CN115843503A

CN115843503A - Plant species plants supplementary manipulator and plant planter thereof

Info

Publication number: CN115843503A
Application number: CN202211616452.3A
Authority: CN
Inventors: 杨柳青; 廖飞勇; 许慧
Original assignee: Central South University of Forestry and Technology
Current assignee: Central South University of Forestry and Technology
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-03-28
Anticipated expiration: 2042-12-15
Also published as: CN115843503B

Abstract

The invention discloses a plant planting auxiliary mechanical arm and a plant planter thereof, wherein the plant planting auxiliary mechanical arm comprises a seed metering device, a seeding device and a mechanical arm, a plurality of intermittent seed metering ports are arranged on the seeding device, a seed metering hose of the seed metering device is connected with the intermittent seed metering ports, and a driving end of the mechanical arm is connected with the seeding device so as to intermittently seed after the intermittent seed metering ports are inserted into soil. The mechanical arm controls the seed discharging hose to be inserted into soil for discharging, so that seeds can be quickly planted into the soil, three step-by-step operations of traditional ditching, seeding, soil covering and the like are combined into a whole, the operation efficiency is obviously improved, and the seeding quality is also ensured; meanwhile, through the flexible operation of the mechanical arm, even if the planting field is kept away, the seeds can be sown into the soil, and the flexible adaptability of the planter is obviously improved.

Description

Plant species plants supplementary manipulator and plant planter thereof

Technical Field

The invention relates to the field of agricultural machinery, in particular to a plant planting auxiliary mechanical arm and a plant planter thereof.

Background

The artificial planting is adopted for sowing underground tuber plants such as garlic, the efficiency is low, and the sowing consistency is poor. Furthermore, no matter the current underground tuber planter adopts a rear suspension type or front suspension type layout, the planter needs to enter a planting field, and due to the larger weight of the planter, the planter can play a larger compaction role on soil and is unfavorable for sowing or subsequent seed growth; the planter can not sow outside the planting field, thereby limiting the flexibility of sowing; furthermore, the planter is usually a little high, entering the planting field also limits the space utilization of the upper layer of the planting field, and is not easy to be similar to large-scale planting modes such as greenhouse planting and factory planting.

Chinese patent CN111630988A discloses a garlic seeder capable of adjusting seeding depth, wherein a height adjusting mechanism of a garlic seeding device is arranged between a rack and the garlic seeding device, and the height adjusting mechanism of the garlic seeding device comprises a height adjusting structure of the garlic seeding device and a tensioning structure of a primary transmission chain of the garlic seeding device; the garlic seeding device height adjusting structure comprises a garlic seeding device fixing part fixed with the garlic seeding device, and a garlic seeding device vertical distance adjusting structure is arranged between the garlic seeding device fixing part and the rack so as to adjust the vertical relative position between the garlic seeding device fixing part and the rack; the primary transmission chain tensioning structure of the garlic seeding device comprises a tensioning wheel meshed with the primary transmission chain of the garlic seeding device. However, the garlic seeder still has the above problems.

Disclosure of Invention

The invention aims to provide a plant planting auxiliary mechanical arm and a plant planter thereof, thereby solving the problems.

In order to achieve the purpose, the invention firstly discloses a plant planting auxiliary manipulator which comprises a seed metering device, a seeding device and a mechanical arm, wherein an intermittent seed metering port is arranged on the seeding device, a seed metering hose of the seed metering device is connected with the intermittent seed metering port, and a driving end of the mechanical arm is connected with the seeding device so as to intermittently seed after the intermittent seed metering port is inserted into soil.

Further, the seed metering device includes hopper and climbing conveyer, climbing conveyer include the output with the climbing conveyer belt that the input of seed metering hose is connected, the output of hopper with the input of climbing conveyer belt is connected, be provided with the baffle on the climbing conveyer belt.

Furthermore, a grating is arranged above the output port of the hopper, a carding roller is arranged between the output port of the hopper and the grating relatively, and a carding toothed plate with opposite rotation directions is arranged on the carding roller.

Further, the arm includes mounting base, first arm, first extensible member, second arm, second extensible member, third arm, third extensible member and fourth extensible member, the one end of first arm with mounting base is articulated, the other end with the one end of second arm is articulated, the other end of second arm with the one end of third arm is articulated, the other end of third arm with seeder is connected, the stiff end of first extensible member with mounting base is articulated, flexible end with the other end of first arm is articulated, the stiff end of second extensible member with the one end of first arm is articulated, flexible end with the one end of second arm is articulated, the stiff end of third extensible member with the one end of second arm is articulated, flexible end with the one end of third arm is articulated, the stiff end of fourth extensible member with the one end of third arm is articulated, flexible end with seeder is articulated.

