Seedling cutting robot

Abstract

The utility model belongs to the technical field of agricultural robots, and relates to a nursery stock cuttage robot which comprises a base and a linear module which is installed on the base and can move in multiple degrees of freedom of X-axis, Y-axis and Z-axis, a vibration disc is arranged in the middle of the base, a feeder is arranged on one side of the vibration disc, and the output end of the feeder is located above the vibration disc. The feeder is used for storing and providing nursery stocks to be cut for the vibration disc, the other side of the vibration disc is provided with a plurality of hole trays, the hole trays are used for cutting the nursery stocks to be cut according to an array, the bottom of the linear module can be leveled, the linear module is provided with a tail end gripper, and the linear module drives the tail end gripper to move left and right, front and back and up and down. And the rotating hand at the tail end grabs the to-be-cut seedlings in the vibration disc and accurately cuts the seedlings into the hole disc. According to the utility model, the running speed and the running precision of the robot are improved, the gripper at the tail end can quickly and accurately stop at any position, cutting seedlings at all angles can be grabbed and cut into a hole tray, the accuracy of the cutting operation is improved, and the application range is expanded.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural robots, and particularly relates to a seedling cutting robot. Background Technique

[0002] Cutting, also known as cuttings, is a common propagation method for cultivating plants. Stems, leaves, roots, buds, etc. of plants (called cuttings in horticulture) can be cut and inserted into loose and moist soil or fine sand. Utilizing their regeneration ability, they can take root and sprout branches to become new plants.

[0003] Traditional cutting and seedling raising usually adopt manual operation, which is not only time-consuming and laborious, but also cannot guarantee the survival rate. With the development of agricultural automation, cutting robots specifically used for cutting and seedling raising have emerged. Although the existing cutting robots improve the cutting efficiency and reduce the labor intensity of manual work, there are still some drawbacks. For example, the invention patent with the application publication number CN116439043A discloses an automatic flower seedling cutting robot. The gantry robot includes a gantry, an x-axis drive system, a y-axis drive system, a z-axis lifting system, an end effector, and a controller. The gantry is installed on the base. The x-axis drive system is arranged on both sides of the base along the x-axis direction. The y-axis drive system is connected and arranged between the x-axis drive systems along the y-axis direction. The z-axis lifting system is connected to the y-axis drive system in the vertical direction. The end effector is installed at the lower end of the z-axis lifting system. The positioning camera of this technical solution is located on the connecting plate of the z-axis, which belongs to the eye-in-hand solution. This solution has a slow recognition and grasping speed; the x and y-axis drive systems adopt screw drive. This solution cannot achieve a large-span structure and has a slow running speed; the z-axis drive adopts hydraulic drive, with low precision, unable to accurately control the height position of the z-axis, and a slow running speed; the end effector only has a servo motor to control the active joint to rotate 90 degrees and cannot rotate horizontally. This solution can only grasp flower seedlings at a specific angle and has low versatility. Summary of the Invention

[0004] The purpose of the utility model is to provide a seedling cutting robot with high running speed and precision, high accuracy in cutting operations, and a wide range of applications.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a seedling cutting robot, including a base that can be leveled and a linear module installed on the base and capable of multi-degree-of-freedom movement in the X-axis, Y-axis, and Z-axis directions. A vibrating disk is provided in the middle of the base. One side of the vibrating disk is provided with a feeder. The output end of the feeder is located above the vibrating disk. The feeder is used to store and provide the seedlings to be cut for the vibrating disk. On the other side of the vibrating disk, there are several plug trays, and the plug trays are used to cut the seedlings to be cut in an array.

[0006] The bottom of the linear module can be leveled. An end gripper is installed on the linear module. The linear module drives the end gripper to move left and right, back and forth, and up and down. The end gripper grabs the seedlings to be cuttaged in the vibrating tray and accurately inserts them into the plug tray. Above the vibrating tray, there is a visual positioning component for the end gripper to accurately grab the seedlings to be cuttaged in the vibrating tray. On the base, there are also a display component and a control component. The linear module, the end gripper, the vibrating tray, the feeder, the display component, and the visual positioning component are all electrically connected to the control component.

