CN214413467U

CN214413467U - Transplanting robot

Info

Publication number: CN214413467U
Application number: CN202022294763.5U
Authority: CN
Inventors: 黄美华; 黄俊超; 史熙; 肖茂华; 牛明珉; 柴超; 张亨通; 徐华进
Original assignee: Jiangsu Hualiang Machinery Co ltd
Current assignee: Jiangsu Hualiang Machinery Co ltd
Priority date: 2020-10-15
Filing date: 2020-10-15
Publication date: 2021-10-19
Anticipated expiration: 2030-10-15

Abstract

The utility model discloses a transplanting robot, be equipped with the furrow opener on the frame in proper order, the dish is broadcast in the gyration, earth-covering device and press wheel, it has a set of lower part hinge to link to have a broadcast section of thick bamboo of normally closed broadcast mouth to articulate on the dish is broadcast in the gyration, it opens the lug to be equipped with broadcast mouth on the frame, it has the seedling section of thick bamboo that connects of alms bowl seedling baffle to have the bottom hinge to link on the seedling section of thick bamboo extension board on the frame, it links to each other with seedling section of thick bamboo drive motor on the chain of seedling section of thick bamboo drive chain to connect a seedling section of thick bamboo, it has a alms bowl seedling baffle via hole corresponding with broadcast section of thick bamboo hole to open on seedling section of thick bamboo extension board, be equipped with the alms bowl seedling conveyer belt of taking horizontal spacer above connecing seedling section of thick bamboo side, be equipped with fore-and aft division board above alms bowl seedling conveyer belt, the lower extreme of alms bowl seedling conveyer belt is adjacent with a seedling section of thick bamboo, frame speed sensor and each drive motor that are equipped with control system electric connection on the frame. The transplanting robot can automatically complete the operation processes of transplanting soil from pot seedling conveying to the pot seedling, digging to soil covering and pressing from the pot seedling hole, and can also ensure that the plant spacing of crops is adjustable.

Description

Transplanting robot

Technical Field

The utility model relates to an agricultural machine especially relates to a alms bowl seedling transplanting machine.

Background

In order to ensure the full-seedling rate of crop planting and the consistent growth and maturity of crops, reduce the seedling raising period and improve the multiple cropping index and economic benefit, the seedling raising mode by adopting the seedling pot is widely applied. The crop seedlings grown in the seedling pots need to be transplanted to a field, seedling transplanting operation processes generally need to adopt a seedling transplanting instrument to dig out pot seedling holes in the field, the grown pot seedlings are placed in the pot seedling holes, and then the peripheries of the pot seedlings are covered with soil and compacted.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a transplanting robot is provided to the aforesaid that exists to prior art is not enough, it can not only realize the mechanized transplantation of alms bowl seedling, enables moreover to carry the transplanting of alms bowl seedling to bury and from the excavation in alms bowl seedling cave to the whole automatic accomplishments of earthing, suppression, can also guarantee that the crop plant spacing is adjustable.