Further, first arm, second arm and third arm all include articulated armlet and many connecting rods, articulated armlet rigid coupling is in the both ends of connecting rod.

Further, still install seeding damping mechanism on the third arm, seeding damping mechanism includes seeding damping jar and shock attenuation pole, the one end of seeding damping jar with seeder is articulated, the other end with the one end of shock attenuation pole is articulated, the other end of shock attenuation pole with the other end of third arm is articulated, the flexible end of fourth extensible member with it is articulated between the both ends of shock attenuation pole.

Further, the seeder includes the seeding base and installs finger subassembly, seeding rotating member, intermittent drive wheelset and plectrum wheel open and shut on the seeding base, the output of seed metering hose with the input of finger subassembly is connected open and shut, the input of seeding rotating member with the input shaft of intermittent drive wheelset, the output shaft of intermittent drive wheelset with the plectrum wheel is connected, the plectrum intermittent type formula of plectrum wheel is inserted inside the output of seed metering hose with control seed metering hose intermittent type seed metering, the output of finger subassembly that opens and shuts articulates there is a plurality ofly through opening and shutting the formation V-arrangement finger of intermittent type formula seed metering mouth.

Furthermore, the finger subassembly that opens and shuts still includes fixed cover, worm gear axle, drive cover and the driving plate that opens and shuts, the input of fixed cover with the seed metering hose connection, the V-arrangement finger articulates the output of fixed cover, the worm gear axle with the outer wall pin joint of fixed cover, the turbine of this worm gear axle one end with the output shaft transmission of intermittent type transmission wheelset is connected, the gear of the other end with the ring gear meshing of drive cover upside, the pivot of drive cover downside is in outside the fixed cover, the driving plate rigid coupling that opens and shuts is in on the drive cover, the driving plate that opens and shuts drives one side of V-arrangement finger through corotation and drives the V-arrangement finger and fold, the driving plate that opens and shuts drives the opposite side of V-arrangement finger through the reversal and drives the V-arrangement finger and expand.

Then, the invention discloses a plant planter which comprises the plant planting auxiliary manipulator and a crawler traveling chassis, wherein the seed metering device and the mechanical arm are both arranged on the crawler traveling chassis, the crawler traveling chassis is provided with a battery for driving the seed metering device, the seeding device and the mechanical arm, and the crawler traveling chassis is provided with a remote controller and a camera which are connected with the battery.

Furthermore, the crawler traveling chassis comprises a mounting frame, a traveling crawler, a driving wheel, a tensioning wheel, a swinging arm and a chassis vibration reduction cylinder which are arranged on two sides, wherein the driving wheel and the tensioning wheel are sleeved in the traveling crawler, the upper end of the chassis vibration reduction cylinder is hinged with the mounting frame, the lower end of the chassis vibration reduction cylinder is hinged with the lower end of the swinging arm, the upper end of the swinging arm is hinged with the mounting frame, and the tensioning wheel is hinged with the lower end of the swinging arm.

Compared with the prior art, the invention has the advantages that:

the seed sowing hose is controlled by the mechanical arm to be inserted into soil for seed sowing, so that seeds can be quickly planted into the soil, the traditional three step-by-step operations of ditching, sowing, earthing and the like are combined into a whole, the operation efficiency is obviously improved, and the sowing quality is also ensured; simultaneously, through the nimble operation of arm, even keep away from the planting field, avoid seeding equipment to bring the germination and the growth that influences great granule seeds such as garlic to the compaction of planting field when walking the seeding, also can save the upper space of planting the field, be convenient for set up the multilayer in vertical direction and plant the field, space utilization when improving the planting is showing the nimble adaptability that has improved the planter.

The present invention will be described in further detail below with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is an axial view of a plant-growing aid robot as disclosed in a preferred embodiment of the present invention;

FIG. 2 is a schematic axial view of a seed planting device according to the preferred embodiment of the present invention;

FIG. 3 is an axial schematic view of the open-close finger assembly disclosed in the preferred embodiment of the present invention;

FIG. 4 is a schematic front view of the clockwork disclosed in the preferred embodiment of the present invention;

FIG. 5 is an isometric view of a planting device according to the present disclosure;

FIG. 6 is an isometric view of the crawler chassis disclosed in the preferred embodiment of the present invention;

fig. 7 is a front view schematically illustrating a crawler chassis according to a preferred embodiment of the present invention.

