Rice seedling automatic taking and delivering device for intelligent transplanting robot
Patent Information
- Application Number
- CN202522455533.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-19
- Publication Date
- 2026-10-13
- Estimated Expiration
- 2035-11-19
AI Technical Summary
然而，大多数插秧机仍需人工进行上秧作业
[0018]本实用新型的一种用于智能插秧机器人的水稻秧苗自动取送装置，所述底架安装在智能插秧机器人上，水稻秧苗秧盘分别放置在多个所述秧盘放置杆上，首先通过所述X轴移动模块驱动水平移动，带动所述Z轴移动模块、所述Y轴移动模块、所述取送秧执行机构共同平移，将所述取送秧执行机构移动至目标秧盘正下方，随后Y轴移动模块驱动所述取送秧执行机构朝秧盘的方向前移，再由所述Z轴移动模块驱动所述Y轴移动模块和所述取送秧执行机构上升，使所述取送秧执行机构上升至秧盘底部并继续上升一定高度，将整个秧苗挑起，从而取秧动作完成；取秧成功后，所述Y轴移动模块驱动所述取送秧执行机构缩回，随后所述取送秧执行机构驱动秧苗离开所述秧苗框架区域，使秧苗移动至预设位置后停止，而后进行送秧流程；送秧时，首先所述Z轴移动模块驱动所述Y轴移动模块和所述取送秧执行机构下移至适宜高度，随后所述X轴移动模块将所述取送秧执行机构移动至智能插秧机器人的秧苗喂入口上方；投喂秧苗时，所述Y轴移动模块和所述Z轴移动模块协同动作，将所述取送秧执行机构伸至秧苗喂入口的最佳位置，随后所述取送秧执行机构将秧苗投放到秧苗喂入口的秧道上，随后秧苗通过重力作用滑入智能插秧机器人的秧箱，完成投喂后，整个装置移动至初始待命位置，等待下一次指令。X轴移动模块、Z轴移动模块、Y轴移动模块和取送秧执行机构协同工作，形成了一个完整、高效的自动化取送秧循环。本装置可以集成于现有智能插秧机器人，省去人工上秧环节，为实现农田全程无人化作业提供了关键技术支持。采用三自由度空间坐标结构，运动路径清晰，控制简单，通过传动齿轮和齿条的传动保证X轴移动的精准定位，确保能准确对准每一个秧盘位置，所述输送带传动的取秧动作柔和同步性好，能有效取秧而不易伤秧，本装置能够高效的对水稻秧苗进行取送，提高取送水稻秧苗时的灵活性。
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Figure CN224844793U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of rice transplanting devices, and in particular to an automatic rice seedling delivery device for intelligent rice transplanting robots. Background Technology
[0002] Existing intelligent rice transplanting robots have made significant progress in automated rice transplanting operations in the field, achieving automated walking and autonomous transplanting. However, most rice transplanters still require manual loading of seedlings. When the seedlings in the seedling trays are used up, the machine must be stopped and seedlings must be replenished manually. This not only increases labor intensity but also seriously affects operational efficiency, preventing rice transplanters from achieving truly fully unmanned operation.
[0003] Currently, there are some existing technologies that attempt to solve the problem of automatic seedling feeding. For example, some use height-adjustable seedling racks and angle-adjustable sliding plates to feed the seedlings. However, this method is difficult to adapt to the high-frequency and high-efficiency seedling picking needs and is not very flexible. Utility Model Content
[0004] The purpose of this invention is to provide an automatic rice seedling picking and delivering device for intelligent rice transplanting robots, which can efficiently pick and deliver rice seedlings and improve the flexibility of picking and delivering rice seedlings.
[0005] To achieve the above objectives, this utility model provides an automatic rice seedling picking and feeding device for an intelligent rice transplanting robot, including a base frame and an automatic picking and feeding component. The automatic picking and feeding component includes a seedling frame, multiple seedling tray placement rods, an X-axis movement module, a Z-axis movement module, a Y-axis movement module, and a seedling picking and feeding execution mechanism.
[0006] The seedling frame and the base frame are fixedly connected and located on the top of the base frame; multiple seedling tray placement rods are fixedly connected to the seedling frame and located on the sides of the seedling frame; the X-axis moving module is mounted on the base frame; the Z-axis moving module is mounted on the side of the X-axis moving module; the Y-axis moving module is mounted on the side of the Z-axis moving module; and the seedling feeding and receiving mechanism is mounted on the side of the Y-axis moving module.
[0007] The X-axis moving module includes two L-shaped plates, two racks, a support frame, two transmission parts, an X-axis motor, a driving gear, and a driven gear.
[0008] Two L-shaped plates are fixedly connected to the base frame and located on both sides of the base frame; two racks are fixedly connected to the two L-shaped plates and located on the sides of the two L-shaped plates; the support frame is located on the side of the Z-axis moving module; two transmission parts are located on both sides of the support frame, each transmission part including two mounted bearings, a rotating shaft, and two transmission gears; the two mounted bearings are fixedly connected to the support frame and located on both sides of the support frame; the rotating shaft is fixedly connected to the inner rings of the two mounted bearings and passes through the two mounted bearings; the two transmission gears are fixedly connected to the rotating shaft and located at both ends of the rotating shaft, and the two transmission gears mesh with the two racks; the X-axis motor is fixedly connected to the support frame and located at the bottom of the support frame; the driving gear is fixedly connected to the output end of the X-axis motor and located on the side of the X-axis motor; the driven gear is fixedly connected to the rotating shaft and located on the side of the rotating shaft, and the driven gear meshes with the driving gear.
[0009] The transmission unit further includes two mounting seats and two guide wheels; the two mounting seats are fixedly connected to the two bearing seats respectively and are located at the bottom of the two bearing seats respectively; the two guide wheels are rotatably connected to the two mounting seats respectively and are located on the sides of the two mounting seats and at the bottom of the L-shaped plate.
[0010] The Z-axis movement module includes a first fixed plate, a first left slide rail, a first left slider, a first moving plate, a Z-axis motor, a first driving sprocket, a first driven sprocket, a first chain, a first right slide rail, a first right slider, a first output plate, a first left hanging ear, and a first right hanging ear.
[0011] The first fixed plate is fixedly connected to the side of the support frame; the first left slide rail is fixedly connected to the side of the first fixed plate; the first left slider and the first left slide rail are slidably connected and located on the side of the first left slide rail; the first moving plate is fixedly connected to the side of the first left slider; the Z-axis motor is fixedly connected to the side of the first moving plate; the first drive sprocket and the output end of the Z-axis motor are fixedly connected and located on the side of the Z-axis motor; the first driven sprocket and the first moving plate are rotatably connected and located on the side of the first moving plate; the first chain is sleeved on the sides of the first drive sprocket and the first driven sprocket; the first right slide rail is fixedly connected to the side of the first moving plate; the first right slider and the first right slide rail are slidably connected and located on the side of the first right slide rail; the first output plate is fixedly connected to the side of the first right slider; the first left hook is fixedly connected to the first fixed plate and the first chain respectively and located between the first fixed plate and the first chain; the first right hook is fixedly connected to the first chain and the first output plate respectively and located between the first chain and the first output plate.
[0012] The Y-axis moving module includes a second fixed plate, a second lower slide rail, a second lower slider, a second moving plate, a Y-axis motor, a second driving sprocket, a second driven sprocket, a second chain, a second upper slide rail, a second upper slider, a second output plate, a second lower hanging ear, and a second upper hanging ear.
[0013] The second fixed plate is fixedly connected to the side of the first output plate; the second lower slide rail is fixedly connected to the side of the second fixed plate; the second lower slide block and the second lower slide rail are slidably connected and located on the side of the second lower slide rail; the second moving plate is fixedly connected to the side of the second lower slide block; the Y-axis motor is fixedly connected to the side of the second moving plate; the second driving sprocket and the output end of the Y-axis motor are fixedly connected and located on the side of the Y-axis motor; the second driven sprocket and the second moving plate are rotatably connected and located on the side of the second moving plate; the second chain is sleeved on the sides of the second driving sprocket and the second driven sprocket; the second upper slide rail is fixedly connected to the side of the second moving plate; the second upper slide block and the second upper slide rail are slidably connected and located on the side of the second upper slide rail; the second output plate is fixedly connected to the side of the second upper slide block; the second lower hanging ear is fixedly connected to the second fixed plate and the second chain respectively and located between the second fixed plate and the second chain; the second upper hanging ear is fixedly connected to the second chain and the second output plate respectively and located between the second chain and the second output plate.
[0014] The seedling feeding and receiving mechanism includes a connecting seat, multiple guide rails, a connecting shaft, a drive motor, a driving wheel, a driven wheel, a transmission belt, and multiple actuators.
[0015] Multiple guide rails are fixedly connected to the top of the connecting seat, and one of the guide rails is fixedly connected to the second output plate; the connecting shaft is rotatably connected to the multiple guide rails and passes through the multiple guide rails; the drive motor is fixedly connected to the connecting seat and is located on the side of the connecting seat; the drive wheel is fixedly connected to the output end of the drive motor and is located on the side of the drive motor; the driven wheel is fixedly connected to the side of the connecting shaft; the transmission belt is sleeved on the side of the drive wheel and the driven wheel; multiple actuators are located on the side of the multiple guide rails, and each actuator includes a drive pulley, a driven pulley, and a conveyor belt; the drive pulley is fixedly connected to the side of the connecting shaft; the driven pulley is rotatably connected to the guide rail and is located on the side of the guide rail; the conveyor belt is sleeved on the side of the drive pulley and the driven pulley.
[0016] The automatic rice seedling picking and delivering device for the intelligent rice transplanting robot also includes a first X-axis position sensor, a second X-axis position sensor, a Y-axis position sensor, a Z-axis position sensor, a vision sensor, and a controller.
[0017] The first X-axis position sensor is fixed to one end of the base frame; the second X-axis position sensor is fixedly connected to the base frame and located at the end of the base frame away from the first X-axis position sensor; the Y-axis position sensor is fixedly connected to the side of the second output board; the Z-axis position sensor is fixedly connected to the side of the support frame; the vision sensor is fixedly connected to the top of the seedling frame; the controller is fixedly connected to the bottom of the four mounting bases and is electrically connected to the first X-axis position sensor, the second X-axis position sensor, the Y-axis position sensor, the Z-axis position sensor, and the vision sensor, respectively.
[0018] This utility model discloses an automatic rice seedling picking and delivering device for an intelligent rice transplanting robot. The base frame is mounted on the intelligent rice transplanting robot, and rice seedling trays are placed on multiple tray placement rods. First, the X-axis movement module drives horizontal movement, which in turn drives the Z-axis movement module, Y-axis movement module, and seedling picking and delivering mechanism to move horizontally, moving the seedling picking and delivering mechanism directly below the target seedling tray. Then, the Y-axis movement module drives the seedling picking and delivering mechanism to move forward towards the seedling tray. Next, the Z-axis movement module drives the Y-axis movement module and the seedling picking and delivering mechanism to rise, causing the seedling picking and delivering mechanism to rise to the bottom of the seedling tray and continue to rise to a certain height, lifting the entire seedling, thus completing the seedling picking action. After successful seedling picking, the Y-axis movement module drives the seedling picking and delivering mechanism to move horizontally. The seedling feeding mechanism retracts, and then the seedling picking and delivering mechanism drives the seedlings away from the seedling frame area, moving them to a preset position and stopping. The seedling delivery process then begins. During delivery, the Z-axis movement module first drives the Y-axis movement module and the seedling feeding mechanism to a suitable height. Then, the X-axis movement module moves the seedling feeding mechanism above the seedling feeding inlet of the intelligent rice transplanter. When feeding the seedlings, the Y-axis and Z-axis movement modules work together to extend the seedling feeding mechanism to the optimal position at the seedling feeding inlet. The seedling feeding mechanism then places the seedlings onto the seedling channel at the seedling feeding inlet. The seedlings then slide into the seedling box of the intelligent rice transplanter due to gravity. After feeding, the entire device moves to the initial standby position, awaiting the next instruction. The X-axis movement module, Z-axis movement module, Y-axis movement module, and seedling feeding mechanism work together to form a complete and efficient automated seedling feeding cycle. This device can be integrated into existing intelligent rice transplanting robots, eliminating the need for manual seedling loading and providing key technical support for achieving fully unmanned operation in farmland. It adopts a three-degree-of-freedom spatial coordinate structure, with a clear motion path and simple control. The transmission of gears and racks ensures precise positioning of the X-axis movement, guaranteeing accurate alignment with each seedling tray. The conveyor belt drive provides smooth and synchronized seedling picking, effectively picking seedlings without damaging them. This device can efficiently pick and deliver rice seedlings, improving flexibility during seedling handling. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model.
[0021] Figure 2 This is a structural schematic diagram of the entire utility model from another perspective.
[0022] Figure 3 This is a structural schematic diagram of the X-axis moving module, Z-axis moving module, Y-axis moving module, and seedling feeding and receiving actuator of this utility model.
[0023] Figure 4 This is a structural diagram of the support frame, two transmission parts, X-axis motor, drive gear and driven gear, Z-axis moving module, Y-axis moving module and seedling feeding actuator of this utility model.
[0024] Figure 5 This is a structural schematic diagram of the support frame, two transmission parts, X-axis motor, driving gear, driven gear and Z-axis position sensor of this utility model.
[0025] Figure 6 This is a structural schematic diagram from another perspective of the support frame, two transmission parts, X-axis motor, driving gear, driven gear and Z-axis position sensor of this utility model.
[0026] Figure 7 This is a structural schematic diagram of the Z-axis movement module of this utility model.
[0027] Figure 8 This is a structural schematic diagram of the Z-axis movement module of this utility model from another perspective.
[0028] Figure 9 This is a schematic diagram of the Z-axis movement module of this utility model, excluding the first output plate.
[0029] Figure 10 This is a structural schematic diagram of the Y-axis movement module of this utility model.
[0030] Figure 11 This is a structural schematic diagram of the Y-axis movement module of this utility model from another perspective.
[0031] Figure 12 This is a schematic diagram of the Y-axis movement module of this utility model, excluding the second output plate.
[0032] Figure 13 This is a schematic diagram of the structure of the seedling feeding and delivery mechanism of this utility model.
[0033] Figure 14 This is a structural schematic diagram of the seedling delivery and picking mechanism of this utility model from another perspective.
[0034] Figure 15 This is a schematic diagram of the structure of this utility model after it is installed on an intelligent rice transplanting robot.
[0035] 1-Base frame, 2-Seedling frame, 3-Seedling tray placement rod, 4-X-axis moving module, 5-Z-axis moving module, 6-Y-axis moving module, 7-Seedling feeding and receiving mechanism, 8-L-shaped plate, 9-Rack, 10-Support frame, 11-Transmission unit, 12-X-axis motor, 13-Driving gear, 14-Driven gear, 15-Bearing with seat, 16-Rotating shaft, 17-Transmission gear, 18-Mounting base, 19-Guide wheel, First fixed plate, 21-First left slide rail, 22-First left slider, 23-First moving plate, 24-Z-axis motor, 25-First driving sprocket, 26-First driven sprocket, 27-First chain, 28-First right slide rail, 29-First right slider, 30-First output plate, 31-First left hanging ear, 32-First right hanging ear, Second fixed plate, 3 4-Second sliding rail, 35-Second lower sliding block, 36-Second moving plate, 37-Y-axis motor, 38-Second driving sprocket, 39-Second driven sprocket, 40-Second chain, 41-Second upper sliding rail, 42-Second upper sliding block, 43-Second output plate, 44-Second lower hanging ear, 45-Second upper hanging ear, 46-Connecting seat, 47-Guide rail, 48-Connecting shaft, 49-Drive motor, 50-Driving wheel, 51-Driven wheel, 52-Transmission belt, 53-Execution unit, 54-Driving pulley, 55-Driven pulley, 56-Conveyor belt, 57-First X-axis position sensor, 58-Second X-axis position sensor, 59-Y-axis position sensor, 60-Z-axis position sensor, 61-Vision sensor, 62-Controller, 63-Intelligent rice transplanting robot. Detailed Implementation
[0036] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.
