Transplanting robot suitable for greenhouse

Abstract

A transplanting robot suitable for a greenhouse, comprising a walking device (1) and planting devices, wherein the walking device comprises a chassis (101), a driving assembly mounted on the chassis, and several walking leg modules arranged on two sides of the chassis, each walking leg module being provided with the planting device that moves synchronously along with the walking leg module; and the driving assembly is provided with a walking electric motor (103), the walking electric motor outputting power to two transmission shafts by means of a transmission assembly and two electromagnetic clutches (104) independent of each other. When any electromagnetic clutch is turned on, the corresponding transmission shaft outputs, by means of transmission gears thereon, power to the walking foot modules connected thereto. The multi-legged robot moves in a tripod gait, so that multiple plants in two rows can be transplanted at the same time, and thus the operation efficiency is greatly improved compared with a transplanter with a single planter. The switching between a walking state and a wheeled movement state can be achieved by means of folding wheels, enabling the robot to cross ridges without turning, and thus avoiding the problem of difficult turning in a narrow space in the greenhouse.

Description

A transplanting robot suitable for greenhouses Technical Field

[0001] The present invention relates to the technical field of transplanting machinery, in particular to a transplanting robot suitable for a greenhouse. Background Art

[0002] Seedling transplanting effectively reduces costs and facilitates centralized management of seedlings, which is conducive to cultivating high-quality seedlings. This planting method has the advantages of high-quality work results, time savings, high seedling survival rates, and stability.

[0003] In recent years, the area and output of greenhouse vegetable cultivation in my country have continued to expand, with greenhouses being the most widely used. However, due to limited working space, traditional agricultural machinery, due to its large size, cannot enter these areas. Some existing small transplanters have poor coordination between their travel and planting units, and most can only plant one or two rows at a time, resulting in low efficiency. Therefore, there is an urgent need to develop small, efficient transplanters suitable for greenhouse ridges. Summary of the Invention

[0004] The present invention aims to provide a transplanting robot suitable for a greenhouse.

[0005] The technical solution adopted by the present invention is: a transplanting robot suitable for a greenhouse, comprising a walking device and a plurality of planting devices mounted on the walking device, wherein the walking device comprises a chassis, a drive assembly mounted on the chassis, and a plurality of walking foot modules arranged on both sides of the chassis, each of the walking foot modules being mounted with a planting device that moves synchronously with the walking foot module;

[0006] The driving component is provided with a walking motor, which outputs power to two transmission shafts through a transmission component and two independent electromagnetic clutches. When any one of the electromagnetic clutches is connected, the corresponding transmission shaft outputs power to the walking foot module connected thereto through the transmission gear thereon; the walking foot module includes a power transmission component connected to the transmission gear and a walking foot connected to the power transmission component through a leg shaft, the middle part of the leg shaft is rotatably installed in the arc groove of the semicircular arc groove plate fixed to the chassis through a bearing assembly, and the power transmission component drives the walking foot to move in a semicircular trajectory through the leg shaft.

[0007] As a preferred solution, the drive component, in which the output end of the walking motor outputs power to two electromagnetic clutches through a gear rack, the output end of each electromagnetic clutch is connected to a transmission shaft, and each transmission shaft outputs power to a corresponding set of walking foot modules through a gear set and a gear rack, and the electromagnetic clutch, gear set, and gear rack are used to realize time-sharing driving of two sets of walking feet by a single power source.

[0008] As a preferred solution, there are three walking foot modules on each side, where the front and rear walking foot modules on one side and the middle walking foot module on the opposite side form a group of walking foot units for walking, and the walking motor outputs power. When one group of walking foot units walks, the electromagnetic clutch on the transmission shaft of the corresponding group is connected, while the electromagnetic clutch on the transmission shaft corresponding to the other group of walking foot units serving as support is disconnected. When both groups of walking foot units complete the walking action, the electromagnetic clutches on the two transmission shafts are connected, and the walking motor reverses to move the chassis forward one unit length, restoring to its original state before walking.

[0009] As a preferred solution, the walking foot module includes a walking foot gear meshing with the transmission gear, a screw rod coaxially connected to the walking foot gear, a movable plate installed on the screw rod, a slider and a walking foot. The slider is installed in the slide groove of the movable plate and can move vertically back and forth. A limit plate is provided on the top of the movable plate to limit the slider. The top of the slider is connected to the limit plate through a first spring. The middle part of the leg shaft connected to the walking foot is rotatably installed in the arc groove of the semi-circular arc groove plate fixed to the chassis through a bearing assembly. One end of the leg shaft passes through the arc groove and is fixedly connected to the slider.