Illustration of the drawings:

1. a seed metering device; 101. a seed discharge hose; 102. a hopper; 103. a climbing conveyor; 104. a climbing conveyer belt; 105. a partition plate; 106. a grid; 107. a carding roller; 108. a comb plate; 109. a carding roller motor;

2. a seeding device; 201. a seeding base; 203. a finger assembly is opened and closed; 204. a sowing rotary member; 205. an intermittent transmission wheel set; 206. a bevel gear set; 207. a sheet shifting wheel; 208. a V-shaped finger; 209. fixing a sleeve; 210. a worm gear shaft; 211. a driving sleeve; 212. opening and closing the driving sheet; 213. a ring gear; 214. a stopper; 215. a shifting sheet;

3. a mechanical arm; 301. mounting a base; 302. a first arm; 303. a first telescoping member; 304. a second arm; 305. a second telescoping member; 306. a third arm; 307. a third telescoping member; 308. a fourth telescoping member; 309. a hinge arm base; 310. a connecting rod; 311. a seeding vibration reduction cylinder; 312. a damper rod;

4. a crawler traveling chassis; 401. a mounting frame; 402. a walking crawler belt; 403. a drive wheel; 404. a tension wheel; 405. a swing arm; 406. a chassis vibration damping cylinder; 407. a travel driving motor;

5. a battery;

6. a remote controller;

7. a camera is provided.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

As shown in fig. 1-7, the embodiment of the invention firstly discloses a plant planting auxiliary manipulator, which comprises a seed discharging device 1, a seed discharging device 2 and a mechanical arm 3, wherein an intermittent seed discharging port is arranged on the seed discharging device 2, a seed discharging hose 101 of the seed discharging device 1 is connected with the intermittent seed discharging port, the seed discharging hose 101 has strong flexibility, and a driving end of the mechanical arm 3 is connected with the seed discharging device 2 to insert the intermittent seed discharging port into soil and then intermittently discharge the seed, so that the intermittent seed discharging port is controlled by the mechanical arm 3 to be inserted into the soil and then discharge the seed, the seed is quickly planted into the soil, three step operations of traditional ditching, seeding and earthing are combined into one, the operation efficiency is obviously improved, and the seeding quality is also ensured; simultaneously, through the nimble operation of arm 3, even keep away from planting the field, in the middle of can sowing the seed into soil equally, avoid seeding equipment to bring the germination and the growth that influences great granule seeds such as garlic to the compaction of planting the field when walking the seeding, also can save the upper space of planting the field, be convenient for set up the multilayer in vertical direction and plant the field, space utilization when improving planting is showing the nimble adaptability that has improved the seeding.

In this embodiment, the seed metering device 1 includes a hopper 102 and a climbing conveyor 103, the climbing conveyor 103 includes a climbing conveyer belt 104 (including a motor for driving the climbing conveyer belt 104, a driving roller, a gear set matched with the motor) with an output end connected with an input end of a seed metering hose 101, the seeds are lifted to a certain height by the climbing conveyer belt 104, so that the seeds have enough gravitational potential energy to fall along the seed metering hose 101 without clamping stagnation, the output end of the hopper 102 is connected with the input end of the climbing conveyer belt 104, a partition 105 is arranged on the climbing conveyer belt 104, and the partition 105 can play a role in preventing the seeds from sliding down along the climbing conveyer belt 104.

In this embodiment, in order to better disperse the seeds, a grid 106 is arranged above the output port of the hopper 102, a plurality of grid holes are arranged on the grid 106, a combing roller 107 is oppositely arranged between the output port of the hopper 102 and the grid 106, a gap for the seeds to pass through is arranged between the combing rollers 107, combing toothed plates 108 (similar to the relative movement of gears) with opposite rotation directions are arranged on the combing rollers 107, the combing rollers 107 are synchronously and reversely driven by a combing roller motor 109, the primary screening of the seeds is realized through the grid 106, the seeds can be orderly and uniformly discharged by the combing rollers 107, the seeds are prevented from being accumulated on the climbing conveyer belt 104, and the subsequent blocking when the seeds enter the seed discharge hose 101 is avoided.