[0007] Further, the linear module is a synchronous belt linear module. The linear module includes an X-axis module, a Y-axis module, and a Z-axis module. The end gripper is slidably connected to the Z-axis module up and down. The Z-axis module is slidably connected to the X-axis module left and right. The Y-axis modules are respectively arranged at both ends of the base. The two ends of the X-axis module are slidably connected to the Y-axis module back and forth.

[0008] Further, the end gripper includes a first adapter plate for fixedly connecting with the Z-axis module and a second adapter plate located below the first adapter plate. A motor bracket is installed on the first adapter plate. A stepping servo motor one is fixedly installed on the motor bracket. The output shaft of the stepping servo motor one passes through the first adapter plate and then connects to the second adapter plate. The stepping servo motor one drives the second adapter plate to rotate horizontally. The second adapter plate is bent, including a horizontal plane and an inclined plane. The horizontal plane of the second adapter plate is connected to the output shaft of the stepping servo motor one. A stepping servo motor two is fixedly installed on the inclined plane of the second adapter plate. The output shaft of the stepping servo motor two passes through the second adapter plate and then connects to a finger cylinder gripper through a third adapter plate. The stepping servo motor two drives the finger cylinder gripper to rotate.

[0009] Further, the bending angle of the second adapter plate is an obtuse angle. The first adapter plate is L-shaped. The vertical surface of the first adapter plate is fixedly connected to the Z-axis module by bolts. The motor bracket is installed on the horizontal plane of the first adapter plate. The second adapter plate is provided with a flange and a flange bearing. The output shaft of the stepping servo motor one is connected with an optical axis and a coupling. The stepping servo motor one is connected to the horizontal plane of the second adapter plate through the coupling and the flange to control the horizontal rotation of the second adapter plate.

[0010] Further, the Y-axis module includes two groups of Y-axis fixed seats arranged in parallel at both ends of the base. Two Y-axis synchronous belts are respectively installed on the two groups of Y-axis fixed seats. Two Y-axis sliders are respectively fixedly installed on the two Y-axis synchronous belts. The two Y-axis sliders are respectively fixedly connected to the bottoms of both ends of the X-axis module. A Y-axis driving motor is installed on one group of Y-axis fixed seats. The output end of the Y-axis driving motor is connected with a synchronous connecting rod. The synchronous connecting rod connects the two Y-axis synchronous belts. The Y-axis driving motor drives the two Y-axis synchronous belts to rotate synchronously through the synchronous connecting rod, and then drives the Y-axis sliders and the X-axis module to move linearly back and forth;

[0011] A number of leveling brackets are connected to the bottom of the Y-axis fixed seat. Each leveling bracket is provided with a number of second leveling bolts. The Y-axis fixed seat is connected to the base through the second leveling bolts, and the second leveling bolts are used to adjust the levelness of the Y-axis fixed seat.

[0012] Further, the X-axis module includes an X-axis bracket and an X-axis slider for installing the Z-axis module. Both ends of the X-axis bracket are fixedly connected to the Y-axis slider. An X-axis driving motor and a horizontally arranged X-axis synchronous belt are installed on the X-axis bracket. The X-axis slider is fixedly installed on the X-axis synchronous belt. The output end of the X-axis driving motor is connected to the X-axis synchronous belt. The X-axis driving motor drives the X-axis synchronous belt to rotate, and thus the X-axis slider and the Z-axis module move linearly left and right;

[0013] The Z-axis module includes a Z-axis bracket fixedly connected to the X-axis slider. A Z-axis driving motor and a vertically arranged Z-axis synchronous belt are installed on the Z-axis bracket. A Z-axis slider is fixedly connected to the Z-axis synchronous belt. The Z-axis slider is fixedly connected to the end gripper. The output end of the Z-axis driving motor is connected to the Z-axis synchronous belt. The Z-axis driving motor drives the Z-axis synchronous belt to rotate, and thus drives the Z-axis slider and the end gripper to move linearly up and down.

[0014] Further, the feeder includes a bin for storing nursery stock to be cuttaged. The bin is fixedly installed on the base. The output end of the bin is connected to an inclined material guiding groove, and the end of the material guiding groove is located above the vibrating disk.

