CN217020395U - Transplanting robot - Google Patents
Transplanting robot Download PDFInfo
- Publication number
- CN217020395U CN217020395U CN202220447375.2U CN202220447375U CN217020395U CN 217020395 U CN217020395 U CN 217020395U CN 202220447375 U CN202220447375 U CN 202220447375U CN 217020395 U CN217020395 U CN 217020395U
- Authority
- CN
- China
- Prior art keywords
- seedling
- arranging
- control unit
- control
- push rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Transplanting Machines (AREA)
Abstract
The present invention relates to a transplanting robot, comprising: the seedling arranging device comprises a support frame, a traveling mechanism, a seedling arranging mechanism and a control unit; the walking mechanism is fixed with the supporting legs of the supporting frame, and the seedling discharging mechanism is fixed with the cross beam of the supporting frame; the control end of the traveling mechanism is electrically connected with the first control end of the control unit, and the control end of the seedling discharging mechanism is electrically connected with the second control end of the control unit; the walking mechanism can drive the support frame to move under the control of the control unit, and the seedling discharging mechanism can discharge seedlings under the control of the control unit. This application embodiment drives row's seedling mechanism that is located on the support frame through running gear and removes to arrange the seedling through row's seedling mechanism is automatic, realize arranging the seedling to different positions is automatic, need not the manual work and transplant the seedling, easy operation, convenient to use transplants work efficiency height.
Description
Technical Field
The application relates to the technical field of agricultural automation, in particular to a transplanting robot.
Background
The crop planting mode comprises direct seeding and seedling transplanting. In the existing seedling transplantation, crop seeds are intensively cultured in a plug tray in a sowing season, and when the seedlings grow to a certain degree, the seedlings are transplanted to a field for growth. The technology for seedling raising and transplanting by using the plug tray has the advantages of high germination rate, neat seedling plants, less plant diseases and insect pests, short growth period, no limitation of seasons, convenient mechanized operation, and incomparable superiority with direct seeding, and is generally applied in the market at present.
The existing scheme has the following defects: transplanting is a very simple operation, but also a delicate and time-consuming task. The manual transplanting is carried out, a large amount of manual work is needed, time is consumed, the efficiency is low only when the average speed of manual transplanting is 800-1000 plants per hour, continuous work can cause people fatigue, the high efficiency is difficult to keep for a long time, and the transplanting survival rate is low.
SUMMERY OF THE UTILITY MODEL
In order to solve the above technical problems, or at least partially solve the above technical problems, the present application provides a transplanting robot.
The application provides a transplanting robot, includes: the seedling discharging device comprises a support frame, a traveling mechanism, a seedling discharging mechanism and a control unit;
the walking mechanism is fixed with the supporting legs of the supporting frame, and the seedling discharging mechanism is fixed with the cross beam of the supporting frame;
the control end of the traveling mechanism is electrically connected with the first control end of the control unit, and the control end of the seedling discharging mechanism is electrically connected with the second control end of the control unit;
the walking mechanism can drive the support frame to move under the control of the control unit, and the seedling discharging mechanism can discharge seedlings under the control of the control unit.
Optionally, the seedling arranging mechanism comprises: the seedling arranging tray, the electric push rod and at least one seedling arranging device;
the main body of the electric push rod and the seedling arranging disc are respectively fixed with a cross beam of the supporting frame, and the movable end of the electric push rod can move up and down;
the seedling arranging disc is provided with at least one through hole, and a seedling arranging device is arranged in the through hole;
the electric push rod can apply downward thrust to the top end of the seedling discharger through downward movement under the control of the control unit, or alternatively, does not apply downward thrust to the top end of the seedling discharger through upward movement.
Optionally, the seedling arranging mechanism further comprises: rotating the motor;
the main body of the rotating motor is fixed with a cross beam of the supporting frame, and a rotating shaft of the rotating motor is fixed with the center of the seedling arranging disc;
the rotating motor can drive the seedling discharging disc to rotate under the control of the control unit.
