Full-automatic seedling planting equipment

Abstract

The utility model discloses full-automatic seedling planting equipment, and relates to the technical field of automatic agricultural equipment.The full-automatic seedling planting equipment is characterized in that a seedling conveying mechanism, a seedling disc recycling mechanism and a seedling planting mechanism are sequentially arranged on a frame from left to right, an X-axis moving module is arranged on the frame, and a planting mechanical arm is connected to the X-axis moving module; the free end of the planting mechanical arm is connected with a digging and planting integrated claw, a lead screw motor is installed in the motor shell, an output shaft of the lead screw motor is in threaded connection with a first flange and a second flange, soil shifting duckbill shovels are symmetrically arranged on the two sides of the first flange, and the top ends of the soil shifting duckbill shovels are hinged to the motor shell. A spring is connected to the midpoint of the connecting rod, the free end of the spring is connected to the midpoint of the seedling grabbing clamp, and the top end of the seedling grabbing clamp is hinged to the second flange. The equipment can realize automatic planting operation, is high in planting efficiency, does not need manual operation, and reduces the labor intensity.

Description

Technical Field

[0001] The utility model relates to the technical field of automated agricultural equipment, and more specifically, to a fully automatic seedling planting device. Background Art

[0002] Nowadays, vegetables are generally raised in centralized seedling cultivation. Compared with traditional direct sowing, this method conserves seeds, allows for smaller areas, a more stable environment, and less effort to cultivate strong seedlings, which can then be transplanted when the weather improves. These strong seedlings are less susceptible to death and disease, reducing mortality after transplanting into the field. Transplanting seedlings early is better, between the time when the cotyledons flatten and the time before flower buds differentiate.

[0003] In the prior art, a Chinese utility model patent with announcement number CN204907099U discloses a reverse-type mulch vegetable transplanter, in which one end of a connecting rod is fixedly connected to a sleeve, and the other end is fixedly connected to a handle; the sleeve includes a first semi-cylinder and a second semi-cylinder arranged opposite to each other; two connecting rods are respectively connected to the first semi-cylinder and the second semi-cylinder; the ends of the first semi-cylinder and the second semi-cylinder close to the connecting rod are hinged to each other, and the connecting rod is used to drive the first semi-cylinder and the second semi-cylinder to rotate around the hinge so that the first semi-cylinder and the second semi-cylinder are opened or closed, so as to improve the efficiency of transplanting seedlings, reduce the cost of transplanting seedlings, and thus improve the economic benefits of the vegetable industry. However, the above technical solution still has the following problems in actual operation: the equipment still needs to rely on manual labor and cannot be automated. When performing the seedling transplanting operation, the staff needs to bend over or squat. The repeated operation is labor-intensive and easily causes damage to the staff's waist. At the same time, the clamping force applied by controlling the two cylinders with both hands is large and inconvenient to operate, which is inefficient and prone to missing or damaging seedlings. Utility Model Content

[0004] In order to overcome the defects of the existing technology, the utility model proposes a fully automatic seedling planting equipment, which can realize automated planting operations, has high planting efficiency, and does not require manual operation, reducing labor intensity. At the same time, the seedling clamps set can effectively ensure that the seedlings are upright and not fall over during the planting process, thereby ensuring the planting quality.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] The utility model provides a fully automatic seedling planting device, including a vehicle body, which includes a vehicle frame and a power module. The vehicle frame is provided with a seedling conveying mechanism, a seedling tray recovery mechanism and a seedling planting mechanism from left to right. The seedling planting mechanism includes an X-axis moving module, a planting mechanical arm and a digging and planting integrated claw. The X-axis moving module is provided on the vehicle frame. The X-axis moving module is connected to the planting mechanical arm. The free end of the planting mechanical arm is connected to the digging and planting integrated claw. The digging and planting integrated claw includes a motor housing, a screw motor, a first Flange, second flange, connecting rod, spring, seedling grabbing clamp and soil-moving duckbill shovel, a screw motor is installed in the motor housing, the first flange and the second flange are threadedly connected to the output shaft of the screw motor, soil-moving duckbill shovels are symmetrically arranged on both sides of the first flange, and the top of the soil-moving duckbill shovel is hinged to the motor housing, one end of the connecting rod is hinged to the inner wall of the soil-moving duckbill shovel, and the other end of the connecting rod is hinged to the first flange, a spring is connected at the midpoint of the connecting rod, the free end of the spring is connected to the midpoint of the seedling grabbing clamp, and the top of the seedling grabbing clamp is hinged to the second flange.

[0007] In a preferred technical solution of the present utility model, the power module includes a power motor bracket, a brushless motor, a first driving wheel, a first synchronous belt, a wheel fixing seat, a transmission shaft, a first driven wheel and a wheel. The power motor bracket is fixed on the frame, the power motor bracket is provided with a brushless motor, the output end of the brushless motor is connected to the first driving wheel, the wheel fixing seat is fixed to the bottom of the frame, the wheel fixing seat is horizontally connected to the transmission shaft, the transmission shaft is provided with the first driven wheel and the wheel, and the first driving wheel is connected to the first driven wheel through the first synchronous belt.

