CN110521361B - Automatic transplanting device of plug seedlings - Google Patents
Automatic transplanting device of plug seedlings Download PDFInfo
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- CN110521361B CN110521361B CN201910891238.0A CN201910891238A CN110521361B CN 110521361 B CN110521361 B CN 110521361B CN 201910891238 A CN201910891238 A CN 201910891238A CN 110521361 B CN110521361 B CN 110521361B
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- 210000000078 claw Anatomy 0.000 claims abstract description 78
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 5
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- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 239000000758 substrate Substances 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- Life Sciences & Earth Sciences (AREA)
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- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
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Abstract
The invention discloses an automatic plug seedling transplanting device which comprises a rack, a plug conveying system, a transplanting manipulator system, a flowerpot conveying system and a control system, wherein the plug conveying system is connected with the rack; the tray conveying system and the flowerpot conveying system are respectively positioned on two sides of the bottom plate of the rack, and the transplanting manipulator system is arranged in the middle position above the rack and is connected with the rack in a sliding manner; the plug conveying system comprises a first belt, two transmission shafts, a speed reducer and a first motor; the flowerpot conveying system comprises a second belt, a belt driving shaft, a belt driven shaft and a second motor; the transplanting manipulator system comprises a manipulator support, a pneumatic telescopic device, a seedling taking claw support, a seedling taking claw and a position detection device. The invention can realize automatic and accurate seedling taking and placing operation on the plug seedlings, avoids the damage to the seedlings in the artificial transplanting process, realizes the automation of the plug seedling transplanting production process, lightens the labor intensity of plug seedling transplanting operation and improves the plug seedling transplanting quality.
Description
Technical Field
The invention relates to the technical field of plug seedling transplanting, in particular to an automatic plug seedling transplanting device.
Background
The transplanting has the comprehensive benefits of compensating the climate and advancing the growth of the plug seedlings, can fully utilize the photo-thermal resources, and has considerable economic and social benefits, but the transplanting has high technical requirements, under the condition of agricultural production labor shortage, the traditional transplanting mode is bare-rooted seedling transplanting, and the survival rate, the growth condition and the like of the plug seedlings after transplanting are not ensured, so the large-area application of the plug seedlings is limited.
In recent years, with the rapid development of facility agriculture, greenhouse plug seedling is developed in a large quantity, conditions are created for large-area application of transplanting, but plug seedlings also have the problems of high technical requirements, more labor, incapability of ensuring quality and the like for completing large-area transplanting in a short transplanting proper period, and the problems are very prominent and need to be solved urgently.
Therefore, the research of an automatic plug seedling transplanting device which can reduce labor force, improve transplanting efficiency and ensure transplanting quality is a problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art.
Therefore, the invention aims to provide an automatic plug seedling transplanting device which comprises a rack, a plug conveying system, a transplanting manipulator system, a flowerpot conveying system and a control system, wherein the plug conveying system is connected with the rack; the tray conveying system and the flowerpot conveying system are respectively positioned on two sides of the bottom plate of the rack, and the transplanting manipulator system is arranged in the middle position above the rack and is connected with the rack in a sliding manner; wherein,
the plug tray conveying system comprises a first belt, the first belt is a synchronous belt and is arranged between two transmission shafts, a speed reducer and a first motor for controlling the two transmission shafts are arranged on the two transmission shafts, and the two first motors can control the first belt to move in the front and back directions;
the flowerpot conveying system comprises a second belt, the second belt is arranged between a belt driving shaft and a belt driven shaft, and a second motor for controlling the belt driving shaft is arranged on the belt driving shaft;
the top parts of the two ends of the rack are respectively provided with a linear driving guide rail which is vertical to the movement direction of the first belt and the second belt, a driving screw rod is arranged on the linear driving guide rail, and one end of the driving screw rod is provided with a stepping motor;
the transplanting manipulator system comprises a manipulator support, two ends of the bottom of the manipulator support penetrate through the driving screw rod, the manipulator support can slide on the linear driving guide rail, a pneumatic telescopic device is connected below the manipulator support, a seedling taking claw support is fixed at the bottom of the pneumatic telescopic device, a plurality of seedling taking claws are detachably connected to the seedling taking claw support, and the seedling taking claws are uniformly arranged in the horizontal direction and can be adjusted in position; the seedling taking claw bracket is also provided with a position detection device;
the first motor, the second motor, the stepping motor, the position detection device, the pneumatic telescopic device and the seedling taking claw are all controlled by the control system.