In order to solve the technical problem, the transplanting robot of the utility model comprises a frame with walking wheels, a transplanting assembly is arranged at the bottom of the frame, the transplanting assembly comprises a furrow opener, a soil covering device and a press wheel which are sequentially arranged on the frame from front to back, a rotary sowing disc is arranged on the frame and is in transmission connection with a sowing disc motor, the rotary sowing disc is positioned between the furrow opener and the soil covering device, and a pot seedling channel is reserved in the middle of the press wheel; a multicast cylinder is movably hinged on the rotary sowing plate along the circumferential direction in an evenly distributed manner, two opposite sowing nozzles are hinged at the lower part of the sowing cylinder, a sowing nozzle closing spring is connected between the two sowing nozzles, a sowing nozzle opening lug is arranged on the frame, and the mounting position of the sowing nozzle opening lug corresponds to the sowing nozzle on a sowing cylinder at the lowest part of the rotary sowing plate; a pot seedling delivery device is arranged above the rotary seeding plate and comprises seedling receiving cylinders, the seedling receiving cylinders are fixedly connected to chain pieces of a seedling cylinder transmission chain, the seedling cylinder transmission chain is connected with a seedling cylinder transmission motor through a chain wheel, pot seedling baffles are hinged in lower end openings of the seedling receiving cylinders, each seedling receiving cylinder is supported on a seedling cylinder support plate, the seedling cylinder support plate is fixedly connected with the frame, a pot seedling baffle through hole is formed in the seedling cylinder support plate, and the position of the pot seedling baffle through hole corresponds to an inner hole of the seeding cylinder right above the rotary seeding plate; a pot seedling conveying frame is arranged above the side of the pot seedling delivery device, a pot seedling conveying belt is arranged on the pot seedling conveying frame and is in transmission connection with a pot seedling conveying motor, a transverse partition sheet is arranged on the pot seedling conveying belt, a partition plate perpendicular to the transverse partition sheet is arranged on the pot seedling conveying frame, the pot seedling conveying belt and the partition plate above the pot seedling conveying belt are obliquely arranged, the lower end of the obliquely arranged pot seedling conveying belt is adjacent to a seedling receiving cylinder, the distance between the partition plates is the same as that of the seedling receiving cylinder, and a channel between the adjacent partition plates is opposite to a hole of the seedling receiving cylinder; the frame is provided with a frame speed sensor, and the frame speed sensor, the sowing disc motor, the seedling cylinder transmission motor and the pot seedling conveying motor are all electrically connected with the control system.

In the structure, as the transplanting assembly is arranged at the bottom of the frame and comprises the furrow opener, the soil covering device and the press wheel which are arranged on the frame in sequence from front to back, the rotary seeding disc is arranged on the frame, the rotary sowing disk is in transmission connection with a sowing disk motor, the rotary sowing disk is positioned between the furrow opener and the soil covering device, the middle part of the press wheel is provided with a pot seedling channel, a furrow opener arranged on the vehicle frame can open furrow-shaped pot seedling holes on the surface of a large field in the process of traveling along with the vehicle frame, the rotary sowing disc can plant the pot seedlings into the furrow-shaped pot seedling holes one by one under the driving of a sowing disc motor, the soil covering device can backfill soil dug by the furrow opener into the furrow-shaped pot seedling holes to ensure that the pot seedlings are stably transplanted in the large field in time, and then the two sides of the pot seedlings are compacted by the press wheel with the pot seedling channel left in the middle part, so that the operation processes from the excavation of the pot seedling hole to the planting of the pot seedling to the earthing and pressing can be automatically completed.

The rotary seeding tray is movably hinged with a multicast cylinder along the circumferential direction in an evenly distributed manner, the lower part of the seeding cylinder is hinged with two oppositely arranged seeding nozzles, a seeding nozzle closing spring is connected between the two seeding nozzles, a seeding nozzle opening lug is arranged on the vehicle frame, the mounting position of the seeding nozzle opening lug corresponds to the seeding nozzle on the lowest seeding cylinder of the rotary seeding tray, the rotary seeding tray plants the pot seedlings through the seeding cylinder, the seeding cylinder movably hinged on the rotary seeding tray keeps a vertical state under the action of gravity, the pot seedlings are positioned in the seeding cylinder, the seeding nozzle on the lower part of the seeding cylinder keeps a normally closed state under the action of the seeding nozzle closing spring before the seeding cylinder reaches the lowest position, when the seeding cylinder reaches the lowest position, the seeding nozzle hinged below the seeding cylinder overcomes the action of the seeding nozzle closing spring under the action of the seeding nozzle opening lug to open, so that the pot seedlings in the seeding nozzle fall and plant into a ditch-shaped seedling hole opened by the furrow opener, thereby automatically completing the transplanting and soil-entering of the pot seedlings.