[0008] In a preferred technical solution of the present utility model, the X-axis moving module includes a motor fixing seat, a stepper motor, a second driving wheel, a second synchronous belt, a second driven wheel, a mounting seat, an optical axis, an optical axis fixing seat, a linear bearing seat, a gear plate clamp fixing piece and a printing motor bracket. The motor fixing seat is fixed on the frame, the motor fixing seat is provided with a stepper motor, the output end of the stepper motor is connected to the second driving wheel, the mounting seat is provided on the frame, the mounting seat is rotatably connected to the second driven wheel, and the second driving wheel is transmission-connected to the second driven wheel through the second synchronous belt, optical axes are horizontally provided on both sides of the second synchronous belt, optical axis fixing seats are connected at both ends of the optical axis, and the optical axis fixing seat is connected to the frame, a linear bearing seat and a gear plate clamp fixing piece are provided at the bottom of the printing motor bracket, the linear bearing seat is slidably connected to the optical axis, and the gear plate clamp fixing piece is fixedly connected to the second synchronous belt.

[0009] In a preferred technical solution of the present invention, the mounting base includes a first printing fixing member, a second printing fixing member and an adjusting bolt. The first printing fixing member is fixed on the vehicle frame. A second printing fixing member is provided on the side of the first printing fixing member close to the stepping motor, and the second printing fixing member is connected to the first printing fixing member through an adjusting bolt.

[0010] In a better technical solution of the present utility model, the planting robot arm includes a rotating motor, a flange coupling, a swing arm, a third driving wheel, a third synchronous belt and a third driven wheel. The rotating motor is fixed on the printing motor bracket, the output end of the rotating motor is connected to the flange coupling, one end of the swing arm is connected to the flange coupling, and the other end of the swing arm is rotatably connected to the third driven wheel, and the motor housing is fixed on the third driven wheel, the third driving wheel is fixed on the printing motor bracket, and the third driving wheel is connected to the third driven wheel through the third synchronous belt.

[0011] In a preferred technical solution of the present invention, a sponge is further provided on the clamping surface of the seedling clamp.

[0012] In a preferred technical solution of the present utility model, the seedling conveying mechanism includes a lifting motor bracket, a lifting motor, a screw rod, a seedling tray bracket, a first slider, a vertical slide rail, a conveyor belt, a motor fixing plate, a conveying motor, a fourth driving wheel, a fourth synchronous belt and a fourth driven wheel. The lifting motor bracket is fixedly mounted on the frame, the lifting motor bracket is provided with a lifting motor, the output end of the lifting motor is vertically connected with a screw rod, and the screw rod is threadedly connected to the seedling tray bracket for placing the seedling tray, the vertical slide rail is arranged on the frame, the vertical slide rail is slidably connected with the first slider, and the seedling tray bracket is fixedly connected to the first slider, a conveyor belt is horizontally arranged on one side of the lifting motor, a motor fixing plate is arranged below the conveyor belt, and a conveying motor is arranged on the motor fixing plate, the output end of the conveying motor is connected with the fourth driving wheel, the fourth driven wheel is arranged on the roller of the conveyor belt, and the fourth driving wheel is transmission-connected to the fourth driven wheel through the fourth synchronous belt.

[0013] In a better technical solution of the present invention, the seedling tray recovery mechanism includes a first horizontal slide rail, a rotating shaft fixing seat, a rotating shaft, a flip plate, a servo, a crank, a second horizontal slide rail, a second slider and a recovery box. The first horizontal slide rail is fixed on the frame, the first horizontal slide rail is slidably connected to the rotating shaft fixing seat, the rotating shaft fixing seat is rotatably connected to the rotating shaft, the flip plate is fixed on the rotating shaft, a servo is provided at one end of the first horizontal slide rail, the servo output end is connected to the crank, and the free end of the crank is connected to the bottom of the flip plate, a second horizontal slide rail is provided parallel to the lower side of the first horizontal slide rail, the second slider is slidably connected to the second horizontal slide rail, and a recovery box is fixed on the second slider.

[0014] In a preferred technical solution of the present invention, the vehicle frame is a frame structure made of aluminum profiles.

[0015] The beneficial effects of the utility model are:

[0016] The utility model provides a fully automatic seedling planting equipment. The seedling conveying mechanism can realize the storage and up and down conveyance of the seedling tray, convey the seedling tray to the conveyor belt, and convey the seedling to the designated clamping position through the conveyor belt, so as to realize fast and accurate transmission of the seedlings. Compared with the existing technology, it can realize fully automatic and continuous supply of seedlings; the power module can continuously and stably provide power output for the equipment, realize the self-service and stable forward movement of the equipment, and reduce the dependence on manual labor and the waste of human resources compared with the existing technology; the seedling tray recovery mechanism can recycle the seedling tray, reduce the waste of resources and improve the utilization rate; the seedling planting mechanism can complete the operations of taking seedlings, digging holes, and placing seedlings in the planting process, improve efficiency and liberate manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural diagram of a fully automatic seedling planting device provided by a specific embodiment of the utility model;