[0010] As a preferred solution, the walking foot module is further provided with a guide rod for positioning and guiding the movable plate, and a limit block is provided at one end of the guide rod for limiting the position of the movable plate.

[0011] As a preferred solution, a slider and a guide rail are installed at the bottom of the rack.

[0012] As a preferred solution, the planting device is provided with six groups, which are respectively fixedly mounted on the corresponding walking foot modules and move synchronously with the walking foot modules; each group of the planting device is composed of a drive motor, a screw module and a duckbill planter, and the drive motor outputs power to drive the duckbill planter through the screw module.

[0013] As a preferred solution, the duckbill planter includes a duckbill mounting frame fixedly connected to the screw module, a funnel, and a left duckbill and a right duckbill mounted on the duckbill mounting frame through a pin shaft. A second spring is connected between the left duckbill and the right duckbill. When the screw module drives the duckbill planter to move downward, the ear plates on both sides of the left duckbill and the right duckbill are blocked by the walking feet and open.

[0014] As a preferred solution, the bottom of the chassis of the walking device is further provided with a folding wheel set. When the transplanting robot is in operation, the folding wheel set can be folded under the chassis through the connecting rod assembly thereon.

[0015] As a preferred solution, the folding wheel group includes a folding wheel mounting frame fixedly connected to the bottom of the chassis, a wheel rod, a transverse wheel, an electric push rod and a connecting rod assembly. The upper end of the wheel rod is hinged to the folding wheel mounting frame, and the lower end is connected to the transverse wheel. The electric push rod and the connecting rod assembly are installed between the folding wheel mounting frame and the wheel rod.

[0016] The beneficial effects of the present invention are:

[0017] Based on the defects of the existing technology, a transplanting robot suitable for greenhouses is provided. The present invention makes the following structural improvements: a single power source is adopted in the walking device, and the power is output to the two transmission shafts through the transmission assembly and two independent electromagnetic clutches. When any one of the electromagnetic clutches is connected, the corresponding transmission shaft outputs the power to the corresponding walking foot modules through the multiple transmission gears thereon, thereby driving the multiple walking foot modules to move in a semicircular trajectory. The above structure realizes the time-sharing drive of the two groups of walking foot units by the single power source through the electromagnetic clutch and the gear set; at the same time, a planting device that moves synchronously with the walking foot module is installed on each of the walking foot modules, and the planting device is equipped with an independent power source to drive its planter to open and close to realize transplanting work. The opening and closing actions of the multiple planters are coordinated with the multiple walking foot modules as a whole to realize continuous planting operations;

[0018] Furthermore, by moving forward in a triangular gait, the multi-legged robot can simultaneously complete the transplanting of multiple plants in two rows, which greatly improves the operating efficiency compared to a transplanter with a single planter; the present invention uses folding wheels to switch between walking state and wheeled movement state, and can cross ridges without turning, avoiding the problem of difficulty in turning in the narrow space of the greenhouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] FIG1 is a schematic diagram of the overall structure of the present invention;

[0021] FIG2 is a schematic structural diagram of the walking device of the present invention;

[0022] FIG3 is a schematic diagram of the three-dimensional structure of the walking foot module in the present invention;

[0023] FIG4 is a schematic cross-sectional view of the walking foot module of the present invention;

[0024] FIG5 is a schematic structural diagram of a planting device according to the present invention;

[0025] FIG6 is a schematic diagram of the folding wheel assembly in two states: folded and unfolded;

[0026] FIG. 7 is a diagram of planting points of the transplanting robot of the present invention.

[0027] Drawing signs: 1, walking device, 101, chassis, 102, first gear, 103, walking motor, 104, electromagnetic clutch, 105, bearing seat, 106, second gear, 107, first transmission shaft, 108, third gear, 109, first rack, 110, guide rail mounting plate, 111, fourth gear, 112, fifth gear, 113, second transmission shaft, 114, sixth gear, 115, second rack, 116, seventh gear, 117, third rack, 118, eighth gear, 119, walking foot gear, 120, limit block, 121, guide rod, 122, lead screw, 123, movable plate, 124, slider, 125, first spring, 126, semicircular arc groove plate, 127, walking foot, 128, leg shaft;

[0028] 2. Duckbill planter, 201. Funnel, 202. Duckbill mounting bracket, 203. Pin, 204. Left duckbill, 205. Gasket, 206. Cotter pin, 207. Right duckbill, 208. Second spring;

[0029] 3. Screw module;

[0030] 4. Folding wheel assembly, 401. Transverse wheel, 402. Wheel rod, 403. First connecting rod, 404. Second connecting rod, 405. Electric push rod, 406. Folding wheel mounting frame. DETAILED DESCRIPTION

[0031] The present invention is described in detail below by way of exemplary embodiments. However, it should be understood that elements, structures, and features in one embodiment may also be beneficially combined in other embodiments without further description.