Optionally, the main body of the rotating motor is fixed to the middle of the cross beam of the support frame.
Optionally, included angles between any two adjacent through holes on the seedling discharging tray and the circle center are equal, and the included angles are equal to the distance between centers of the seedling discharging trays.
Optionally, a horizontal distance between a rotating shaft of the rotating motor and the movable end of the electric push rod is equal to a distance between the through hole of the seedling tray and the center of the seedling tray.
Optionally, the seedling discharger comprises: a seedling arranging body, an air spring and a seedling taking claw;
the top end of the seedling placing body is provided with a platform extending outwards to receive the thrust of the movable end of the electric push rod and the rebound force of the air spring, and the side wall of the seedling placing body is provided with at least two sliding grooves;
the air spring is arranged between the bottom surface of the seedling placing body platform and the seedling arranging disc;
the upper half part of the seedling taking claw is arranged outside the seedling arranging body, the seedling taking claw comprises at least two claw needles, and each claw needle penetrates through the corresponding sliding groove and bends towards the inside of the seedling arranging body;
the seedling placing body moves downwards under the action of the pushing force of the movable end of the electric push rod and extrudes the air spring to shrink, and the claw needle of the seedling taking claw is pushed to be opened along the upper edge of the sliding groove when the sliding groove moves downwards;
when the seedling placing body is not under the action of the thrust of the movable end of the electric push rod, the seedling placing body moves upwards under the action of the restoring force of the air spring, and the lower edge of the sliding groove pushes the claw needle of the seedling taking claw to contract inwards when the sliding groove moves upwards.
Optionally, the seedling discharger further comprises: a fixing member;
the fixing piece is arranged on the seedling arranging disc and used for fixing the seedling taking claw.
Optionally, the running gear comprises: the Mecanum wheel, the Mecanum wheel driving motor and the Mecanum wheel motor driver;
an output shaft of the Mecanum wheel driving motor is fixed with the center of the Mecanum wheel so as to drive the Mecanum wheel to rotate, an input end of the Mecanum wheel motor driver is electrically connected with an output end of the control unit, and an output end of the Mecanum wheel motor driver is electrically connected with an input end of the Mecanum wheel driving motor.
Optionally, the transplanting robot further comprises: and the gyroscope, the laser ranging sensor, the ultrasonic sensor and the photoelectric switch are respectively electrically connected with the control unit.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
this application embodiment drives row's seedling mechanism that is located on the support frame through running gear and removes to arrange the seedling through row's seedling mechanism is automatic, realize arranging the seedling to different positions is automatic, need not the manual work and transplant the seedling, easy operation, convenient to use transplants work efficiency height.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a structural diagram of a transplanting robot provided in an embodiment of the present application;
FIG. 2 is a structural diagram of an electric pushing rod, a seedling discharger and a seedling tray provided by an embodiment of the present application;
FIG. 3 is a block diagram of an electric pushing rod and a seedling discharger provided in the embodiments of the present application;
fig. 4 is a structural diagram of a seedling taking claw provided in the embodiment of the present application;
FIG. 5 is a cross-sectional view of an electric push rod and a seedling discharger provided in an embodiment of the present application in a clamping state of a seedling taking claw;
fig. 6 is a cross-sectional view of an electric push rod and a seedling discharger provided by the embodiment of the application in an open state of a seedling taking claw.
The seedling planting machine comprises a support frame 1, a support frame 2, a traveling mechanism 3, a seedling arranging mechanism 4, a seedling arranging disc 5, an electric push rod 6, a seedling arranging device 7, a rotating motor 8, a seedling arranging body 9, an air spring 10, a seedling taking claw 11, a fixing piece 12, a Mecanum wheel 13 and a sliding groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Because the manual transplanting is carried out at present, a large amount of manual work is needed, time is consumed, the efficiency is low only when the average speed of the manual transplanting is 800-1000 plants per hour, the continuous work can cause people fatigue, the high efficiency is difficult to keep for a long time, the transplanting survival rate is low, and the like. Therefore, the transplanting robot provided by the utility model can realize automatic seedling arrangement at different positions, does not need manual seedling transplanting, and is simple in operation, convenient to use and high in transplanting work efficiency.