[0018] Figure 2 It is a structural diagram of the power module;

[0019] Figure 3 It is a structural diagram of the seedling conveying mechanism;

[0020] Figure 4 It is a structural diagram of the seedling tray recovery mechanism;

[0021] Figure 5 It is a structural diagram of the seedling tray recovery mechanism from another perspective;

[0022] Figure 6 It is a structural diagram of the seedling planting mechanism;

[0023] Figure 7 This is a structural diagram of the X-axis moving module;

[0024] Figure 8 It is a structural diagram of the planting robot arm;

[0025] Figure 9 This is a structural diagram of the planting robot arm from another perspective;

[0026] Figure 10 This is a structural diagram of the digging and planting claw;

[0027] Figure 11 It is a schematic diagram of the installation structure of the earth-moving duckbill shovel when it is closed.

[0028] In the picture:

[0029] 1. Vehicle body; 11. Vehicle frame; 12. Power module; 121. Power motor bracket; 122. Brushless motor; 123. First driving wheel; 124. First synchronous belt; 125. Wheel fixing seat; 126. Transmission shaft; 127. First driven wheel; 128. Wheel; 2. Seedling transport mechanism; 201. Lifting motor bracket; 202. Lifting motor; 203. Screw; 204. Seedling tray bracket; 205. First slider; 206. Vertical slide rail; 207, conveyor belt; 208, motor fixing plate; 209, conveying motor; 210, fourth driving wheel; 211, fourth synchronous belt; 212, fourth driven wheel; 3, seedling tray recovery mechanism; 31, first horizontal slide rail; 32, rotating shaft fixing seat; 33, rotating shaft; 34, flip plate; 35, steering gear; 36, crank; 37, second horizontal slide rail; 38, second slider; 39, recovery box; 4, seedling planting mechanism; 41, X-axis moving module; 4101, motor fixing seat; 4102, stepping motor; 4103, second driving wheel; 4104, second synchronous belt; 4105, second driven wheel; 4106, optical axis; 4107, optical axis fixing seat; 4108, linear bearing seat; 4109, tooth plate clamp fixing piece; 4110, printing motor bracket; 4111, first printing fixing piece; 4112, second printing fixing piece; 4113, adjusting bolt; 42 , planting robot arm; 421, rotating motor; 422, flange coupling; 423, swing arm; 424, third driving wheel; 425, third synchronous belt; 426, third driven wheel; 43, digging and planting integrated claw; 431, motor housing; 432, screw motor; 433, first flange; 434, second flange; 435, connecting rod; 436, spring; 437, seedling clamp; 438, soil-moving duckbill shovel; 439, sponge; 5, seedling tray. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0031] like Figure 1-11As shown, in the embodiment, a fully automatic seedling planting device is provided, including a vehicle body 1, the vehicle body 1 includes a frame 11 and a power module 12, the frame 11 is provided with a seedling conveying mechanism 2, a seedling tray recovery mechanism 3 and a seedling planting mechanism 4 from left to right, the seedling planting mechanism 4 includes an X-axis moving module 41, a planting mechanical arm 42 and a digging and planting integrated claw 43, the X-axis moving module 41 is provided on the vehicle frame 11, the X-axis moving module 41 is connected to the planting mechanical arm 42, the free end of the planting mechanical arm 42 is connected to the digging and planting integrated claw 43, the digging and planting integrated claw 43 includes a motor housing 431, a screw motor 432, a first flange 433, a second flange 434, a connecting rod 4 35, spring 436, seedling grabbing clamp 437 and soil-moving duckbill shovel 438. A screw motor 432 is installed in the motor housing 431. The output shaft of the screw motor 432 is threadedly connected to a first flange 433 and a second flange 434. Duckbill shovels 438 are symmetrically arranged on both sides of the first flange 433, and the top ends of the duckbill shovels 438 are hinged to the motor housing 431. One end of the connecting rod 435 is hinged to the inner wall of the duckbill shovel 438, and the other end of the connecting rod 435 is hinged to the first flange 433. A spring 436 is connected to the midpoint of the connecting rod 435. The free end of the spring 436 is connected to the midpoint of the seedling grabbing clamp 437, and the top end of the seedling grabbing clamp 437 is hinged to the second flange 434. In this embodiment, a power module 12 is provided at each of the four corners of the bottom of the frame 11 to drive the frame 11 forward, thereby achieving continuous planting operations and improving work efficiency. The seedling conveying mechanism 2 is installed at the rear of the frame 11, and plays the role of conveying and storing the seedling tray 5, so as to realize the supply of planted seedlings. The seedling tray recovery mechanism 3 is installed in the middle of the frame 11, and its function is to realize the recovery of the seedling tray. The seedling planting mechanism 4 is installed at the front end of the frame 11, and its function is to realize the seedling taking, digging, and seedling placing operations during the planting process, thereby realizing automated planting operations. Among them, the set X-axis moving module 41 can drive the digging and planting integrated claw 43 to move back and forth so that it can switch between the seedling taking and seedling placing stations, and the set planting robot arm 42 can rotate to adjust the height of the digging and planting integrated claw 43, and the X-axis moving module 41 and the planting robot arm 42 cooperate with each other to realize automatic seedling taking and seedling placing operations.Among them, the motor housing 431 is fixedly installed on the planting robot arm 42; the screw motor 432 is fixedly installed on the motor housing 431 and the output shaft is arranged vertically downward. When the output shaft of the screw motor 432 rotates, it can drive the first flange 433 and the second flange 434 to move up and down synchronously; the two soil-moving duckbill shovels 438 can form a conical structure when closed, and the first flange 433, the second flange 434, the connecting rod 435, the spring 436 and the seedling clamp 437 are all located in the chamber surrounded by the two soil-moving duckbill shovels 438 when they are closed. The screw motor 432 can drive the soil-moving duckbill shovel 438 to rotate and make the two soil-moving duckbill shovels 438 opens to realize the digging operation; spring 436 is used to control the opening or closing of seedling clamp 437 to realize the placement or clamping of plant seedlings, and when the two soil-moving duckbill shovels 438 are closed, spring 436 is in a compressed state, at this time, seedling clamp 437 will clamp the plant seedling under the action of elastic force to realize the seedling removal operation; on the contrary, when the two soil-moving duckbill shovels 438 are opened, the seedling clamp 437 gradually recovers from the compressed state to its original length due to the rotation of connecting rod 435. At this time, the soil-moving duckbill shovel 438 continues to open, which will gradually pull the seedling clamp 437 to open synchronously, and put the plant seedling down to realize the seedling placement operation. In addition, during the digging process of the soil-moving duckbill shovel 438, the seedling clamp 437 can ensure that the plant seedling is always upright, and the plant seedling is loosened and put down only after the pit is dug, which can effectively ensure that the seedling is upright and does not fall over during the planting process, thereby ensuring the planting quality.