[0037] Please see Figures 1-15This utility model provides an automatic rice seedling picking and delivering device for an intelligent rice transplanting robot, including a base frame 1, an automatic picking and delivering component, a first X-axis position sensor 57, a second X-axis position sensor 58, a Y-axis position sensor 59, a Z-axis position sensor 60, a vision sensor 60, and a controller 62. The automatic picking and delivering component includes a seedling frame 2, multiple seedling tray placement rods 3, an X-axis moving module 4, a Z-axis moving module 5, a Y-axis moving module 6, and a seedling picking and delivering execution mechanism 7. The X-axis moving module 4 includes two L-shaped plates 8, two racks 9, a support frame 10, two transmission parts 11, an X-axis motor 12, a driving gear 13, and a driven gear 14. The transmission part 11 includes two bearings with seats 15, a rotating shaft 16, two transmission gears 17, two mounting seats 18, and two guide wheels 19. The Z-axis moving module 5 includes a first fixed plate 20, a first left slide rail 21, a first left slider 22, a first moving plate 23, and a Z-axis motor. 24. First driving sprocket; 25. First driven sprocket; 26. First chain; 27. First right slide rail; 28. First right slider; 29. First output plate; 30. First left mounting lug; and 32. First right mounting lug; the Y-axis moving module 6 includes a second fixed plate; 33. Second lower slide rail; 34. Second lower slider; 35. Second moving plate; 36. Y-axis motor; 37. Second driving sprocket; 38. Second driven sprocket; 39. Second chain; 40. Second upper slide rail; 41. Second upper slider. 2. The second output plate 43, the second lower hanging ear 44, and the second upper hanging ear 45; the seedling feeding and receiving actuator 7 includes a connecting seat 46, multiple guide rails 47, a connecting shaft 48, a drive motor 49, a driving wheel 50, a driven wheel 51, a transmission belt 52, and multiple actuators 53; the actuator 53 includes a driving pulley 54, a driven pulley 55, and a conveyor belt 56; the aforementioned scheme can efficiently feed and receive rice seedlings, improving the flexibility of feeding and receiving rice seedlings.
[0038] In this specific embodiment, the seedling frame 2 and the base frame 1 are fixedly connected and located on the top of the base frame 1; multiple seedling tray placement rods 3 are fixedly connected to the seedling frame 2 and located on the sides of the seedling frame 2; the X-axis moving module 4 is disposed on the base frame 1; the Z-axis moving module 5 is disposed on the side of the X-axis moving module 4; the Y-axis moving module 6 is disposed on the side of the Z-axis moving module 5; and the seedling picking and feeding actuator 7 is disposed on the side of the Y-axis moving module 6. The base frame 1 is mounted on the intelligent rice transplanting robot 63. Rice seedling trays are placed on multiple tray placement rods 3. First, the X-axis movement module 4 drives horizontal movement, which in turn drives the Z-axis movement module 5, Y-axis movement module 6, and seedling delivery mechanism 7 to move together, moving the seedling delivery mechanism 7 directly below the target seedling tray. Then, the Y-axis movement module 6 drives the seedling delivery mechanism 7 forward towards the seedling tray. Next, the Z-axis movement module 5 drives the Y-axis movement module 6 and the seedling delivery mechanism 7 to rise, causing the seedling delivery mechanism 7 to rise to the bottom of the seedling tray and continue to rise to a certain height, lifting the entire seedling, thus completing the seedling removal action. After successful seedling removal, the Y-axis movement module 6 drives the seedling delivery mechanism 7 to retract, and then the delivery... The seedling actuator 7 drives the seedlings away from the seedling frame 2 area, moving them to a preset position and then stopping, before proceeding with the seedling delivery process. During delivery, the Z-axis movement module 5 first drives the Y-axis movement module 6 and the seedling delivery actuator 7 to a suitable height. Then, the X-axis movement module 4 moves the seedling delivery actuator 7 above the seedling feeding inlet of the intelligent rice transplanter 63. When feeding the seedlings, the Y-axis movement module 6 and the Z-axis movement module 5 work together to extend the seedling delivery actuator 7 to the optimal position at the seedling feeding inlet. The seedling delivery actuator 7 then places the seedlings onto the seedling channel at the seedling feeding inlet, and the seedlings slide into the seedling box of the intelligent rice transplanter 63 under gravity. After feeding, the entire device moves to the initial standby position, awaiting the next instruction. The X-axis movement module 4, Z-axis movement module 5, Y-axis movement module 6, and seedling delivery actuator 7 work together to form a complete and efficient automated seedling delivery cycle. This device can efficiently pick up and deliver rice seedlings, improving the flexibility of the process.