[0015] Further, the plug tray is provided with a plurality of groups of arrayed plug holes. Cultivation soil is placed in the plug holes. The plug holes are used for cutting the nursery stock to be cuttaged. A positioning scale is arranged outside the plug tray. The positioning scale is pre-fixedly installed on the base. The plug tray is placed in the area surrounded by the positioning scale, and the positioning scale is used for horizontally limiting the plug tray.

[0016] Further, the display component includes a screen connecting frame and a touch display screen. The touch display screen is fixedly installed at the front end of the base through the screen connecting frame. The touch display screen is electrically connected to the control component. The touch display screen is used for displaying the working states of the linear module, the end gripper, the vibrating disk, the feeder, and the vision positioning component;

[0017] The vision positioning component includes a camera and a camera bracket. The camera is fixedly installed on one side of the base through the camera bracket. The camera is located above the vibrating disk. The camera is used for morphological monitoring and positioning of the nursery stock to be cuttaged in the vibrating disk.

[0018] Further, the base includes a bracket and a tabletop installed on the top of the bracket. A number of table legs are installed around the bracket. A leveling plate is installed at the bottom of the table legs. A number of first leveling bolts are arranged on the leveling plate, and the first leveling bolts are used to adjust the levelness of the tabletop.

[0019] The utility model has the following beneficial effects:

[0020] 1. The seedling cutting robot of the utility model adopts a synchronous belt linear module drive, with multi-degree-of-freedom movement in the X-axis, Y-axis, and Z-axis directions, which improves the running speed and accuracy of the robot, enables the end gripper to quickly and accurately stop at any position, can not only improve the operating efficiency but also adapt to plug trays of different heights.

[0021] 2. The end gripper of the utility model adopts two stepper servo motors, which can rotate the finger cylinder gripper to any angle in the horizontal plane, and can also change the cutting seedling from a horizontal state to a vertical state, can grasp cutting seedlings at all angles and insert them into the plug tray, improving the accuracy of the cutting operation and expanding the applicable range of cutting.

[0022] 3. The camera of the utility model is fixed on the base and is located above the vibrating bowl, can take pictures during the movement of the robot, and can display the state and position of the seedlings to be cut in real time, improving the positioning accuracy and the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the overall three-dimensional structure schematic diagram of the seedling cutting robot of the utility model Figure 1 .

[0024] Figure 2 is the overall three-dimensional structure schematic diagram of the seedling cutting robot of the utility model Figure 2 .

[0025] Figure 3 is Figure 2 the enlarged view of the partial structure at A in

[0026] Figure 4 is the three-dimensional structure schematic diagram of the end gripper in the utility model.

[0027] Figure 5 is the front view of the end gripper in the utility model.

[0028] In the figure, 1. Base, 2. Linear module, 3. End gripper, 4. Vibrating bowl, 5. Feeder, 6. Plug tray, 7. Display component, 8. Control component, 9. Visual positioning component;

[0029] 11. Bracket, 12. Table leg, 13. Table top, 14. First leveling bolt, 15. Leveling plate;

[0030] 21. Y-axis module, 22. X-axis module, 23. Z-axis module;

[0031] 211. Y-axis fixed seat, 212. Y-axis synchronous belt, 213. Y-axis slider, 214. Leveling bracket, 215. Second leveling bolt, 216. Y-axis drive motor, 217. Synchronous connecting rod;

[0032] 221. X-axis synchronous belt, 222. X-axis slider, 223. X-axis drive motor, 224. X-axis bracket;

[0033] 231. Z-axis synchronous belt, 232. Z-axis slider, 233. Z-axis drive motor, 234. Z-axis bracket;

[0034] 31. Adapter plate 1, 32. Adapter plate 2, 33. Stepper servo motor 1, 34. Motor bracket, 35. Coupling, 36. Optical axis, 37. Flange bearing, 38. Flange, 39. Stepper servo motor 2, 310. Adapter plate 3, 311. Finger cylinder gripper;

[0035] 51. Feeding chute, 52. Bin;

[0036] 61. Positioning ruler, 62. Hole;

[0037] 71. Screen connecting bracket, 72. Touch display screen;

[0038] 91. Camera bracket, 92. Camera. Detailed implementation manner

[0039] The following are specific embodiments of the present invention, which further describe the technical solutions of the present invention. However, the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0040] As Figure 1 shown, a seedling cutting robot includes a base 1 that can be leveled and a linear module 2 installed on the base 1 and capable of multi-degree-of-freedom movement in the X-axis, Y-axis, and Z-axis directions. A vibrating disk 4 is provided in the middle of the base 1. A feeder 5 is provided on one side of the vibrating disk 4. The output end of the feeder 5 is located above the vibrating disk 4. The feeder 5 is used to store and supply the seedlings to be cut to the vibrating disk 4. A plurality of seedling trays 6 are provided on the other side of the vibrating disk 4. The seedling trays 6 are used to cut the seedlings to be cut in an array.

[0041] The bottom of the linear module 2 can be leveled. An end gripper 3 is installed on the linear module 2. The linear module 2 drives the end gripper 3 to move left and right, forward and backward, and up and down. The end gripper 3 grabs the seedlings to be cut in the vibrating disk 4 and accurately cuts them into the seedling trays 6. A visual positioning component 9 for accurately grabbing the seedlings to be cut in the vibrating disk 4 by the end gripper 3 is provided above the vibrating disk 4. A display component 7 and a control component 8 are also provided on the base 1. The linear module 2, the end gripper 3, the vibrating disk 4, the feeder 5, the display component 7, and the visual positioning component 9 are all electrically connected to the control component 8.

[0042] As Figure 2 、3 As shown in the figure, the base 1 includes a bracket 11 and a tabletop 13 installed on the top of the bracket 11. A number of table legs 12 are installed around the bracket 11, and a leveling plate 15 is installed at the bottom of the table legs 12. A number of first leveling bolts 14 are provided on the leveling plate 15, and the first leveling bolts 14 are used to adjust the levelness of the tabletop 13.

[0043] In this embodiment, there are four groups of table legs 12. A leveling plate 15 is connected to the bottom of each group of table legs 12. Two first leveling bolts 14 are provided on each leveling plate 15. Different first leveling bolts 14 are adjusted according to the flatness of the ground where the base 1 is located, so that the tabletop 13 is in a horizontal position.

[0044] The linear module 2 is a synchronous belt linear module. The linear module 2 includes an X-axis module 22, a Y-axis module 21, and a Z-axis module 23. The end gripper 3 is slidably connected to the Z-axis module 23 up and down. The Z-axis module 23 is slidably connected to the X-axis module 22 left and right. The Y-axis modules 21 are respectively arranged at both ends of the base 1. The two ends of the X-axis module 22 are slidably connected to the Y-axis module 21 back and forth.

[0045] The Y-axis module 21 includes two groups of Y-axis fixed seats 211 arranged in parallel at both ends of the base 1. Y-axis synchronous belts 212 are respectively installed on the two groups of Y-axis fixed seats 211. Y-axis sliders 213 are respectively fixedly installed on the two groups of Y-axis synchronous belts 212. The two groups of Y-axis sliders 213 are respectively fixedly connected to the bottoms of both ends of the X-axis module 22. A Y-axis driving motor 216 is installed on one group of Y-axis fixed seats 211. The output end of the Y-axis driving motor 216 is connected with a synchronous connecting rod 217. The synchronous connecting rod 217 connects the two groups of Y-axis synchronous belts 212. The Y-axis driving motor 216 drives the two groups of Y-axis synchronous belts 212 to rotate synchronously through the synchronous connecting rod 217, and then drives the Y-axis sliders 213 and the X-axis module 22 to move linearly back and forth.

[0046] A number of leveling brackets 214 are connected to the bottom of the Y-axis fixed seat 211. A number of second leveling bolts 215 are provided on each leveling bracket 214. The Y-axis fixed seat 211 is connected to the base 1 through the second leveling bolts 215, and the second leveling bolts 215 are used to adjust the levelness of the Y-axis fixed seat 211.

