CN116458308A - Automatic equipment for separately planting and field planting of sponge seedlings in plant factory - Google Patents
Automatic equipment for separately planting and field planting of sponge seedlings in plant factory Download PDFInfo
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- CN116458308A CN116458308A CN202310432920.XA CN202310432920A CN116458308A CN 116458308 A CN116458308 A CN 116458308A CN 202310432920 A CN202310432920 A CN 202310432920A CN 116458308 A CN116458308 A CN 116458308A
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- 241000243142 Porifera Species 0.000 title claims abstract description 169
- 238000000926 separation method Methods 0.000 claims abstract description 89
- 238000007598 dipping method Methods 0.000 claims abstract description 52
- 239000012636 effector Substances 0.000 claims description 122
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 64
- 210000000078 claw Anatomy 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000009826 distribution Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims description 4
- 230000001070 adhesive effect Effects 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 241000196324 Embryophyta Species 0.000 description 13
- 238000003825 pressing Methods 0.000 description 10
- 235000013311 vegetables Nutrition 0.000 description 9
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 235000015210 Fockea angustifolia Nutrition 0.000 description 2
- 244000186654 Fockea angustifolia Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000008223 sterile water Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 240000008415 Lactuca sativa Species 0.000 description 1
- 235000015802 Lactuca sativa var crispa Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000021384 green leafy vegetables Nutrition 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Hydroponics (AREA)
Abstract
The invention discloses automatic equipment for field planting of sponge seedlings in a plant factory. The equipment comprises a propelling separation part, a grabbing and root gathering part and a field planting part, wherein the propelling separation part is used for pre-propelling and separating independent sponge seedlings, the grabbing and root gathering part is used for simultaneously grabbing a plurality of independent sponge seedlings and carrying out dipping and root gathering operation, the field planting part is used for carrying out field planting operation on a plurality of rows of sponge seedlings, and the propelling separation part, the grabbing and root gathering part and the field planting part are sequentially connected and arranged along the transportation direction of the sponge seedlings. The invention can replace a large number of manual high-repeatability operations, realize automatic field planting operation of the sponge seedlings in a plant factory, greatly save labor cost, improve the field planting speed and efficiency of the sponge seedlings in the plant factory, optimize the field planting pose of the root parts of the sponge seedlings and improve the seedling emergence quality.
Description
Technical Field
The invention relates to an operating device and method in the technical field of plant factories, in particular to an automatic device and method for splitting, picking and field planting sponge seedlings in a plant factory.
Background
China is a large country for vegetable production, the yield of vegetables in 2021 is more than 7.6 hundred million tons, and the vegetable sowing area is more than 2180 ten thousand hectares. At present, the intensive seedling raising and seedling supplying amount of the vegetables in China is about 1000 hundred million strains, and the demand amount of the vegetable seedlings exceeds 6800 hundred million strains, and the method has great production gap and market prospect. At present, vegetable planting is mainly performed in a field, but the existing agricultural machinery equipment for field planting is generally low in automation degree, and a large amount of operations are still required by farmers. And the field planting has the defects of unstable yield, large influence of natural weather, uneven seedling quality and low land utilization rate, and the consumed manpower and material resources are relatively large. However, the current vegetable production capacity can only meet 30% of the demand, and the standardized seedling mode supply is less than 15%.
As an emerging vegetable leaf and vegetable planting technology, the plant factory has the advantages of high seedling raising density, high space utilization rate, high yield, less water resource consumption, short growth period and the like. Compared with the traditional field planting, each standard frame of the plant factory is provided with 10-12 layers of seedling raising trays, and the layer planting density reaches 1200 plants/m 2 4 times of the traditional planting; the growth period of the leaf vegetables and lettuce is reduced to 1/3 by the seedling raising factory through an LED light control technology, and the yield in each period is 3-4 times of that of the traditional planting; meanwhile, through the tidal irrigation technology, the whole water is saved by more than 90 percent.
However, when the field planting operation of the sponge seedlings in the current plant factory is performed, the problems of high working intensity and high working repeatability exist, a large amount of field planting operation of the sponge seedlings needs to be manually performed, a large amount of manpower resources are wasted, and the field planting efficiency is low. Meanwhile, the existing machine is fresh to have a key process of dipping in water and gathering roots or a working process of dipping in water first and then separating, so that the roots of the sponge seedlings can not enter holes of the fixed planting tray well, and quality deviation of the fixed planting seedlings of the sponge seedlings is caused.
Therefore, there is a need in the art for an apparatus and an optimized planting process capable of automatically planting sponge seedlings, and capable of planting the roots of the sponge seedlings into the planting seedling tray with a good perpendicularity, so as to realize the full-process automatic operation of the planting of the sponge seedlings.
Disclosure of Invention
Aiming at the technical field of plant factories, the invention provides equipment and a treatment process for full-automatic sponge seedling separation, water dipping, root gathering and field planting operation, so as to save labor cost, improve the field planting speed and efficiency of the plant factories, optimize the root field planting pose of the sponge seedlings and improve the seedling emergence quality.
In order to achieve the purpose, the technical scheme adopted by the invention mainly comprises the following steps:
the device comprises a propelling separation part, a grabbing and root gathering part and a field planting part, wherein the propelling separation part is used for pre-propelling and separating independent sponge seedlings, the grabbing and root gathering part is used for simultaneously grabbing a plurality of independent sponge seedlings and carrying out water dipping and root gathering operation, the field planting part is used for planting a plurality of rows of sponge seedlings, and the propelling separation part, the grabbing and root gathering part and the field planting part are sequentially connected and arranged along the transportation direction of the sponge seedlings.
The propulsion separation part comprises a pre-propulsion module and a separation module;
the pre-propelling module comprises a buffer table, a limit rod, a transmission system and a pushing block; a row of independent non-adhesive sponge seedlings are arranged on the buffer table and move along a linear guide rail on the buffer table, a row of limit rods are arranged on each side of two sides of the row of sponge seedlings, the limit rods are close to the side surfaces of the sponge seedlings along the left-right direction so as to ensure that the sponge seedlings move along the buffer table linearly, a separation module is arranged on the outlet side of the buffer table, a transmission system is arranged below the buffer table, a pushing block is arranged on the transmission system and is used for contacting the sponge seedlings on the buffer table, and the transmission system drives the pushing block to push the sponge seedlings on the buffer table from the inlet side to the separation module on the outlet side;
The separation module comprises a clamping block, a distance separation piece and a distance separation driving device; the clamping blocks are arranged on the movable guide rail at the outlet side of the buffer table and can move along the movable guide rail, adjacent clamping blocks are connected through a distance separating piece, one clamping block farthest from the buffer table is connected with a distance separating driving device, and the distance separating driving device drives the clamping blocks to move on the movable guide rail in a distance separating mode.