And because the pot seedling delivery device is arranged above the rotary seeding plate and comprises seedling receiving cylinders which are fixedly connected with chain plates of a seedling cylinder transmission chain, the seedling cylinder transmission chain is connected with a seedling cylinder transmission motor through a chain wheel, pot seedling baffles are hinged in lower ports of the seedling receiving cylinders, each seedling receiving cylinder is supported on a seedling cylinder support plate which is fixedly connected with the frame, pot seedling baffle through holes are formed in the seedling cylinder support plates, the positions of the pot seedling baffle through holes correspond to the inner holes of the uppermost seeding cylinder of the rotary seeding plate, pot seedlings enter the seeding cylinders on the rotary seeding plate through the pot seedling delivery device, the empty seeding cylinders move to the uppermost part of the rotary seeding plate one by one along with the rotation of the rotary seeding plate, the seedling receiving cylinders carrying the pot seedlings also move to the positions of the seedling baffle through holes on the seedling cylinder support plates one by one, and then the seedling receiving cylinders hinged at the lower ports of the seedling receiving cylinders lose the supports and turn over, the pot seedlings in the seedling receiving cylinder fall under the action of self weight and enter the sowing cylinder, so that the operation of delivering the pot seedlings is automatically completed.

Then because a pot seedling conveying frame is arranged above the side of the pot seedling delivery device, a pot seedling conveying belt is arranged on the pot seedling conveying frame and is in transmission connection with a pot seedling conveying motor, a transverse separation plate is arranged on the pot seedling conveying belt, a separation plate vertical to the transverse separation plate is arranged on the pot seedling conveying frame, the pot seedling conveying belt and the separation plate above the pot seedling conveying belt are obliquely arranged, the lower end of the obliquely arranged pot seedling conveying belt is adjacent to the pot seedling receiving cylinder, the distance between the separation plates is the same as that of the pot seedling receiving cylinder, a channel between the adjacent separation plates is opposite to the hole of the pot seedling receiving cylinder, the pot seedlings to be transplanted are conveyed into the pot seedling receiving cylinder through the pot seedling conveying belt, the transverse separation plate on the pot seedling conveying belt and the separation plate arranged on the pot seedling conveying frame form a plurality of pot seedling bearing grids, the pot seedlings to be transplanted are positioned in the pot seedling bearing grids and are conveyed row by row along with the operation of the obliquely arranged pot seedling conveying belt, and when the seedling receiving cylinders carrying the pot seedlings move one by one to the through hole position of the pot seedling baffle and each empty seedling receiving cylinder moves to the corresponding position of the pot seedling conveying chain, the pot seedling conveying belt operates again to convey the pot seedlings in the next row of the pot seedling bearing grids into the seedling receiving cylinders, so that the conveying of the pot seedlings is automatically finished.

Furthermore, the frame is provided with the frame speed sensor, and the frame speed sensor, the seeding tray motor, the seedling cylinder transmission motor and the pot seedling conveying motor are electrically connected with the control system, so that the control system uniformly regulates and controls the running speeds and running beats of the seeding tray motor, the seedling cylinder transmission motor and the pot seedling conveying motor, ensures that all moving parts run coordinately and stably, and ensures that the pot seedling conveying and the pot seedling feeding can meet the pot seedling transplanting rhythm of the rotary seeding tray; the frame speed sensor can detect the running speed of the frame, and the control system can regulate and control the running rotating speed of the carousel according to the detected running speed of the frame, so that the adjustment of the plant spacing of the crops can be conveniently realized.

The utility model discloses a preferred embodiment the carousel is gone up along the activity hinge of circumference equipartition ground has a set of quantity to be the broadcast section of thick bamboo of even number. By adopting the embodiment, when one sowing cylinder is positioned at the lowest part of the rotary sowing disc and is positioned at the transplanting and soil-entering station, the other sowing cylinder can be positioned at the highest position of the rotary sowing disc and is positioned at the station for receiving the pot seedlings, so that the working efficiency can be improved, and the coordination control of each movement mechanism is facilitated.