[0047] In this embodiment, six second leveling bolts 215 are evenly distributed at the bottom of each group of Y-axis fixed seats 211. The six second leveling bolts 215 are grouped in pairs and symmetrically distributed on both sides of the Y-axis fixed seat 211. On the one hand, the second leveling bolts 215 are used to connect the Y-axis fixed seat 211 and the tabletop 13. On the other hand, the second leveling bolts 215 are used to further adjust the levelness of the linear module 2.

[0048] The X-axis module 22 includes an X-axis bracket 224 and an X-axis slider 222 for mounting the Z-axis module 23. The two ends of the X-axis bracket 224 are respectively fixedly connected to the Y-axis slider 213. An X-axis driving motor 223 and a horizontally arranged X-axis synchronous belt 221 are mounted on the X-axis bracket 224. The X-axis slider 222 is fixedly installed on the X-axis synchronous belt 221. The output end of the X-axis driving motor 223 is connected to the X-axis synchronous belt 221. The X-axis driving motor 223 drives the X-axis synchronous belt 221 to rotate, and thus the X-axis slider 222 and the Z-axis module 23 move linearly left and right.

[0049] The Z-axis module 23 includes a Z-axis bracket 234 fixedly connected to the X-axis slider 222. A Z-axis driving motor 233 and a vertically arranged Z-axis synchronous belt 231 are mounted on the Z-axis bracket 234. A Z-axis slider 232 is fixedly connected to the Z-axis synchronous belt 231. The Z-axis slider 232 is fixedly connected to the end effector 3. The output end of the Z-axis driving motor 233 is connected to the Z-axis synchronous belt 231. The Z-axis driving motor 233 drives the Z-axis synchronous belt 231 to rotate, and thus drives the Z-axis slider 232 and the end effector 3 to move linearly up and down.

[0050] The Y-axis module 21 drives the end effector 3 to move linearly back and forth, the X-axis module 22 drives the end effector 3 to move linearly left and right, and the Z-axis module 23 drives the end effector 3 to move linearly up and down. Thus, the linear module 2 can drive the end effector 3 to quickly and accurately stop at any specified position above the table. The end effector 3 can move above the vibrating bowl 4 to grab the seedlings to be cuttaged from the vibrating bowl 4, and then move above the seedling tray 6 to insert the seedlings to be cuttaged into the holes.

[0051] As Figure 4 、 5 shown, the end effector 3 includes a first adapter plate 31 for fixedly connecting to the Z-axis slider 232 on the Z-axis module 23 and a second adapter plate 32 located below the first adapter plate 31. A motor bracket 34 is mounted on the first adapter plate 31. A stepping servo motor 33 is fixedly installed on the motor bracket 34. The output shaft of the stepping servo motor 33 passes through the first adapter plate 31 and is connected to the second adapter plate 32. The stepping servo motor 33 drives the second adapter plate 32 to rotate horizontally. The second adapter plate 32 is bent, including a horizontal plane and an inclined plane. The horizontal plane of the second adapter plate 32 is connected to the output shaft of the stepping servo motor 33. A stepping servo motor 39 is fixedly installed on the inclined plane of the second adapter plate 32. The output shaft of the stepping servo motor 39 passes through the second adapter plate 32 and is connected to the finger cylinder gripper 311 through a third adapter plate 310. The stepping servo motor 39 drives the finger cylinder gripper 311 to rotate.

[0052] The finger cylinder gripper 311 is used to grab the seedlings to be cuttaged. The finger cylinder gripper 311 specifically adopts the structure and principle of a pneumatic finger in the prior art, which will not be elaborated in detail in this application.

[0053] The bending angle of the second adapter plate 32 is an obtuse angle. The first adapter plate 31 is L-shaped. The vertical surface of the first adapter plate 31 is fixedly connected to the Z-axis module 23 by bolts. The motor bracket 34 is installed on the horizontal surface of the first adapter plate 31. A flange 38 is connected to the second adapter plate 32, and a flange bearing 37 is connected to the first adapter plate 31. The flange 38 and the flange bearing 37 cooperate with each other. The output shaft of the first stepper servo motor 33 is connected to a smooth shaft 36 and a coupling 35. The first stepper servo motor 33 is connected to the horizontal plane of the second adapter plate 32 through the coupling 35 and the flange 38 to control the horizontal rotation of the second adapter plate 32 relative to the first adapter plate 31.

[0054] In order to improve the accuracy of the finger cylinder gripper 311 in gripping the seedlings to be cuttaged, the front end of the finger cylinder gripper 311 is inclined. After the finger cylinder gripper 311 grabs the seedlings to be cuttaged from the vibrating disk 4, the seedlings to be cuttaged are in a horizontal state. The first stepper servo motor 33 drives the second adapter plate 32 and the finger cylinder gripper 311 installed on the second adapter plate 32 to rotate horizontally. The second stepper servo motor 39 drives the finger cylinder gripper 311 to rotate 180° on the inclined surface of the second adapter plate 32, so that the seedlings to be cuttaged are rotated from the horizontal state to the vertical state, which is convenient for vertical cutting into the seedling tray 6.

[0055] The feeder 5 includes a bin 52 for storing the seedlings to be cuttaged. The bin 52 is fixedly installed on the table surface 13 of the base 1. The output end of the bin 52 is connected to an inclined material guiding groove 51, and the end of the material guiding groove 51 is located above the vibrating disk 4. The feeder 5 can be manually loaded or automatically loaded, such as the conveyor belt loading method in the prior art.

[0056] The seedling tray 6 is provided with multiple groups of array-distributed holes 62. Cultivation soil is placed in the holes 62. The holes 62 are used for cutting the seedlings to be cuttaged. A positioning scale 61 is provided outside the seedling tray 6. The positioning scale 61 is pre-fixed and installed on the table surface 13 of the base 1. The seedling tray 6 is placed in the area surrounded by the positioning scale 61. The positioning scale 61 is used for horizontal limiting of the seedling tray 6. The position and coordinates of the positioning scale 61 are preset into the control component 8 in advance. Limited by the positioning scale 61, the size and position of the seedling tray 6 are fixed. According to the number of rows and columns of the holes 62 on the seedling tray 6, the control component 8 controls the finger cylinder gripper 311 to walk a certain distance in sequence row by row or column by column, and accurately inserts the seedlings to be cuttaged into the holes 62 in sequence.

[0057] The display component 7 includes a screen connecting bracket 71 and a touch display screen 72. The touch display screen 72 is fixedly installed at the front end of the base 1 through the screen connecting bracket 71. The touch display screen 72 is electrically connected to the control component 8. The touch display screen 72 is used to display the working states of the linear module 2, the end gripper 3, the vibrating bowl 4, the feeder 5, and the vision positioning component 9; and it also displays the position and state of the seedlings to be cuttaged in the vibrating bowl 4 in real time.

[0058] The vision positioning component 9 includes a camera 92 and a camera bracket 91. The camera 92 is fixedly installed on one side of the base 1 through the camera bracket 91. The camera 92 is located above the vibrating bowl 4. The camera 92 is used to monitor the morphology and position of the seedlings to be cuttaged in the vibrating bowl 4 to assist the end gripper 3 in grasping the seedlings to be cuttaged. The camera bracket 91 can be an aluminum profile bracket.

[0059] When the robot is running, several seedlings to be cuttaged enter the vibrating bowl 4 through the guide groove 51 of the feeder 5. The camera 92 above the vibrating bowl 4 transmits the morphological and position information of the seedlings to be cuttaged in the vibrating bowl 4 to the control component 8 in real time. The control component 8 controls the Y-axis drive motor 216 and the X-axis drive motor 223 to drive the end gripper 3 to move above the vibrating bowl 4 respectively, and then controls the Z-axis drive motor 233 to drive the end gripper 3 to descend to the position of the selected seedling to be cuttaged. The control component 8 controls the stepping servo motor 33 to drive the finger cylinder gripper 311 to rotate horizontally, so that the finger cylinder gripper 311 can easily grasp the selected seedling to be cuttaged. After the grasping operation is completed, the seedling to be cuttaged is in a horizontal state on the finger cylinder gripper 311. The Z-axis drive motor 233 drives the end gripper 3 to rise. The control component 8 controls the Y-axis drive motor 216 and the X-axis drive motor 223 to drive the end gripper 3 to move above the first hole 62 of the plug tray 6 respectively. During this process, the stepping servo motor 39 drives the finger cylinder gripper 311 to rotate, so that the horizontally placed seedling to be cuttaged rotates to a vertical state to prepare for cutting. After the finger cylinder gripper 311 moves above the first hole 62 of the plug tray 6, the Z-axis drive motor 233 drives the finger cylinder gripper 311 to descend, and inserts the seedling to be cuttaged accurately into the first hole 62. The Z-axis drive motor 233 drives the finger cylinder gripper 311 to rise, and one cutting operation is completed.

[0060] The control component 8 controls the Y-axis drive motor 216, the X-axis drive motor 223, and the Z-axis drive motor 233 to repeat the above operations to grasp the seedlings to be cuttaged in the vibrating bowl 4 for the second time. Then, according to the position coordinates and walking distance of the plug tray 6 preset in the control component 8, it drives the finger cylinder gripper 311 to move to the second hole 62 in the order of rows or columns for cutting operation. After the cutting operations for all the holes 62 on the plug tray 6 are completed in sequence, the plug tray 6 is taken away, and a new plug tray 6 is replaced for cutting.

[0061] The present utility model is not limited to the above embodiments. Anyone should know that structural changes made under the inspiration of the present utility model, as long as the technical solutions are the same as or similar to those of the present utility model, shall fall within the protection scope of the present utility model.

[0062] The technologies, shapes, and structures not described in detail in the present utility model are all well-known technologies.

Claims

1. A nursery stock cutting robot, characterized in that, It includes a base that can be leveled and a linear module installed on the base and capable of multi-degree-of-freedom movement in the X-axis, Y-axis, and Z-axis. A vibrating disk is provided in the middle of the base. A feeder is provided on one side of the vibrating disk. The output end of the feeder is located above the vibrating disk. The feeder is used to store and supply the seedlings to be cuttaged to the vibrating disk. A number of plug trays are provided on the other side of the vibrating disk. The plug trays are used to cuttage the seedlings to be cuttaged in an array. The bottom of the linear module can be leveled. An end gripper is installed on the linear module. The linear module drives the end gripper to move left and right, back and forth, and up and down. The end gripper grabs the seedlings to be cuttaged in the vibrating disk and accurately cuts them into the plug trays. A visual positioning component is provided above the vibrating disk for the end gripper to accurately grab the seedlings to be cuttaged in the vibrating disk. A display component and a control component are also provided on the base. The linear module, the end gripper, the vibrating disk, the feeder, the display component, and the visual positioning component are all electrically connected to the control component.

2. The cutting robot for seedlings according to claim 1, characterized in that, The linear module is a synchronous belt linear module. The linear module includes an X-axis module, a Y-axis module, and a Z-axis module. The end gripper is slidably connected to the Z-axis module up and down. The Z-axis module is slidably connected to the X-axis module left and right. The Y-axis modules are disposed at both ends of the base. The two ends of the X-axis module are slidably connected to the Y-axis modules back and forth.

3. The nursery stock cutting robot according to claim 2, wherein, The end gripper includes a first adapter plate for fixedly connecting to the Z-axis module and a second adapter plate located below the first adapter plate. A motor bracket is installed on the first adapter plate. A stepper servo motor one is fixedly installed on the motor bracket. The output shaft of the stepper servo motor one passes through the first adapter plate and then connects to the second adapter plate. The stepper servo motor one drives the second adapter plate to rotate horizontally. The second adapter plate is bent, including a horizontal plane and an inclined plane. The horizontal plane of the second adapter plate is connected to the output shaft of the stepper servo motor one. A stepper servo motor two is fixedly installed on the inclined plane of the second adapter plate. The output shaft of the stepper servo motor two passes through the second adapter plate and then connects to a finger cylinder gripper through a third adapter plate. The stepper servo motor two drives the finger cylinder gripper to rotate.

4. The nursery stock cutting robot according to claim 3, wherein, The bending angle of the second adapter plate is an obtuse angle. The first adapter plate is L-shaped. The vertical surface of the first adapter plate is fixedly connected to the Z-axis module by bolts. The motor bracket is installed on the horizontal plane of the first adapter plate. The second adapter plate is provided with a flange and a flange bearing. The output shaft of the stepper servo motor one is connected with an optical axis and a coupling. The stepper servo motor one is connected to the horizontal plane of the second adapter plate through the coupling and the flange to control the horizontal rotation of the second adapter plate.