[0032] Specifically, the power module 12 includes a power motor bracket 121, a brushless motor 122, a first driving wheel 123, a first synchronous belt 124, a wheel fixing seat 125, a transmission shaft 126, a first driven wheel 127 and a wheel 128. The power motor bracket 121 is fixed on the frame 11, and the brushless motor 122 is provided on the power motor bracket 121. The output end of the brushless motor 122 is connected to the first driving wheel 123. The wheel fixing seat 125 is fixed to the bottom of the frame 11. The wheel fixing seat 125 is horizontally rotatably connected with the transmission shaft 126. The transmission shaft 126 is provided with the first driven wheel 127 and the wheel 128, and the first driving wheel 123 is transmission-connected to the first driven wheel 127 through the first synchronous belt 124. In this embodiment, a power motor bracket 121 is fixedly mounted at the bottom of the vehicle frame 11. A brushless motor 122 is provided to provide power to the entire vehicle. Specifically, the brushless motor 122 drives the wheels 128 via a pulley structure, thereby propelling the vehicle 1 forward. A wheel mount 125 is located below the power motor bracket 121 and is also fixedly mounted to the vehicle frame 11. A shaft retaining ring is provided at one end of a drive shaft 126 for rotationally securing the drive shaft 126 to the wheel mount 125. A flange coupling is provided at the other end of the drive shaft 126 for connecting the wheels 128 to the drive shaft 126.

[0033] Specifically, the X-axis moving module 41 includes a motor fixing seat 4101, a stepping motor 4102, a second driving wheel 4103, a second synchronous belt 4104, a second driven wheel 4105, a mounting seat, an optical axis 4106, an optical axis fixing seat 4107, a linear bearing seat 4108, a gear plate clamp fixing piece 4109 and a printing motor bracket 4110. The motor fixing seat 4101 is fixed on the frame 11, and a stepping motor 4102 is provided on the motor fixing seat 4101. The output end of the stepping motor 4102 is connected to the second driving wheel 4103. The mounting seat is provided on the frame 11, and the mounting seat is rotated. The second driving wheel 4103 is connected to the second driven wheel 4105 via a second synchronous belt 4104. Optical shafts 4106 are horizontally arranged on both sides of the second synchronous belt 4104. Optical shaft fixing seats 4107 are connected to both ends of the optical shaft 4106, and the optical shaft fixing seats 4107 are connected to the frame 11. The bottom of the print motor bracket 4110 is provided with a linear bearing seat 4108 and a gear plate clamp fixing member 4109. The linear bearing seat 4108 is slidably connected to the optical shaft 4106, and the gear plate clamp fixing member 4109 is fixedly connected to the second synchronous belt 4104. In this embodiment, the stepper motor 4102 is preferably a 42-stepping motor, and the output shaft of the stepper motor 4102 is arranged vertically upward. During operation, the stepper motor 4102 can drive the print motor bracket 4110 to move back and forth via a pulley structure. Two optical axes 4106 are provided, and the two optical axes 4106 are arranged in parallel. A linear bearing seat 4108 is provided at each of the four corners at the bottom of the print motor bracket 4110. The two linear bearing seats 4108 on the same side are slidably connected to one of the optical axes 4106, which serve to fix and support the print motor bracket 4110 and guide the movement direction of the print motor bracket 4110. The linear bearing seat 4108 includes a linear bearing fixed in the linear bearing seat 4108 by a top screw. The linear bearing is assembled on the optical axis 4106 to reduce friction and improve movement smoothness. Two toothed plate clamp fixings 4109 are provided, and the two toothed plate clamp fixings 4109 are respectively connected to the two sides of the second synchronous belt 4104. Each toothed plate clamp fixing 4109 is connected to a print motor bracket 4110, thereby enabling the two planting robot arms 42 to move symmetrically, thereby achieving the planting operation of two rows of seedlings simultaneously and improving planting efficiency. The toothed plate clamp fixing member 4109 is used to connect the second synchronous belt 4104 and the printing motor bracket 4110 as a whole, so as to drive the printing motor bracket 4110 to move synchronously when the second synchronous belt 4104 rotates.