The clamping block comprises guide bearing groups and ejection pieces which are respectively positioned at two sides, the two ejection pieces are symmetrically arranged at two sides in a mode that telescopic end parts are opposite to each other, the telescopic end parts of the two ejection pieces are connected and provided with the guide bearing groups, and the guide bearing groups are used for ensuring that the sponge seedlings are always positioned at the middle position of the separation module in the process of pushing the sponge seedlings to the separation module by the pushing block and simultaneously contact and clamp the sponge seedlings in the separation process.
The grabbing root gathering part comprises an end effector module and a dipping root gathering module;
the end effector module comprises an end effector retraction driving device, an end effector and a portal frame; the portal frame is positioned on the side of the separation module of the propulsion separation part and the dipping root gathering module, the end effector folding and unfolding driving device is arranged on the portal frame through a sliding block guide rail structure and can move along the horizontal direction, and the end effector is arranged on the end effector folding and unfolding driving device through a sliding block guide rail structure and can move up and down along the up-and-down direction;
The dipping water root gathering module is arranged at the outlet side of the separation module of the propulsion separation part and comprises a dipping water tank and a tank jacking driving device; the water tank jacking driving device is arranged on the frame, the upper end of the water tank jacking driving device is upwards connected with the water dipping tank, and the water dipping tank is driven to move up and down by the water tank jacking driving device.
The end effector on the end effector retraction driving device is divided into two groups, and the two groups correspond to two rows of seedling planting holes in the field planting module of the field planting part respectively.
The field planting part comprises a field planting module, the field planting module comprises a conveying belt, a field planting seedling tray, a sponge seedling root positioning auxiliary nozzle and a positioning device, wherein the conveying belt is used for conveying the field planting seedling tray to advance by a specified distance to reach a specified field planting position, the positioning device is used for detecting whether an end effector reaches the specified field planting position, the pair of positioning devices are arranged on the side face of a portal frame of the end effector module for grabbing the root gathering part, the field planting seedling tray is arranged on the conveying belt and driven by the conveying belt to be transported, and the sponge seedling root positioning auxiliary nozzle used for spraying airflow or water flow downwards and towards the sponge seedling root is arranged above the side of each seedling planting hole on the field planting seedling tray at the field planting position.
The field planting position have two rows of planting holes, two rows of planting holes correspond respectively and receive and release two sets of end effectors on the drive arrangement of end effector, the quantity and the distribution of each planting hole in one row of planting holes keep unanimous with the quantity and the distribution of each end effector in a set of end effector, the quantity and the distribution of each planting hole in another row of planting holes keep unanimous with the quantity and the distribution of each end effector in another set of end effector, each planting hole in two rows of planting holes is adjacent staggered arrangement along the horizontal transportation direction.
Comprises a structural support, a clamping system, a pressing-in rod and a direct-acting power source;
the direct-acting power source is arranged on the structural support and provided with a controllable stroke or at least two fixed stroke positions for driving the end effector to work;
the clamping system is arranged on the structural support and connected with the output end of the direct-acting power source;
the clamping system comprises clamping jaws, the direct-acting power source is arranged at the upper part of the structural support, the root parts of the clamping jaws are fixed at the lower end of the structural support, the upper section of the outer side surface of each clamping jaw is an inclined surface, the lower section of each clamping jaw is a parallel surface parallel to the driving direction of the direct-acting power source, the output end of the direct-acting power source movably passes through the structural support and then rolls or is connected to the inclined surface of the clamping jaw in a sliding manner, and meanwhile, the output end of the direct-acting power source also movably passes through the center of the clamping jaw and is fixedly connected with the pressing-in rod;
The pressing-in rod is fixedly arranged on the clamping system and used for the field planting and active separation operation of the end effector on the sponge seedlings.
The clamping system comprises clamping jaws, ejector rods, bearings and elastic parts, wherein each clamping jaw is provided with a plurality of claws, the outer side of each claw of each clamping jaw is provided with one ejector rod, the number of the ejector rods is consistent with that of the claws of each clamping jaw and corresponds to that of the claws of each clamping jaw one by one, one ends of the plurality of ejector rods are connected with the output end of a direct-acting power source through the same flange plate, the other end of each ejector rod passes through the lower part of the structural support and is hinged with the bearings at the end part, the bearings are connected onto the inclined surfaces/parallel surfaces of the corresponding claws on the clamping jaw in a rolling way, and the parallel surfaces are parallel to the ejector rods; the bearing is used for reducing friction force between the ejector rod and the clamping jaw to form rolling friction. The lower part of the structural support is fixedly provided with a supporting rod at the outer side of each claw of the clamping jaw correspondingly, and the tail end of each claw of the clamping jaw is connected with the tail end of the supporting rod through an elastic part to reset the clamping jaw.
The concrete implementation can be carried out without arranging a supporting rod, and the return of the clamping jaw can be realized by arranging a torsion spring at the root part of the clamping jaw.
The inclined surface of the clamping claw inclines towards the direct-acting power source at the upper part of the structural support, and the inclined surface can be an inclined surface or a conical surface.
The direct-acting power source comprises, but is not limited to, an electric push rod, a cylinder with a magnetic switch, a double-stroke cylinder and other power end effectors with controllable stroke or at least two fixed stroke positions.
The elastic parts include, but are not limited to, tension springs, torsion springs, V-shaped spring plates and the like.
The clamping system uses clamping jaws to clamp sponge seedlings, uses bearings arranged at the top ends of the ejector rods to realize the closing drive of the clamping jaws, uses elastic parts to realize the opening of the clamping jaws and enables the outer curved surfaces of the clamping jaws to be attached to the bearings so as to enable the clamping jaws and the bearings to be matched,
the pressing-in rod is arranged on the direct-acting power source to realize the field planting and active separation of the sponge seedlings; the end effector uses the pressing rod to fix and actively separate the sponge seedling, and the end effector is driven by the direct-acting power source.
The direct-acting power source adopts a controllable stroke or at least two fixed stroke positions, the closing driving operation of the bearing on the clamping jaw is realized before a certain stroke node, the clamping jaw does not move after the node, and the pressing-in operation and the active separation process of the sponge seedling into the field planting hole are completed through the pressing-in rod;
The clamping jaw can complete the required actions through the special design of the outer side surface;
the structural support keeps the stability and rigidity of the whole structure of the end effector, and simultaneously the operation of simultaneously grabbing and planting a plurality of sponge seedlings can be achieved through the parallel design of the structural support.
