motor, a second screw rod, a second sliding seat and a second sliding rod. The second sliding rod is fixed to the first sliding seat. The second sliding rod and the second screw rod are parallel to each other. The second sliding rod and the first sliding rod are perpendicular to each other. The transverse rotating motor is fixed to the first sliding seat. The second screw rod is fixedly connected to the output shaft of the transverse rotating motor. The second screw rod is rotatably connected to the first sliding seat. The second sliding seat is threadedly connected to the screw rod. The second sliding seat is slidably connected to the second sliding rod. The lifting assembly is connected to the second sliding seat.

5. The fully automatic planting machine for sugarcane tissue culture seedlings according to claim 4, characterized in that: The lifting assembly includes a lifting and rotating motor, a driving gear, a lifting rod, a third sliding rod and a lifting platform. The lifting and rotating motor is fixed on the second sliding seat. The lifting rod and the third sliding rod are both slidingly connected to the second sliding seat. The lifting rod is provided with a rack along the length direction. The driving gear is sleeved on the output shaft of the lifting and rotating motor. The driving gear is meshed with the rack. The lifting platform is respectively connected and fixed to the lifting rod and the third sliding rod. The rotating assembly is connected to the lifting platform. The lifting rod and the third sliding rod are parallel to each other, the lifting rod and the first sliding rod are perpendicular to each other, and the lifting rod and the second sliding rod are perpendicular to each other.

6. The fully automatic planting machine for sugarcane tissue culture seedlings according to claim 5, characterized in that: The rotating assembly comprises a rotating motor and a rotating platform. The rotating motor and the lifting platform are fixedly connected. The rotating platform is fixedly connected to the output shaft of the rotating motor. The end effector is connected to the rotating platform.

7. The fully automatic planting machine for sugarcane tissue culture seedlings according to claim 6, characterized in that: The end effector comprises two clamping jaws which are symmetrically arranged on a rotating platform. A tray is arranged at the bottom of the paper chain seedling tray. The tray is provided with a slot, and the clamping jaws are connected to the slot in a plug-in manner.

8. The fully automatic planting machine for sugarcane tissue culture seedlings according to claim 1, characterized in that: The pulling manipulator is an arc-shaped sleeve structure.

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