[0039] Two L-shaped plates 8 are fixedly connected to the base frame 1 and located on both sides of the base frame 1; two racks 9 are fixedly connected to the two L-shaped plates 8 and located on the sides of the two L-shaped plates 8; the support frame 10 is located on the side of the Z-axis moving module 5; two transmission parts 11 are located on both sides of the support frame 10, and each transmission part 11 includes two bearings 15, a rotating shaft 16, and two transmission gears 17; the two bearings 15 are fixedly connected to the support frame 10 and located on both sides of the support frame 10; the rotating shaft 16 is fixedly connected to the two bearings 15, a rotating shaft 16, and a rotating shaft 17. The inner ring of the bearing 5 is fixedly connected and passes through the two mounted bearings 15; the two transmission gears 17 are respectively fixedly connected to the rotating shaft 16 and located at both ends of the rotating shaft 16, and the two transmission gears 17 mesh with the two racks 9 respectively; the X-axis motor 12 is fixedly connected to the support frame 10 and located at the bottom of the support frame 10; the driving gear 13 is fixedly connected to the output end of the X-axis motor 12 and located on the side of the X-axis motor 12; the driven gear 14 is fixedly connected to the rotating shaft 16 and located on the side of the rotating shaft 16, and the driven gear 14 meshes with the driving gear 13. The driving gear 13 is driven to rotate by the X-axis motor 12, the driving gear 13 drives the driven gear 14 to rotate, and the driven gear 14 drives the rotating shaft 16 and the transmission gears 17 to rotate. Under the transmission of the racks 9 and the transmission gears 17, the X-axis moving module 4 can translate on the racks 9, thereby driving the seedling feeding actuator 7 to move. By controlling the forward and reverse rotation of the X-axis motor 12, the entire X-axis moving module 4 can reciprocate along the X-axis.
[0040] Secondly, the two mounting seats 18 are fixedly connected to the two bearings 15 and are located at the bottom of the bearings 15 respectively; the two guide wheels 19 are rotatably connected to the two mounting seats 18 and are located on the sides of the mounting seats 18 and at the bottom of the L-shaped plate 8. The guide wheels 19 are located below the L-shaped plate 8, and the upper surface of the guide wheels 19 is in contact with the lower surface of the L-shaped plate 8. The mounting seats 18 are used to support the guide wheels 19, which can provide guidance for the movement of the support frame 10, making the movement of the X-axis moving module 4 more stable.
[0041] Furthermore, the first fixed plate 20 is fixedly connected to the side of the support frame 10; the first left slide rail 21 is fixedly connected to the side of the first fixed plate 20; the first left slider 22 is slidably connected to the first left slide rail 21 and is located on the side of the first left slide rail 21; the first moving plate 23 is fixedly connected to the side of the first left slider 22; the Z-axis motor 24 is fixedly connected to the side of the first moving plate 23; the first drive sprocket 25 is fixedly connected to the output end of the Z-axis motor 24 and is located on the side of the Z-axis motor 24; the first driven sprocket 26 is rotatably connected to the first moving plate 23 and is located on the side of the first moving plate 23; the first chain 27 The first right slide rail 28 is fixedly connected to the side of the first moving plate 23; the first right slider 29 is slidably connected to the first right slide rail 28 and located on the side of the first right slide rail 28; the first output plate 30 is fixedly connected to the side of the first right slider 29; the first left hanging ear 31 is fixedly connected to the first fixed plate 20 and the first chain 27 respectively and located between the first fixed plate 20 and the first chain 27; the first right hanging ear 32 is fixedly connected to the first chain 27 and the first output plate 30 respectively and located between the first chain 27 and the first output plate 30.By setting the first left slide rail 21 and the first left slider 22, a degree of freedom for relative movement is achieved between the first moving plate 23 and the first fixed plate 20; by setting the first right slide rail 28 and the first right slider 29, a degree of freedom for relative movement is achieved between the first moving plate 23 and the first output plate 30; the first chain 27 is connected to the first output plate 30 through the first right hook 32, providing power for relative movement of the first output plate 30; the first chain 27 is connected to the first fixed plate 20 through the first left hook 31, providing power for relative movement between the first moving plate 23 and the first fixed plate 20; the first fixed plate 20, the first moving plate 23, and the first output plate 30 are linearly coupled under the rotation of the first chain 27, realizing relative movement; working principle: the Z-axis moving module 5 can realize longitudinal linear telescopic movement, mainly The first driving sprocket 25 is rotated by the Z-axis motor 24. The first driving sprocket 25, in conjunction with the first driven sprocket 26, drives the first chain 27 to rotate. Since the first fixed plate 20 is fixed to the support frame 10, it remains stationary. At this time, the first moving plate 23 moves relative to the first left slide rail 21 under the drive of the first chain 27. Since the first output plate 30 is also connected to the first moving plate 23 through the first right slide rail 28 and the first right slider 29, the first output plate 30 also moves relative to the first moving plate 23 under the drive of the first chain 27. Thus, the first fixed plate 20, the first moving plate 23, and the first output plate 30 are linearly coupled to achieve telescopic movement. The first output plate 30 drives the Y-axis moving module 6 and the seedling delivery actuator 7 to move longitudinally, thereby transporting the seedlings. By controlling the forward and reverse rotation of the Z-axis motor 24, the entire Z-axis moving module 5 reciprocates along the Z-axis.
[0042] Additionally, the second fixed plate 33 is fixedly connected to the side of the first output plate 30; the second lower slide rail 34 is fixedly connected to the side of the second fixed plate 33; the second lower slide block 35 is slidably connected to the second lower slide rail 34 and is located on the side of the second lower slide rail 34; the second moving plate 36 is fixedly connected to the side of the second lower slide block 35; the Y-axis motor 37 is fixedly connected to the side of the second moving plate 36; the second drive sprocket 38 is fixedly connected to the output end of the Y-axis motor 37 and is located on the side of the Y-axis motor 37; the second driven sprocket 39 is rotatably connected to the second moving plate 36 and is located on the side of the second moving plate 36; the second chain 40 The second upper slide rail 41 is fixedly connected to the side of the second moving plate 36; the second upper slider 42 is slidably connected to the second upper slide rail 41 and located on the side of the second upper slide rail 41; the second output plate 43 is fixedly connected to the side of the second upper slider 42; the second lower hanging ear 44 is fixedly connected to the second fixed plate 33 and the second chain 40 respectively and located between the second fixed plate 33 and the second chain 40; the second upper hanging ear 45 is fixedly connected to the second chain 40 and the second output plate 43 respectively and located between the second chain 40 and the second output plate 43. The Y-axis moving module 6 and the Z-axis moving module 5 operate on the same principle. The Y-axis motor 37 drives the second active sprocket 38 to rotate. The second active sprocket 38, in conjunction with the second driven sprocket 39, drives the second chain 40 to rotate. Since the second fixed plate 33 is fixed on the first output plate 30, the second fixed plate 33 remains stationary. At this time, the second moving plate 36 moves relative to the second sliding rail 34 under the drive of the second chain 40. Since the second output plate 43 and the second moving plate 36 are also connected through the second upper sliding rail 41 and the second upper sliding block 42, the second output plate 43 also moves relative to the second moving plate 36 under the drive of the second chain 40. Thus, the second fixed plate 33, the second moving plate 36, and the second output plate 43 are linearly coupled to achieve reciprocating movement along the Y-axis. The second output plate 43 drives the seedling feeding actuator 7 to reciprocate along the Y-axis, thereby transporting the seedlings. By controlling the forward and reverse rotation of the Y-axis motor 37, the entire Y-axis moving module 6 can reciprocate along the Y-axis.
[0043] Meanwhile, multiple guide rails 47 are respectively fixedly connected to the top of the connecting seat 46, and one of the guide rails 47 is fixedly connected to the second output plate 43; the connecting shaft 48 is rotatably connected to multiple guide rails 47 and passes through multiple guide rails 47; the drive motor 49 is fixedly connected to the connecting seat 46 and is located on the side of the connecting seat 46; the driving wheel 50 is fixedly connected to the output end of the drive motor 49 and is located on the side of the drive motor 49; the driven wheel 51 is fixedly connected to the... The connecting shaft 48 is located on one side; the transmission belt 52 is sleeved on the side of the driving wheel 50 and the driven wheel 51; multiple actuators 53 are respectively located on the side of multiple guide rails 47, each actuator 53 including a driving pulley 54, a driven pulley 55, and a conveyor belt 56; the driving pulley 54 is fixedly connected to the side of the connecting shaft 48; the driven pulley 55 is rotatably connected to the guide rail 47 and located on the side of the guide rail 47; the conveyor belt 56 is sleeved on the side of the driving pulley 54 and the driven pulley 55. The driving wheel 50 is driven to rotate by the drive motor 49, and the driven wheel 51 rotates under the transmission of the transmission belt 52. The driven wheel 51 drives the driving pulley 54 to rotate via the connecting shaft 48, and the driving pulley 54 drives the conveyor belt 56 to rotate, thereby enabling the transportation of seedlings.
[0044] Finally, the first X-axis position sensor 57 is fixed to one end of the base frame 1; the second X-axis position sensor 58 is fixedly connected to the base frame 1 and located at the end of the base frame 1 away from the first X-axis position sensor 57; the Y-axis position sensor 59 is fixedly connected to the side of the second output plate 43; the Z-axis position sensor 60 is fixedly connected to the side of the support frame 10; the vision sensor 60 is fixedly connected to the top of the seedling frame 2; and the controller 62 is fixedly connected to the bottom of the four mounting bases 18 and is electrically connected to the first X-axis position sensor 57, the second X-axis position sensor 58, the Y-axis position sensor 59, the Z-axis position sensor 60, and the vision sensor 60, respectively. The first X-axis position sensor 57 and the second X-axis position sensor 58 are used to identify the position of the X-axis moving module 4, the Y-axis position sensor 59 is used to identify the position of the Y-axis moving module 6, the Z-axis position sensor 60 is used to identify the position of the Z-axis moving module 5, the vision sensor 60 is used to identify the seedling status, and the controller 62 receives instructions from the main control system of the intelligent rice transplanting robot 63 and coordinates the coordinated movement of the drive motor 49, the X-axis motor 12, the Z-axis motor 24, and the Y-axis motor 37 to complete a complete automated process of lifting, picking up seedlings, translating, delivering seedlings, releasing, and returning. The position sensors, vision sensors 60, and controller 62 are all mature products, and the control program used for control has mature existing technology, which is not within the scope of protection of this application and will not be described in detail here.
[0045] This utility model discloses an automatic rice seedling picking and delivering device for an intelligent rice transplanting robot. The base frame 1 is mounted on the intelligent rice transplanting robot 63. Rice seedling trays are placed on multiple tray placement rods 3. First, the X-axis motor 12 starts, driving the entire X-axis moving module 4 to move horizontally, which in turn drives the Z-axis moving module 5, Y-axis moving module 6, and seedling picking and delivering mechanism 7 to move together, moving the seedling picking and delivering mechanism 7 directly below the target seedling tray. Then, the Y-axis motor 37 rotates forward, driving the seedling picking and delivering mechanism 7 forward towards the seedling tray. Then, the Z-axis motor 24 rotates forward, driving the Y-axis moving module 6 and the seedling picking and delivering mechanism 7 to rise, causing the conveyor belt 56 to rise to the bottom of the seedling tray and continue to rise to a certain height, lifting the entire seedling, thus completing the seedling picking action. After successful seedling picking, the Y-axis motor 37 reverses, driving the seedling picking and delivering mechanism 7 to move horizontally. The seedling actuator 7 retracts, and then the drive motor 49 rotates forward, causing the conveyor belt 56 to carry the seedlings away from the seedling frame 2 area, moving the seedlings to a preset position and then stopping, before proceeding with the seedling delivery process. During seedling delivery, the Z-axis motor 24 first reverses to drive the Y-axis moving module 6 and the seedling delivery actuator 7 to move down to a suitable height. Then, the X-axis motor 12 starts to move the seedling delivery actuator 7 above the seedling feeding inlet of the intelligent rice transplanter 63. When feeding the seedlings, the Y-axis moving module 6 and the Z-axis moving module 5 work together to extend the seedling delivery actuator 7 to the optimal position of the seedling feeding inlet. Then, the seedling delivery actuator 7 places the seedlings onto the seedling channel of the seedling feeding inlet. Subsequently, the seedlings slide into the seedling box of the intelligent rice transplanter 63 by gravity. After feeding is completed, the entire device moves to the initial standby position, waiting for the next instruction. The motion parameters (such as speed, acceleration, and position) throughout the process are precisely controlled by the controller 62, ensuring smooth, efficient, and low-impact movements. The X-axis movement module 4, Z-axis movement module 5, Y-axis movement module 6, and seedling feeding actuator 7 work together to form a complete and efficient automated seedling feeding cycle. This device can efficiently feed and pick up rice seedlings, improving the flexibility of seedling feeding. This device can be integrated into the existing intelligent rice transplanting robot 63, eliminating the manual seedling loading step and providing key technical support for realizing fully unmanned operation in farmland. Adopting a three-degree-of-freedom spatial coordinate structure, the motion path is clear and control is simple. The transmission gear 17 and rack 9 ensure precise positioning of the X-axis movement, ensuring accurate alignment with each seedling tray. The seedling feeding action driven by the conveyor belt 56 is smooth and synchronized, effectively picking up seedlings without easily damaging them. This device can efficiently feed and pick up rice seedlings, improving the flexibility of seedling feeding.
[0046] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.
Claims
1. An automatic rice seedling delivery device for an intelligent rice transplanting robot, comprising a base frame, characterized in that, It also includes an automatic pickup and delivery component; The automatic seedling loading and unloading component includes a seedling frame, multiple seedling tray placement rods, an X-axis movement module, a Z-axis movement module, a Y-axis movement module, and a seedling loading and unloading execution mechanism; The seedling frame and the base frame are fixedly connected and located on the top of the base frame; multiple seedling tray placement rods are fixedly connected to the seedling frame and located on the sides of the seedling frame; the X-axis moving module is mounted on the base frame; the Z-axis moving module is mounted on the side of the X-axis moving module; the Y-axis moving module is mounted on the side of the Z-axis moving module; and the seedling feeding and receiving mechanism is mounted on the side of the Y-axis moving module.
2. The automatic rice seedling delivery device for an intelligent rice transplanting robot as described in claim 1, characterized in that, The X-axis moving module includes two L-shaped plates, two racks, a support frame, two transmission parts, an X-axis motor, a driving gear, and a driven gear; Two L-shaped plates are fixedly connected to the base frame and located on both sides of the base frame; two racks are fixedly connected to the two L-shaped plates and located on the sides of the two L-shaped plates; the support frame is located on the side of the Z-axis moving module; two transmission parts are located on both sides of the support frame, each transmission part including two bearings with mounting brackets, a rotating shaft, and two transmission gears; the two bearings with mounting brackets are fixedly connected to the support frame and located on both sides of the support frame; the rotating shaft is fixedly connected to the inner rings of the two bearings with mounting brackets and passes through the two bearings with mounting brackets; the two transmission gears are fixedly connected to the rotating shaft and located at both ends of the rotating shaft, and the two transmission gears mesh with the two racks; the X-axis motor is fixedly connected to the support frame and located at the bottom of the support frame; the drive gear is fixedly connected to the output end of the X-axis motor and located on the side of the X-axis motor; The driven gear is fixedly connected to the rotating shaft and is located on the side of the rotating shaft. The driven gear meshes with the driving gear.