The direct-acting power source adopts a double-stroke cylinder and also comprises a gas circuit and a control system thereof, wherein the control system comprises a gas source, an electromagnetic valve and a throttle valve; the double-stroke cylinder sequentially comprises A, B, C air ports from the root part to the output rod, A, B, C air ports of the double-stroke cylinder are respectively connected with a throttle valve and an electromagnetic valve, and the electromagnetic valve and a gas source are connected; the electromagnetic valve plays a role in controlling the action of the cylinder, and the air inlet and outlet throttle valve plays a role in controlling the speed of the cylinder.
The electromagnetic valve comprises a five-position two-way electromagnetic valve and a three-position two-way electromagnetic valve, wherein the air source is communicated with the P port of the five-position two-way electromagnetic valve, the B port of the five-position two-way electromagnetic valve is communicated with the A port of the double-stroke cylinder through a first exhaust throttle valve, the A port of the five-position two-way electromagnetic valve is communicated with the C port of the double-stroke cylinder through a second exhaust throttle valve, the air source is communicated with the P port of the three-position two-way electromagnetic valve, the A port of the three-position two-way electromagnetic valve is communicated with the B port of the double-stroke cylinder through an air inlet throttle valve, and the five-position two-way electromagnetic valve and the three-position two-way electromagnetic valve are communicated by a switch S 2 And controlling and connecting with a power supply to supply power.
The output end of the direct-acting power source is provided with at least two fixed stroke positions of an upper stroke position and a lower stroke position, wherein the upper stroke position and the lower stroke position are stroke positions which need to be controlled accurately:
the output end of the direct-acting power source also has the shortest travel position retracted to the root.
When the output end of the direct-acting power source moves from the shortest stroke position of the root to the upper stroke position, the output end of the direct-acting power source rolls along the inclined surface of the claw of the clamping jaw through each ejector rod driving bearing to drive each claw of the clamping jaw to be close, so that the clamping jaw gradually becomes in a closed state, and the sponge Miao Gajin is used;
when the output end of the direct-acting power source moves from an upper stroke position to a lower stroke position, the output end of the direct-acting power source rolls along the parallel surfaces of the clamping jaws through the ejector rod driving bearings to drive the clamping jaws to keep close, so that the clamping jaws keep a closed state unchanged, meanwhile, the output end of the direct-acting power source drives the pressing-in rod to extend out of the middle of the clamping jaws, sponge seedlings are pushed out of the clamping jaws downwards, and the sponge seedlings are prevented from being easily taken out of holes after field planting.
In the design of the existing end effector for capturing and field planting sponge seedlings, a pair of clamping jaws or clamps are basically adopted to clamp the sponge seedlings from left and right, and after the field planting is completed, the clamping jaws are opened in the holes and lifted to separate the sponge seedlings; but the space in the field planting hole is narrow, the opening margin of the clamping jaw is limited in the process, and the wet sponge is easy to adhere to the clamping jaw, so that the situation that sponge seedlings are taken out of the hole easily occurs in the lifting process of the clamping jaw finally. The clamping system, the pressing-in rod and the direct-acting power source are cooperatively matched, so that the problem that the sponge seedlings are easy to bring out of holes after field planting is solved, and quick, accurate and effective field planting and placing operation is realized.
Grabbing sponge seedlings:
the structural support is moved to move each claw of the clamping jaw to the periphery of a sponge seedling, then the output end of the direct-acting power source extends out of a section to an upper stroke position, and the ejector rod drives the bearing to roll along the inclined surface of the claw of the clamping jaw to drive each claw of the clamping jaw to be close, so that the clamping jaw gradually becomes a closed state to enable the sponge Miao Gajin to be in a closed state;
planting sponge seedlings:
the structural support is moved to place the sponge seedling grabbed by the clamping jaw at a required placing position, then the output end of the direct-acting power source further extends out to a lower stroke position, the sponge seedling continuously rolls along the parallel surfaces of the clamping jaw by the ejector rod driving bearings, the clamping jaw is driven to keep a close posture, the clamping jaw keeps a closed state unchanged, and meanwhile the output end of the direct-acting power source drives the pressing-in rod to extend out of the middle of the clamping jaw to push the sponge seedling downwards from the clamping jaw to be released;
and (3) returning: the output end of the direct-acting power source directly retracts to the root, and the structural support is moved to move the clamping jaw to the periphery of the next sponge seedling.
The invention is divided into a pre-propulsion module, a separation module, an end effector module, a water dipping root gathering module and a field planting module; the pre-pushing module drives the pushing block to push the sponge seedlings on the buffer table to the separating module through the transmission system; the separation module realizes the guiding and fixing of the sponge seedlings during pushing and separating through the guiding bearing group, and realizes the fixed-distance separation of the sponge seedlings to a required position through the fixed-distance separation piece matched with fixed-distance separation driving equipment so as to be clamped by an end effector; after clamping, the end effector moves to the upper part of the water dipping tank, and the equipment lowers the end effector and lifts the water dipping tank to realize water dipping and root gathering; the field planting module is provided with a sponge seedling root positioning auxiliary nozzle, and the guiding and positioning of the sponge seedling root is realized in the process of lowering and dipping water by the end effector, so that the root enters the hole of the field planting seedling tray.
The device for field planting of the sponge seedlings, which is fully automatic and convenient to control, is used for realizing the suitable organization in the field planting process of the sponge seedlings, and is matched with other equipment to finish the efficient, accurate and nondestructive field planting work of the sponge seedlings, so that the problem that the sponge seedlings are easy to be carried out from holes after field planting can be solved.
The invention has the beneficial effects that:
1. the invention realizes the full-flow automatic operation of the plant factory sponge seedling field planting operation, reduces the labor cost and simultaneously increases the speed and the efficiency of the sponge seedling field planting.
2. The invention avoids the problem that the root of the sponge seedling is easy to wind or re-scatter after dipping water due to the design of the operation flow of separating and then dipping water for gathering the root, and can effectively improve the verticality of the root of the sponge seedling entering the field planting hole by matching with the positioning auxiliary nozzle.
3. According to the invention, by optimizing the layout and the operation mode of the water dipping tank, the occupied space of the equipment in the transverse direction and the movement stroke of the end effector module are greatly saved, and the operation speed and the field planting efficiency of the equipment are improved.
4. According to the invention, the field planting operation of two rows of sponge seedlings is finished simultaneously through one-time movement of the end effector module, so that the overall field planting efficiency is improved, and the useless operation time is shortened.
