CN111587645A

CN111587645A - Plant seedling transplanting robot

Info

Publication number: CN111587645A
Application number: CN202010464957.7A
Authority: CN
Inventors: 苏建军
Original assignee: Individual
Current assignee: Hainan Xiancaotang Biomedical Technology Co ltd
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2020-08-28
Anticipated expiration: 2040-05-28
Also published as: CN111587645B

Abstract

The invention provides a plant seedling transplanting robot which comprises a transplanting device, a mechanical arm, a carriage, a trolley, a three-dimensional seedling storage rack and the like. The invention provides a plant seedling transplanting robot, which is mainly used for transplanting plant seedlings, wherein a three-dimensional seedling storage rack is arranged in a carriage, and the number of the three-dimensional seedling storage rack is ten, so that a large number of plant seedlings can be stored; the mechanical arm is adsorbed at one end of the seedling shovel at the outlet through the electromagnet, plant seedlings and cultivation soil are shoveled in and placed on the storage rack, so that the seedlings are quickly loaded, and the efficiency is improved; the carriage door is closed through the driving of a motor screw, an electric control module is arranged in the carriage, and the electric control module has the functions of monitoring, automatic temperature control and humidity control, so that the survival rate of the plant seedlings is ensured; the trolley can realize long-distance transportation; the gripping device can grip and place seedlings; transplanting device has a plurality of grabbing device, and the distance between every grabbing device can be adjusted, realizes that the plant seedling high efficiency is transplanted and rationally selects the distance between the seedling.

Description

Plant seedling transplanting robot

Technical Field

The invention relates to the technical field of agricultural robots, in particular to a plant seedling transplanting robot.

Background

Transplanting, also known as transplanting, refers to the operation of transplanting the seedling in the seedbed to the field, can take soil or not take soil during transplanting, and the root is wounded in transplanting with soil is few, can shorten the revival stage, and early survival drought hair, traditional transplanting mode is to transplant the seedling with manual transplanter, and the bottom of manual transplanter is empty, does not have the end device, and soil leaks from manual transplanter bottom easily during transplanting, leads to the soil reduction of plant seedling root, has reduced the survival rate of plant seedling. In actual production, a seedling raising room is not necessarily near a field, and long-distance transportation cannot be realized by the traditional method on the premise of ensuring the survival of seedlings. Meanwhile, the method is slow in speed and low in efficiency, so that an automatic device which can transplant plants quickly, can ensure that soil at the roots of the plants does not lose and can realize long-distance transportation is urgently needed.

Disclosure of Invention

Aiming at the problems, the invention provides a plant seedling transplanting robot which is mainly used for transplanting plant seedlings, wherein a three-dimensional seedling storage rack is arranged in a carriage, and the number of the three-dimensional seedling storage rack is ten, so that a large number of plant seedlings can be stored; the mechanical arm is adsorbed at one end of the seedling shovel at the outlet through the electromagnet, plant seedlings and cultivation soil are shoveled in and placed on the storage rack, so that the seedlings are quickly loaded, and the efficiency is improved; the carriage door is closed through the driving of a motor screw, an electric control module is arranged in the carriage, and the electric control module has the functions of monitoring, automatic temperature control and humidity control, so that the survival rate of the plant seedlings is ensured; the trolley can realize long-distance transportation; the gripping device can grip and place seedlings; transplanting device has a plurality of grabbing device, and the distance between every grabbing device can be adjusted, realizes that the plant seedling high efficiency is transplanted and rationally selects the distance between the seedling.

The technical scheme adopted by the invention is as follows: a plant seedling transplanting robot comprises a transplanting device, a mechanical arm, a carriage, a trolley and a three-dimensional seedling storage rack, wherein the carriage is fixed at the rear part of the trolley; the mechanical arm is fixed at the right front part of the trolley; the transplanting device is placed on the upper end surface of the carriage; the three-dimensional seedling storage rack is fixed inside the carriage.

The transplanting device comprises a first guide rail, a second guide rail, a gripping device and telescopic support legs, wherein the second guide rail is placed on a track of the first guide rail; the grabbing device is placed on the track of the second guide rail; the telescopic supporting legs are fixed at the corners of the inner side of the track of the first guide rail.

The mechanical arm comprises an electromagnet and a six-degree-of-freedom mechanical arm, and the electromagnet is fixed on the end face of the tail end of the six-degree-of-freedom mechanical arm.