3. The automatic rice seedling delivery device for an intelligent rice transplanting robot as described in claim 2, characterized in that, The transmission unit also includes two mounting seats and two guide wheels; the two mounting seats are fixedly connected to the two bearing seats respectively and are located at the bottom of the two bearing seats respectively; the two guide wheels are rotatably connected to the two mounting seats respectively and are located on the sides of the two mounting seats and at the bottom of the L-shaped plate.
4. The automatic rice seedling delivery device for an intelligent rice transplanting robot as described in claim 3, characterized in that, The Z-axis moving module includes a first fixed plate, a first left slide rail, a first left slider, a first moving plate, a Z-axis motor, a first driving sprocket, a first driven sprocket, a first chain, a first right slide rail, a first right slider, a first output plate, a first left hanging ear, and a first right hanging ear; The first fixing plate is fixedly connected to the side of the support frame; the first left slide rail is fixedly connected to the side of the first fixing plate; The first left slider and the first left slide rail are slidably connected and located on the side of the first left slide rail; the first moving plate is fixedly connected to the side of the first left slider; the Z-axis motor is fixedly connected to the side of the first moving plate; the first drive sprocket and the output end of the Z-axis motor are fixedly connected and located on the side of the Z-axis motor; The first driven sprocket and the first movable plate are rotatably connected and located on the side of the first movable plate; the first chain is sleeved on the side of the first driving sprocket and the first driven sprocket; The first right slide rail is fixedly connected to the side of the first moving plate; the first right slider is slidably connected to the first right slide rail and is located on the side of the first right slide rail; the first output plate is fixedly connected to the side of the first right slider; the first left hanging ear is fixedly connected to the first fixed plate and the first chain respectively and is located between the first fixed plate and the first chain; The first right hook is fixedly connected to the first chain and the first output plate, and is located between the first chain and the first output plate.
5. The automatic rice seedling delivery device for an intelligent rice transplanting robot as described in claim 4, characterized in that, The Y-axis moving module includes a second fixed plate, a second lower slide rail, a second lower slider, a second moving plate, a Y-axis motor, a second driving sprocket, a second driven sprocket, a second chain, a second upper slide rail, a second upper slider, a second output plate, a second lower hanging ear, and a second upper hanging ear; The second fixing plate is fixedly connected to the side of the first output plate; The second lower slide rail is fixedly connected to the side of the second fixed plate; The second lower slider and the second lower slide rail are slidably connected, and the slider is located on the side of the second lower slide rail; The second movable plate is fixedly connected to the side of the second lower slider; the Y-axis motor is fixedly connected to the side of the second movable plate; the second driving sprocket and the output end of the Y-axis motor are fixedly connected and located on the side of the Y-axis motor; the second driven sprocket and the second movable plate are rotatably connected and located on the side of the second movable plate; the second chain is sleeved on the side of the second driving sprocket and the second driven sprocket. The second upper slide rail is fixedly connected to the side of the second moving plate; the second upper slider is slidably connected to the second upper slide rail and is located on the side of the second upper slide rail; the second output plate is fixedly connected to the side of the second upper slider; the second lower hanging ear is fixedly connected to the second fixed plate and the second chain respectively and is located between the second fixed plate and the second chain; the second upper hanging ear is fixedly connected to the second chain and the second output plate respectively and is located between the second chain and the second output plate.
6. The automatic rice seedling delivery device for an intelligent rice transplanting robot as described in claim 5, characterized in that, The seedling feeding and receiving actuator includes a connecting seat, multiple guide rails, a connecting shaft, a drive motor, a driving wheel, a driven wheel, a transmission belt, and multiple actuators; Multiple guide rails are fixedly connected to the top of the connecting seat, and one of the guide rails is fixedly connected to the second output plate; the connecting shaft is rotatably connected to multiple guide rails and passes through multiple guide rails; the drive motor is fixedly connected to the connecting seat and is located on the side of the connecting seat; The drive wheel is fixedly connected to the output end of the drive motor and is located on the side of the drive motor; The driven wheel is fixedly connected to the side of the connecting shaft; the transmission belt is sleeved on the side of the driving wheel and the driven wheel; the plurality of actuators are respectively located on the side of the plurality of guide rails, and the actuator includes a driving pulley, a driven pulley and a conveyor belt; the driving pulley is fixedly connected to the side of the connecting shaft; the driven pulley and the guide rail are rotatably connected and located on the side of the guide rail; the conveyor belt is sleeved on the side of the driving pulley and the driven pulley.
7. The automatic rice seedling delivery device for an intelligent rice transplanting robot as described in claim 6, characterized in that, The automatic rice seedling picking and delivering device for the intelligent rice transplanting robot also includes a first X-axis position sensor, a second X-axis position sensor, a Y-axis position sensor, a Z-axis position sensor, a vision sensor, and a controller; The first X-axis position sensor is fixed to one end of the base frame; the second X-axis position sensor is fixedly connected to the base frame and located at the end of the base frame away from the first X-axis position sensor; the Y-axis position sensor is fixedly connected to the side of the second output board; the Z-axis position sensor is fixedly connected to the side of the support frame; and the vision sensor is fixedly connected to the top of the seedling frame. The controller is fixedly connected to the bottom of the four mounting bases and is electrically connected to the first X-axis position sensor, the second X-axis position sensor, the Y-axis position sensor, the Z-axis position sensor, and the vision sensor, respectively.