In this embodiment, the robot arm 3 includes a mounting base 301, a first arm 302, a first telescopic member 303, a second arm 304, a second telescopic member 305, a third arm 306, a third telescopic member 307 and a fourth telescopic member 308, the mounting base 301 may be mounted on a rotation support base, so as to expand the working range of the robot arm 3, one end of the first arm 302 is hinged to the mounting base 301, the other end is hinged to one end of the second arm 304, the other end of the second arm 304 is hinged to one end of the third arm 306, the other end of the third arm 306 is connected to the seeding device 2, the fixed end of the first telescopic member 303 is hinged to the mounting base 301, the telescopic end is hinged to the other end of the first arm 302, the fixed end of the second telescopic member 305 is hinged to one end of the first arm 302, the telescopic end is hinged to one end of the second arm 304, the fixed end of the third telescopic member 307 is hinged to one end of the second arm 304, the telescopic end is hinged to one end of the third arm 306, the fixed end of the fourth telescopic member 308 is hinged to one end of the third arm 306, and the telescopic end is hinged to the seeding device 2. Specifically, the first telescopic member 303, the second telescopic member 305, the third telescopic member 307 and the fourth telescopic member 308 are all electric push rods and are driven to extend and retract by electric power. In order to reduce the weight of the mechanical arm 3, the first arm 302, the second arm 304 and the third arm 306 respectively comprise four hinged arm seats 309 and a plurality of connecting rods 310, the number of the hinged arm seats 309 is four in the embodiment, and the hinged arm seats 309 are fixedly connected to two ends of the connecting rods 310, so that the seeding range of the intermittent seeding port is expanded through the mechanical arm 3, the garlic can be remotely seeded even if the garlic is not planted in a planting field, and the interference on the planting field is avoided.

In this embodiment, in order to reduce the vibration of the sowing device 2 during downward insertion sowing, the electric push rod and other components on the manipulator are protected by buffering and absorbing energy, a sowing vibration damping mechanism is further installed on the third arm 306, the sowing vibration damping mechanism comprises a sowing vibration damping cylinder 311 and a vibration damping rod 312, one end of the sowing vibration damping cylinder 311 is hinged to the sowing device 2, the other end of the sowing vibration damping cylinder is hinged to one end of the vibration damping rod 312, the other end of the vibration damping rod 312 is hinged to the other end of the third arm 306, and the telescopic end of the fourth telescopic member 308 is hinged to two ends of the vibration damping rod 312, wherein the sowing vibration damping cylinder 311 can be damped by an air spring or a hinged spring.

In this embodiment, the seeding device 2 includes a seeding base 201, an opening and closing finger assembly 203, a seeding rotating member 204, an intermittent transmission wheel set 205, a bevel gear set 206 and a shifting plate wheel 207, which are mounted on the seeding base 201, the output end of the seeding hose 101 is connected with the input end of the opening and closing finger assembly 203, the input end of the seeding rotating member 204 is connected with the input shaft of the intermittent transmission wheel set 205, the output shaft of the intermittent transmission wheel set 205 is connected with the input shaft of the bevel gear set 206, the output shaft of the bevel gear set 206 is connected with the shifting plate wheel 207, the shifting plate 215 of the shifting plate wheel 207 is intermittently inserted into the output end of the seeding hose 101, and the output end of the opening and closing finger assembly 203 is hinged with a plurality of opening and closing V-shaped fingers 208, and the plurality of opening and closing V-shaped fingers 208 form the intermittent seeding port. Therefore, intermittent seeding of the seeding hose 101 is realized through the intermittent transmission wheel set 205, and the influence of seed accumulation on growth is avoided; the spatial reversal output of power is achieved through the bevel gear set 206. The opening and closing finger assembly 203 further comprises a fixed sleeve 209, a worm gear shaft 210, a driving sleeve 211 and an opening and closing driving sheet 212, wherein the input end of the fixed sleeve 209 is connected with the output end of the seeding hose 101, a V-shaped finger 208 is hinged at the output end of the fixed sleeve 209, the middle part of the worm gear shaft 210 is pivoted with a hole in the outer wall of the fixed sleeve 209, a turbine at one end of the worm gear shaft 210 is in transmission connection with the output shaft of the intermittent transmission wheel set 205, a gear at the other end is meshed with a gear ring 213 at the upper side of the driving sleeve 211, the lower side of the driving sleeve 211 is pivoted outside the fixed sleeve 209, the opening and closing driving sheet 212 is fixedly connected to the driving sleeve 211, a driving arc sheet at the bottom of the opening and closing driving sheet 212 respectively drives two side surfaces of the V-shaped finger 208 during forward rotation and reverse rotation, so that the opening and closing driving sheet 212 drives the V-shaped finger 208 to close the intermittent seeding opening through one side of the V-shaped finger 208 driven by forward rotation, the opening and closing driving sheet 212 drives the V-shaped finger 208 to open and open the V-shaped finger 208, when the V-shaped finger 208 is driven, the seeding hose 208 falls, and then the soil shifting arm 3 is inserted into the soil shifting blade 215, so as to plug the soil shifting arm 215, and then the soil shifting blade wheel 101 falls into the soil shifting arm 215, and the soil shifting arm 215, so as to control machine, and the garlic seeds fall. Optionally, the opening and closing finger assembly 203 may be moved upward a distance and then drive the V-shaped fingers 208 together, thereby grabbing the surrounding soil as a seeding site. In this embodiment, seeding base 201 is the U-shaped structure, opens and shuts and indicates that the relative seeding rotating member 204 of subassembly 203 controls to set up to two sets of to seeder 2 can once sow two lines of garlic seeds, and then will sow the efficiency and improve one time.