The carriage comprises a second screw rod, a fourth motor, a first screw rod, a first carriage door, a second screw rod, a fifth motor, a third screw rod, a fourth screw rod, a sixth motor, a seventh motor, a fifth screw rod, a third screw rod, a second carriage door, a fourth screw rod, a sixth screw rod, an electric control module, a carriage shell, an eighth motor, a ninth motor, a third carriage door and a seventh screw rod, wherein the fourth motor, the fifth motor, the sixth motor and the ninth motor are respectively fixed at four corners on the carriage shell; a seventh motor and an eighth motor are respectively fixed on the partition board of the carriage shell, the front end face and the corners of the left end face and the right end face; one end of the screw rod II is fixed on an output shaft of the motor IV, and the other end of the screw rod II is fixed on a stop block protruding from the left side of the carriage shell; the first feed rod is fixed on the left upper side of the carriage shell; one end of the screw rod III is fixed on an output shaft of the motor V, and the other end of the screw rod III is fixed on a stop block protruding from the right side of the carriage shell; the second feed beam is fixed on the right upper side of the carriage shell; the first carriage door is matched with the second screw rod, the third screw rod, the first polish rod and the second polish rod to form a sliding pair; one end of a screw rod seven is fixed on an output shaft of the motor nine, and the other end of the screw rod seven is fixed on a stop block protruding from the left side of the carriage shell; one end of the screw rod II is fixed on the output shaft of the motor II, and the other end of the screw rod II is fixed on a stop block protruding from the right side of the carriage shell; the carriage door II is matched with the screw rod IV, the screw rod VII, the lever I and the lever II to form a sliding pair; one end of the screw rod six is fixed on an output shaft of the motor eight, and the other end of the screw rod six is fixed on a carriage shell; the beam IV is fixed at the left front side of the carriage shell; one end of a screw rod V is fixed on an output shaft of the motor VII, and the other end of the screw rod V is fixed on a carriage shell; the third light bar is fixed on the right front side of the carriage shell; the carriage door III is matched with the screw rod V, the screw rod VI, the lever III and the lever IV to form a sliding pair; the electric control module is fixed on the left side surface of the carriage shell.

The three-dimensional seedling storage rack comprises a first auxiliary track, a seventh shaft, a first support frame, a tenth motor, a second auxiliary track, a eleventh motor, a second support frame, an eighth shaft, a first belt wheel, a second roller, a first connecting block, a first conveyor belt, a second belt wheel, a third belt wheel, a seedling shovel, a storage rack, a third roller, a second connecting block, a second conveyor belt and a fourth belt wheel, wherein the first auxiliary track, the first support frame, the second auxiliary track and the second support frame are fixed on a carriage shell; the shaft seven is matched with the hole shaft of the support frame to form a revolute pair; the shaft eight is matched with the second hole shaft of the support frame to form a revolute pair; the motor eleven is fixed on the first support frame; the motor eleven is fixed on the support frame II; the first belt wheel is fixed on the seventh shaft; the second belt wheel is fixed on an output shaft of the motor ten; the first conveyor belt is matched with the first belt wheel and the second belt wheel; the belt wheel IV is fixed on the shaft VIII; the third belt wheel is fixed on an output shaft of the eleventh motor; the second conveyor belt is matched with the third belt wheel and the fourth belt wheel; the first connecting block is fixed on the first conveying belt; the second connecting block is fixed on the second conveying belt; the placing frame is respectively matched with the first connecting block hole shaft and the second connecting block hole shaft to form a revolute pair; the second roller and the third roller are fixed on the placing frame and are respectively matched with the first auxiliary track and the second auxiliary track in the movement process; the seedling shovel is placed on the placing rack.

The second guide rail comprises a rail, a first roller, a second roller, a third roller, a first shaft, a fourth roller, a second shaft, a first gear and a first motor, and the first motor is fixed in a motor shell at the side end of the rail; the first gear is fixed on an output shaft of the first motor; the first gear is meshed with the rack of the first guide rail to form a moving pair; the first roller and the fourth roller are respectively fixed at two ends of the second shaft; the second roller and the third roller are respectively fixed at two ends of the first shaft; the first shaft and the second shaft are respectively matched with a motor shell hole shaft at the side end of the guide rail to form a rotating pair; the first roller, the second roller, the third roller and the fourth roller are placed on the track of the first guide rail to form a moving pair.