The end effector can realize automatic operation of the field planting operation of the plant factory sponge seedling, the active separation mechanism is adopted to avoid bringing the field planted sponge seedling out of holes, high success rate of field planting is ensured, mechanical motion control is effectively and accurately carried out, the field planting efficiency is improved while labor is saved, and consistency of the field planting effect of the sponge seedling is ensured.
Drawings
Fig. 1 is a schematic diagram of the left and right equiangular axis of the complete machine of the present invention.
Fig. 2 is a schematic view of the reset state of the pushing separation part (hidden side stopper rod) of the present invention.
Fig. 3 is a schematic view of the pre-pushing completion state (with one side stopper rod hidden) of the pushing separation part of the present invention.
Fig. 4 is a schematic view showing a separation completion state (hiding one side stopper rod) of the separation pushing portion of the present invention.
Fig. 5 is a schematic view of a detailed structure of the separation module of the present invention.
Fig. 6 is a left and right isometric view of an end effector module of the present invention for sponge seedling grasping.
Fig. 7 is a schematic diagram of left and right isometric axle measurement of the water dipping root gathering module for carrying out the water dipping root gathering operation of the sponge seedling.
Fig. 8 is a schematic diagram of left and right isometric view of the planting module of the present invention for performing a sponge seedling planting operation.
FIG. 9 is a schematic side view of the auxiliary positioning nozzle for the root of a sponge seedling according to the present invention.
FIG. 10 is a left and right isometric view of an end effector of the present invention.
FIG. 11 is a schematic cross-sectional view of an end effector of the present invention.
Fig. 12 is a schematic view of a particular operating position of an end effector of the present invention.
Fig. 13 is a schematic diagram of a control system for an end effector of the present invention (illustrated as a two stroke cylinder).
In the figure: the device comprises a pre-propelling module A, a separating module B, an end effector module C, a dipping root gathering module D, a field planting module E, a buffer table 0, a limit stick 1, a transmission system 2, a push block 3, a clamping block 4, a guide bearing group 5, an ejector 6, a distance separating piece 7, a distance separating driving device 8, an end effector collecting and releasing driving device 9, an end effector 10, a portal frame 11, a dipping water tank 12, a tank lifting driving device 13, a positioning device 14, a conveyor belt 15, a field planting seedling tray 16 and a sponge seedling root positioning auxiliary nozzle 17;
a structural support 100, a press-in rod 101, a direct-acting power source 102, a clamping jaw 103, a mandril 104, a bearing 105, an elastic part 106, a A, B, C air port taking a double-stroke cylinder as an example, S 1 、S 2 And (3) a switch.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to the following examples.
The device comprises a propelling separation part, a grabbing and root gathering part and a field planting part, wherein the propelling separation part is used for pre-propelling and separating independent sponge seedlings, the grabbing and root gathering part is used for simultaneously grabbing a plurality of independent sponge seedlings and carrying out water dipping and root gathering operation, the field planting part is used for planting a plurality of rows of sponge seedlings, and the propelling separation part, the grabbing and root gathering part and the field planting part are sequentially connected and arranged along the transportation direction of the sponge seedlings.
As shown in FIG. 1, the whole machine of the invention is divided into five modules, namely a pre-propulsion module A, a separation module B, an end effector module C, a water dipping root gathering module D and a field planting module E.
As shown in fig. 2-4, the propel-separate portion includes a pre-propel module a and a separate module B;
the pre-propelling module A comprises a buffer table 0, a limit stick 1, a transmission system 2 and a pushing block 3;
a row of independent non-adhesive sponge seedlings are arranged on a buffer table 0, a row of limit rods 1 are respectively arranged on the left side and the right side of the sponge seedlings, the limit rods 1 are close to the side surfaces of the sponge seedlings along the left-right direction, the limit of the movement of the sponge seedlings on the buffer table 0 is realized through the limit rods 1, a separation module B is arranged on the outlet side of the buffer table 0, a transmission system 2 is arranged below the buffer table 0, a push block 3 is arranged on the transmission system 2, the push block 3 is used for being contacted with the sponge seedlings far away from the separation module B on the buffer table 0, as shown in fig. 3, the transmission system 2 drives the push block 3 to push the sponge seedlings on the buffer table 0 from the inlet side to the separation module B on the outlet side, and the sponge seedlings are positioned between guide bearing groups 5 of two ejection pieces 6 in a clamping block 4;
The drive train 2 may employ a drive train including, but not limited to, a chain drive train, a synchronous belt drive train, or the like. In a specific implementation, the transmission system 2 can comprise a chain and a gear structure, and the output main power of the motor is transmitted to the chain through gear transmission, and then the pushing block 3 fixed on the chain is driven to move, so that the sponge seedling is pushed to move.
As shown in fig. 2, the pushing block 3 is retracted under the table surface by the transmission system 2 when the sponge seedling enters the buffer table 0, so as to prevent the sponge seedling from entering.
As shown in fig. 5, the separation module B comprises a clamping block 4, a distance separating member 7 and a distance separating drive device 8; the plurality of clamping blocks 4 are arranged on a movable guide rail at the side of the outlet of the buffer table 0 and can move along the movable guide rail, the movable guide rail is arranged along a linear guide rail on the buffer table 0 in an extending mode, adjacent clamping blocks 4 are connected through a distance separating piece 7, one clamping block 4 farthest from the buffer table 0 is connected with a distance separating driving device 8, and the plurality of clamping blocks 4 are driven to move on the movable guide rail in a distance separating mode through the distance separating driving device 8. The distance separating piece 7 is matched with the driving clamping block 4 of the distance separating driving device 8 to move, so that the sponge seedlings are separated to the required positions at fixed distance.
The distance separating members 7 are actually links, one or two links being connected between adjacent two clamping blocks 4.
The clamping block 4 comprises guide bearing groups 5 and ejection pieces 6 which are respectively positioned at two sides, the two ejection pieces 6 are symmetrically arranged at two sides in a manner that telescopic end parts are opposite to each other, the telescopic end parts of the two ejection pieces 6 are connected and provided with the guide bearing groups 5, and the guide bearing groups 5 are used for contacting and clamping sponge seedlings. The clamping block 4 pushes out the guide bearing group 5 through the ejection piece 6 to realize the guide and fixation of the sponge seedling during pushing and separating, and the sponge seedling is always ensured to be positioned at the middle position of the separation module B in the process of pushing the sponge seedling onto the separation module B by the pushing block 3.
The ejection piece 6 keeps the guide bearing group 5 ejected in the pre-pushing and separating processes of the sponge seedlings, plays a role in guiding and fixing the sponge seedlings on the clamping blocks 4, and is retracted after separation is completed, so that space is provided for grabbing of the end effector 10.
After the end effector 10 finishes clamping the sponge seedling on the clamping block 4, the distance separation driving device 8 immediately finishes resetting the clamping block 4, and provides lifting space for the water dipping tank 12.
The grabbing root gathering part comprises an end effector module C and a dipping root gathering module D;
as shown in fig. 6, the end effector module C includes an end effector retraction drive 9, an end effector 10, and a gantry 11; the portal frame 11 is positioned on the side of the separation module B and the dipping root gathering module D of the propulsion separation part, the end effector folding and unfolding driving device 9 is arranged on the portal frame 11 through a sliding block guide rail structure and can move along the horizontal direction, and the end effector 10 is arranged on the end effector folding and unfolding driving device 9 through a sliding block guide rail structure and can move up and down along the vertical direction; the end effector retraction driving device 9 is used for lowering the end effector 10 to grasp the sponge seedling on the clamping block 4.
The inlet side of the separation module B of the propulsion separation part is connected with the outlet side of the pre-propulsion module A, as shown in FIG. 7, the dipping water root gathering module D is arranged on the outlet side of the separation module B of the propulsion separation part, and comprises a dipping water tank 12 and a tank jacking driving device 13; the water tank jacking driving device 13 is arranged on the frame, a plurality of water tank jacking driving devices 13 can be arranged, the upper end of the water tank jacking driving device 13 is upwards connected with the water dipping water tank 12, and the water dipping water tank 12 is driven to move up and down by the water tank jacking driving device 13.
The end effector retraction driving device 9 and the water tank jacking driving device 13 are controlled in a single stroke mode, a double-stroke direct-acting control device is avoided, the accuracy of a control system is improved, and the control complexity is reduced.
In particular, the end effector 9 forms a group of single field planting modules according to the number and the spacing of field planting hole sites and the specific number and the spacing, and one or more modules can be arranged in the whole equipment, so that each independent field planting module can be lowered and lifted through an independent retraction driving device 10 according to the row number of the field planting sponge seedlings designed by one-time operation of the equipment.
After the end effector 10 grabs the sponge seedling on the clamping block 4, the end effector 10 is lifted and moves to the position above the water dipping water tank 12 along the portal frame 11, the water dipping water tank 12 is lifted by the water tank lifting driving device 13, meanwhile, the end effector retracting driving device 9 lowers the end effector 10 to finish water dipping operation, and after the end effector 10 is lifted and moves continuously along the portal frame 11.
Meanwhile, as shown in fig. 4, the dipping water tank 12 is retracted below the clamping block 4 by the tank lifting driving device 13 in the separation process, so that the occupied space of the equipment in the transverse direction and the movement stroke of the end effector module are saved.
The existing water dipping root gathering scheme is to separate the sponge seedlings after the water dipping operation, so that the gathered roots are easy to scatter or wind left and right along with the separation process, and the problem is effectively avoided by the operation sequence of separating firstly and then dipping.
The end effector 10 on the end effector retraction driving device 9 is divided into two groups, and the two groups correspond to two rows of seedling planting holes in the field planting module E of the field planting part respectively. In specific implementation, one group may include four end effectors 10, and the other group may include six end effectors 10, where the positions of the sponges corresponding to the four end effectors 10 after being planted and the positions of the sponges corresponding to the six end effectors 10 after being planted are adjacently staggered.
As shown in fig. 8, the planting part comprises a planting module E, the planting module E comprises a conveyor belt 15 for conveying a planting seedling tray 16 to advance a designated distance to reach a designated planting position, the planting seedling tray 16, a sponge seedling root positioning auxiliary nozzle 17, a positioning device 14 for detecting whether the end effector 10 reaches the designated planting position, a pair of positioning devices 14 are arranged on the side face of a portal frame 11 of an end effector module C for grabbing a root gathering part, in particular, can be arranged on the side face of the portal frame 11 between the conveyor belt 15 and a dipping root gathering module D, the planting seedling tray 16 is arranged on the conveyor belt 15 and is driven by the conveyor belt 15 to transport, and a sponge seedling root positioning auxiliary nozzle 17 for injecting air flow or water flow downwards and towards the root of a sponge seedling is arranged above the side of each planting hole on the planting seedling tray 16 at the planting position.
The fixed planting position is provided with two rows of seedling planting holes, the two rows of seedling planting holes respectively correspond to the two groups of end effectors on the end effector retraction driving device 9, the number and the distribution of each seedling planting hole in one row of seedling planting holes are consistent with those of each end effector in one group of end effectors, the number and the distribution of each seedling planting hole in the other row of seedling planting holes are consistent with those of each end effector in the other group of end effectors, and the seedling planting holes in the two rows of seedling planting holes are adjacently staggered along the horizontal conveying direction from the end effectors.
In a specific implementation, the two rows of seedling planting holes can be divided into two groups which are arranged at intervals along the horizontal transportation direction.
The auxiliary positioning nozzles 17 for the sponge seedling roots are designed into different numbers of nozzles according to the distribution positions of the holes of the seedling fixing and planting disc 16, and each hole is designed into a pair of nozzle alignment holes.
The sponge seedling root positioning auxiliary nozzle 17 can guide and posture-correct the sponge seedling root by spraying substances including but not limited to sterile water, compressed air and the like.
After being in place, the end effector retraction driving device 9 lowers the end effector 10 of the corresponding module, and completes the fixation operation of the row through the end effector 10;
After the completion, the end effector 10 is lifted up, and advances to the positioning position of another module along the portal frame 11, the position detection is completed through another pair of positioning devices 14, meanwhile, the conveyor belt 15 continues to advance for a designated distance to enable the positioning seedling tray 16 to reach the next positioning planting operation, and the positioning planting operation of another row of sponge seedlings is completed according to the operation;
as shown in fig. 9, in the process of lowering the end effector 10, the auxiliary nozzle 17 for positioning the root of the sponge seedling can correct the position of the root of the sponge seedling so as to assist the root to enter the designated hole of the fixed seedling tray 16, guide the root of the sponge seedling into the hole of the sponge seedling, and prevent the root from being hooked outside.
As shown in fig. 10, the end effector 10 of the present embodiment includes a structural support 100, a clamping system, a press-in lever 101, and a direct-action power source 102;
a direct-acting power source 102 mounted on the structural support 100 and having a controllable stroke or at least two fixed stroke positions for driving the working movement of the end effector;
the clamping system is arranged on the structural support 100 and is connected to the output end of the direct-acting power source 102;
the pressing rod 101 is fixedly arranged on the clamping system and used for the fixation and active separation operation of the end effector on the sponge seedling.