5. The cutting robot for seedlings according to any one of claims 2-4, characterized in that The Y-axis module includes two groups of Y-axis fixed seats arranged in parallel at both ends of the base. Y-axis synchronous belts are respectively installed on the two groups of Y-axis fixed seats. Y-axis sliders are respectively fixedly installed on the two groups of Y-axis synchronous belts. The two groups of Y-axis sliders are respectively fixedly connected to the bottoms of both ends of the X-axis module. A Y-axis drive motor is installed on one group of Y-axis fixed seats. The output end of the Y-axis drive motor is connected with a synchronous connecting rod. The synchronous connecting rod connects the two groups of Y-axis synchronous belts. The Y-axis drive motor drives the two groups of Y-axis synchronous belts to rotate synchronously through the synchronous connecting rod, and then drives the Y-axis sliders and the X-axis module to move linearly back and forth. Several leveling brackets are connected to the bottom of the Y-axis fixing base. Each leveling bracket is provided with several second leveling bolts. The Y-axis fixing base is connected to the base through the second leveling bolts, and the second leveling bolts are used to adjust the levelness of the Y-axis fixing base.

6. The cutting robot for seedlings according to claim 5, wherein The X-axis module includes an X-axis bracket and an X-axis slider for installing the Z-axis module. The two ends of the X-axis bracket are respectively fixedly connected to the Y-axis slider. An X-axis driving motor and a horizontally arranged X-axis synchronous belt are installed on the X-axis bracket. The X-axis slider is fixedly installed on the X-axis synchronous belt. The output end of the X-axis driving motor is connected to the X-axis synchronous belt. The X-axis driving motor drives the X-axis synchronous belt to rotate, and then the X-axis slider and the Z-axis module move linearly left and right; The Z-axis module includes a Z-axis bracket fixedly connected to the X-axis slider. A Z-axis driving motor and a vertically arranged Z-axis synchronous belt are installed on the Z-axis bracket. A Z-axis slider is fixedly connected to the Z-axis synchronous belt. The Z-axis slider is fixedly connected to the end gripper. The output end of the Z-axis driving motor is connected to the Z-axis synchronous belt. The Z-axis driving motor drives the Z-axis synchronous belt to rotate, and then drives the Z-axis slider and the end gripper to move linearly up and down.

7. The cutting robot for seedlings according to claim 1, wherein, The feeder includes a bin for storing the seedlings to be cuttaged. The bin is fixedly installed on the base. The output end of the bin is connected to an inclined material guiding groove, and the end of the material guiding groove is located above the vibrating disk.

8. The cutting robot for seedlings according to claim 1, characterized in that, The seedling tray is provided with multiple groups of arrayed seedling holes. Cultivation soil is placed in the seedling holes. The seedling holes are used for cutting the seedlings to be cuttaged. A positioning ruler is arranged outside the seedling tray. The positioning ruler is pre-fixed on the base. The seedling tray is placed in the area surrounded by the positioning ruler. The positioning ruler is used for horizontally limiting the seedling tray.

9. The nursery stock cutting robot according to claim 1, wherein, The display component includes a screen connecting frame and a touch display screen. The touch display screen is fixedly installed at the front end of the base through the screen connecting frame. The touch display screen is electrically connected to the control component. The touch display screen is used for displaying the working states of the linear module, the end gripper, the vibrating disk, the feeder, and the vision positioning component; The vision positioning component includes a camera and a camera bracket. The camera is fixedly installed on one side of the base through the camera bracket. The camera is located above the vibrating disk. The camera is used for monitoring the morphology and positioning of the seedlings to be cuttaged in the vibrating disk.

10. The cutting robot for seedlings as claimed in claim 1, wherein, The base includes a bracket and a tabletop installed on the top of the bracket. Several table legs are installed around the bracket. The bottom of the table legs is installed with leveling plates. The leveling plates are provided with several first leveling bolts, and the first leveling bolts are used to adjust the levelness of the tabletop.

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