Then, the invention discloses a plant planter, which comprises the plant planting auxiliary mechanical hand of the scheme, wherein the plant planting auxiliary mechanical hand is arranged on the left side and the right side, so that four-row synchronous sowing can be realized, the plant planter further comprises a crawler walking chassis 4, a seed discharging device 1 and a mechanical arm 3 are both arranged on the crawler walking chassis 4, a rotary supporting structure is arranged on the crawler walking chassis 4, so that 360-degree sowing of the mechanical hand is realized, a battery 5 for driving the seed discharging device 1, the seed discharging device 2 and the mechanical arm 3 is arranged on the crawler walking chassis 4, the battery 5 adopts a rechargeable battery, and a remote controller 6 and a camera 7 are arranged on the crawler walking chassis 4, so that remote control sowing can be realized, unmanned sowing is realized, and a large amount of manpower is saved.

In this embodiment, in order to reduce the vibration of the crawler belt traveling chassis 4 during traveling, thereby adapting to rough road conditions, and further improving the passing performance, the crawler belt traveling chassis 4 includes a mounting rack 401 mounted on both sides, a traveling crawler belt 402, a driving wheel 403, a tension pulley 404, a swing arm 405, and a chassis damping cylinder 406, the driving wheel 403 is driven by a traveling driving motor 407 on the mounting rack 401, the driving wheel 403 and the tension pulley 404 are sleeved in the traveling crawler belt 402, the upper end of the chassis damping cylinder 406 is hinged to the mounting rack 401, the lower end of the chassis damping cylinder 406 is hinged to the lower end of the swing arm 405, the upper end of the swing arm 405 is hinged to the mounting rack 401, and the tension pulley 404 is hinged to the lower end of the swing arm 405, thereby when the bottom of the traveling crawler belt 402 is vibrated, the vibration can be transmitted to the chassis damping cylinder 406 through the tension pulley 404, and further the vibration is reduced by a spring in the chassis damping cylinder 406.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a plant species plants auxiliary machinery hand, its characterized in that includes seed metering device, seeder and arm, the last intermittent type formula seed metering mouth that is provided with of seeder, seed metering device's seed metering hose with intermittent type formula seed metering mouth is connected, the drive end of arm with the seeder is connected in order to insert intermittent type formula seed metering mouth behind the soil intermittent type seed metering.

2. The plant planting auxiliary mechanical arm of claim 1, wherein the seed metering device comprises a hopper and a climbing conveyor, the climbing conveyor comprises a climbing conveyer belt, the output end of the climbing conveyer belt is connected with the input end of the seed metering hose, the output end of the hopper is connected with the input end of the climbing conveyer belt, and a partition plate is arranged on the climbing conveyer belt.

3. The plant planting auxiliary mechanical arm of claim 2, wherein a grating is arranged above the output port of the hopper, a carding roller is oppositely arranged between the output port of the hopper and the grating, and carding toothed plates with opposite rotation directions are arranged on the carding roller.