As shown in fig. 1, the transplanting robot includes: a support frame 1, a traveling mechanism 2, a seedling discharging mechanism 3 and a control unit (not shown in the figure); the support frame 1 is used for supporting the seedling discharging mechanism 3 and the control unit, the seedling discharging mechanism 3 and the control unit are arranged at a certain distance from the ground, the traveling mechanism 2 is used for driving the support frame 1 and the seedling discharging mechanism 3 and the control unit on the support frame 1 to move, the seedling discharging mechanism 3 is used for discharging seedlings to a specified position (the current position of the seedling discharging mechanism 3), and the control unit is used for controlling the traveling mechanism 2 and the seedling discharging mechanism 3.
The running mechanism 2 is fixed with the supporting legs of the supporting frame 1, so that the Mecanum wheels 12 of the running mechanism 2 can drive the supporting frame 1 to move when rotating.
The control end of the traveling mechanism 2 is electrically connected with the first control end of the control unit, in practical application, the control unit can send a first control signal to the control end of the traveling mechanism 2 through the first control end, and the traveling mechanism 2 receives the first control signal and can control the mecanum wheel 12 to rotate according to the first control signal.
The control end of the seedling discharging mechanism 3 is electrically connected with the second control end of the control unit, the control unit can send a second control signal to the control end of the seedling discharging mechanism 3 through the second control end, and the seedling discharging mechanism 3 can control the electric push rod 5 and/or the rotating motor 7 to rotate according to the second control signal after receiving the second control signal;
the walking mechanism 2 can drive the support frame 1 to move under the control of the control unit, and the seedling discharging mechanism 3 can discharge seedlings under the control of the control unit.
This application embodiment is located 3 removals of row's seedling mechanism on the support frame 1 through the 2 drive of running gear to arrange the seedling through arranging 3 automation of seedling mechanism, realize arranging the seedling to different positions automatically, need not the manual work and transplant the seedling, easy operation, convenient to use transplants work efficiency height.
In another embodiment of the present application, the seedling arranging mechanism 3 includes: the seedling arranging tray 4, the electric push rod 5 and at least one seedling arranging device 6; wherein the seedling tray 4 is used for accommodating a seedling discharger 6, the electric push rod 5 is used for applying downward pushing force to the seedling discharger 6, and the seedling discharger 6 is used for clamping or releasing seedlings.
The main body of the electric push rod 5 and the seedling arranging disc 4 are respectively fixed with a cross beam of the support frame 1, exemplarily, the main body of the electric push rod 5 can be fixed with the cross beam of the support frame 1 through an angle code frame, the seedling arranging disc 4 can be directly fixed with the cross beam of the support frame 1 or fixed with the cross beam of the support frame 1 through other components, a movable end of the electric push rod 5 can move up and down, exemplarily, the electric push rod 5 can comprise a motor, a lead screw nut and a lead screw, a rotating shaft of the motor drives the lead screw nut to rotate clockwise so as to drive an end part of the lead screw (i.e. a movable end of the electric push rod 5) to move down, the rotating shaft of the motor drives the lead screw nut to rotate counterclockwise so as to drive the end part of the lead screw (i.e. the movable end of the electric push rod 5) to move up;
the seedling arranging disc 4 is provided with at least one through hole, and a seedling arranging device 6 is arranged in the through hole;
the electric push rod 5 can apply downward thrust to the top end of the seedling discharger 6 through downward movement under the control of the control unit, or can not apply downward thrust to the top end of the seedling discharger 6 through upward movement.
In the embodiment of the utility model, thrust or no thrust can be applied to the seedling discharger 6 in the seedling discharging tray 4 through the electric push rod 5, so that the seedling discharger 6 releases or clamps the seedlings, the seedlings are not required to be manually taken out and inserted into the seedlings, the seedling transplanting automation is realized, the operation is simple, the use is convenient, and the seedling transplanting efficiency is improved.