As shown in fig. 11, fig. 11 (a) is a schematic front sectional view of the present invention, and fig. 11 (b) is a schematic oblique 45 ° sectional view of the present invention.
The clamping system comprises clamping jaws 103, a top rod 104, a bearing 105 and an elastic part 106, wherein a direct-acting power source 102 is arranged at the upper part of a structural support 100, the root of each clamping jaw 103 is fixed at the lower end of the structural support 100, the upper section of the outer side surface of each clamping jaw of the clamping jaws 103 is an inclined surface, the lower section of each clamping jaw is a parallel surface parallel to the driving direction of the direct-acting power source 102, the output end of the direct-acting power source 102 movably passes through the structural support 100 and then rolls or is slidably connected to the inclined surface of the clamping jaw 103, and meanwhile, the output end of the direct-acting power source 102 also movably passes through the center of the clamping jaw 103 and is fixedly connected with a pressing rod 101.
In specific implementation, the clamping jaw 103 is provided with a plurality of claws, the outer side of each claw of the clamping jaw 103 is provided with an ejector rod 104, the number of the ejector rods 104 is consistent with that of the claws of the clamping jaw 103 and corresponds to that of the claws of the clamping jaw 103 one by one, one end of each ejector rod 104 is connected with the output end of the direct-acting power source 102 through the same flange, the other end of each ejector rod 104 passes through the lower part of the structural support 100 and is hinged with a bearing 105 at the end part, the bearing 105 is connected onto the inclined surface/parallel surface of the corresponding claw on the clamping jaw 103 in a rolling way, and the parallel surface is parallel to the ejector rod 104; the bearing is used for reducing friction force between the ejector rod and the clamping jaw to form rolling friction. The lower part of the structure bracket 100 is correspondingly and fixedly provided with a supporting rod at the outer side of each claw of the clamping jaw 103, and the tail end of each claw of the clamping jaw 103 is hinged with the tail end of the supporting rod through an elastic part 106.
The inclined surface of the claw 103 is inclined towards the direct-acting power source 102 at the upper part of the structural support 100, and can be an inclined surface or a conical surface.
The clamping system uses the clamping jaw 103 to clamp the sponge seedling, uses the bearing 105 arranged at the top end of the ejector rod 104 to realize the closing driving of the clamping jaw 103, uses the elastic part 106 to realize the opening of the clamping jaw 103, and makes the outer curved surface of the clamping jaw 103 fit on the bearing 105 so as to match the clamping jaw 103 and the bearing 105,
the pressing rod 101 is arranged on the direct-acting power source 102 to realize the field planting and active separation of the sponge seedlings; the end effector uses the pressing rod 101 to fix and actively separate the sponge seedling, and the end effector is driven by the direct-acting power source 102.
The direct-acting power source 102 adopts a controllable stroke or at least two fixed stroke positions, the closed driving operation of the bearing 105 on the clamping jaw 103 is realized before a certain stroke node, the clamping jaw 103 does not move after the node, and the pressing operation and the active separation process of the sponge seedling into the field planting hole are completed through the pressing rod 101;
the jaw 103 is designed specifically for the outer surface so that it can perform the required actions;
the structural support 100 maintains the stability and rigidity of the whole structure of the end effector, and simultaneously the operation of simultaneously grabbing and planting a plurality of sponge seedlings can be achieved through the parallel design of the structural support 100.
In combination with the above operation logic and operation requirements, the direct-acting power source 102 is exemplified by a double-stroke cylinder, as shown in fig. 11 and 13, and the control system of the present invention comprises a gas path control system, including a gas source, a solenoid valve and a throttle valve; the double-stroke cylinder is sequentially connected with a A, B, C air port and a A, B, C air port of the double-stroke cylinder from the root to the output rod through respective throttle valves and electromagnetic valves, and the electromagnetic valves and the air source are connected. The electromagnetic valve plays a role in controlling the action of the cylinder, and the air inlet and outlet throttle valve plays a role in controlling the speed of the cylinder.
Specifically, the electromagnetic valve comprises a five-position two-way electromagnetic valve and a three-position two-way electromagnetic valve, wherein the air source is communicated with the P port of the five-position two-way electromagnetic valve, the B port of the five-position two-way electromagnetic valve is communicated with the A port of the double-stroke cylinder through a first exhaust throttle valve, the A port of the five-position two-way electromagnetic valve is communicated with the C port of the double-stroke cylinder through a second exhaust throttle valve, the air source is communicated with the P port of the three-position two-way electromagnetic valve, the A port of the three-position two-way electromagnetic valve is communicated with the B port of the double-stroke cylinder through an air inlet throttle valve, the electric control end of the five-position two-way electromagnetic valve is arranged on a dry road and is opened and closed by a switch S 1 Control, three bitsThe electric control end of the two-way electromagnetic valve is arranged on a branch and is provided with a switch S 2 And controlling and connecting with a power supply to supply power.
Wherein the exhaust throttle valve of the C port controls the operation speed of the stroke of fig. 12 (a) to 12 (B), the intake throttle valve of the B port controls the operation speed of the stroke of fig. 12 (B) to 12 (C), and the exhaust throttle valve of the a port controls the operation speed of the reset of fig. 12 (B) to 12 (a).
The control logic of the circuit system is as follows: switch S 1 When the five-position two-way electromagnetic valve is opened and closed, the system is supplied with air by the air port A, and the cylinder rod is ejected out by the distance of the stroke 1; at this time, switch S is closed 2 The three-position two-way electromagnetic valve is electrified, the system is supplied with air by a A, B air port, and the cylinder rod is propped by the distance of travel 2; after the active separation is completed, the switch S is disconnected 1 The five-position two-way electromagnetic valve and the three-position two-way electromagnetic valve are powered off simultaneously, and the system is supplied with air only through the C air port, so that the reset of the cylinder rod is completed.
As shown in fig. 12, the present invention operates with 3 special posture positions including the full open of fig. 12 (a), the full closed of fig. 12 (b) and the sponge seedling press-in of fig. 12 (c). When fully extended, fig. 12 (a) the moving parts of the direct-drive power source 102 are retracted, the resilient members 106 expand the jaws 103 to a maximum open angle; in the process of fig. 12 (a) to 12 (b), the moving part of the direct-acting power source 102 is pushed forward by a set distance, and the bearing 105 closes the jaw 103 to a minimum opening angle along the designed outer curved surface of the jaw 103; in the process of fig. 12 (b) to 12 (c), since the outer curved surface of the clamping jaw 103 is designed to be perpendicular to the bottom surface in the stroke, the clamping jaw 103 cannot change the posture due to the movement of the bearing 105, and meanwhile, the moving part of the direct-acting power source 102 pushes the pressing rod 101 to a preset position, so that the fixation and active separation of the sponge seedling are completed. Similarly, during the retraction of the moving parts of the direct-acting power source 102, the elastic part 106 reversely completes the operation flow of the clamping jaw 103, so as to reset the end effector to the state of fig. 12 (a).
The specific implementation working process of the invention is as follows:
the independent non-adhesive sponge seedlings are conveyed to the buffer table 0 by other equipment, the limit of the sponge seedlings is realized by the limit rod 1, the transmission system 2 drives the pushing block 3 to push the sponge seedlings on the buffer table 0 to the separation module 4, the separation module 4 pushes out the guide bearing group 5 through the ejection piece 6 to realize the guiding and fixing of the sponge seedlings during pushing and separation, and the distance separation of the sponge seedlings to a required position is realized by the cooperation of the distance separation piece 7 and the driving of the distance separation driving equipment 8;
the end effector retraction driving device 9 lowers the end effector 10 to grasp the sponge seedlings on the separation module 4, the end effector 10 is lifted after the end effector is completed and moves to the position above the water dipping water tank 12 along the portal frame 11, and meanwhile, the distance separation driving device 8 immediately completes the reset of the separation module 4;
the water tank lifting driving device 13 lifts the water dipping tank 12, meanwhile, the end effector retracting driving device 9 lowers the end effector 10 to finish water dipping operation, and after finishing the water dipping operation, the end effector 10 lifts and continues to move along the portal frame 11;
in the moving process of the end effector 10, a pair of positioning devices 14 detect whether the positioning devices reach a designated planting position, meanwhile, a conveyor belt 15 conveys a seedling fixing tray 16 to advance for a designated distance to reach the designated planting position, after the positioning, an end effector collecting and releasing driving device 9 lowers the end effector 10 of a corresponding module, the row of planting operation is completed through the end effector 10, and in the process, a sponge seedling root positioning auxiliary nozzle 17 guides and corrects the position and the pose of a sponge seedling root by spraying substances including but not limited to sterile water, compressed air and the like;
After the completion, the end effector 10 is lifted up, and advances to the positioning position of another module along the portal frame 11, the position detection is completed through another pair of positioning devices 14, meanwhile, the conveyor belt 15 continues to advance for a designated distance to enable the positioning seedling tray 16 to reach the next positioning planting operation, and the positioning planting operation of another row of sponge seedlings is completed according to the operation;
after all the implantation operations are completed, the end effector 10 is reset to the initial position.
For the end effector 10, when the end effector 10 descends to the position where the sponge seedling is located, the control system drives the direct-acting power source 102 to descend for a first section of travel, the moving part of the direct-acting power source 102 is connected with the pressing-in rod 101 and the ejector rod 104, the bearing 105 is fixed at the front end of the ejector rod 104, the clamping jaw 103 is hinged and fixed on the structural support 100, the external curved surface is attached to the bearing 105 through the elastic part 106, and the clamping jaw 103 is driven by the bearing 105 to close in the descending process of the first section of travel so as to clamp the sponge seedling; when the end effector clamps the sponge seedling and moves to the planting hole, the control system drives the direct-acting power source 102 to descend for a second section of travel, and at the moment, the clamping jaw 103 is not changed in posture because the outer curved surface is designed to be parallel to the driving direction of the direct-acting power source 102, and meanwhile, the pressing rod 101 presses the sponge seedling into the planting hole and completes planting; after the field planting is finished, the control system immediately drives the direct-acting power source 102 to reset, in the process, the pressing rod 101 is lifted to realize active separation, and meanwhile, the elastic part 106 drives the clamping jaw 103 to open and reset.
Therefore, the invention can replace manual operation, realize full-automatic separation, water dipping, root gathering and field planting operation of the sponge seedling in a plant factory, save labor cost, improve the field planting speed and efficiency of the plant factory, optimize the field planting pose of the root of the sponge seedling and improve the seedling emergence quality.
The foregoing detailed description is provided to illustrate and not limit the invention, and any modifications and adaptations of the invention that come within the spirit of the invention and the scope of the claims are therefore intended to be within the scope of the invention.
Claims (10)
1. An automated device for field planting of plant factory sponge seedlings, which is characterized in that: the device comprises a propelling separation part, a grabbing and root gathering part and a field planting part, wherein the propelling separation part is used for pre-propelling and separating independent sponge seedlings, the grabbing and root gathering part is used for simultaneously grabbing a plurality of independent sponge seedlings and carrying out water dipping and root gathering operation, the field planting part is used for planting a plurality of rows of sponge seedlings, and the propelling separation part, the grabbing and root gathering part and the field planting part are sequentially connected and arranged along the transportation direction of the sponge seedlings.
2. An automated plant for field planting of plant sponge seedlings as claimed in claim 1 wherein: the propelling separation part comprises a pre-propelling module (A) and a separation module (B);
The pre-pushing module (A) comprises a buffer table (0), a limit rod (1), a transmission system (2) and a pushing block (3); an independent non-adhesive row of sponge seedlings is arranged on a buffer table (0) and moves along a linear guide rail on the buffer table (0), a row of limit rods (1) are arranged on the side of the row of sponge seedlings, the limit rods (1) are close to the side surfaces of the sponge seedlings, a separation module (B) is arranged on the outlet side of the buffer table (0), a transmission system (2) is arranged below the buffer table (0), a push block (3) is arranged on the transmission system (2), the push block (3) is used for contacting the sponge seedlings on the buffer table (0), and the transmission system (2) drives the push block (3) to push the sponge seedlings on the buffer table (0) from the inlet side to the separation module (B) on the outlet side;
the separation module (B) comprises a clamping block (4), a distance separation piece (7) and a distance separation driving device (8); the clamping blocks (4) are arranged on the movable guide rail at the outlet side of the buffer table (0) and can move along the movable guide rail, adjacent clamping blocks (4) are connected through a distance separating piece (7), one clamping block (4) farthest from the buffer table (0) is connected with a distance separating driving device (8), and the distance separating driving device (8) drives the clamping blocks (4) to move in a distance separating mode on the movable guide rail.
3. An automated plant for field planting of plant sponge seedlings as claimed in claim 2 wherein: the clamping block (4) comprises guide bearing groups (5) and ejection pieces (6) which are respectively positioned at two sides, the two ejection pieces (6) are symmetrically arranged at two sides in a mode that telescopic end parts are opposite to each other, the telescopic end parts of the two ejection pieces (6) are connected with the guide bearing groups (5), the guide bearing groups (5) are used for ensuring that the sponge seedlings are always positioned at the middle position of the separation module (B) in the process of pushing the sponge seedlings to the separation module (B) by the pushing block (3), and simultaneously, the sponge seedlings are contacted and clamped in the process of separation.
4. An automated plant for field planting of plant sponge seedlings as claimed in claim 1 wherein: the grabbing root gathering part comprises an end effector module (C) and a dipping root gathering module (D);
the end effector module (C) comprises an end effector retraction driving device (9), an end effector (10) and a portal frame (11); the portal frame (11) is positioned on the side of the separation module (B) and the dipping root gathering module (D) of the pushing separation part, the end effector retraction driving device (9) is arranged on the portal frame (11) through a sliding block guide rail structure and can move along the horizontal direction, and the end effector (10) is arranged on the end effector retraction driving device (9) through a sliding block guide rail structure and can move up and down along the vertical direction;
the dipping root gathering module (D) is arranged at the outlet side of the separation module (B) of the propulsion separation part, and comprises a dipping water tank (12) and a tank jacking driving device (13); the water tank jacking driving device (13) is arranged on the frame, the upper end of the water tank jacking driving device (13) is upwards connected with the water dipping tank (12), and the water dipping tank (12) is driven to move up and down by the water tank jacking driving device (13).
5. An automated plant for field planting of plant sponge seedlings as claimed in claim 4 wherein: the end effector (10) on the end effector retraction driving device (9) is divided into two groups, and the two groups correspond to two rows of seedling planting holes in the field planting module (E) of the field planting part respectively.
6. An automated plant for field planting of plant sponge seedlings as claimed in claim 1 wherein: the field planting part comprises a field planting module (E), the field planting module (E) comprises a conveying belt (15) for conveying the field planting seedling trays (16) to advance for a specified distance to reach a specified field planting position, the field planting seedling trays (16), sponge seedling root positioning auxiliary nozzles (17) and a positioning device (14) for detecting whether the end effector (10) reaches the specified field planting position, the pair of positioning devices (14) are arranged on the side face of a portal frame (11) of an end effector module (C) for grabbing the root gathering part, the field planting seedling trays (16) are arranged on the conveying belt (15) and driven by the conveying belt (15) to transport, and the sponge seedling root positioning auxiliary nozzles (17) for spraying airflow or water flow downwards and towards the sponge seedling root are arranged above the side of each seedling planting hole on the field planting seedling trays (16) at the field planting position.
7. An automated plant for field planting of plant sponge seedlings as claimed in claim 6 wherein: the field planting position have two rows of planting holes, two rows of planting holes correspond respectively and receive and release two sets of end effectors on drive arrangement (9) of end effector, the quantity and the distribution of each planting hole in one row of planting hole keep unanimous with the quantity and the distribution of each end effector in a set of end effector, the quantity and the distribution of each planting hole in another row of planting hole keep unanimous with the quantity and the distribution of each end effector in another set of end effector, each planting hole in two rows of planting holes is adjacent staggered arrangement along horizontal transportation direction.
8. An automated plant for field planting of plant sponge seedlings as claimed in claim 4 wherein: the device comprises a structural support (100), a clamping system, a pressing-in rod (101) and a direct-acting power source (102);
a direct-acting power source (102) mounted on the structural support (100) and having a controllable stroke or at least two fixed stroke positions for driving the working movement of the end effector;
the clamping system is arranged on the structural support (100) and is connected with the output end of the direct-acting power source (102);
the clamping system comprises clamping jaws (103), wherein a direct-acting power source (102) is arranged at the upper part of a structural support (100), the root of the clamping jaws (103) is fixed at the lower end of the structural support (100), the upper section of the outer side surface of the clamping jaws (103) is an inclined surface, the lower section is a parallel surface parallel to the driving direction of the direct-acting power source (102), the output end of the direct-acting power source (102) movably passes through the structural support (100) and then rolls or is connected to the inclined surface of the clamping jaws (103) in a sliding manner, and meanwhile, the output end of the direct-acting power source (102) also movably passes through the center of the clamping jaws (103) and is fixedly connected with a pressing-in rod (101);
the pressing-in rod (101) is fixedly arranged on the clamping system and used for the fixation and active separation operation of the end effector on the sponge seedlings.
9. An automated plant for field planting of plant sponge seedlings as claimed in claim 8 wherein: the clamping system comprises clamping jaws (103), ejector rods (104), bearings (105) and elastic parts (106), wherein each clamping jaw (103) is provided with a plurality of claws, the outer side of each claw of each clamping jaw (103) is provided with one ejector rod (104), the number of the ejector rods (104) is consistent with that of the claws of each clamping jaw (103) and corresponds to that of the claws of each clamping jaw, one end of each ejector rod (104) is connected with the output end of a direct-acting power source (102) through a flange plate, the other end of each ejector rod (104) passes through the lower part of a structural support (100) and then is hinged with the corresponding bearing (105) at the end part, and the bearing (105) is connected onto the inclined surface/parallel surface of the corresponding claw on the clamping jaw (103) in a rolling manner; the lower part of the structure bracket (100) is fixedly provided with a supporting rod at the outer side of each claw of the clamping jaw (103), and the tail end of each claw of the clamping jaw (103) is connected with the tail end of the supporting rod through an elastic part (106) to realize the resetting of the clamping jaw.
10. An automated plant for field planting of plant sponge seedlings as claimed in claim 8 wherein: the direct-acting power source (102) adopts a double-stroke cylinder, and also comprises a gas circuit and a control system thereof, wherein the control system comprises a gas source, an electromagnetic valve and a throttle valve; the double-stroke cylinder sequentially comprises A, B, C air ports from the root part to the output rod, A, B, C air ports of the double-stroke cylinder are respectively connected with a throttle valve and an electromagnetic valve, and the electromagnetic valve and a gas source are connected;
The electromagnetic valve comprises a five-position two-way electromagnetic valve and a three-position two-way electromagnetic valve, wherein the air source is communicated with the P port of the five-position two-way electromagnetic valve, the B port of the five-position two-way electromagnetic valve is communicated with the A port of the double-stroke cylinder through a first exhaust throttle valve, the A port of the five-position two-way electromagnetic valve is communicated with the C port of the double-stroke cylinder through a second exhaust throttle valve, the air source is communicated with the P port of the three-position two-way electromagnetic valve, the A port of the three-position two-way electromagnetic valve is communicated with the B port of the double-stroke cylinder through an air inlet throttle valve, and the five-position two-way electromagnetic valve and the three-position two-way electromagnetic valve are communicated by a switch S 2 And controlling and connecting with a power supply to supply power.
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