Automatic transplanting robot

Abstract

The utility model relates to the technical field of automatic transplanting, in particular to an automatic transplanting robot which comprises a driving table, a rotating disc is movably installed on the right side of the top of the driving table, a mechanical arm is installed on the top of the rotating disc, and a clamping mechanism is installed at the output end of the mechanical arm through a rotating shaft. The top of the driving table is provided with a heightening table, the top of the heightening table is provided with a U-shaped seat, the U-shaped seat is internally provided with a root protection supporting assembly, and the root protection supporting assembly is used for providing supporting force for the seedling raising plate in a root system protection mode. According to the automatic transplanting robot, the root protection supporting assembly in the U-shaped base can protect seedlings and root systems of the seedlings in the process that the seedling plate is driven by the automatic transplanting robot to move, and the situation that the root systems are damaged due to external collision is avoided.

Description

An automated transplanting robot Technical Field

[0001] This utility model relates to the field of automated transplanting technology, specifically to an automated transplanting robot. Background Technology

[0002] In plant factories, transplanting is a crucial step in crop production. Traditional transplanting methods rely primarily on manual labor, which is inefficient, labor-intensive, and prone to inaccuracies and inconsistent transplantation, failing to meet the demands of high-density, multi-layered vertical cultivation in plant factories. Furthermore, existing automated transplanting equipment also has shortcomings in practical applications, such as difficulty adapting to multi-layered vertical cultivation, inaccurate positioning of seedlings in planting holes during transplanting, and high seedling damage rates. Therefore, an automated transplanting robot is needed. This robot can transfer seedlings from seedling trays to cultivation racks without manual intervention, significantly improving transplanting efficiency.

[0003] When seedlings are grown on seedling boards, their roots often protrude through the corresponding holes on the seedling board. In the process of moving the seedlings on the seedling board with the automated transplanting robot in the existing technology, the exposed roots at the bottom of the seedling board may be bumped by the outside. There is no seedling board placement mechanism that can protect the exposed roots at the bottom of the seedling board. Summary of the Invention

[0004] One object of this application is to provide an automated transplanting robot to solve the problems mentioned in the background art above.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automated transplanting robot, including a drive platform, a rotating disk movably mounted on the top right side of the drive platform, a robotic arm mounted on the top of the rotating disk, a clamping mechanism mounted on the output end of the robotic arm via a rotating shaft, a raised platform mounted on the top of the drive platform, a U-shaped base mounted on the top of the raised platform, and a root protection support component provided inside the U-shaped base, which is used to provide support for the seedling board in a way that protects the root system;

[0006] The root support assembly includes side plates, limiting holes, guide rods, placement plates, support springs, and absorbent sponges. The inner wall of the U-shaped base is symmetrically fitted with side plates. Limiting holes are evenly distributed through the top of the side plates. Guide rods are evenly distributed through the limiting holes on the top of the side plates. The placement plates are connected to the top of the guide rods. Support springs are evenly distributed on the top of the side plates, and the support springs are located outside the guide rods. One end of the support springs is connected to the bottom of the placement plates. Absorbent sponges are fixedly installed on the inner bottom wall of the U-shaped base.

[0007] Preferably, a control panel is mounted on the front of the drive platform, and the control panel is used to adjust the operating parameters of the rotary table and the robotic arm.

[0008] Preferably, the output end of the robotic arm is connected to a visual positioning mechanism, and the visual positioning mechanism is located on one side of the clamping mechanism. The visual positioning mechanism locates the position of the seedling through a smart camera.

[0009] Preferably, the visual positioning mechanism interacts with the control panel via wireless communication technology, and the control panel controls the robotic arm and gripping mechanism to perform actions based on the received data.

[0010] Preferably, the bottom of the drive platform is connected to a walking wheel, and the walking wheel is driven by the drive platform.

[0011] Preferably, the clamping mechanism includes a fixed top plate, a vertical plate, an electric telescopic rod, and an arc-shaped clamping block. The output end of the robotic arm is equipped with a fixed top plate via a rotating shaft. Vertical plates are symmetrically installed on the bottom of the fixed top plate. An electric telescopic rod is installed on the inner side of the vertical plate. The output end of the electric telescopic rod is connected to the arc-shaped clamping block.