In another embodiment of the present application, the seedling arranging mechanism 3 further includes: the rotating motor 7 is used for driving the seedling discharging disc 4 to rotate when the rotating shaft rotates;
the main body of the rotating motor 7 is fixed with the cross beam of the support frame 1, and the rotating shaft of the rotating motor 7 is fixed with the center of the seedling arranging disc 4;
the rotating motor 7 can drive the seedling arranging disc 4 to rotate under the control of the control unit.
The rotating motor 7 of the embodiment of the utility model drives the seedling arranging plate 4 to rotate, so as to realize continuous seedling arrangement, for example, the seedling arranging plate 4 can rotate by a corresponding angle while the walking mechanism 2 drives the seedling arranging mechanism 3 to walk for a certain distance.
In a further embodiment of the present application, the body of the rotating motor 7 is fixed to the middle of the cross beam of the support frame 1. In an application scenario, if the width of the support frame 1 can only span one ridge, the rotating motor 7 can be arranged in the middle of a cross beam of the support frame 1 in order to row seedlings to the middle of the ridge; if the width of support frame 1 can stride across a plurality of ridges, then can set up a plurality of row seedling mechanisms 3, every rotation motor 7 of arranging seedling mechanism 3 all sets up on the position of the crossbeam of support frame 1 that the middle part of the ridge that corresponds to in order to arrange the seedling respectively to the middle part of every ridge.
In another embodiment of the present application, the included angles between any two adjacent through holes on the seedling tray 4 and the center of the circle are equal, and the distance between any two adjacent through holes on the seedling tray 4 and the center of the seedling tray is equal. For the convenience of control, the through holes on the seedling discharging disc 4 can be uniformly distributed, namely: the included angles formed by the connecting lines of any two adjacent through holes and the circle center of the seedling arranging disc 4 are the same included angle, for example: 60 degrees, so that the rotating motor 7 drives the seedling arranging disc 4 to rotate for a fixed degree, and if 60 degrees, one seedling arranging device 6 can be aligned to the middle part of the ridge; the distance between each through hole and the center of the seedling discharging disc 4 is set to be equal, so that seedlings can be discharged at equal intervals, and the position of the electric push rod 5 can be fixed conveniently.
In still another embodiment of the present application, a horizontal distance between the rotation shaft of the rotation motor 7 and the movable end of the electric push rod 5 is equal to a distance between the through hole of the seedling tray 4 and the center of the seedling tray 4. Like this, even rotate at every turn motor 7 and drive row seedling dish 4 and rotate, row seedling dish 4's through-hole can also be aimed at to electric putter 5, and then realize arranging the seedling automatically.
In a further embodiment of the present application, the seedling discharger 6 comprises: a seedling arranging body 8, an air spring 9 and a seedling taking claw 10; the seedling placing body 8 is used for receiving downward thrust of the electric push rod 5 and upward rebounding force of the air spring 9, the air spring 9 is used for compressing when the air spring is under pressure of the seedling placing body 8 and rebounding when the air spring is not under pressure, and the seedling taking claw 10 is used for clamping or releasing seedlings.
The top end of the seedling placing body 8 is provided with a platform extending outwards to receive the thrust of the movable end of the electric push rod 5 and the resilience of the air spring 9, and the side wall of the seedling placing body 8 is provided with at least two sliding grooves 13; the sliding groove 13 is used for enabling the seedling taking claw 10 to be clamped or released by applying upward or downward pushing force to a claw needle of the seedling taking claw 10.
The air spring 9 is arranged between the bottom surface of the platform of the seedling placing body 8 and the seedling arranging disc 4;
the upper half part of the seedling taking claw 10 is arranged outside the seedling arranging body 8, the seedling taking claw 10 comprises at least two claw needles, and each claw needle respectively penetrates through the corresponding sliding groove 13 and bends towards the inside of the seedling arranging body 8; in practical application, if the stressed area of the claw needle is large, two opposite claw needles can be arranged, and if the stressed area of the claw needle is small, at least three claw needles can be arranged.