[0034] Specifically, the mounting base includes a first printing fixture 4111, a second printing fixture 4112, and an adjusting bolt 4113. The first printing fixture 4111 is fixed to the vehicle frame 11. The second printing fixture 4112 is provided on the side of the first printing fixture 4111 near the stepping motor 4102, and the second printing fixture 4112 is connected to the first printing fixture 4111 via the adjusting bolt 4113. In this embodiment, the second driven wheel 4105 is rotatably connected to the top of the second printing fixture 4112. By rotating the adjusting bolt 4113, the distance between the first printing fixture 4111 and the second printing fixture 4112 can be adjusted, thereby driving the second driven wheel 4105 to move synchronously, thereby achieving the purpose of adjusting the tightness of the second synchronous belt 4104.

[0035] Specifically, the planting robot arm 42 includes a rotating motor 421, a flange coupling 422, a swing arm 423, a third driving wheel 424, a third synchronous belt 425 and a third driven wheel 426. The rotating motor 421 is fixed on the printing motor bracket 4110, and the output end of the rotating motor 421 is connected to the flange coupling 422. One end of the swing arm 423 is connected to the flange coupling 422, and the other end of the swing arm 423 is rotatably connected to the third driven wheel 426. The motor housing 431 is fixed on the third driven wheel 426, and the third driving wheel 424 is fixed on the printing motor bracket 4110. The third driving wheel 424 is transmission-connected to the third driven wheel 426 through the third synchronous belt 425. In this embodiment, the output shaft of the rotary motor 421 is assembled with a flange coupling 422, the other end of which is fixed to the swing arm 423. This allows the rotary motor 421 to drive the swing arm 423 to rotate, thereby adjusting the height of the digging and planting claw 43. A third driven wheel 426 is connected to the top of the swing arm 423 via a rotating optical axis and a shaft fixing ring. Because a bearing is embedded within the third driven wheel 426, it can rotate under the influence of a third synchronous belt 425. The third synchronous belt 425 also restricts the third driven wheel 426 to directional rotation relative to the third driving wheel 424, preventing it from rotating on its own. Furthermore, the third driving wheel 424 is fixed to the print motor bracket 4110 and cannot rotate. Consequently, when the swing arm 423 rotates, the third driven wheel 426 is driven by the third synchronous belt 425 to rotate synchronously, ensuring that the digging and planting claw 43 always maintains its tip facing downward.

[0036] Specifically, a sponge 439 is further provided on the clamping surface of the seedling clamp 437. In the present embodiment, by arranging the sponge 439, the gripping force can be increased and the damage to the seedling can be reduced.

[0037] Specifically, the seedling conveying mechanism 2 includes a lifting motor bracket 201, a lifting motor 202, a screw rod 203, a seedling tray bracket 204, a first slider 205, a vertical slide rail 206, a conveyor belt 207, a motor fixing plate 208, a conveying motor 209, a fourth driving wheel 210, a fourth synchronous belt 211 and a fourth driven wheel 212. The lifting motor bracket 201 is fixed on the frame 11, and the lifting motor 202 is provided on the lifting motor bracket 201. The output end of the lifting motor 202 is vertically connected to the screw rod 203, and the screw rod 203 is threadedly connected to the seedling tray bracket 2 for placing the seedling tray 5. 04, a vertical slide rail 206 is provided on the vehicle frame 11, a first slider 205 is slidably connected to the vertical slide rail 206, and the seedling tray bracket 204 is fixedly connected to the first slider 205, a conveyor belt 207 is horizontally provided on one side of the lifting motor 202, a motor fixing plate 208 is provided below the conveyor belt 207, a conveying motor 209 is provided on the motor fixing plate 208, the output end of the conveying motor 209 is connected to a fourth driving wheel 210, a fourth driven wheel 212 is provided on the roller of the conveyor belt 207, and the fourth driving wheel 210 is transmission-connected to the fourth driven wheel 212 via a fourth synchronous belt 211. In this embodiment, the screw rod 203 is vertically provided, and one end of the screw rod 203 is connected to the vehicle frame 11 via a screw rod fixing bearing seat, and the other end of the screw rod 203 is connected to the output shaft of the lifting motor 202 via a coupling, and the provided lifting motor 202 can drive the screw rod 203 to rotate. The seedling tray support 204 is provided with a flange at the bottom center, and when the screw rod 203 rotates, the flange can be driven to move up and down, thereby driving the seedling tray support 204 to move synchronously. There are two vertical slide rails 206, which are located on the side of the lifting motor 202 away from the conveyor belt 207, and the first slider 205 and the vertical slide rail 206 cooperate with each other to support and reduce friction resistance of the seedling tray support 204, so that the lifting motor 202 drives the screw rod 203 to rotate and drive the seedling tray support 204 to move up and down. The seedling tray support 204 is provided with more than two, which can realize the storage of multiple seedling trays 5 at a time, and the screw rod 203 can transfer the seedling tray 5 to the conveyor belt 207 to realize the supply of seedlings. The conveyor belt 207 is fixedly connected to the frame 11 through the motor fixing plate 208, and the conveying motor 209 drives the conveyor belt 207 to rotate through the pulley structure, thereby transferring the seedling tray 5 to the specified clamping position.