The automatic plug seedling transplanting device can realize automatic and accurate plug seedling taking and placing operations, avoids the damage to seedlings in the manual transplanting process, realizes the automation of the plug seedling transplanting production process, reduces the labor intensity of plug seedling transplanting operation, and improves the plug seedling transplanting quality.
On the basis of the technical scheme, the invention can be improved as follows:
preferably, the first motor and the second motor are both direct current servo motors.
The direct current servo motor is easy to realize speed regulation, high in control precision and capable of realizing accurate positioning of the hole tray and the flowerpot.
Preferably, the second motor is axially connected with the belt driving shaft through a flange plate. Thus, even if the second motor and the belt driving shaft are not axially concentric in design or installation, the belt driving shaft can also stably rotate.
Preferably, the pneumatic telescopic device comprises a telescopic rod and a telescopic rod piston connected to the end of the telescopic rod, the telescopic rod is connected with the manipulator support, and the telescopic rod piston is connected with the seedling taking claw support.
Pneumatic telescoping device can control and get seedling claw support and realize its motion in vertical side, and then accurate and reliable realization gets getting seedling and put the seedling action of seedling claw.
Preferably, get seedling claw include with get seedling claw support and be connected the cylinder, the both ends of cylinder below respectively articulate there is a machinery shovel type claw, cylinder piston below in the cylinder is connected with one will machinery shovel type claw ring entangles the throw-out collar, cylinder piston promotes the throw-out collar up-and-down motion to the realization open and shut of machinery shovel type claw.
Before the plug substrate is inserted, a cylinder piston pushes a push ring to move downwards to the bottom of a mechanical shovel-shaped claw, and at the moment, the angle of the two mechanical shovel-shaped claws in the vertical direction is opened to the maximum; then the pneumatic telescopic device drives the mechanical shovel-shaped claws to start to insert into the matrix, at the moment, the push ring starts to gradually move upwards, and meanwhile, the angles of the two mechanical shovel-shaped claws in the vertical direction start to be tightened, so that a space is reserved; mechanical shovel type claw stops to insert the matrix under pneumatic telescoping device's drive during, the throw-out collar continues to retreat and continues to tighten up mechanical shovel type claw a segment distance to this is accomplished the clamp of seedling and is grabbed the action, mechanical shovel type claw is pulled out the seedling and is appeared the cave dish, move to flowerpot conveying system assigned position back, the throw-out collar once only pushes away the seedling, the in-process mechanical shovel type claw that pushes away is propped open by the throw-out collar, seedling is along mechanical shovel type claw landing on one side, mechanical shovel type claw is opened on one side, finally lets the seedling accuracy fall into the flowerpot.
The shovel-shaped shape of the mechanical shovel-shaped claw can make the mechanical shovel-shaped claw more easily enter the plug tray and firmly grab the plug tray seedlings.
Preferably, the flowerpot conveying system further comprises a flowerpot positioning device arranged on the second belt, flowerpot fixing holes with the same number as the seedling taking claws are formed in the flowerpot positioning device, and the positions among the flowerpot fixing holes are adjustable, so that the flowerpots and the seedling taking claws can be matched just to complete seedling placing work.
Preferably, the bottoms of the first belt and the second belt are supported by a supporting plate, and the supporting plate is fixed on the supporting plate frame. The supporting plate can ensure the stable and reliable conveying of the hole tray and the flowerpot on the belt.
Preferably, the tray conveying system and the flowerpot conveying system are respectively provided with a tray conveying system bottom plate and a flowerpot conveying system bottom plate at the bottoms, and the two independent bottom plates are fixed on the rack bottom plate.
The tray conveying system bottom plate and the flowerpot conveying system bottom plate can enable the structures of the tray conveying system and the flowerpot conveying system to be independent and compact, and meanwhile, installation and adjustment are convenient.
Preferably, universal wheels which are convenient for pushing the machine frame to walk can be arranged below the machine frame bottom plate.
According to the technical scheme, compared with the prior art, the automatic plug seedling transplanting device provided by the invention at least has the following beneficial effects:
1) through the cooperation control to cave dish conveying system, transplanting manipulator system, flowerpot conveying system, realized getting the seedling, fortune seedling, put the mechanical automation of seedling very big improvement the work efficiency that the seedling was transplanted, saved the cost of labor.
2) The process of mechanized transplanting is unanimous hard, and the angle is accurate, and the matrix loading volume is unanimous in the flowerpot, can significantly reduce the damage to the seedling, improves the transplanting quality of seedling.
3) The automatic transplanting device is stable and reliable in movement, the positions and the number of the seedling taking claws can be adjusted, and the flowerpot positioning device can also be correspondingly adjusted to adapt to plug trays of different specifications and can play an excellent seedling taking and placing effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of an automatic transplanting device for plug seedlings according to the present invention;
FIG. 2 is a perspective view of a transplanting robot system provided in the present invention;
FIG. 3 is a front view of a transplanting robot system provided in the present invention;
FIG. 4 is a front view of the claw for removing seedlings provided by the present invention;
fig. 5 is a side view of the seedling-taking claw provided by the invention.
Wherein, in the figure,
1-a machine frame, wherein the machine frame,
11-a frame bottom plate, 12-a linear driving guide rail and 13-a driving screw rod;
2-a plug-tray conveying system is adopted,
21-a first belt, 22-a first motor;
3-a transplanting manipulator system, namely a transplanting manipulator system,
31-a manipulator bracket, 32-a pneumatic telescopic device, 321-a telescopic rod, 322-a telescopic rod piston,
33-seedling taking claw support, 34-seedling taking claw, 341-cylinder, 342-mechanical shovel-type claw, 343-push ring;
4-a flower pot conveying system, wherein,
41-a second belt, 42-a second motor, 43-a flowerpot positioning device;
5-a supporting plate;
6-pallet frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
an automatic plug seedling transplanting device according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 5.
The embodiment of the invention discloses an automatic plug seedling transplanting device which comprises a rack 1, a plug conveying system 2, a transplanting manipulator system 3, a flowerpot conveying system 4 and a control system (not shown in the figure).
The plug conveying system 2 and the flowerpot conveying system 4 are respectively positioned at two sides of the bottom plate 11 of the rack, and the transplanting manipulator system 3 is arranged at the middle position above the rack 1 and is connected with the rack 1 in a sliding manner and used for transferring seedlings; wherein,
the plug conveying system 2 comprises a first belt 21, the first belt 21 is a synchronous belt and is arranged between two transmission shafts, a speed reducer and a first motor 22 for controlling the first belt 21 are arranged on the two transmission shafts, the first motor 22 is a direct current servo motor, and the two first motors 22 can control the first belt 21 to move in the front and back directions; the outlet side of the first belt 21 can be designed to be a buffer inclined plate which is gradually inclined downwards so as to facilitate the conveying of the plug tray.
In the structure, the plug seedlings are conveyed by the synchronous belt due to the requirement on higher transmission precision and higher transmission efficiency when being conveyed, and the direct-current servo motor is selected as the driving motor. The whole plug tray conveying system is controlled by two motors to move in two directions of the plug tray so as to accurately position the plug tray.
The flowerpot conveying system 4 comprises a second belt 41, the second belt 41 is installed between a belt driving shaft and a belt driven shaft, a second motor 42 for controlling the belt driving shaft is installed on the belt driving shaft, and the second motor 42 is a direct-current servo motor; the outlet side of the second belt 41 may also be designed with a sloping buffer plate that gradually slopes downward, also for facilitating the transportation of the pots.
In the structure, the flowerpot is conveyed without requiring the high transmission efficiency of the excessively accurate transmission ratio, so that the flowerpot can be conveyed by a common flat belt, and the driving motor is a direct current servo motor which is easy to realize speed regulation and high in control precision.
The second motor 42 is axially connected with the belt driving shaft through a flange, so that the belt driving shaft can also stably rotate even if the second motor 42 is not axially concentric with the belt driving shaft during design or installation.
The top parts of two ends of the frame 1 are respectively provided with a linear driving guide rail 12 which is vertical to the moving direction of the first belt 21 and the second belt 41, a driving screw 13 is arranged on the linear driving guide rail 12, and one end of the driving screw 13 is provided with a stepping motor (not shown in the figure);
the transplanting manipulator system 3 comprises a manipulator support 31 with two ends at the bottom penetrating through a driving screw 13, the manipulator support 31 can slide on a linear driving guide rail 12, a pneumatic telescopic device 32 is connected below the manipulator support 31, a seedling taking claw support 33 is fixed at the bottom of the pneumatic telescopic device 32, a plurality of seedling taking claws 34 are detachably connected to the seedling taking claw support 33, the plurality of seedling taking claws 34 are uniformly arranged in the horizontal direction and can be adjusted in position, and the detachable structure and the position of the seedling taking claws 34 can be adjusted to adapt to plug trays with different specifications conveniently; the seedling claw support 33 is further provided with a position detection device, and the position detection device is used for detecting the positions of the plug tray, the flowerpot and the seedling claw 34 so as to be accurately positioned. If necessary, a second position detecting device, a third position detecting device, and the like may be additionally provided to the first belt 21 and the second belt 41.
Specifically, the pneumatic telescopic device 32 comprises a telescopic rod 321 and a telescopic rod piston 322 connected to the end of the telescopic rod 321, the telescopic rod 321 is connected with the manipulator support 31, and the telescopic rod piston 322 is connected with the seedling taking claw support 33. The pneumatic telescopic device 32 controls the seedling-taking claw support 33 to move in the vertical direction, and then seedling taking and placing actions of the seedling-taking claw 34 are accurately and reliably achieved.
The seedling taking claw 34 comprises a cylinder 341 connected with the seedling taking claw support 33, two ends below the cylinder 341 are respectively hinged with a mechanical shovel-shaped claw 342, a push ring 343 which surrounds the mechanical shovel-shaped claw 342 is connected below a cylinder piston in the cylinder 341, and the cylinder piston pushes the push ring 343 to move up and down so as to realize the opening and closing of the mechanical shovel-shaped claw 342.
The first motor 22, the second motor 42, the stepping motor, the position detection device, the pneumatic telescoping device 32 and the seedling taking claw 34 are all controlled by a control system.
In order to further optimize the technical scheme of the above embodiment, the flowerpot conveying system 4 further comprises a flowerpot positioning device 43 placed on the second belt 41, flowerpot fixing holes with the same number as the seedling taking claws 34 are formed in the flowerpot positioning device 43, and the positions of the flowerpot fixing holes are adjustable, so that the flowerpots can be matched with the seedling taking claws 34 exactly to complete the seedling placing work.
In order to further optimize the technical scheme of the above embodiment, the bottoms of the first belt 21 and the second belt 41 are supported by a supporting plate 5, the supporting plate 5 is fixed on the supporting plate frame 6, and the supporting plate 5 can ensure the stable and reliable conveying of the plug tray and the flowerpot on the belt.
In order to further optimize the technical scheme of the above embodiment, the bottoms of the tray conveying system 2 and the flowerpot conveying system 4 are respectively provided with a tray conveying system bottom plate and a flowerpot conveying system bottom plate which are independent of each other, and the two independent bottom plates are fixed on the rack bottom plate 11.
The tray conveying system bottom plate and the flowerpot conveying system bottom plate can enable the structures of the tray conveying system and the flowerpot conveying system to be independent and compact, and meanwhile, installation and adjustment are convenient.
In order to further optimize the technical solution of the above embodiment, universal wheels for facilitating the walking of the chassis base plate 11 may be disposed below the chassis base plate.