The seedling placing body 8 moves downwards under the action of the pushing force of the movable end of the electric push rod 5 and extrudes the air spring 9 to shrink, and the upper edge of the sliding groove 13 pushes the claw needle of the seedling taking claw 10 to open when moving downwards;
when the seedling placing body 8 is not under the action of the thrust of the movable end of the electric push rod 5, the seedling placing body moves upwards under the action of the restoring force of the air spring 9, and the lower edge of the sliding groove 13 pushes the claw needle of the seedling taking claw 10 to contract inwards when the seedling placing body moves upwards.
Because the claw needle is in an inward bending shape from top to bottom and penetrates through the sliding groove 13, the claw needle can be opened when downward thrust is applied to the inside of the claw needle through downward movement on the upper edge of the sliding groove 13, and the claw needle can be contracted when upward thrust is applied to the outside of the claw needle through upward movement on the lower edge of the sliding groove 13, so that the automatic gripping and discharging of seedlings are realized.
In another embodiment of the present application, the seedling discharger 6 further includes: a fixing member 11;
the fixing part 11 is arranged on the seedling arranging tray 4 and used for fixing the seedling taking claw 10, in order to fix the seedling taking claw 10 on the seedling arranging tray 4, the fixing part 11 can be arranged above the seedling taking claw 10, and the seedling arranging tray 4 can be positioned below the air spring 9.
In a further embodiment of the present application, the running gear 2 comprises: a Mecanum wheel 12, a Mecanum wheel drive motor and a Mecanum wheel motor driver;
an output shaft of the mecanum wheel driving motor is fixed with the center of the mecanum wheel 12 so as to drive the mecanum wheel 12 to rotate, an input end of the mecanum wheel motor driver is electrically connected with an output end of the control unit, an output end of the mecanum wheel motor driver is electrically connected with an input end of the mecanum wheel driving motor, and the control unit can control the rotation of the mecanum wheel driving motor through the mecanum wheel motor driver.
In yet another embodiment of the present application, the transplanting robot further includes: a gyroscope (not shown in the figure), a laser distance measuring sensor (not shown in the figure), an ultrasonic sensor (not shown in the figure) and a photoelectric switch (not shown in the figure) which are respectively electrically connected with the control unit.
According to the embodiment of the utility model, the gyroscope can be used for detecting the posture of the support frame 1, the ultrasonic sensor and the photoelectric switch are used for detecting the seedling shortage position, and the laser ranging sensor is used for measuring the distance between the seedling shortage position and the laser ranging sensor.
In practical application, the Bluetooth receiving end of an STM32 single chip microcomputer in a control unit inputs through a test design data set and transmits signals to a program control part of the STM32 single chip microcomputer after analysis, the program control part of the STM32 single chip microcomputer is responsible for coordinating a control panel of a stepping motor, and then the stepping motor is controlled, so that the control requirement on power output is realized through a Mecanum wheel, the stable operation state can be kept, the transplanting accuracy is ensured during working, the automatic control device is suitable for transplanting in various different fields, and in order to prevent emergency from happening in the test process, an emergency stop button is specially added in an electric control part, so that the damage to an operator, seedlings and a transplanting machine is prevented.
Control the test bench through the bluetooth controller, with required experimental design data input to the single chip microcomputer control module of the control unit, single chip microcomputer control module with signal input to electric push rod and reach the air spring, the air spring carries out the motion and realizes the control requirement to high and low frequency and power take off.
Before starting, the singlechip control system is started and the power supply is switched on. After starting, transplanting machine people comes to remove along the ridge through step motor controller, and the singlechip is given with the signal transmission to the sensor to spread into step motor drive plate, step motor, mecanum wheel and then adjustment orbit. The recognition system scans to find a seedling supplementing position and returns a signal to the single chip microcomputer, so that the transplanting robot is controlled to stop running for transplanting, and the transplanting robot runs all ridges from new running to the transplanting robot after transplanting is completed.