[0038] Specifically, the seedling tray recovery mechanism 3 includes a first horizontal slide rail 31, a rotating shaft fixing seat 32, a rotating shaft 33, a flip plate 34, a steering gear 35, a crank 36, a second horizontal slide rail 37, a second slider 38 and a recovery box 39. The first horizontal slide rail 31 is fixed to the frame 11. The first horizontal slide rail 31 is slidably connected to the rotating shaft fixing seat 32, the rotating shaft fixing seat 32 is rotatably connected to the rotating shaft 33, and the flip plate 34 is fixed to the rotating shaft 33. One end of the first horizontal slide rail 31 is provided with a steering gear 35, the output end of the steering gear 35 is connected to the crank 36, and the free end of the crank 36 is connected to the bottom of the flip plate 34. A second horizontal slide rail 37 is provided below the first horizontal slide rail 31 in parallel, the second horizontal slide rail 37 is slidably connected to the second slider 38, and the second slider 38 is fixed to the recovery box 39. In this embodiment, two first horizontal slide rails 31 are provided, and the two first horizontal slide rails 31 are arranged in parallel. The rotating shaft fixing seat 32 can slide on the first horizontal slide rail 31. The bottom end of the flip plate 34 is connected to two symmetrically arranged connecting and fixing bearing seats. The rotating shaft 33 passes through the two connecting and fixing bearing seats and is connected to the flip plate 34 as a whole. Both ends of the rotating shaft 33 are fixedly connected to the rotating shaft fixing seat 32 through an axis fixing ring, thereby enabling the flip plate 34 to rotate around the rotating shaft 33. At the other end of the bottom of the flip plate 34, two symmetrically arranged symmetrical rotating bearing seats are fixed at the same time. The top end of the crank 36 is assembled and fixed to the symmetrical rotating bearing seats through the fixing ring and the rotating shaft. The servo 35 can drive the flip plate 34 to rotate around the rotating shaft 33 by rotating the crank 36. At the same time, it can achieve horizontal movement under the cooperation of the first horizontal slide 31 and the rotating shaft fixing seat 32, thereby forming a crank-connecting rod slider movement, flipping, moving and tilting the flip plate 34, so that the empty seedling tray 5 is poured into the recycling box 39. The cooperation of the second slider 38 and the second horizontal slide 37 allows the recycling box 39 to be withdrawn, facilitating the recycling of the seedling tray 5.

[0039] Specifically, the vehicle frame 11 is a frame structure made of aluminum profiles.