[0012] Preferably, the inner arc surface of the arc-shaped clamping block is equipped with an anti-slip pad.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. In this utility model, the seedling board is placed using the root-protecting support component inside the U-shaped base, with both ends of the seedling board resting on top of the placement board, while the middle part of the seedling board is suspended. This allows the seedling roots extending from the bottom of the seedling board to remain suspended. The absorbent sponge inside the bottom wall of the U-shaped base protects longer roots and provides a moist environment. When the automated transplanting robot encounters bumpy roads, the guide rod and limiting holes restrict the intelligent up-and-down vibration of the placement board. The support spring provides support for both the placement board and the seedling board while also cushioning the vibration of the placement board, thus providing some protection for the seedling board. The root-protecting support component inside the U-shaped base protects the seedlings and their roots during the movement of the seedling board by the automated transplanting robot, preventing damage to the roots from external collisions.

[0015] 2. In this utility model, when clamping seedlings, the clamping mechanism moves above the seedlings, and the electric telescopic rods on the inner side of the four sets of upright plates extend a suitable distance, so that the arc-shaped clamping block can stably clamp the seedlings. Through the four sets of symmetrically arranged electric telescopic rods and arc-shaped clamping blocks, the automated transplanting robot can clamp seedlings of different diameters, thus improving the applicability of the automated transplanting robot. Attached Figure Description

[0016] Figure 1 is a schematic diagram of the structure of this utility model;

[0017] Figure 2 is a side sectional view of the U-shaped seat of this utility model;

[0018] Figure 3 is a sectional view of the side plate of this utility model;

[0019] Figure 4 is a bottom view of the clamping mechanism structure of this utility model.

[0020] In the diagram: 1. Drive platform; 2. Rotary disk; 3. Robotic arm; 4. Clamping mechanism; 5. Elevation platform; 6. U-shaped base; 7. Side plate; 8. Limiting hole; 9. Guide rod; 10. Placement plate; 11. Support spring; 12. Absorbent sponge; 13. Vision positioning mechanism; 14. Control panel; 15. Walking wheel; 16. Fixed top plate; 17. Vertical plate; 18. Electric telescopic rod; 19. Arc-shaped clamping block; 20. Anti-slip mat. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] The technical solution of this utility model will be further explained below with reference to Figures 1-4:

[0025] Example 1: As shown in Figures 1-3, an automated transplanting robot includes a drive platform 1. A rotating disk 2 is movably mounted on the top right side of the drive platform 1. A robotic arm 3 is mounted on the top of the rotating disk 2. A clamping mechanism 4 is mounted on the output end of the robotic arm 3 via a rotating shaft. A raised platform 5 is mounted on the top of the drive platform 1. A U-shaped base 6 is mounted on the top of the raised platform 5. A root protection support assembly is provided inside the U-shaped base 6, and the root protection support assembly is used to provide support for the seedling board in a way that protects the root system. The root protection support assembly includes a side plate 7 and a limiting hole 8. The structure includes a guide rod 9, a placement plate 10, a support spring 11, and an absorbent sponge 12. A side plate 7 is symmetrically installed on the inner wall of the U-shaped base 6. Limiting holes 8 are evenly distributed through the top of the side plate 7. A guide rod 9 is installed through the limiting holes 8 on the top of the side plate 7. The placement plate 10 is connected to the top of the guide rod 9. Supporting springs 11 are evenly distributed on the top of the side plate 7, and are located outside the guide rod 9. One end of the support spring 11 is connected to the bottom of the placement plate 10. An absorbent sponge 12 is fixedly installed on the inner bottom wall of the U-shaped base 6. The drive platform 1 provides an installation position for the rotating disk 2, the rotating disk 2 provides an installation position for the robotic arm 3, the robotic arm 3 provides an installation position for the clamping mechanism 4, which can clamp the seedlings in the seedling tray. The drive platform 1 provides an installation position for the raised platform 5, the raised platform 5 provides an installation position for the U-shaped base 6, the U-shaped base 6 provides an installation position for the root protection support assembly, the U-shaped base 6 provides an installation position for the side plate 7, the side plate 7 provides an opening position for the limiting hole 8, the limiting hole 8 provides a through position for the guide rod 9, the guide rod 9 provides an installation position for the placement plate 10, the side plate 7 provides an installation position for the support spring 11, the support spring 11 connects the placement plate 10 and the side plate 7, the guide rod 9 and the limiting hole 8 provide a limit to the movement of the placement plate 10, and the support spring 11 also provides support force for the placement plate 10. The U-shaped base 6 provides an installation position for the water-absorbing sponge 12, the water-absorbing sponge 12 prevents the bottom roots of the seedlings with longer root systems from being exposed. During the robot's movement, friction with the inner bottom wall of the U-shaped base 6 causes damage. When placing the seedling board, both ends of the seedling board are placed on top of the placement plate 10, while the middle part of the seedling board is suspended, allowing the seedling roots extending from the bottom of the seedling board to remain suspended. The water-absorbing sponge 12 installed on the inner bottom wall of the U-shaped base 6 can protect the longer roots and provide a moist environment for them. When the automated transplanting robot encounters bumpy roads, the guide rod 9 and the limiting hole 8 restrict the intelligent up-and-down vibration of the placement plate 10. The support spring 11 provides support for the placement plate 10 and the seedling board while also buffering the vibration force of the placement plate 10, thus providing a certain degree of protection for the seedling board. The root protection support component inside the U-shaped base 6 can protect the seedlings and their roots during the movement of the seedling board by the automated transplanting robot, preventing the roots from being damaged by external collisions.

[0026] Example 2: As shown in Figure 1, a control panel 14 is installed on the front of the drive platform 1. The control panel 14 is used to adjust the operating parameters of the rotating disk 2 and the robotic arm 3. The output end of the robotic arm 3 is connected to a vision positioning mechanism 13, which is located on one side of the clamping mechanism 4. The vision positioning mechanism 13 locates the position of the seedling through a smart camera. The vision positioning mechanism 13 interacts with the control panel 14 through wireless communication technology. The control panel 14 controls the robotic arm 3 and the clamping mechanism 4 to perform actions according to the received data. The bottom of the drive platform 1 is connected to a walking wheel 15, which is driven by the drive platform 1. The drive platform 1 provides an installation location for the control panel 14. Operators can adjust the rotation speed of the rotating disk 2 and the movement speed of the robotic arm 3 through the control panel 14. The robotic arm 3 provides an installation location for the vision positioning mechanism 13. The vision positioning mechanism 13 can locate the specific position of the seedlings on the seedling board through the intelligent camera, and can also identify the cultivation pits on the cultivation rack, so that the clamping and planting of seedlings can be accurately positioned. The vision positioning mechanism 13 sends the acquired seedling position to the control panel 14. After receiving the seedling position signal, the control panel 14 controls the robotic arm 3 to move and controls the clamping mechanism 4 to clamp the seedlings. It controls the rotating disk 2 to rotate to a suitable angle and clamps the seedlings into the cultivation pits. The drive platform 1 can independently control the movement of the walking wheels 15, which facilitates the robot to turn and greatly improves the robot's flexibility.

[0027] Example 3: As shown in Figures 1 and 4, the clamping mechanism 4 includes a fixed top plate 16, a vertical plate 17, an electric telescopic rod 18, and an arc-shaped clamping block 19. The output end of the robotic arm 3 is mounted on the fixed top plate 16 via a rotating shaft. The vertical plate 17 is symmetrically mounted on the bottom of the fixed top plate 16. The electric telescopic rod 18 is mounted on the inner side of the vertical plate 17. The output end of the electric telescopic rod 18 is connected to the arc-shaped clamping block 19. The inner arc surface of the arc-shaped clamping block 19 is equipped with an anti-slip pad 20. The robotic arm 3 provides an installation position for the fixed top plate 16, which in turn provides an installation position for the upright plate 17. The upright plate 17 provides an installation position for the electric telescopic rod 18, which provides an installation position for the arc-shaped clamping block 19 and can move the arc-shaped clamping block 19. The arc-shaped clamping block 19 provides an installation position for the anti-slip pad 20, which increases the friction between the inner side of the arc-shaped clamping block 19 and the seedling. When clamping the seedling, the robotic arm 3 moves the clamping mechanism 4 above the seedling based on the image captured by the visual positioning mechanism 13. The electric telescopic rods 18 on the inner side of the four sets of upright plates 17 extend a suitable distance, allowing the arc-shaped clamping block 19 to stably clamp the seedling. Through the four symmetrically arranged electric telescopic rods 18 and arc-shaped clamping blocks 19, the automated transplanting robot can clamp seedlings of different diameters, improving the applicability of the automated transplanting robot.

[0028] Working Principle: Before using the automated transplanting robot, check for any issues that might affect its use. First, place the robot in the desired location and place the seedling board on top of the robot, ensuring both ends are on top of the placement plate 10, with the middle section suspended. This allows the seedling roots extending from the bottom of the board to remain suspended. The absorbent sponge 12 inside the U-shaped base 6 protects longer roots and provides a moist environment. When the robot encounters bumpy surfaces, the guide rod 9 and limiting hole 8 restrict the up-and-down vibration of the placement plate 10. The support spring 11 provides support for the placement plate 10 and the seedling board while also cushioning some of the vibration, thus protecting the seedling board. The root support component inside the U-shaped base 6 protects the seedlings and their roots during the robot's movement, preventing damage from external impacts.

[0029] The drive platform 1 can independently control the movement of the walking wheels 15, facilitating the robot's turning and greatly improving its flexibility. When the automated transplanting robot moves to the cultivation rack, the vision positioning mechanism 13 uses a smart camera to locate the specific position of the seedlings on the seedling board and identify the cultivation pits on the cultivation rack. The vision positioning mechanism 13 sends the acquired seedling position to the control panel 14. After receiving the seedling position signal, the control panel 14 controls the robotic arm 3 to move and controls the clamping mechanism 4 to clamp the seedlings, controlling the rotation... Turntable 2 rotates to a suitable angle to clamp the seedling into the cultivation pit. When clamping the seedling, according to the image captured by the visual positioning mechanism 13, the robotic arm 3 moves the clamping mechanism 4 above the seedling. The electric telescopic rods 18 on the inner side of the four sets of upright plates 17 extend a suitable distance, so that the arc-shaped clamping block 19 can stably clamp the seedling. Through the four sets of symmetrically arranged electric telescopic rods 18 and arc-shaped clamping blocks 19, the automated transplanting robot can clamp seedlings of different diameters, which improves the applicability of the automated transplanting robot.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automated transplanting robot, comprising a drive platform (1), characterized in that: A rotating disk (2) is movably mounted on the top right side of the drive platform (1). A robotic arm (3) is mounted on the top of the rotating disk (2). A clamping mechanism (4) is mounted on the output end of the robotic arm (3) via a rotating shaft. A raised platform (5) is mounted on the top of the drive platform (1). A U-shaped seat (6) is mounted on the top of the raised platform (5). A root protection support assembly is provided inside the U-shaped seat (6), and the root protection support assembly is used to provide support for the seedling board in a way that protects the root system. The root protection support assembly includes a side plate (7), a limiting hole (8), a guide rod (9), a placement plate (10), and a support spring (11). The inner wall of the U-shaped base (6) is symmetrically fitted with side plates (7), and the top of the side plates (7) is uniformly perforated with limiting holes (8). The top of the side plates (7) is perforated with guide rods (9) through the limiting holes (8). The top of the guide rods (9) is connected to a placement plate (10). The top of the side plates (7) is uniformly fitted with support springs (11), and the support springs (11) are located outside the guide rods (9). One end of the support springs (11) is connected to the bottom of the placement plate (10). The inner bottom wall of the U-shaped base (6) is fixedly fitted with absorbent sponges (12).

2. The automated transplanting robot according to claim 1, characterized in that: The front of the drive platform (1) is equipped with a control panel (14), which is used to adjust the operating parameters of the rotary disk (2) and the robotic arm (3).

3. The automated transplanting robot according to claim 1, characterized in that: The output end of the robotic arm (3) is connected to a visual positioning mechanism (13), and the visual positioning mechanism (13) is located on one side of the clamping mechanism (4). The visual positioning mechanism (13) locates the position of the seedling through a smart camera.

4. An automated transplanting robot according to claim 3, characterized in that: The visual positioning mechanism (13) interacts with the control panel (14) via wireless communication technology. The control panel (14) controls the robotic arm (3) and the clamping mechanism (4) to perform actions based on the received data.

5. An automated transplanting robot according to claim 1, characterized in that: The bottom of the drive platform (1) is connected to a walking wheel (15), and the walking wheel (15) is driven by the drive platform (1).

6. An automated transplanting robot according to claim 1, characterized in that: The clamping mechanism (4) includes a fixed top plate (16), a vertical plate (17), an electric telescopic rod (18), and an arc-shaped clamping block (19). The output end of the robotic arm (3) is equipped with the fixed top plate (16) via a rotating shaft. The vertical plate (17) is symmetrically installed at the bottom of the fixed top plate (16). The electric telescopic rod (18) is installed on the inner side of the vertical plate (17). The output end of the electric telescopic rod (18) is connected to the arc-shaped clamping block (19).

7. An automated transplanting robot according to claim 6, characterized in that: The inner arc surface of the arc-shaped clamping block (19) is equipped with an anti-slip pad (20).

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