The utility model discloses a another kind of preferred embodiment, broadcast mouth closed spring is the extension spring, and this extension spring is located the articulated department below of broadcasting the mouth, broadcast the mouth and open the mounted position of lug and broadcast the mouth phase correspondence above the articulated department of broadcasting the mouth. By adopting the embodiment, the sowing nozzle is reliable in closing and convenient to open.

In another preferred embodiment of the present invention, the pot seedling conveyer belt is a rubber conveyer belt or a mesh chain conveyer belt. By adopting the embodiment, the rubber conveyer belt or the net chain type conveyer belt can bear the pot seedlings and is provided with the transverse partition sheets, and the use requirements of pot seedling conveying can be met.

The utility model discloses further preferred embodiment the lower extreme of alms bowl seedling conveyer belt and connect the alms bowl seedling slide that is equipped with the slope setting between the seedling section of thick bamboo, the lower border and the division board lower extreme of alms bowl seedling slide extend to the drill way that connects a seedling section of thick bamboo. By adopting the embodiment, the pot seedlings can be conveniently conveyed to the hole opening of the seedling receiving cylinder without intervals through the pot seedling sliding plate, and the smooth conveying of the pot seedlings is ensured.

The utility model discloses another further preferred embodiment, the press wheel is formed by controlling the combination of two halves press wheel, constitutes alms bowl seedling passageway between the two halves press wheel about. By adopting the embodiment, the pot seedling channel formed by the left and right two halves of the press wheels has higher channel space, the width of the pot seedling channel is convenient to adjust, and the application range is wide.

In a further preferred embodiment of the present invention, two transplanting assemblies are provided side by side about the bottom of the frame. By adopting the implementation mode, the transplanting of two lines of crops can be completed simultaneously by one-time operation, and the working efficiency is higher.

The utility model discloses further preferred embodiment, frame speed sensor is including installing proximity switch on the frame and installing the epaxial toothed wheel dish of installation of walking wheel. With this embodiment, the operating speed of the running gear can be determined simply by detecting the rotational speed of the road wheels.

In another preferred embodiment of the present invention, the tray-sowing motor, the seedling cylinder transmission motor and the pot seedling conveying motor all adopt a stepping motor or a servo motor. By adopting the embodiment, the control of the movement speed and the rotation angle of the stepping motor or the servo motor is convenient and accurate, and the movement requirements of the tray sowing motor, the seedling cylinder transmission motor and the pot seedling conveying motor can be well met.

In a still further preferred embodiment of the present invention, a pot seedling tray shelf is provided on the frame. By adopting the embodiment, a sufficient number of pot seedling trays can be placed through the pot seedling tray shelf, and the requirement of the transplanting operation of the body seedlings is met.

Drawings

The following provides a detailed description of the transfer robot of the present invention with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural view of a specific embodiment of the transplanting robot of the present invention;

FIG. 2 is a top view of the structure shown in FIG. 1;

FIG. 3 is an enlarged sectional view taken along line A-A of the structure of FIG. 1;

FIG. 4 is a schematic structural view of a pot seedling delivery device of the structure shown in FIG. 1;

FIG. 5 is a cross-sectional view taken at B-B of the structure shown in FIG. 4;

FIG. 6 is a transverse cross-sectional view of the structures of the seedling transport rack and seedling delivery device of FIG. 1;

fig. 7 is a view of the related components of the pot seedling conveying rack in the structure shown in fig. 6 in the direction of C.

In the figure: 1-control system, 2-traveling wheel, 3-furrow opener, 4-pot seedling delivery device, 5-rotary sowing tray, 6-pot seedling conveying motor, 7-sowing tray motor, 8-sowing cylinder, 9-pot seedling conveying frame, 10-pot seedling conveying belt, 11-transverse partition sheet, 12-partition plate, 13-pot seedling sliding plate, 14-seedling cylinder support plate, 15-seedling cylinder transmission motor, 16-frame, 17-soil covering device, 18-press wheel, 19-pot seedling tray shelf, 20-frame speed sensor, 21-seedling cylinder transmission chain, 22-seedling receiving cylinder, 23-chain wheel, 24-pot seedling channel, 25-sowing nozzle opening lug, 26-sowing nozzle, 27-hinge joint, 28-sowing nozzle closing spring, 29-pot seedling baffle through hole, 29-seedling baffle through hole, 30-pot seedling baffle.