[0032] It should be noted that: unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by persons having ordinary skills in the field to which the invention belongs. The words "one", "an" or "the" and the like used in the patent application specification and claims of the present invention do not express a quantitative limitation, but rather indicate the presence of at least one. Words such as "include" or "comprise" indicate that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalents, but do not exclude other elements or objects with the same function.

[0033] In order to more clearly describe the specific structure and working process of the greenhouse transplanting robot, the following description is made with reference to Figures 1-7:

[0034] This embodiment describes a transplanting robot with six legs as an example. As shown in FIG1 , a transplanting robot suitable for a greenhouse mainly comprises a walking device 1 and a plurality of planting devices mounted on the walking device. The walking device 1 comprises a chassis, a drive assembly mounted on the chassis, and walking leg modules arranged on both sides of the chassis. The planting devices comprise a duckbill planter 2 and a screw module 3. The duckbill planter 2 is fixedly connected to the moving block of the screw module 3 by bolts. The screw module 3 is fixedly mounted on the walking leg module and moves synchronously with the walking leg module. The screw module 3 is driven by an independent drive motor.

[0035] As shown in Figures 2 and 3, three walking foot modules are evenly distributed on both sides of the chassis 101 of the walking device 1. The transplanting robot is powered by a separate walking motor 103. The walking motor 103 outputs power to the first transmission shaft 107 and the second transmission shaft 113 through the first gear 102, the eighth gear 118, the third rack 117 and two independent electromagnetic clutches 104. As can be seen from the figure, each transmission shaft is connected to three transmission gears, and each transmission gear is connected to the corresponding walking foot module. When any electromagnetic clutch is turned on, the corresponding transmission shaft outputs power to the walking foot module connected thereto through the transmission gear thereon. The following is a detailed description with reference to the accompanying drawings:

[0036] As shown in Figure 2, the first transmission shaft 107 is equipped with a second gear 106, a third gear 108, and a fourth gear 111. The fourth gear 111 and the second gear 106 respectively drive the walking foot module I and the walking foot module III on one side of the chassis. The third gear 108 drives the walking foot module V on the other side of the chassis through the first rack 109. The walking foot module I, the walking foot module III, and the walking foot module V together constitute a group of walking foot units for walking.

[0037] The second transmission shaft 113 is equipped with a fifth gear 112, a sixth gear 114, and a seventh gear 116. The fifth gear 112 and the seventh gear 116 respectively drive the walking foot module IV and the walking foot module VI on one side of the chassis. The sixth gear 114 drives the walking foot module II on the other side of the chassis through the second rack 115. The walking foot module IV, the walking foot module VI, and the walking foot module II together constitute another set of walking foot units for walking.

[0038] As shown in Figures 3 and 4, the walking foot module includes a walking foot gear 119 that is meshed with the corresponding transmission gear, a limit block 120, a guide rod 121, a screw rod 122 coaxially connected to the walking foot gear 119, a movable plate 123 mounted on the screw rod 122, a slider 124 and a walking foot 127. The walking foot gear 119 is connected to one end of the screw rod 122 by a key, the two guide rods 121 are connected to the limit block 120 by threads at both ends, the middle hole of the movable plate 123 forms a threaded pair with the screw rod 122, and the upper and lower The hole and the guide rod 121 form a moving pair, the slider 124 is installed in the slide groove of the moving plate 123 and can move vertically back and forth. A limit plate is provided on the top of the moving plate 123 to limit the slider. The top of the slider 124 is connected to the limit plate through a first spring 125. The slider 124 is connected to the leg shaft 128 through a threaded connection. Two rolling bearings are installed on the leg shaft 128. The two bearings are located in the circular groove of the semicircular arc groove plate 126. The connection part between the leg shaft 128 and the walking foot 127 is a square shaft, and the shaft end is limited by a shaft end retaining ring.

[0039] From the above structural description, it can be seen that the gears on the two transmission shafts respectively drive the walking foot gears 119 on the six walking foot modules on both sides to rotate, so that the screw rod 122 coaxial with the walking foot gear 119 rotates, and the rotation of the screw rod 122 causes the moving plate 123 installed on the screw rod 122 to move along the screw rod 122. Under the action of the semicircular groove plate 126, the slider 124 connected to the moving plate 123 through the first spring 125 makes a semicircular motion along the semicircular groove plate 126 through the circular roller on the slider 124, thereby driving the walking foot fixed with the slider 124 to walk forward along the semicircular track. The robot walks in a triangular gait, that is, one side The frontmost and rearmost walking foot modules and the middle walking foot module on the opposite side are grouped together for walking, as shown in Figure 2, that is, I, III, and V are a group, and II, IV, and VI are a group. When one group of walking feet takes a step, the electromagnetic clutch 104 on the transmission shaft corresponding to the group of walking feet is connected, while the electromagnetic clutch 104 on the transmission shaft corresponding to the other group of walking feet serving as support is disconnected. When both walking groups complete the stepping action, the electromagnetic clutches 104 on the two transmission shafts are connected, and the motor reverses to move the chassis 101 forward a unit length, at which point it returns to its original state before walking. The above process is repeated to realize the walking of the robot.

[0040] In this embodiment, sliders and guide rails are installed at the bottoms of the first rack 109 , the second rack 115 , and the third rack 117 .

[0041] In this embodiment, as shown in FIG5 , the planting device is provided with six groups, which are respectively fixedly mounted on the corresponding walking foot modules and move synchronously with the walking foot modules; each group of the planting device is composed of a driving motor, a screw module 3 and a duckbill planter 2, wherein the duckbill planter 2 is fixedly connected to the moving block of the screw module 3 by bolts, and the driving motor outputs power to drive the duckbill planter to move through the screw module; the duckbill planter 2 includes a duckbill mounting frame 202 fixedly connected to the moving block of the screw module 3, a funnel 201, a gasket 205, a cotter pin 206, and a left duckbill 204 and a right duckbill 207 arranged on the duckbill mounting frame 202, and the left duckbill 204 and the right duckbill 207 are fixedly connected to the moving block of the screw module 3. 07 are respectively installed on the duckbill mounting frame 202 through gaskets 205 and cotter pins 206. A second spring 208 is also connected between the left duckbill 204 and the right duckbill 207. When the transplanting robot is to perform transplanting operations, the screw module 3 drives the duckbill planter 2 to move downward. At this time, seedlings are thrown into the funnel 201 of the duckbill planter 2. When the flat plates on both sides of the duckbill planter 2 contact the walking feet 127 and continue to move downward under the drive of the screw module 3, the duckbills 204 and 207 of the duckbill planter 2 are opened due to the obstruction of the walking feet 127, and the seedlings fall into the soil, completing the transplanting operation. When the duckbill planter 2 moves upward, the duckbills 204 and 207 on both sides are closed under the action of the second spring 208.

[0042] As shown in Figures 1 and 6, the walking device is further provided with a folding wheel group at the bottom of its chassis. When the transplanting robot is in operation, the folding wheel group can be folded under the chassis through the connecting rod assembly thereon. The folding wheel group 4 of the present invention is folded under the chassis 101 of the transplanting robot when the transplanting robot is working. When the transplanting robot completes a row of transplanting operations, the electric push rod 405 on the folding wheel extends to change the folding wheel group 4 from a horizontal state to a vertical state. The direction of the transverse wheel 401 of the folding wheel group 4 is perpendicular to the walking direction of the transplanting robot, and the hub motor is used to move the transplanting robot. The transplanting robot can move laterally from a row where the transplanting operation is completed to the next row to be operated without turning; in this embodiment, the folding wheel group adopts the following structure: it includes a folding wheel mounting frame 406 fixedly connected to the bottom of the chassis 101, a wheel rod 402, a transverse wheel 401, an electric push rod 405 and a connecting rod assembly consisting of a first connecting rod 403 and a second connecting rod 404, the upper end of the wheel rod 402 is hinged to the folding wheel mounting frame 406, and the lower end thereof is connected to the transverse wheel 401, and the electric push rod 405 and the connecting rod assembly are installed between the folding wheel mounting frame 406 and the wheel rod 402.

[0043] In this embodiment, Figure 7 is a planting point map of the transplanting robot, wherein the circle represents the position of the planted seedling, and the closed triangle formed by three circles and lines represents a transplanting action. The transplanting robot walks with a triangular gait, and the upper figure is divided into a triangle formed by the left foot and a triangle formed by the right foot. As shown in the figure, the left and right feet perform a transplant each time, and after the transplanting is completed, the planter rises upward. After completing a transplant, the transplanting robot continues to move forward three times. During the third step, the planter is lowered to complete the second transplanting, and so on to achieve continuous planting operations.