The embodiment of the application designs the transplanting robot system through experiments, and the transplanting robot system is a robot with a high-precision transplanting machine suitable for various inter-ridge working conditions. In the experimental process, the experimental performance research of the transplanting robot is mainly the research of receiving the terrain by the work among ridges, identifying the seedling supplementing position and traversing all ridge platforms. Based on the principle and the control principle of a single chip microcomputer and theoretical foundations in aspects of mechanical analysis, mechanical design and the like, automatic intelligent electronic control can be performed according to different walking speeds and specific conditions of a working land, intelligent, multi-directional and multi-angle transplanting is performed, the single chip microcomputer control module is used for controlling, the whole device is controlled in time, and the relative safety of testers and a transplanter can be guaranteed when an emergency occurs;
1. can transplant by oneself, save the problem of cost of labor high efficiency low: the transplanting robot can be automatically gathered and transplanted, so that the labor cost is saved, the working efficiency is improved, the transplanting accuracy is not different from that of manual work, and reference basis is provided for theoretical design and related research of the transplanting robot.
2. Information digital intelligent control: the intelligent transplanting robot system has the advantages that the system is controlled in an informationized mode, data input is carried out through the sensor module, multiple groups of data sets can be formed, the transplanting robot is controlled to work through function change input signals of the single chip microcomputer, the transplanting robot is intelligently controlled, manpower is reduced, and safety of experimenters is guaranteed to a certain extent.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A transfer robot, comprising: the seedling arranging device comprises a support frame, a traveling mechanism, a seedling arranging mechanism and a control unit;
the walking mechanism is fixed with the supporting legs of the supporting frame, and the seedling discharging mechanism is fixed with the cross beam of the supporting frame;
the control end of the traveling mechanism is electrically connected with the first control end of the control unit, and the control end of the seedling discharging mechanism is electrically connected with the second control end of the control unit;
the walking mechanism can drive the support frame to move under the control of the control unit, and the seedling discharging mechanism can discharge seedlings under the control of the control unit.
2. The transfer robot of claim 1, wherein the seedling arranging mechanism comprises: the seedling arranging tray, the electric push rod and at least one seedling arranging device;
the main body of the electric push rod and the seedling arranging disc are respectively fixed with a cross beam of the supporting frame, and the movable end of the electric push rod can move up and down;
the seedling arranging disc is provided with at least one through hole, and a seedling arranging device is arranged in the through hole;
the electric push rod can apply downward thrust to the top end of the seedling discharger through downward movement under the control of the control unit, or can not apply downward thrust to the top end of the seedling discharger through upward movement.
3. The transfer robot of claim 2, wherein the seedling arranging mechanism further comprises: rotating the motor;
the main body of the rotating motor is fixed with the cross beam of the support frame, and the rotating shaft of the rotating motor is fixed with the center of the seedling arranging disc;
the rotating motor can drive the seedling discharging disc to rotate under the control of the control unit.
4. The transfer robot of claim 3, wherein a main body of the rotating motor is fixed to a middle portion of a cross beam of the supporting frame.
5. The transfer robot of claim 3, wherein any two adjacent through holes on the seedling arranging tray have the same included angle with the center of the circle and the same distance with the center of the seedling arranging tray.
6. The transfer robot of claim 5, wherein a horizontal distance between a rotation shaft of the rotation motor and the movable end of the electric push rod is equal to a distance between the through hole of the seedling tray and the center of the seedling tray.