The grabbing device comprises a first claw, a third shaft, a shell, a connecting frame, a first motor shell, a second gear, a fifth roller, a sixth roller, a seventh roller, an eighth roller, a fourth shaft, a fifth shaft, a second motor, a third motor, a first screw, a first roller, a sixth shaft and a second claw, wherein the first claw is matched with the three-hole shaft to form a revolute pair; the third shaft is fixed on one side of the shell; the second claw is matched with the six-hole shaft to form a revolute pair; the shaft six is fixed on the other side of the shell; the first roller is fixed on the connecting frame and matched with the notches of the first claw and the second claw to form a moving pair; the shell is fixed at the lower end of the motor shell; the motor III is fixed in the motor shell I; one end of the screw rod is fixed on an output shaft of the motor III, and the other end of the screw rod is fixed on the shell; the connecting frame is matched with the first lead screw to form a moving pair; the motor shell II is fixed at the upper end of the motor shell I; the motor II is fixed in the motor shell II; the second gear is meshed with the rack of the second guide rail to form a moving pair; the fifth roller and the seventh roller are respectively fixed at two ends of the fifth shaft; the six roller wheels and the eight roller wheels are respectively fixed at two ends of the four shaft; the fourth shaft and the fifth shaft are respectively matched with the second hole shaft of the motor shell to form a revolute pair; and the fifth roller, the sixth roller, the seventh roller and the eighth roller are placed on the track of the second guide rail to form a sliding pair.

Due to the adoption of the technical scheme, the invention has the following advantages: (1) long-distance seedling transplantation can be realized; (2) the three-dimensional seedling frame can store a large number of seedlings, can transplant a plurality of seedlings simultaneously and has high efficiency; (3) in the seedling planting process, the distance between seedlings is controllable, and different types of seedling transplantation can be realized; (4) the survival rate of the seedlings is high.

Drawings

Fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5 are schematic diagrams of the overall structure of the present invention.

Fig. 6 is a schematic structural diagram of the transplanting device of the present invention.

Fig. 7 is a schematic cross-sectional structure diagram of the transplanting device of the present invention.

Fig. 8 is a schematic structural view of a second guide rail of the present invention.

Fig. 9 is a schematic cross-sectional view of the guide rail of the present invention.

Fig. 10 is a schematic cross-sectional view of the grasping apparatus according to the present invention.

Fig. 11 is a schematic view of the structure of the robot arm of the present invention.

Fig. 12 is a schematic view of the structure of the vehicle body of the present invention.

Fig. 13, 14 and 15 are schematic structural views of the three-dimensional seedling storage rack of the invention.

Reference numerals: 1-a transplanting device; 2, a mechanical arm; 3, a compartment; 4-a trolley; 5-three-dimensional seedling storage racks; 101-guide rail one; 102-guide rail two; 103-a gripping device; 104-telescopic legs; 10201-track; 10202-roller one; 10203-roller two; 10204-roller three; 10205-Axis one; 10206-roller four; 10207-Axis two; 10208-gear one; 10209 — motor one; 10301-paw one; 10302-Axis three; 10303-shell; 10304-connecting frame; 10305-Motor casing one; 10306-Motor casing two; 10307-gear two; 10308-wheel five; 10309-Rollersix; 10310-gyro wheel seven; 10311-roller eight; 10312-Axis IV; 10313-Axis five; 10314-motor II; 10315-Motor III; 10316-screw rod I; 13017-roller one; 10318-Axis six; 10319-paw II; 201-an electromagnet; 202-six degree of freedom mechanical arm; 301-a second lead screw; 302-motor four; 303-optical bar one; 304-a compartment door one; 305-beam two; 306-motor five; 307-lead screw III; 308-screw rod four; 309-motor six; 310-motor seven; 311-screw rod five; 312-beam three; 313-a second car compartment door; 314-bar four; 315-lead screw six; 316-an electronic control module; 317-carriage shell; 318-motor eight; 319-Motor nine; 320-carriage door three; 321-a lead screw seventh; 501-auxiliary track one; 502-Axis seven; 503-support frame one; 504-motor ten; 505-auxiliary track two; 506-motor eleven; 507-a second support frame; 508-axis eight; 509-pulley one; 510-roller two; 511-connecting block one; 512-conveyor one; 513-pulley two; 514-wheel III; 515-shoveling seedlings; 516-placing racks; 517-roller three; 518-connecting block two; 519-conveyor two; 520-pulley four.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Example (b): as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, fig. 15, a plant seedling transplanting robot comprises a transplanting device 1, a mechanical arm 2, a carriage 3, a trolley 4, a three-dimensional seedling storage rack 5, wherein the carriage 3 is fixed at the rear part of the trolley 4; the mechanical arm 2 is fixed at the right front part of the trolley 4; the transplanting device 1 is placed on the upper end surface of the carriage 3; the three-dimensional seedling storage rack 5 is fixed inside the carriage 3.

The transplanting device 1 comprises a first guide rail 101, a second guide rail 102, a gripping device 103 and a telescopic leg 104, wherein the second guide rail 102 is placed on a track of the first guide rail 101; the gripping device 103 is placed on the track of the second guide rail 102; the telescopic legs 104 are fixed at the corners of the inner sides of the rails of the first guide rail 101.

The second guide rail 102 comprises a track 10201, a first roller 10202, a second roller 10203, a third roller 10204, a first shaft 10205, a fourth roller 10206, a second shaft 10207, a first gear 10208 and a first motor 10209, wherein the first motor 10209 is fixed in a motor shell at the side end of the track 10201; the first gear 10208 is fixed on an output shaft of the first motor 10209; the first gear 10208 is meshed with the rack of the first guide rail 101 to form a moving pair; the first roller 10202 and the fourth roller 10206 are respectively fixed at two ends of the second shaft 10207; the second roller 10203 and the third roller 10204 are respectively fixed at two ends of the first shaft 10205; the first shaft 10205 and the second shaft 10207 are respectively matched with a motor shell hole shaft at the side end of the guide rail to form a rotating pair; the roller I10202, the roller II 10203, the roller III 10204 and the roller IV 10206 are placed on the track of the guide rail I101 to form a moving pair.

The grabbing device 103 comprises a first claw 10301, a third shaft 10302, a shell 10303, a connecting frame 10304, a first motor shell 10305, a second motor shell 10306, a second gear 10307, a fifth roller 10308, a sixth roller 10309, a seventh roller 10310, an eighth roller 10311, a fourth shaft 10312, a fifth shaft 10313, a second motor 10314, a third motor 10315, a first lead screw 10316, a first roller 10317, a sixth shaft 10318 and a second claw 10319, wherein the first claw 10301 and the third shaft 10302 are in shaft fit to form a rotating pair; the third shaft 10302 is fixed on one side of the shell 10303; the second claw 10319 is matched with the six shaft 10318 hole shaft to form a revolute pair; shaft six 10318 is fixed to the other side of housing 10303; the first roller 10317 is fixed on the connecting frame 10304 and forms a moving pair with the notches of the first claw 10301 and the second claw 10319; the shell 10303 is fixed at the lower end of the first motor shell 10305; the motor III 10315 is fixed in the motor shell I10305; one end of the first lead screw 10316 is fixed on an output shaft of the third motor 10315, and the other end of the first lead screw 10316 is fixed on the shell 10303; the connecting frame 10304 is matched with the first lead screw 10316 to form a moving pair; the second motor shell 10306 is fixed at the upper end of the first motor shell 10305; the second motor 10314 is fixed in the second motor shell 10306; a second gear 10307 is meshed with the rack of the second guide rail 102 to form a moving pair; the five roller 10308 and the seven roller 10310 are respectively fixed at two ends of the five shaft 10313; the six roller 10309 and the eight roller 10311 are respectively fixed at two ends of the four shaft 10312; the shaft IV 10312 and the shaft V10313 are respectively matched with the shaft of the hole 10306 of the motor shell II to form a revolute pair; and a roller five 10308, a roller six 10309, a roller seven 10310 and a roller eight 10311 are placed on the track of the guide rail two 102 to form a moving pair.

The mechanical arm 2 comprises an electromagnet 201 and a six-degree-of-freedom mechanical arm 202, wherein the electromagnet 201 is fixed on the end face of the tail end of the six-degree-of-freedom mechanical arm 202.

The carriage 3 comprises a second screw 301, a fourth motor 302, a first lever 303, a first carriage door 304, a second lever 305, a fifth motor 306, a third screw 307, a fourth screw 308, a sixth motor 309, a seventh motor 310, a fifth screw 311, a third lever 312, a second carriage door 313, a fourth lever 314, a sixth screw 315, an electric control module 316, a carriage shell 317, an eighth motor 318, a ninth motor 319, a third carriage door 320 and a seventh screw 321, wherein the fourth motor 302, the fifth motor 306, the sixth motor 309 and the ninth motor 319 are respectively fixed at four corners of the upper surface of the carriage shell 317; the seventh motor 310 and the eighth motor 318 are respectively fixed on the partition board of the carriage shell 317, the front end surface and the corners of the left end surface and the right end surface; one end of the second screw rod 301 is fixed on an output shaft of the fourth motor 302, and the other end of the second screw rod 301 is fixed on a stop block protruding from the left side of the carriage shell 317; the first feed rod 303 is fixed on the left upper side of the carriage shell 317; one end of a screw rod III 307 is fixed on an output shaft of the motor V306, and the other end of the screw rod III is fixed on a stop block protruding from the right side of the carriage shell 317; the second beam 305 is fixed on the upper right side of the carriage shell 317; the first carriage door 304 is matched with the second screw 301, the third screw 307, the first beam 303 and the second beam 305 to form a moving pair; one end of a lead screw seventh 321 is fixed on an output shaft of the motor nine 319, and the other end of the lead screw seventh 321 is fixed on a stop block protruding from the left side of the carriage shell 317; one end of a screw rod four 308 is fixed on an output shaft of the motor six 309, and the other end of the screw rod four 308 is fixed on a stop block protruding from the right side of the carriage shell 317; the second carriage door 313 is matched with the fourth screw 308, the seventh screw 321, the first lever 303 and the second lever 305 to form a moving pair; one end of a screw rod six 315 is fixed on an output shaft of the motor eight 318, and the other end of the screw rod six 315 is fixed on a carriage shell 317; the beam four 314 is fixed at the left front side of the carriage shell 317; one end of the screw rod five 311 is fixed on the output shaft of the motor seven 310, and the other end of the screw rod five 311 is fixed on the carriage shell 317; the third beam 312 is fixed on the right front side of the carriage shell 317; the carriage door three 320 is matched with the screw rod five 311, the screw rod six 315, the lever three 312 and the lever four 314 to form a moving pair; the electronic control module 316 is fixed on the left side of the cabin shell 317.

The three-dimensional seedling storage rack 5 comprises a first auxiliary track 501, a seventh shaft 502, a first support frame 503, a tenth motor 504, a second auxiliary track 505, a eleventh motor 506, a second support frame 507, a eighth shaft 508, a first belt wheel 509, a second roller 510, a first connecting block 511, a first conveyor belt 512, a second belt wheel 513, a third belt wheel 514, a seedling shovel 515, a placing frame 516, a third roller 517, a second connecting block 518, a second conveyor belt 519 and a fourth belt wheel 520, wherein the first auxiliary track 501, the first support frame 503, the second auxiliary track 505 and the second support frame 507 are fixed on a carriage shell 317; the shaft VII 502 is matched with a hole 503 of the support frame I to form a revolute pair; the shaft eight 508 is matched with a hole shaft of the second support frame 507 to form a revolute pair; the motor ten 504 is fixed on the first support frame 503; the motor eleven 506 is fixed on the second support frame 507; a first pulley 509 is fixed on a seventh shaft 502; the second belt wheel 513 is fixed on the output shaft of the motor 504; the first conveyor belt 512 is matched with the first belt wheel 509 and the second belt wheel 513; a fourth pulley 520 is fixed on the eighth shaft 508; a third belt wheel 514 is fixed on an output shaft of the motor eleven 506; the second conveyor belt 519 is matched with the third belt wheel 514 and the fourth belt wheel 520; the first connecting block 511 is fixed on the first conveyor belt 512; the second connecting block 518 is fixed on the second conveyor belt 519; the placing frame 516 is respectively matched with the first connecting block 511 and the second connecting block 518 through hole shafts to form a rotating pair; the second roller 510 and the third roller 517 are fixed on the placing frame 516 and are respectively matched with the first auxiliary track 501 and the second auxiliary track 505 in the movement process; the seedling shovel 515 is placed on the placing rack 516.

The working principle of the invention is as follows: when the novel car door is used, the seven motor 310 drives the five screw rod 311 to rotate, the eight motor 318 drives the six screw rod 315 to rotate, so that the second car door 313 moves upwards, the front car door is opened, and the third polished rod 312 and the fourth polished rod 314 play a role in guiding; the mechanical arm 2 is inserted from the front side carriage door and connected with an interface of the seedling shovel 515, the electromagnet 201 is electrified to adsorb the seedling shovel 515, the seedling shovel 515 is taken out by controlling the six-degree-of-freedom mechanical arm 202, seedlings are shoveled, the seedling shovel 515 is placed on the placing frame 516 again by loading, the electromagnet 201 is powered off, and the mechanical arm 2 is withdrawn; a motor ten 504 drives a belt pulley two 513 to rotate, a motor eleven 506 drives a belt pulley three 514 to rotate, a belt pulley one 509 synchronously rotates with the belt pulley two 513 through a conveyor belt one 512, a belt pulley four 520 synchronously rotates with the belt pulley three 514 through a conveyor belt two 519, a placing frame 516 synchronously rotates with the conveyor belt one 512 and a connecting block one 511 and a connecting block two 518 fixed on the conveyor belt two 519 through the conveyor belt one 512 and the conveyor belt two 519, so that a new layer of placing frame 516 is rotated to the front side compartment door, the two steps of operation are repeated, and the compartment 3 is filled; the seventh motor 310 drives the fifth screw 311 to rotate, the eighth motor 318 drives the sixth screw 315 to rotate, so that the second car door 313 moves downwards, the front car 3 is closed, and the third lever 312 and the fourth lever 314 play a role in guiding; the trolley 4 moves to a designated position; the second screw 301 is driven to rotate by the fourth motor 302, the third screw 307 is driven to rotate by the fifth motor 306, the first carriage door 304 is driven to move, the fourth screw 308 is driven to rotate by the sixth motor 309, the seventh screw 321 is driven to rotate by the ninth motor 319, the third carriage door 320 is driven to move, the upper carriage door is opened, and the first polish bar 303 and the second polish bar 305 play guiding and supporting roles; the front end of the mechanical arm 2 is connected with an interface of the transplanting device 1, the electromagnet 201 is electrified to adsorb the transplanting device 1, and the telescopic supporting legs 104 are contracted; the motor III 10315 drives the screw rod I10316 to rotate to drive the connecting frame 10304 to move downwards, the roller I10317 moves at the notches of the claw I10301 and the claw II 10319, the claw I10301 and the claw II 10319 respectively rotate around the shaft III 10302 and the shaft III 10318, the lower end of the grabbing device 103 is opened, the transplanting device 1 is driven by the six-degree-of-freedom mechanical arm 202 to move downwards, the lower end of the grabbing device 103 is inserted into soil, the motor III 10315 drives the screw rod I10316 to rotate to drive the connecting frame 10304 to move upwards, the roller I10317 moves at the notches of the claw I10301 and the claw II 10319, the claw I10301 and the claw II 10319 respectively rotate around the shaft III 10302 and the shaft III 10318, the lower end of the grabbing device 103 is closed, and seedlings are grabbed into the grabbing device 103; the six-degree-of-freedom mechanical arm 202 drives the transplanting device 1 to a designated position, a first 10208 gear is driven to rotate by a first 10209 motor, a first 10208 gear is meshed with a first 101 rack of a guide rail to drive a second 102 guide rail to move, a second 1034 gear is driven to rotate a second 10307 gear, a second 10307 gear is meshed with a second 102 rack of the guide rail to drive the grabbing device 103 to move, the grabbing device 103 is driven to move to a target position, a first 10202 roller, a second 10203 roller, a third 10204 roller, a fourth 10206 roller, a fifth 10308 roller, a sixth 10309 roller, a seventh 10310 roller and an eighth 10311 roller play a supporting role, the six-degree-of-freedom mechanical arm 202 drives the transplanting device 1 to move downwards to press the grabbing device 103 into the soil, and the telescopic supporting legs; the motor III 10315 drives the screw rod I10316 to rotate, the connecting frame 10304 is driven to move downwards, the roller I10317 moves at the notches of the claw I10301 and the claw II 10319, the claw I10301 and the claw II 10319 rotate around the shaft III 10302 and the shaft III 10318 respectively, the lower end of the grabbing device 103 is opened, the transplanting device 1 is driven to move upwards by the six-degree-of-freedom mechanical arm 202, and single transplanting is completed; the motor ten 504 drives the belt pulley two 513 to rotate, the motor eleven 506 drives the belt pulley three 514 to rotate, the belt pulley one 509 synchronously rotates with the belt pulley two 513 through the conveyor belt one 512, the belt pulley four 520 synchronously rotates with the belt pulley three 514 through the conveyor belt two 519, the placing frame 516 synchronously rotates with the conveyor belt one 512, the connecting block one 511 and the connecting block two 518 on the conveyor belt two 519 through the connecting block one 511 and the conveyor belt one 512, and the conveyor belt two 519, so that a new layer of placing frame 516 rotates to the upper car door; the transplanting is completed repeatedly, the six-degree-of-freedom mechanical arm 202 is controlled, the screw second 301 is driven to rotate by the motor fourth 302, the screw third 307 is driven to rotate by the motor fifth 306, the carriage door first 304 is driven to move, the screw fourth 308 is driven to rotate by the motor sixth 309, the screw seventh 321 is driven to rotate by the motor ninth 319, the carriage door third 320 is driven to move, the upper carriage door is closed, and the first polish rod 303 and the second polish rod 305 play roles in guiding and supporting; the telescopic legs 104 are extended to place the transplanting device 1 on the carriage 3.

Claims

1. The utility model provides a plant seedling transplanting robot, includes transplanting device (1), arm (2), carriage (3), dolly (4), three-dimensional seedling storage rack (5), its characterized in that: the carriage (3) is fixed at the rear part of the trolley (4); the mechanical arm (2) is fixed at the right front part of the trolley (4); the transplanting device (1) is placed on the upper end face of the carriage (3); the three-dimensional seedling storage rack (5) is fixed inside the carriage (3);

the transplanting device (1) comprises a first guide rail (101), a second guide rail (102), a gripping device (103) and telescopic legs (104), wherein the second guide rail (102) is placed on a track of the first guide rail (101); the grabbing device 103 is placed on the track of the second guide rail (102); the telescopic supporting legs (104) are fixed at the corners of the inner side of the track of the first guide rail (101);

the mechanical arm (2) comprises an electromagnet (201) and a six-degree-of-freedom mechanical arm (202), wherein the electromagnet (201) is fixed on the end face of the tail end of the six-degree-of-freedom mechanical arm (202);

the carriage (3) comprises a second screw rod 301, a fourth motor 302, a first feed bar 303, a first carriage door 304, a second feed bar 305, a fifth motor 306, a third feed bar 307, a fourth feed bar 308, a sixth motor 309, a seventh motor 310, a fifth feed bar 311, a third feed bar 312, a second carriage door 313, a fourth feed bar 314, a sixth feed bar 315, an electric control module 316, a carriage shell 317, an eighth motor 318, a ninth motor 319, a third carriage door 320 and a seventh feed bar 321, wherein the fourth motor 302, the fifth motor 306, the sixth motor 309 and the ninth motor 319 are respectively fixed at four corners of the carriage shell 317; a seventh motor (310) and an eighth motor (318) are respectively fixed on the partition board, the front end face and the corners of the left end face and the right end face of the carriage shell (317); one end of the second screw rod (301) is fixed on an output shaft of the fourth motor (302), and the other end of the second screw rod is fixed on a stop block protruding from the left side of the carriage shell (317); the first feed beam (303) is fixed on the left upper side of the carriage shell (317); one end of a screw rod III (307) is fixed on an output shaft of the motor V (306), and the other end of the screw rod III is fixed on a stop block protruding from the right side of the carriage shell (317); the second feed beam (305) is fixed on the right upper side of the carriage shell (317); the first carriage door (304) is matched with the second screw rod (301), the third screw rod (307), the first polished rod (303) and the second polished rod (305) to form a moving pair; one end of a screw rod seven (321) is fixed on an output shaft of the motor nine (319), and the other end of the screw rod seven (321) is fixed on a stop block protruding from the left side of the carriage shell (317); one end of a screw rod IV (308) is fixed on an output shaft of the motor VI (309), and the other end of the screw rod IV is fixed on a stop block protruding from the right side of the carriage shell (317); the second carriage door (313) is matched with the fourth screw rod (308), the seventh screw rod (321), the first polished rod (303) and the second polished rod (305) to form a moving pair; one end of a screw rod six (315) is fixed on an output shaft of the motor eight (318), and the other end of the screw rod six (315) is fixed on a carriage shell (317); the beam four (314) is fixed at the left front side of the carriage shell (317); one end of a screw rod V (311) is fixed on an output shaft of the motor seven (310), and the other end of the screw rod V (311) is fixed on a carriage shell (317); the third light bar (312) is fixed on the right front side of the carriage shell (317); the carriage door three (320), the screw rod five (311), the screw rod six (315), the lever three (312) and the lever four (314) are matched to form a sliding pair; the electric control module (316) is fixed on the left side surface of the carriage shell (317);