[0044] Parts not described in detail in this embodiment are prior art.

[0045] It should be noted that although the present invention has been described with reference to the above embodiments, the present invention may also have other various embodiments. Without departing from the spirit and scope of the present invention, it is obvious that those skilled in the art may make various corresponding changes and modifications to the present invention, and such changes and modifications shall fall within the scope of protection of the appended claims and their equivalents.

Claims

1. A transplanting robot suitable for a greenhouse, comprising a walking device and a plurality of planting devices mounted on the walking device, characterized in that: The walking device comprises a chassis, a driving assembly mounted on the chassis, and a plurality of walking foot modules arranged on both sides of the chassis, and a planting device that moves synchronously with the walking foot module is installed on each of the walking foot modules; the driving assembly is provided with a walking motor, and the walking motor outputs power to two transmission shafts through a transmission assembly and two independent electromagnetic clutches. When any one of the electromagnetic clutches is in the on state, the corresponding transmission shaft outputs power to the walking foot module connected thereto through the transmission gear thereon; There are three walking foot modules on each side, and the front and rear walking foot modules on one side and the middle walking foot module on the opposite side form a group of walking foot units for walking. The walking motor outputs power. When one group of walking foot units walks, the electromagnetic clutch on the transmission shaft of the corresponding group is connected, and the electromagnetic clutch on the transmission shaft corresponding to the other group of walking foot units as support is disconnected. When both groups of walking foot units complete the walking action, the electromagnetic clutches on the two transmission shafts are connected, and the walking motor reverses to move the chassis forward a unit length, restoring to the initial state before walking. The walking foot module includes a walking foot gear meshing with the transmission gear, a screw rod coaxially connected to the walking foot gear, a movable plate installed on the screw rod, a slider and a walking foot. The slider is installed in the slide groove of the movable plate and can move vertically back and forth. A limit plate for limiting the slider is provided on the top of the movable plate. The top of the slider is connected to the limit plate through a first spring. The middle part of the leg shaft connected to the walking foot is rotatably installed in the circular arc groove of the semicircular arc groove plate fixedly connected to the chassis through a bearing assembly. One end of the leg shaft passes through the circular arc groove and is fixedly connected to the slider. The power output by the walking motor drives the walking foot to move along a semicircular trajectory through the leg shaft.

2. The greenhouse transplanting robot according to claim 1, characterized in that: The driving component described above, wherein the output end of the walking motor outputs power to two electromagnetic clutches through a gear rack, each electromagnetic clutch output end is connected to a transmission shaft, each transmission shaft outputs power to a corresponding group of walking foot modules through a gear set and a gear rack, and the electromagnetic clutch, gear set, and gear rack are used to realize time-sharing driving of two groups of walking feet by a single power source.

3. The greenhouse transplanting robot according to claim 1, characterized in that: The walking foot module is also provided with a guide rod for positioning and guiding the movable plate, and a limit block for limiting the movable plate is provided at one end of the guide rod.

4. The greenhouse transplanting robot according to claim 2, characterized in that: The bottom of the rack is equipped with a slide block and a guide rail.

5. The greenhouse transplanting robot according to claim 1, characterized in that: The planting device is provided with six groups, which are respectively fixedly mounted on the corresponding walking foot modules and move synchronously with the walking foot modules; each group of the planting device is composed of a driving motor, a screw module and a duckbill planter, and the driving motor outputs power to drive the duckbill planter to move through the screw module.

6. The greenhouse transplanting robot according to claim 5, characterized in that: The duckbill planter includes a duckbill mounting frame fixedly connected to the screw module, a funnel, and a left duckbill and a right duckbill mounted on the duckbill mounting frame through a pin shaft. A second spring is connected between the left duckbill and the right duckbill. When the screw module drives the duckbill planter to move downward, the ear plates on both sides of the left duckbill and the right duckbill are blocked by the walking feet and open.

7. The greenhouse transplanting robot according to claim 1, characterized in that: The bottom of the chassis of the walking device is also provided with a folding wheel set. When the transplanting robot is in operation, the folding wheel set can be folded under the chassis through the connecting rod assembly thereon.

8. The greenhouse transplanting robot according to claim 7, characterized in that: The folding wheel group includes a folding wheel mounting frame fixedly connected to the bottom of the chassis, a wheel rod, a transverse wheel, an electric push rod and a connecting rod assembly. The upper end of the wheel rod is hinged to the folding wheel mounting frame, and the lower end is connected to the transverse wheel. The electric push rod and the connecting rod assembly are installed between the folding wheel mounting frame and the wheel rod.

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