4. The plant cultivation auxiliary mechanical arm as claimed in claim 3, wherein the mechanical arm comprises a mounting base, a first arm, a first telescopic member, a second arm, a second telescopic member, a third arm, a third telescopic member and a fourth telescopic member, one end of the first arm is hinged to the mounting base, the other end of the first arm is hinged to one end of the second arm, the other end of the second arm is hinged to one end of the third arm, the other end of the third arm is connected to the sowing device, a fixed end of the first telescopic member is hinged to the mounting base, a telescopic end is hinged to the other end of the first arm, a fixed end of the second telescopic member is hinged to one end of the first arm, a telescopic end is hinged to one end of the second arm, a fixed end of the third telescopic member is hinged to one end of the second arm, a telescopic end is hinged to one end of the third arm, a fixed end of the fourth telescopic member is hinged to one end of the third arm, and a telescopic end is hinged to the sowing device.

5. The plant growing auxiliary manipulator according to claim 3, wherein the first arm, the second arm and the third arm each comprise a hinged arm seat and a plurality of connecting rods, and the hinged arm seats are fixedly connected to two ends of the connecting rods.

6. The plant planting auxiliary mechanical arm of claim 3, wherein a seeding vibration damping mechanism is further mounted on the third arm, the seeding vibration damping mechanism comprises a seeding vibration damping cylinder and a vibration damping rod, one end of the seeding vibration damping cylinder is hinged with the seeding device, the other end of the seeding vibration damping cylinder is hinged with one end of the vibration damping rod, the other end of the vibration damping rod is hinged with the other end of the third arm, and the telescopic end of the fourth telescopic piece is hinged with the two ends of the vibration damping rod.

7. The auxiliary mechanical hand for plant cultivation as claimed in any one of claims 1 to 6, wherein the sowing device comprises a sowing base, and an opening and closing finger assembly, a sowing rotating member, an intermittent transmission wheel set and a shifting plate wheel which are mounted on the sowing base, the output end of the seed sowing hose is connected with the input end of the opening and closing finger assembly, the input end of the sowing rotating member is connected with the input shaft of the intermittent transmission wheel set, the output shaft of the intermittent transmission wheel set is connected with the shifting plate wheel, the shifting plate of the shifting plate wheel is intermittently inserted into the output end of the seed sowing hose to control the intermittent seed sowing of the seed sowing hose, and the output end of the opening and closing finger assembly is hinged with a plurality of V-shaped fingers which form the intermittent seed sowing port through opening and closing.

8. The auxiliary manipulator for plant cultivation as claimed in claim 7, wherein the opening and closing finger assembly further comprises a fixed sleeve, a worm gear shaft, a driving sleeve and an opening and closing driving piece, the input end of the fixed sleeve is connected with the seeding hose, the V-shaped finger is hinged to the output end of the fixed sleeve, the worm gear shaft is pivoted with the outer wall of the fixed sleeve, a turbine at one end of the worm gear shaft is in transmission connection with the output shaft of the intermittent transmission wheel set, a gear at the other end of the worm gear shaft is meshed with a gear ring at the upper side of the driving sleeve, the lower side of the driving sleeve is pivoted outside the fixed sleeve, the opening and closing driving piece is fixedly connected to the driving sleeve, the opening and closing driving piece drives one side of the V-shaped finger to be closed through forward rotation, and the opening and closing driving piece drives the other side of the V-shaped finger to be opened through reverse rotation.

9. A plant planter, comprising at least one plant planting auxiliary manipulator as claimed in any one of claims 1-8, and further comprising a crawler walking chassis, wherein the seed metering device and the mechanical arm are both mounted on the crawler walking chassis, a battery for driving the seed metering device, the seed metering device and the mechanical arm is arranged on the crawler walking chassis, and a remote controller and a camera connected with the battery are arranged on the crawler walking chassis.

10. The plant growing machine of claim 9, wherein said crawler traveling chassis comprises a mounting frame, a traveling crawler, a driving wheel, a tensioning wheel, a swinging arm and a chassis damping cylinder mounted on two sides, said driving wheel and said tensioning wheel are sleeved in said traveling crawler, an upper end of said chassis damping cylinder is hinged to said mounting frame, a lower end of said chassis damping cylinder is hinged to a lower end of said swinging arm, an upper end of said swinging arm is hinged to said mounting frame, and said tensioning wheel is hinged to a lower end of said swinging arm.