three-dimensional seedling storage rack (5) include supplementary track one (501), axle seven (502), support frame one (503), motor ten (504), supplementary track two (505), motor eleven (506), support frame two (507), axle eight (508), band pulley one (509), roller two (510), connecting block one (511), conveyer belt one (512), band pulley two (513), band pulley three (514), seedling shovel (515), rack (516), roller three (517), connecting block two (518), conveyer belt two (519), band pulley four (520), its characterized in that: the auxiliary track I (501), the support frame I (503), the auxiliary track II (505) and the support frame II (507) are fixed on the carriage shell (317); the shaft seven (502) is matched with a hole shaft of the first support frame (503) to form a revolute pair; the shaft eight (508) is matched with the hole shaft of the support frame two (507) to form a revolute pair; the motor ten (504) is fixed on the first support frame (503); the motor eleven (506) is fixed on the support frame II (507); the first belt wheel (509) is fixed on the seventh shaft (502); a second belt wheel (513) is fixed on an output shaft of the motor (504); the first conveyor belt (512) is matched with the first belt wheel (509) and the second belt wheel (513); a belt wheel four (520) is fixed on a shaft eight (508); a belt wheel III (514) is fixed on an output shaft of the motor eleven (506); the second conveyor belt (519) is matched with the third belt wheel (514) and the fourth belt wheel (520); the first connecting block (511) is fixed on the first conveyor belt (512); the second connecting block (518) is fixed on the second conveyor belt (519); the placing frame (516) is respectively matched with the hole shafts of the first connecting block (511) and the second connecting block (518) to form a rotating pair; the roller II (510) and the roller III (517) are fixed on the placing frame (516) and are respectively matched with the auxiliary track I (501) and the auxiliary track II (505) in the moving process; the seedling shovel (515) is placed on the placing frame (516).

2. A plant seedling transplanting robot as set forth in claim 1, wherein: the second guide rail (102) comprises a track (10201), a first roller (10202), a second roller (10203), a third roller (10204), a first shaft (10205), a fourth roller (10206), a second shaft (10207), a first gear (10208) and a first motor (10209), and is characterized in that: a first motor (10209) is fixed in a motor shell at the side end of the track (10201); the first gear (10208) is fixed on an output shaft of the first motor (10209); the first gear (10208) is meshed with the rack of the first guide rail (101) to form a moving pair; the first roller (10202) and the fourth roller (10206) are respectively fixed at two ends of the second shaft (10207); the second roller (10203) and the third roller (10204) are respectively fixed at two ends of the first shaft (10205); the first shaft (10205) and the second shaft (10207) are respectively matched with a motor shell hole shaft at the side end of the guide rail to form a rotating pair; the first roller (10202), the second roller (10203), the third roller (10204) and the fourth roller (10206) are placed on the track of the first guide rail (101) to form a moving pair.

3. A plant seedling transplanting robot as set forth in claim 1, wherein: the grabbing device (103) comprises a first claw (10301), a third shaft (10302), a shell (10303), a connecting frame (10304), a first motor shell (10305), a second motor shell (10306), a second gear (10307), a fifth roller (10308), a sixth roller (10309), a seventh roller (10310), an eighth roller (10311), a fourth shaft (10312), a fifth shaft (10313), a second motor (10314), a third motor (10315), a first lead screw (10316), a first roller (10317), a sixth shaft (10318) and a second claw (10319), wherein the first claw (10301) and the third shaft (10302) are matched with each other to form a revolute pair; a third shaft (10302) is fixed on one side of the shell (10303); the second claw (10319) is matched with the sixth shaft (10318) hole shaft to form a revolute pair; shaft six (10318) is fixed on the other side of the shell (10303); the first roller (10317) is fixed on the connecting frame (10304) and is matched with the notches of the first claw (10301) and the second claw (10319) to form a moving pair; the shell (10303) is fixed at the lower end of the first motor shell (10305); the motor III (10315) is fixed in the motor shell I (10305); one end of the first lead screw (10316) is fixed on an output shaft of the third motor (10315), and the other end of the first lead screw is fixed on the shell (10303); the connecting frame (10304) is matched with the first lead screw (10316) to form a moving pair; the second motor shell (10306) is fixed at the upper end of the first motor shell (10305); the motor II (10314) is fixed in the motor shell II (10306); a second gear (10307) is meshed with the rack of the second guide rail (102) to form a moving pair; a roller five (10308) and a roller seven (10310) are respectively fixed at two ends of the shaft five (10313); a roller six (10309) and a roller eight (10311) are respectively fixed at two ends of the shaft four (10312); the shaft IV (10312) and the shaft V (10113) are respectively matched with the hole shaft of the motor casing II (10306) to form a revolute pair; and a fifth roller (10308), a sixth roller (10309), a seventh roller (10310) and an eighth roller (10311) are placed on the track of the second guide rail (102) to form a moving pair.