7. A transplanting robot according to any one of claims 2 to 6, wherein the seedling discharger comprises: a seedling arranging body, an air spring and a seedling taking claw;
the top end of the seedling placing body is provided with a platform extending outwards to receive the thrust of the movable end of the electric push rod and the rebound force of the air spring, and the side wall of the seedling placing body is provided with at least two sliding grooves;
the air spring is arranged between the bottom surface of the seedling placing body platform and the seedling arranging disc;
the upper half part of the seedling taking claw is arranged outside the seedling arranging body, the seedling taking claw comprises at least two claw needles, and each claw needle penetrates through the corresponding sliding groove and bends towards the inside of the seedling arranging body;
the seedling placing body moves downwards under the action of the pushing force of the movable end of the electric push rod and extrudes the air spring to shrink, and the claw needle of the seedling taking claw is pushed to open along the upper edge of the sliding groove when the sliding groove moves downwards;
the seedling settling body moves upwards under the action of restoring force of the air spring when not under the action of thrust of the movable end of the electric push rod, and the sliding groove pushes the claw needle of the seedling taking claw to contract inwards when moving upwards.
8. The transplanting robot of claim 7, wherein the row seedling device further comprises: a fixing member;
the fixing piece is arranged on the seedling arranging disc and used for fixing the seedling taking claw.
9. The transfer robot of claim 1, wherein the walking mechanism comprises: the Mecanum wheel, the Mecanum wheel driving motor and the Mecanum wheel motor driver;
an output shaft of the Mecanum wheel driving motor is fixed with the center of the Mecanum wheel so as to drive the Mecanum wheel to rotate, an input end of the Mecanum wheel motor driver is electrically connected with an output end of the control unit, and an output end of the Mecanum wheel motor driver is electrically connected with an input end of the Mecanum wheel driving motor.
10. The transfer robot of claim 1, further comprising: and the gyroscope, the laser ranging sensor, the ultrasonic sensor and the photoelectric switch are respectively electrically connected with the control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220447375.2U CN217020395U (en) | 2022-03-03 | 2022-03-03 | Transplanting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220447375.2U CN217020395U (en) | 2022-03-03 | 2022-03-03 | Transplanting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217020395U true CN217020395U (en) | 2022-07-22 |
Family
ID=82454718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220447375.2U Active CN217020395U (en) | 2022-03-03 | 2022-03-03 | Transplanting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217020395U (en) |
-
2022
- 2022-03-03 CN CN202220447375.2U patent/CN217020395U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108738878A (en) | A kind of horticultural gardening cultivating stand easy to use | |
| CN217020395U (en) | Transplanting robot | |
| CN110140493B (en) | Automatic transplanter of formula is got to non-clamp | |
| CN212629333U (en) | Seedling growing device for agricultural planting | |
| CN212876673U (en) | Automatic hole seedling transplanter | |
| CN211129298U (en) | Cultivation frame for new pear tree species seedling culture | |
| CN210416988U (en) | Accurate seeding system of unmanned aerial vehicle | |
| JPH069442B2 (en) | Seedling planting equipment | |
| CN221058945U (en) | Seedling raising tray easy to take and put | |
| CN112450004A (en) | Vegetable planting method | |
| CN111492845A (en) | Seedling raising tray | |
| CN113692824B (en) | Planting machine for transverse multi-point planting of sugarcane seedlings and using method thereof | |
| JPH11318214A (en) | Rotary type centralized control system for planting | |
| CN219421551U (en) | Fertilizing and pit-opening device for banana planting | |
| CN218104296U (en) | PVC plastic seedling raising tray | |
| CN115039599B (en) | Detachable seedling raising device based on intelligent agriculture and operation method thereof | |
| CN219395704U (en) | Seedling raising device with temperature and humidity detection function | |
| CN220571105U (en) | Forestry sapling breeding device | |
| CN215122018U (en) | Be applicable to sunflower nursery transplanting device that grows seedlings | |
| CN221043744U (en) | Transplanting device for vegetable seedlings | |
| CN217241752U (en) | Convertible bed of growing seedlings | |
| CN215529824U (en) | Farming is with soil moisture ridge former that has tectorial membrane function | |
| CN218388933U (en) | Strawberry cultivation tower-shaped frame with mobile function | |
| CN113455149B (en) | Rice side deep fertilizing device capable of improving yield and using method | |
| CN221152172U (en) | Perilla planting seedling transplanting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |