Intelligent vegetable transplanting robot

Abstract

The utility model provides an intelligent vegetable transplanting robot which comprises a planting robot frame body, a frame body side plate is arranged on the side edge of the planting robot frame body, a vegetable seedling tray is connected to the side edge of the frame body side plate, a mechanical seedling clamp is arranged above the vegetable seedling tray, and the mechanical seedling clamp is connected with the planting robot frame body through a seedling clamp mechanical arm. And a duckbill is arranged below the mechanical seedling clamp and is connected with a duckbill arm. The four mechanical seedling clamps are arranged, multiple seedlings can be clamped at the same time, the automatic transplanting and soil covering processes are matched, the working efficiency of vegetable transplanting is greatly improved, and manpower and time cost is saved. Through precise mechanical control, such as precise implantation of the duckbill and uniform soil covering of the soil covering wheel, the consistency of the transplanting position of the seedlings and the soil covering effect can be ensured, and the survival rate and the growth quality of the vegetables are improved. Due to automatic operation, the requirement for manual labor is reduced, the labor intensity of workers is reduced, and the vegetable transplanting work is easier and more convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of vegetable transplanting, and particularly to an intelligent vegetable transplanting robot. BACKGROUND

[0002] With the advancement of agricultural modernization, improving the efficiency and quality of vegetable planting has become an important demand for agricultural development. In the vegetable transplanting link, the traditional manual transplanting method has problems such as low efficiency, high labor intensity, and high cost. Therefore, the research and development of intelligent vegetable transplanting robots have emerged as the times require.

[0003] However, the existing intelligent vegetable transplanting robots still have some deficiencies in actual application. Some current intelligent vegetable transplanting robots cannot accurately hold vegetable seedlings through mechanical arms, which leads to unstable seedling grabbing and easily causes seedlings to fall or be damaged, affecting the efficiency and quality of transplanting.

[0004] In addition, the existing intelligent vegetable transplanting robots have the problem of being unable to automatically complete the insertion operation when transplanting seedlings into the land. This makes the transplanting process not enough coherent and efficient, and requires manual assistance, increasing labor and time costs.

[0005] In addition, the existing intelligent vegetable transplanting robots cannot achieve automatic covering after completing the transplanting of seedlings. Covering is an important link to ensure the survival rate and growth of seedlings, and the lack of automatic covering function will affect the growth environment and development of vegetables, reducing the planting effect.

[0006] In summary, the existing intelligent vegetable transplanting robots have deficiencies in mechanical arm clamping, automatic transplanting insertion into the soil, and automatic covering, and cannot meet the efficient and high-quality vegetable transplanting demand. Therefore, we improve it and propose an intelligent vegetable transplanting robot. INVENTION CONTENTS

[0007] The utility model aims at the problem existing in the prior art. In order to realize the above-mentioned utility model purpose, the utility model provides the following technical scheme: an intelligent vegetable transplanting robot, comprising a robot frame body, a side of the robot frame body is provided with a frame side plate, a side of the frame side plate is connected with a vegetable seedling tray, an upper portion of the vegetable seedling tray is provided with a mechanical seedling clamp, the mechanical seedling clamp is connected with the robot frame body through a seedling clamp mechanical arm, a lower portion of the mechanical seedling clamp is provided with a duckbill, the duckbill is connected with a duckbill arm, the linkage rod is matched with a gear cam, the gear cam is connected with a large gear, the large gear is engaged with a small gear, the small gear is connected with a duckbill driving motor.

[0008] The side of the duckbill is provided with a soil covering wheel, the soil covering wheel is connected with a soil covering wheel frame, and the soil covering wheel frame is connected with the planting robot frame body.

[0009] The vegetable seedling tray comprises a first vegetable seedling tray and a second vegetable seedling tray, and the first vegetable seedling tray and the second vegetable seedling tray are arranged side by side.

[0010] The mechanical seedling clamp is provided with four mechanical seedling clamps, two of which are arranged above the first vegetable seedling tray, and two of which are arranged above the second vegetable seedling tray.

[0011] The lower portion of the planting robot frame body is provided with a bogie support frame, the bogie support frame is provided with a bogie, and the outer surface of the bogie is provided with a rubber tire.

[0012] The bogie support frame, the bogie and the rubber tire are provided with four bogies, which are respectively arranged below the four corners of the planting robot frame body.

[0013] The mechanical seedling clamp and the duckbill are provided with a funnel, the middle portion of the funnel is provided with a funnel tooth, the mechanical seedling clamp clamps the seedling into the funnel, and the seedling is transported into the duckbill through the funnel.

[0014] The funnel tooth is engaged with a gear on the funnel wheel.

[0015] The lower portion of the funnel wheel is provided with a funnel wheel rotating shaft.

[0016] The funnel wheel rotating shaft is connected with a funnel wheel rotating motor.

[0017] Compared with the prior art, the utility model has the advantages that: in the scheme of the utility model: 1. improve the transplanting efficiency: four mechanical seedling clamps are arranged, and multiple seedlings can be clamped at the same time, cooperating with the automatic transplanting and soil covering process, so that the work efficiency of vegetable transplanting is greatly improved, and the labor and time cost are saved.

[0018] 2. guarantee the transplanting quality: through accurate mechanical control, such as accurate implantation of the duckbill and uniform soil covering of the soil covering wheel, the consistency of the transplanting position and soil covering effect of the seedling can be ensured, and the survival rate and growth quality of the vegetable are improved.

[0019] 3. Reducing labor intensity: automated operation reduces the need for manual labor, reducing the labor intensity of workers, making vegetable transplanting work more easy and convenient.

[0020] 4. Increase the controllability of planting density: the side-by-side arrangement of the first and second vegetable seedling trays and the reasonable configuration of the mechanical seedling clamp help to achieve precise control of planting density and improve land utilization.

[0021] 5. Adapt to different terrains: the track support frame under the robot frame body is provided with a track with rubber tires, which can smoothly move in different terrains, enhancing the adaptability of the robot.

[0022] 6. Improve the stability of seedling delivery: the funnel between the mechanical seedling clamp and the duckbill, as well as the cooperation of the funnel teeth and the funnel wheel inside the funnel, can stably deliver seedlings into the duckbill, reducing seedling damage during delivery.

[0023] 7. High degree of automation: the coordinated work of each component realizes the automatic process of vegetable transplanting, reduces human factors, and improves the accuracy and reliability of transplanting work. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The structure schematic diagram provided by the utility model;

[0025] Figure 2 The track structure schematic diagram provided by the utility model;

[0026] Figure 3 The duckbill structure schematic diagram provided by the utility model;

[0027] Figure 4 The funnel structure schematic diagram provided by the utility model;

[0028] Figure 5 The soil covering wheel structure schematic diagram provided by the utility model;

[0029] Figure 6 The left view structure schematic diagram provided by the utility model;

[0030] Figure 7 The overhead structure schematic diagram provided by the utility model.

[0031] Indicated in the figure: 1, the robot frame; 2, the frame side plate; 3, the vegetable seedling tray; 4, the mechanical seedling clamp; 41, the seedling clamp mechanical arm; 5, the duckbill; 51, the duckbill arm; 6, the linkage rod; 7, the gear cam; 8, the large gear; 9, the pinion; 10, the duckbill drive motor; 11, the soil covering wheel; 111, the soil covering wheel frame; 12, the wheel support frame; 13, the wheel; 131, the rubber tire; 14, the hopper; 141, the hopper tooth; 15, the hopper wheel; 151, the hopper wheel rotation shaft; 152, the hopper wheel rotation shaft rotation motor. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0033] Therefore, the following detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but merely represents some embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application. It should be noted that the embodiments in the present application and the features and technical schemes in the embodiments can be combined with each other without conflict, and similar reference numerals and letters represent similar items in the following drawings, so that once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] Embodiment 1: Please refer to Figures 1-7 An intelligent vegetable transplanting robot, comprising a robot frame 1, a frame side plate 2 is arranged on the side of the robot frame 1, a vegetable seedling tray 3 is connected to the side of the frame side plate 2, a mechanical seedling clamp 4 is arranged above the vegetable seedling tray 3, the mechanical seedling clamp 4 is connected to the robot frame 1 through a seedling clamp mechanical arm 41, a duckbill 5 is arranged below the mechanical seedling clamp 4, the duckbill 5 is connected to a duckbill arm 51, a linkage rod 6 is matched with a gear cam 7, the gear cam 7 is connected to a large gear 8, the large gear 8 is engaged with a pinion 9, the pinion 9 is connected to a duckbill drive motor 10. A soil covering wheel 11 is arranged on the side of the duckbill 5, the soil covering wheel 11 is connected to a soil covering wheel frame 111, and the soil covering wheel frame 111 is connected to the robot frame 1. The vegetable seedling tray 3 comprises a first vegetable seedling tray and a second vegetable seedling tray, and the first vegetable seedling tray and the second vegetable seedling tray are arranged side by side.

[0035] The mechanical seedling clamp 4 is provided with four, the first vegetable seedling tray is provided with two mechanical seedling clamp 4 above; The second vegetable seedling tray is provided with two mechanical seedling clamp 4 above. The lower part of the planting robot frame body 1 is provided with a bogie support frame 12, the bogie support frame 12 is provided with a bogie 13, the outer surface of the bogie 13 is provided with a rubber tire 131. The bogie support frame 12 and the bogie 13 and the rubber tire 131 are provided with four, which are respectively installed below the four corners of the planting robot frame body 1. The funnel 14 is provided between the mechanical seedling clamp 4 and the duckbill 5, the funnel tooth 141 is arranged in the middle part of the funnel 14, the mechanical seedling clamp 4 clamps the seedling into the funnel 14, and the seedling is transported into the duckbill 5 through the funnel 14.

[0036] The funnel tooth 141 is engaged with the gear on the funnel wheel rotating shaft 151. The lower part of the funnel wheel rotating shaft 151 is provided with a funnel wheel rotating shaft 151 rotating shaft. The funnel wheel rotating shaft 151 rotating shaft is connected with the funnel wheel rotating shaft rotating motor 152.

[0037] The working principle of the intelligent vegetable transplanting robot: when the vegetable transplanting work is needed, the planting robot frame body 1 moves through the bogie 13 on the bogie support frame 12 of the four corners below and the rubber tire 131 on the outer surface thereof.

[0038] The vegetable seedling tray 3 is divided into a first vegetable seedling tray and a second vegetable seedling tray, and is arranged side by side on the side of the frame side plate 2. The upper part of each vegetable seedling tray 3 is provided with two mechanical seedling clamps 4, and the mechanical seedling clamps 4 are connected with the planting robot frame body 1 through the seedling clamp mechanical arm 41. The mechanical seedling clamp 4 works, clamps the vegetable seedling, and puts it into the funnel 14 below.

[0039] The funnel tooth 141 in the middle part of the funnel 14 is engaged with the gear on the funnel wheel rotating shaft 151, and the funnel wheel rotating shaft 151 rotating shaft drives the funnel wheel rotating shaft 151 to rotate under the drive of the funnel wheel rotating shaft rotating motor 152, so that the funnel tooth 141 moves, and the seedling passes through the funnel 14 smoothly, and the seedling is transported into the duckbill 5.

[0040] The duckbill 5 is connected with the duckbill arm 51, and the duckbill arm 51 is matched with the gear cam 7 through the linkage rod 6. The gear cam 7 is connected with the large gear 8, the large gear 8 is engaged with the small gear 9, and the small gear 9 is connected with the duckbill driving motor 10. When the duckbill driving motor 10 works, the transmission of the small gear 9, the large gear 8, the gear cam 7 and the linkage rod 6 makes the duckbill arm 51 act, so that the duckbill 5 is inserted into the soil, and then the seedling is transplanted into the land.

[0041] A soil covering wheel 11 is arranged on the side of the duckbill 5, and the soil covering wheel 11 is connected with a soil covering wheel frame 111, and the soil covering wheel frame 111 is connected with the transplanting robot frame body 1. After the seedling is planted, the soil covering wheel 11 covers the soil on the root of the seedling, and the soil covering work of transplanting is completed.

[0042] In summary, the intelligent vegetable transplanting robot realizes the automatic clamping, conveying, planting and covering of vegetable seedlings through the cooperation of various components, and improves the efficiency and quality of vegetable transplanting.

[0043] In the embodiment 2, the transplanting robot frame body 1 is made of high-strength aluminum alloy material to ensure sufficient strength and stability while reducing the overall weight. The shape and size of the frame body are designed according to actual needs to adapt to different working environments.

[0044] The frame side plate 2 is made of stainless steel and is fixed on the side of the transplanting robot frame body 1 by welding or bolt connection. The vegetable seedling tray 3 is divided into a first vegetable seedling tray and a second vegetable seedling tray and is made of plastic material, which has good corrosion resistance and wear resistance. The two seedling trays are installed side by side on the side of the frame side plate 2 and are fixed by sliding rails or clamping grooves for easy disassembly and replacement.

[0045] The mechanical seedling clamp 4 is controlled by pneumatic control and is composed of two clamping jaws. The shape and size of the clamping jaws are designed according to the size of the seedlings to ensure stable clamping of the seedlings. The seedling clamp mechanical arm 41 is made of aluminum alloy material and realizes multi-degree-of-freedom movement through joint bearings and electric push rods, which can accurately move the mechanical seedling clamp 4 above the vegetable seedling tray 3 and clamp the seedlings.

[0046] The duckbill 5 is made of stainless steel and is connected with the linkage rod 6 through the duckbill arm 51. The linkage rod 6 cooperates with the gear cam 7, the gear cam 7 is connected with the large gear 8, the large gear 8 is engaged with the small gear 9, and the small gear 9 is connected with the duckbill driving motor 10. Through the driving of the motor, the duckbill 5 is inserted into the soil, and then the seedlings are transplanted into the land.

[0047] The soil covering wheel 11 is made of rubber material and has good elasticity and wear resistance. The soil covering wheel frame 111 is made of aluminum alloy material and is fixed on the transplanting robot frame body 1 by bolt connection. The soil covering wheel 11 is installed on the soil covering wheel frame 111 and is connected with the motor through chain or belt to realize the function of rotating soil covering.

[0048] The trolley support frame 12 is made of steel structure and is fixed below the four corners of the transplanting robot frame body 1 by welding or bolt connection. The trolley 13 is made of aluminum alloy material and has good strength and wear resistance. The trolley 13 is installed on the trolley support frame 12 through bearings and can rotate freely.

[0049] The rubber tire 131 is made of wear-resistant rubber material, has good grip and shock absorption performance. The rubber tire 131 is installed on the wheel 13 and maintained at a proper tire pressure by inflation.

[0050] The hopper 14 is made of stainless steel material, has good corrosion resistance and wear resistance. The shape and size of the hopper 14 are designed according to the position of the mechanical seedling clamp 4 and the duckbill 5 to ensure that the seedlings can be smoothly transported from the mechanical seedling clamp 4 to the duckbill 5. The middle part of the hopper 14 is provided with hopper teeth 141, which are engaged with the gear on the hopper wheel rotating shaft 151. The lower part of the hopper wheel rotating shaft 151 is provided with a hopper wheel rotating shaft 151 rotating shaft, and the hopper wheel rotating shaft 151 rotating shaft

[0051] The working process of the intelligent vegetable transplanting robot is as follows:

[0052] 1. Start and move

[0053] Start the intelligent vegetable transplanting robot, and the duckbill drive motor 10, the hopper wheel rotating shaft rotating motor 152 and other components enter the standby state.

[0054] The wheels 13 on the wheel support frames 12 at the four corners below the robot frame body 1 drive the entire robot to move in the field under the action of the rubber tires 131, and reach the position where the vegetable transplanting needs to be performed.

[0055] 2. Seedling clamping

[0056] When the robot reaches the specified position, the mechanical seedling clamp 4 above the first and second vegetable seedling trays starts to work.

[0057] The mechanical seedling clamp 4 clamps the seedlings in the vegetable seedling tray 3 through the control of the seedling clamp mechanical arm 41.

[0058] 3. Seedling transportation

[0059] The mechanical seedling clamp 4 puts the clamped seedlings into the hopper 14 below it.

[0060] The hopper wheel rotating shaft rotating motor 152 starts to drive the hopper wheel rotating shaft 151 rotating shaft to rotate, so that the gear on the hopper wheel rotating shaft 151 drives the hopper teeth 141 to move.

[0061] The seedlings are smoothly transported into the duckbill 5 through the hopper 14 with the assistance of the hopper teeth 141.

[0062] 4. Seedling planting

[0063] After the seedlings enter the duckbill 5, the duckbill drive motor 10 starts to work.

[0064] The duckbill driving motor 10 drives the pinion 9 to rotate, and the pinion 9 meshes with the gear wheel 8 to drive the gear wheel 8 to rotate.

[0065] The gear wheel 8 drives the gear cam 7 to move, and the duckbill arm 51 is actuated through the linkage 6, so that the duckbill 5 is inserted into the soil, and then the seedling is transplanted into the land.

[0066] 5. Covering operation

[0067] After the seedling is planted into the land, the covering wheel 11 on the side of the duckbill 5 starts to work.

[0068] With the continuous movement of the robot, the covering wheel 11 covers the soil on the root of the seedling, and the covering operation is completed.

[0069] 6. Repeat operation

[0070] After the completion of one transplanting operation, the robot continues to move forward, and the next vegetable transplanting work is carried out according to the above process, until the whole field vegetable transplanting task is completed.

[0071] The above examples are only used to illustrate the present application and are not limited to the technical solutions described in the present application. Although the present application has been described in detail with reference to the above embodiments, the present application is not limited to the above specific embodiments, and any modification or equivalent replacement of the present application; all technical solutions and improvements which do not deviate from the spirit and scope of the present application are covered in the scope of the claims of the present application.

Claims

1. An intelligent vegetable transplanting robot comprising a transplanting robot frame body (1), characterized in that, The side of the planting robot frame body (1) is provided with a frame side plate (2), the side of the frame side plate (2) is connected with a vegetable seedling tray (3), the upper side of the vegetable seedling tray (3) is provided with a mechanical seedling clamp (4), the mechanical seedling clamp (4) is connected with the planting robot frame body (1) through a seedling clamp mechanical arm (41), the lower side of the mechanical seedling clamp (4) is provided with a duckbill (5), the duckbill (5) is connected with a duckbill arm (51), a linkage rod (6) is matched with a gear cam (7), the gear cam (7) is connected with a large gear (8), the large gear (8) is engaged with a small gear (9), and the small gear (9) is connected with a duckbill driving motor (10).

2. The intelligent vegetable transplanting robot according to claim 1, wherein, The side of the duckbill (5) is provided with a soil covering wheel (11), the soil covering wheel (11) is connected with a soil covering wheel frame (111), and the soil covering wheel frame (111) is connected with the planting robot frame body (1).

3. The intelligent vegetable transplanting robot according to claim 2, characterized in that, The vegetable seedling tray (3) comprises a first vegetable seedling tray and a second vegetable seedling tray, and the first vegetable seedling tray and the second vegetable seedling tray are arranged side by side.

4. The intelligent vegetable transplanting robot according to claim 3, characterized in that, The mechanical seedling clamp (4) is provided with four, two of which are arranged above the first vegetable seedling tray, and two of which are arranged above the second vegetable seedling tray.

5. The intelligent vegetable transplanting robot according to claim 4, characterized in that, The lower side of the planting robot frame body (1) is provided with a wheel support frame (12), the wheel support frame (12) is provided with a wheel (13), and the outer surface of the wheel (13) is provided with a rubber tire (131).

6. The intelligent vegetable transplanting robot according to claim 5, wherein, The wheel support frame (12), the wheel (13) and the rubber tire (131) are provided with four, which are respectively arranged below the four corners of the planting robot frame body (1).

7. The intelligent vegetable transplanting robot according to claim 6, characterized in that, A hopper (14) is arranged between the mechanical seedling clamp (4) and the duckbill (5), the middle part of the hopper (14) is provided with a hopper tooth (141), the mechanical seedling clamp (4) clamps the seedling into the hopper (14), and the seedling is conveyed into the duckbill (5) through the hopper (14).

8. The intelligent vegetable transplanting robot according to claim 7, characterized in that, The hopper tooth (141) is engaged with a gear on a hopper wheel rotating shaft (151).

9. The intelligent vegetable transplanting robot according to claim 8, characterized in that, The lower side of the hopper wheel rotating shaft (151) is provided with a hopper wheel rotating shaft (151) rotating shaft.

10. The intelligent vegetable transplanting robot according to claim 9, wherein, The hopper wheel rotating shaft (151) rotating shaft is connected with a hopper wheel rotating shaft rotating motor (152).

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