Detailed Description

In the transplanting robot shown in fig. 1 and 2, the frame 16 is a flat plate-shaped member, the traveling wheels 2 are mounted on the bottom of the frame 16 via traveling wheel shafts rotatably supported, and the frame 16 is moved by a tractor. The bottom of the frame 16 is provided with a transplanting assembly, in order to improve the working efficiency, the bottom of the frame 16 is provided with two transplanting assemblies side by side at the left and right sides, certainly more than two groups of transplanting assemblies can be arranged, the transplanting assemblies comprise a furrow opener 3, a soil covering device 17 and a press wheel 18 which are sequentially arranged on the frame 16 from front to back, wherein a pot seedling channel 24 is reserved in the middle of the press wheel 18, as a preferred embodiment, the press wheel 18 is formed by combining a left press wheel half and a right press wheel half, the pot seedling channel 24 is formed between the left press wheel half and the right press wheel half, and the left press wheel half and the right press wheel half are rotatably supported on the frame 16; the rear part of the frame 16 is provided with a plurality of layers of seedling tray shelves 19.

A rotary sowing plate 5 is arranged on the frame 16, the rotary sowing plate 5 is rotatably supported on the frame 16 through a rotating shaft and a bearing seat, the rotary sowing plate 5 is in transmission connection with a sowing plate motor 7 and is driven to rotate by the sowing plate motor 7, and the rotary sowing plate 5 is positioned between the furrow opener 3 and the soil covering device 17; a plurality of seeding cylinders 8 are movably hinged on the surface of one side of the rotary seeding plate 5 along the circumferential direction in an evenly distributed manner, the number of the seeding cylinders 8 in one group of the seeding cylinders 8 is preferably even, the plane of the axis of each seeding cylinder 8 is positioned on the symmetrical plane of the side walls of the left and right grooves of the groove opened by the furrow opener 3, referring to fig. 3, two seeding nozzles 26 which are oppositely arranged are hinged on the lower part of the seeding cylinder 8, a seeding nozzle closing spring 28 is connected between the two seeding nozzles 26, a seeding nozzle opening lug 25 is arranged on the frame 16, the mounting position of the nozzle opening projection 25 corresponds to the position of the nozzle 26 on the lowermost one of the spindles 8 of the carousel 5, the nozzle closing spring 28 is preferably a tension spring, the tension spring is positioned below the hinged joint 27 of the sowing nozzles 26 and outside the two sowing nozzles 26, the sowing nozzle opening lug 25 is convex in a circular arc shape, the mounting position of the two-piece sowing nozzle opening projection corresponds to the sowing nozzle position above the hinged part 27 of the sowing nozzle 26, and the two-piece sowing nozzle opening projection 25 is respectively arranged at the left side and the right side of the sowing cylinder 8 so as to correspond to the two-piece sowing nozzle 25.

A pot seedling delivery device 4 is arranged above the rotary seeding tray 5, the pot seedling delivery device 4 comprises a vertically arranged seedling receiving cylinder 22, referring to fig. 4 and 5, the seedling receiving cylinder 22 is fixedly connected to a chain piece of a horizontally arranged seedling cylinder transmission chain 21, the seedling cylinder transmission chain 21 is connected with a seedling cylinder transmission motor 15 through a chain wheel 23, the seedling cylinder transmission motor 15 drives the seedling receiving cylinders 22 to shift one by one through the chain wheel 23 and the seedling cylinder transmission chain 21, pot seedling baffles 30 are hinged in the lower end openings of the seedling receiving cylinders 22, each seedling receiving cylinder 22 is supported on a seedling cylinder support plate 14, the seedling cylinder support plate 14 is fixedly connected with a vehicle frame 16, a pot seedling baffle through hole 29 is formed in the seedling cylinder support plate 14, and the position of the pot seedling baffle through hole 29 corresponds to the inner hole of the seeding cylinder 8 right above the rotary seeding tray 5.