The specific working process of the invention is as follows:
the first motor 22 is started, the plug tray is conveyed and fed by the first motor 22 through the first belt 21, and when the position detection device detects that plug tray seedlings in the plug tray reach the seedling position, the first motor 22 is stopped;
the second motor 42 is started, the flowerpot is conveyed and fed by the second motor 42 through the second belt 41, and when the position detection device detects that the flowerpot is just positioned at the seedling planting position, the second motor 42 is stopped;
the stepping motor is started to enable the manipulator support 31 to move to the position right above the plug seedlings along the linear driving guide rail 12, before the plug substrates are inserted, the cylinder piston pushes the push ring 343 to move downwards to the bottom of the mechanical shovel-shaped claw 342, and at the moment, the angle of the two mechanical shovel-shaped claws 342 in the vertical direction is opened to the maximum; then the pneumatic telescopic device 32 drives the mechanical shovel-shaped claws 342 to start to insert into the substrate, at this time, the push ring 343 starts to gradually move upwards, and simultaneously the angle of the two mechanical shovel-shaped claws 342 in the vertical direction starts to be tightened, so that a space is made; when the mechanical shovel-shaped claw 342 stops inserting the substrate under the driving of the pneumatic telescopic device 32, the push ring 343 continues to retreat to continuously tighten the mechanical shovel-shaped claw 342 for a short distance, so as to complete the clamping and grabbing action of the seedling;
after the mechanical shovel-type claw 342 pulls out the seedling and goes out the cave dish, the manipulator support 31 moves to directly over the flowerpot along the linear driving guide rail 12, the pneumatic telescoping device 32 drives the mechanical shovel-type claw 342 to move downwards, the push ring 343 pushes the seedling off at one time, the mechanical shovel-type claw 342 is propped open by the push ring 343 in the pushing process, the seedling slides down along the mechanical shovel-type claw 342 on one side, the mechanical shovel-type claw 342 opens on one side, finally the seedling is accurately dropped into the flowerpot, and then the manipulator support 31 returns to the original position.
The reciprocating action is circulated in this way, the position detection device controls the starting and stopping of the corresponding motor, and the automatic transplanting process of the plug seedlings is completed.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An automatic plug seedling transplanting device is characterized by comprising a rack (1), a plug conveying system (2), a transplanting manipulator system (3), a flowerpot conveying system (4) and a control system; the hole tray conveying system (2) and the flowerpot conveying system (4) are respectively positioned on two sides of the bottom plate (11) of the rack, and the transplanting manipulator system (3) is installed in the middle position above the rack (1) and is connected with the rack (1) in a sliding mode; wherein,
the plug conveying system (2) comprises a first belt (21), the first belt (21) is a synchronous belt and is arranged between two transmission shafts, speed reducers and first motors (22) for controlling the first belt are arranged on the two transmission shafts, and the two first motors (22) can control the first belt (21) to move in the front and back directions;
the flowerpot conveying system (4) comprises a second belt (41), the second belt (41) is installed between a belt driving shaft and a belt driven shaft, and a second motor (42) for controlling the belt driving shaft is installed on the belt driving shaft;
the top parts of two ends of the rack (1) are respectively provided with a linear driving guide rail (12) which is perpendicular to the motion directions of the first belt (21) and the second belt (41), a driving lead screw (13) is arranged on the linear driving guide rail (12), and one end of the driving lead screw (13) is provided with a stepping motor;
the transplanting manipulator system (3) comprises a manipulator support (31) with two ends of the bottom penetrating through the driving screw (13), the manipulator support (31) can slide on the linear driving guide rail (12), a pneumatic telescopic device (32) is connected below the manipulator support (31), a seedling taking claw support (33) is fixed at the bottom of the pneumatic telescopic device (32), a plurality of seedling taking claws (34) are detachably connected to the seedling taking claw support (33), and the seedling taking claws (34) are uniformly arranged in the horizontal direction and are adjustable in position; a position detection device is also arranged on the seedling taking claw bracket (33);
the seedling taking claw (34) comprises an air cylinder (341) connected with the seedling taking claw support (33), two ends of the lower part of the air cylinder (341) are respectively hinged with a mechanical shovel-shaped claw (342), a push ring (343) which is used for annularly sleeving the mechanical shovel-shaped claw (342) is connected below a piston of the air cylinder (341) in the air cylinder (341), and the piston of the air cylinder (341) pushes the push ring (343) to move up and down so as to realize the opening and closing of the mechanical shovel-shaped claw (342);
the first motor (22), the second motor (42), the stepping motor, the position detection device, the pneumatic telescopic device (32) and the seedling taking claw (34) are all controlled by the control system.
2. The automatic plug seedling transplanting device of claim 1, wherein the first motor (22) and the second motor (42) are both direct current servo motors.
3. The automatic plug seedling transplanting device as claimed in claim 1, wherein the second motor (42) is axially connected to the belt drive shaft by a flange.
4. The automatic plug seedling transplanting device according to claim 1, wherein the pneumatic telescoping device (32) comprises a telescoping rod (321) and a telescoping rod piston (322) connected to an end of the telescoping rod (321), the telescoping rod (321) is connected to the manipulator support (31), and the telescoping rod piston (322) is connected to the seedling-taking claw support (33).
5. The automatic plug seedling transplanting device according to claim 1, wherein the flowerpot conveying system (4) further comprises a flowerpot positioning device (43) placed on the second belt (41), the flowerpot positioning device (43) is provided with flowerpot fixing holes with the same number as the seedling taking claws (34), and the positions of the flowerpot fixing holes are adjustable.
6. The automatic plug seedling transplanting device according to claim 1, wherein the bottoms of the first belt (21) and the second belt (41) are supported by a supporting plate (5), and the supporting plate (5) is fixed on a supporting plate frame (6).
7. The automatic plug seedling transplanting device according to claim 1, wherein the bottoms of the plug conveying system (2) and the flowerpot conveying system (4) are respectively provided with a plug conveying system (2) bottom plate and a flowerpot conveying system (4) bottom plate, and the two independent bottom plates are fixed on the rack bottom plate (11).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910891238.0A CN110521361B (en) | 2019-09-20 | 2019-09-20 | Automatic transplanting device of plug seedlings |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910891238.0A CN110521361B (en) | 2019-09-20 | 2019-09-20 | Automatic transplanting device of plug seedlings |
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| CN110972653A (en) * | 2020-01-07 | 2020-04-10 | 石河子大学 | Novel plug seedling whole-row seedling taking end effector |
| CN111213467A (en) * | 2020-04-05 | 2020-06-02 | 石河子大学 | But seedling device is got to cave dish seedling whole row of angle regulation and interval |
| CN112166884A (en) * | 2020-10-10 | 2021-01-05 | 湖南生物机电职业技术学院 | Automatic transplanter of flowers seedling |
| CN112602579A (en) * | 2020-12-11 | 2021-04-06 | 河南科技大学 | Plug seedling low-loss transplanting robot |
| CN112868337B (en) * | 2021-02-04 | 2023-09-26 | 沈阳农业大学 | Multifunctional transplanting manipulator and light simplified transplanting device for plug seedlings of solanaceous vegetables |
| CN113748804B (en) * | 2021-05-08 | 2023-04-25 | 南京蓝锐自动化科技有限公司 | Robot device for transplanting soil in basin and automatic control system thereof |
| CN113133340B (en) * | 2021-05-31 | 2022-08-19 | 上海种业（集团）有限公司 | Transplanting device for flower seedlings |
| CN114402764B (en) * | 2021-12-31 | 2023-01-10 | 山西农业大学 | Automatic transplanter |
| CN114830893A (en) * | 2022-04-25 | 2022-08-02 | 湖南农业大学 | Seedling device is got to alms bowl seedling |
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| CN103477769B (en) * | 2013-09-17 | 2015-08-12 | 北京工业大学 | The charge-coupled engagement transplanter of Plug seedling |
| CN104704965B (en) * | 2014-06-06 | 2017-02-15 | 中国计量学院 | End effector for transplanting machine |
| CN104770120B (en) * | 2015-03-05 | 2018-06-01 | 中国计量学院 | Plug seedling transplanting and separating machine |
| CN204968467U (en) * | 2015-09-15 | 2016-01-20 | 河北润衡水利景观设计研究有限公司 | Bush flowers nursery stock planter |
| CN107567784A (en) * | 2017-11-02 | 2018-01-12 | 石河子大学 | A kind of entire row seedling taking formula potted tray seedling transplanter fetches and delivers seedling device |
| CN207869680U (en) * | 2018-01-31 | 2018-09-18 | 胡清华 | A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine automatically |
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2019
- 2019-09-20 CN CN201910891238.0A patent/CN110521361B/en active Active
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