[0040] Working principle: When in use, first lay the seedling tray 5 planted with plant seedlings flat on the seedling tray bracket 204 to complete the planting preparation work, then start the brushless motor 122, and the brushless motor 122 drives the wheel 128 to rotate through the pulley structure, so that the vehicle body 1 moves forward, and at the same time start the lifting motor 202, and the lifting motor 202 drives the screw rod 203 to rotate, and the screw rod 203 rotates to drive the seedling tray bracket 204 to move downward until the bottom of the seedling tray 5 contacts the conveyor belt 207. At this time, the conveying motor 209 drives the conveyor belt 207 to rotate through the pulley structure to convey the seedling tray 5 to the flip plate 34. Then the stepper motor 4102 is started, and the stepper motor 4102 drives the printing motor bracket 4110 to move through the pulley structure, so that the digging and planting integrated claw 43 moves to the top of the seedling tray 5. At this time, the rotating motor 421 drives the swing arm 423 to rotate, thereby causing the digging and planting integrated claw 43 to move downward to grab the plant seedlings. In the process of grabbing the seedlings, the screw motor 432 will first drive the first flange 433 and the second flange 434 to move downward. Under the action of the connecting rod 435, the soil-moving duckbill shovel 438 rotates around the rotating shaft fixed on the motor housing 431, thereby gradually opening the duckbill. In the process of opening the duckbill, the seedling clamp 437 is initially in a closed state. Since the connecting rod 435 rotates around the connection point of the first flange 433, the spring 436 gradually recovers from the compressed state to its original length. As the duckbill continues to open, the distance between the connecting rod 435 and the seedling clamp 437 continues to increase, causing the spring 436 to be in a stretched state, thereby pulling the seedling clamp 437 opens synchronously, and when the duckbill opens to the maximum value, the spring 436 returns to its original length, and the seedling clamp 437 also opens to the maximum position; and when the digging and planting integrated claw 43 extends into the seedling tray 5, the screw motor 432 is driven to reverse, and the screw motor 432 drives the first flange 433 and the second flange 434 to move upward, and under the action of the connecting rod 435, the soil-digging duckbill shovel 438 is reversed to close. In the process of closing the duckbill, due to the distance between the connecting rod 435 and the seedling clamp 437, the duckbill shovel 438 is reversed to close. The distance between the two ends of the seedling is reduced, so that the spring 436 is compressed, which in turn pushes the seedling clamp 437 to close and clamp the plant seedling. At this time, the screw motor 432 continues to rotate, causing the duckbill to gradually close. At the same time, due to the continuous upward movement of the first flange 433 and the second flange 434, the entire seedling clamp 437 is driven to move upward, thereby pulling the plant seedling out of the seedling tray 5 and allowing the entire plant seedling to completely enter the interior of the soil-moving duckbill shovel 438, thereby completing the process of removing the seedling from the seedling tray 5. After the seedling is removed, the stepper motor 4102 is reversed, causing the digging and planting integrated claw 43 to leave the top of the seedling tray 5 and move to the planting position. At this time, the planting robot arm 42 rotates to insert the digging and planting integrated claw 43 into the ground. At this time, the digging and planting integrated claw 43 is started again, and the soil-moving duckbill shovel 438 will dig the soil during the opening process, thereby digging a hole in the ground. Then the seedling clamp 437 will open and place the plant seedling into the hole, thereby realizing automated planting operation.

[0041] The present invention is described through preferred embodiments. Those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. The present invention is not limited to the specific embodiments disclosed herein, and other embodiments falling within the scope of the claims of this application are also within the scope of protection of the present invention.

Claims

1. A fully automatic seedling planting device, characterized by: The vehicle body (1) includes a vehicle frame (11) and a power module (12). The vehicle frame (11) is provided with a seedling conveying mechanism (2), a seedling tray recovery mechanism (3) and a seedling planting mechanism (4) from left to right. The seedling planting mechanism (4) includes an X-axis moving module (41), a planting mechanical arm (42) and a digging and planting integrated claw (43). The X-axis moving module (41) is provided on the vehicle frame (11). The planting mechanical arm (42) is connected to the X-axis moving module (41). The free end of the planting mechanical arm (42) is connected to the digging and planting integrated claw (43). The digging and planting integrated claw (43) includes a motor housing (431), a screw motor (432), a first flange (433), a second flange (434), a connecting rod (435), a spring (436) and a connecting rod (437). ), a seedling grabbing clamp (437) and a soil-moving duckbill shovel (438), a screw motor (432) is installed in the motor housing (431), a first flange (433) and a second flange (434) are threadedly connected on the output shaft of the screw motor (432), soil-moving duckbill shovels (438) are symmetrically arranged on both sides of the first flange (433), and the top of the soil-moving duckbill shovel (438) is hinged on the motor housing (431), one end of the connecting rod (435) is hinged to the inner side wall of the soil-moving duckbill shovel (438), and the other end of the connecting rod (435) is hinged to the first flange (433), a spring (436) is connected at the midpoint of the connecting rod (435), the free end of the spring (436) is connected to the midpoint of the seedling grabbing clamp (437), and the top of the seedling grabbing clamp (437) is hinged to the second flange (434).

2. The fully automatic seedling planting equipment according to claim 1, characterized in that: The power module (12) comprises a power motor bracket (121), a brushless motor (122), a first driving wheel (123), a first synchronous belt (124), a wheel fixing seat (125), a transmission shaft (126), a first driven wheel (127) and a wheel (128); the power motor bracket (121) is fixed on the vehicle frame (11); the brushless motor (122) is provided on the power motor bracket (121); the output end of the brushless motor (122) is connected to the first driving wheel (123); the wheel fixing seat (125) is fixed on the bottom of the vehicle frame (11); the wheel fixing seat (125) is horizontally rotatably connected to the transmission shaft (126); the transmission shaft (126) is provided with the first driven wheel (127) and the wheel (128); and the first driving wheel (123) is transmission-connected to the first driven wheel (127) via the first synchronous belt (124).

3. The fully automatic seedling planting equipment according to claim 1, characterized in that: The X-axis moving module (41) comprises a motor fixing seat (4101), a stepping motor (4102), a second driving wheel (4103), a second synchronous belt (4104), a second driven wheel (4105), a mounting seat, an optical axis (4106), an optical axis fixing seat (4107), a linear bearing seat (4108), a tooth plate clamp fixing member (4109) and a printing motor bracket (4110), wherein the motor fixing seat (4101) is fixedly mounted on the vehicle frame (11), a stepping motor (4102) is arranged on the motor fixing seat (4101), an output end of the stepping motor (4102) is connected to the second driving wheel (4103), the mounting seat is arranged on the vehicle frame (11), and the mounting seat is provided with a plurality of teeth. A second driven wheel (4105) is rotatably connected, and the second driving wheel (4103) is transmission-connected to the second driven wheel (4105) via a second synchronous belt (4104). Optical axes (4106) are horizontally arranged on both sides of the second synchronous belt (4104). Optical axis fixing seats (4107) are connected to both ends of the optical axis (4106), and the optical axis fixing seats (4107) are connected to the frame (11). A linear bearing seat (4108) and a toothed plate clamp fixing member (4109) are arranged at the bottom of the printing motor bracket (4110). The linear bearing seat (4108) is slidably connected to the optical axis (4106), and the toothed plate clamp fixing member (4109) is fixedly connected to the second synchronous belt (4104).

4. The fully automatic seedling planting equipment according to claim 3, characterized in that: The mounting seat comprises a first printing fixing member (4111), a second printing fixing member (4112) and an adjusting bolt (4113); the first printing fixing member (4111) is fixed on the vehicle frame (11); a second printing fixing member (4112) is provided on a side of the first printing fixing member (4111) close to the stepping motor (4102); and the second printing fixing member (4112) is connected to the first printing fixing member (4111) via the adjusting bolt (4113).

5. The fully automatic seedling planting equipment according to claim 3, characterized in that: The planting mechanical arm (42) comprises a rotating motor (421), a flange coupling (422), a swing arm (423), a third driving wheel (424), a third synchronous belt (425) and a third driven wheel (426); the rotating motor (421) is fixedly mounted on the printing motor bracket (4110); the output end of the rotating motor (421) is connected to the flange coupling (422); one end of the swing arm (423) is connected to the flange coupling (422); the other end of the swing arm (423) is rotatably connected to the third driven wheel (426); the motor housing (431) is fixedly mounted on the third driven wheel (426); the third driving wheel (424) is fixedly mounted on the printing motor bracket (4110); and the third driving wheel (424) is transmission-connected to the third driven wheel (426) via the third synchronous belt (425).

6. The fully automatic seedling planting equipment according to claim 1, characterized in that: A sponge (439) is also provided on the clamping surface of the seedling clamp (437).

7. The fully automatic seedling planting equipment according to claim 1, characterized in that: The seedling conveying mechanism (2) comprises a lifting motor bracket (201), a lifting motor (202), a screw rod (203), a seedling tray bracket (204), a first slider (205), a vertical slide rail (206), a conveyor belt (207), a motor fixing plate (208), a conveying motor (209), a fourth driving wheel (210), a fourth synchronous belt (211) and a fourth driven wheel (212); the lifting motor bracket (201) is fixedly mounted on the vehicle frame (11); the lifting motor (202) is mounted on the lifting motor bracket (201); the output end of the lifting motor (202) is vertically connected to the screw rod (203); the screw rod (203) is threadedly connected to the seedling tray bracket for placing the seedling tray (5) (204), a vertical slide rail (206) is arranged on the vehicle frame (11), a first slider (205) is slidably connected to the vertical slide rail (206), and the seedling tray bracket (204) is fixedly connected to the first slider (205), a conveyor belt (207) is horizontally arranged on one side of the lifting motor (202), a motor fixing plate (208) is arranged below the conveyor belt (207), a conveying motor (209) is arranged on the motor fixing plate (208), an output end of the conveying motor (209) is connected to a fourth driving wheel (210), a fourth driven wheel (212) is arranged on a rotating roller of the conveyor belt (207), and the fourth driving wheel (210) is transmission-connected to the fourth driven wheel (212) through a fourth synchronous belt (211).

8. The fully automatic seedling planting equipment according to claim 1, characterized in that: The seedling tray recovery mechanism (3) comprises a first horizontal slide rail (31), a rotating shaft fixing seat (32), a rotating shaft (33), a flip plate (34), a steering gear (35), a crank (36), a second horizontal slide rail (37), a second slider (38) and a recovery box (39), wherein the first horizontal slide rail (31) is fixed on the vehicle frame (11), the rotating shaft fixing seat (32) is slidably connected to the first horizontal slide rail (31), and the rotating shaft fixing seat (32) is rotatably connected to the rotating shaft. (33), a flip plate (34) is fixedly provided on the rotating shaft (33), a steering gear (35) is provided at one end of the first horizontal slide rail (31), an output end of the steering gear (35) is connected to a crank (36), and a free end of the crank (36) is connected to the bottom of the flip plate (34), a second horizontal slide rail (37) is provided below the first horizontal slide rail (31) in parallel, a second slider (38) is slidably connected to the second horizontal slide rail (37), and a recovery box (39) is fixedly provided on the second slider (38).

9. The fully automatic seedling planting equipment according to claim 1, characterized in that: The vehicle frame (11) is a frame structure made of aluminum profiles.

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