A pot seedling conveying frame 9 is arranged above the side of the pot seedling delivery device 4, referring to fig. 6 and 7, a pot seedling conveying belt 10 is arranged on the pot seedling conveying frame 9, the pot seedling conveying belt 10 is a rubber conveying belt or a mesh chain type conveying belt, the pot seedling conveying belt 10 is tensioned through two belt wheel shafts and is in transmission connection with a pot seedling conveying motor 6 through the belt wheel shafts, a transverse partition plate 11 is arranged on the pot seedling conveying belt 10, a partition plate 12 vertical to the transverse partition plate 11 is arranged on the pot seedling conveying frame 9, the transverse partition plate 11 and the partition plate 12 form a plurality of pot seedling bearing grids, the pot seedling conveying belt 10 and the partition plate 12 above the pot seedling conveying belt 10 are obliquely arranged, the lower end of the obliquely arranged pot seedling conveying belt 10 is adjacent to a seedling receiving cylinder 22, an obliquely arranged pot seedling sliding plate 13 is arranged between the lower end of the pot seedling conveying belt 10 and the seedling receiving cylinder 22, the lower edge of the pot seedling sliding plate 13 and the lower end of the partition plate 12 extend to an orifice of the seedling receiving cylinder 22, the space between the adjacent partition plates 12 is the same as the space between the adjacent seedling cylinders 22, the channel between the adjacent partition plates 12 is opposite to the hole openings of the seedling receiving cylinders 22, the pot seedling conveying motor 6 drives the pot seedling conveying belt 10 to operate intermittently, the stroke of driving the pot seedling conveying belt 10 to operate in each operation is the distance between the two adjacent transverse partition plates 11 so as to output a row of pot seedlings, and the output pot seedlings fall into the holes of the seedling receiving cylinders 22 along the pot seedling sliding plates 13 under the limiting guidance of the partition plates.

A frame speed sensor 20 is arranged on the frame 16, and the frame speed sensor 20 preferably comprises a proximity switch arranged on the frame 16 and a toothed wheel disc arranged on a mounting shaft of the travelling wheel 2; the frame speed sensor 20, the seeding disc motor 7, the seedling cylinder transmission motor 15 and the pot seedling conveying motor 6 are all electrically connected with the control system 1, and the seeding disc motor 7, the seedling cylinder transmission motor 15 and the pot seedling conveying motor 6 all adopt stepping motors or servo motors.

The above description has been presented only for the purpose of illustrating certain preferred embodiments of the invention, and it is not to be taken as a limitation on the invention, as many modifications and variations are possible. Any improvement and change made on the basis of the basic principle of the present invention should be considered as falling within the protection scope of the present invention.

Claims

1. A transplanting robot, includes frame (16) that has walking wheel (2), its characterized in that: the transplanting assembly is arranged at the bottom of the frame (16) and comprises a furrow opener (3), a soil covering device (17) and a press wheel (18) which are sequentially arranged on the frame (16) from front to back, a rotary sowing disc (5) is arranged on the frame (16), the rotary sowing disc (5) is in transmission connection with a sowing disc motor (7), the rotary sowing disc (5) is positioned between the furrow opener (3) and the soil covering device (17), and a pot seedling channel (24) is reserved in the middle of the press wheel (18); a multicast cylinder (8) is movably hinged on the rotary sowing disc (5) along the circumferential direction in an evenly distributed manner, two opposite sowing nozzles (26) are hinged at the lower part of the sowing cylinder (8), a sowing nozzle closing spring (28) is connected between the two sowing nozzles (26), a sowing nozzle opening lug (25) is arranged on the frame (16), and the installation position of the sowing nozzle opening lug (25) corresponds to the sowing nozzle (26) on the sowing cylinder (8) at the lowest part of the rotary sowing disc (5); a pot seedling delivery device (4) is arranged above the rotary seeding tray (5), the pot seedling delivery device (4) comprises seedling receiving cylinders (22), the seedling receiving cylinders (22) are fixedly connected to chain pieces of seedling cylinder transmission chains (21), the seedling cylinder transmission chains (21) are connected with seedling cylinder transmission motors (15) through chain wheels (23), pot seedling baffles (30) are hinged in lower end openings of the seedling receiving cylinders (22), each seedling receiving cylinder (22) is supported on a seedling cylinder support plate (14), the seedling cylinder support plates (14) are fixedly connected with a frame (16), pot seedling baffle through holes (29) are formed in the seedling cylinder support plates (14), and the positions of the pot seedling baffle through holes (29) correspond to inner holes of seeding cylinders (8) right above the rotary seeding tray (5); a pot seedling conveying frame (9) is arranged above the side of the pot seedling delivery device (4), a pot seedling conveying belt (10) is arranged on the pot seedling conveying frame (9), the pot seedling conveying belt (10) is in transmission connection with a pot seedling conveying motor (6), a transverse partition sheet (11) is arranged on the pot seedling conveying belt (10), partition plates (12) perpendicular to the transverse partition sheet (11) are arranged on the pot seedling conveying frame (9), the pot seedling conveying belt (10) and the partition plates (12) above the pot seedling conveying belt are obliquely arranged, the lower ends of the obliquely arranged pot seedling conveying belt (10) are adjacent to seedling receiving cylinders (22), the intervals of the partition plates (12) are the same as those of the seedling receiving cylinders (22), and channels between the adjacent partition plates (12) are opposite to orifices of the seedling receiving cylinders (22); the frame (16) is provided with a frame speed sensor (20), and the frame speed sensor (20), the sowing tray motor (7), the seedling cylinder transmission motor (15) and the pot seedling conveying motor (6) are all electrically connected with the control system (1).

2. The transfer robot of claim 1, wherein: a group of even-numbered sowing cylinders (8) are movably hinged on the rotary sowing disc (5) in an evenly distributed manner along the circumferential direction.

3. The transfer robot of claim 1, wherein: the seeding mouth closing spring (28) is a tension spring, the tension spring is positioned below a hinged part (27) of the seeding mouth (26), and the mounting position of the seeding mouth opening convex block (25) corresponds to the seeding mouth position above the hinged part (27) of the seeding mouth (26).

4. The transfer robot of claim 1, wherein: the pot seedling conveying belt (10) is a rubber conveying belt or a net chain type conveying belt.

5. The transfer robot of claim 1, wherein: a pot seedling sliding plate (13) which is obliquely arranged is arranged between the lower end of the pot seedling conveying belt (10) and the seedling receiving cylinder (22), and the lower edge of the pot seedling sliding plate (13) and the lower end of the partition plate (12) extend to the orifice of the seedling receiving cylinder (22).

6. The transfer robot of claim 1, wherein: the press wheel (18) is formed by combining a left press wheel and a right press wheel, and a pot seedling channel (24) is formed between the left press wheel and the right press wheel.

7. The transfer robot of claim 1, wherein: two transplanting assemblies are arranged on the left side and the right side of the bottom of the frame (16) in parallel.

8. The transfer robot of claim 1, wherein: the frame speed sensor (20) comprises a proximity switch installed on the frame (16) and a toothed wheel disc installed on an installation shaft of the travelling wheel (2).

9. The transfer robot of claim 1, wherein: the seeding disc motor (7), the seedling cylinder transmission motor (15) and the pot seedling conveying motor (6) are all stepping motors or servo motors.

10. The transfer robot of claim 1, wherein: a pot seedling tray shelf (19) is arranged on the frame (16).