Automatic seedling transplanting device

Abstract

The present invention discloses an automatic seedling-grabbing and transplanting device, which relates to the technical field of agricultural machinery transplanting equipment, and is used to solve the problems of automatically gripping seedlings during the transplanting process, ensuring that the seedlings do not fall off during the downward planting and soil implantation process, and quickly and accurately pushing the seedlings to the correct position. Its specific structure includes a frame, a side plate, a crank rocker mechanism, a cam seedling pushing mechanism, and a seedling clamp. The planting action of the seedling clamp is realized by the crank rocker mechanism, and the opening of the seedling clamp is controlled by the cam seedling pushing mechanism to take the seedlings, clamp the seedlings downward for planting, and quickly push the seedlings to achieve reliable and rapid transplanting of the seedlings. The row spacing of the planted seedlings can be adjusted by adjusting the installation spacing of the seedling clamp. The present invention ensures that the seedling clamp can reliably take the seedlings during the transplanting process, that the seedlings do not fall off during the downward planting and soil implantation process, and that the seedlings are quickly pushed to the correct position when the planting depth is reached, thereby ensuring the planting efficiency and the quality of the planting.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery transplanting tools, and in particular relates to an automatic seedling clamping and transplanting device. Background Art

[0002] As a planting method, rice seedling transplanting has been widely used in agriculture. The transplanting methods include manual transplanting and transplanting using a transplanter. At present, the more mature transplanter is the rice transplanter. According to its structural form and characteristics, its planting row spacing and plant spacing are relatively large, which is suitable for transplanting rice seedlings in paddy fields. Among the many transplanters in China, most are semi-automatic transplanters, which require manual seedling removal and planting, which greatly reduces the planting efficiency. This can meet the planting efficiency requirements for vegetable transplanting with large planting row spacing and plant spacing. Although there is a patent with patent number 201710535794.5 that discloses a fully automatic tray seedling transplanter, which is suitable for transplanting tray seedlings, its plant spacing and row spacing are large, the planting efficiency is low, and it is not suitable for dense planting. As for the planting and agronomic requirements of medicinal crops such as Ophiopogon japonicus, in order to increase their yield, a certain planting density needs to be achieved during transplanting, and the row and plant spacing needs to reach 6-8cm, which brings considerable technical difficulties to the research and development of transplanting machines.

[0003] Patent No. ZL202120819124.8 discloses a dense planting and full planting device for Ophiopogon japonicus, which can achieve dense planting and full planting of Ophiopogon japonicus, but its seedling fork has not yet achieved a reliable clamping action for the seedlings. The action of the seedling pushing mechanism is achieved by the position change during the rotation of the crank mechanism, that is, the seedling pushing is achieved by the movement of the seedling pushing rod by the seedling pushing roller. The time from the initial contact to the disengagement of the seedling pushing roller and the seedling pushing rod is the seedling pushing time. During this time, the crank mechanism needs to rotate a certain angle, so the duration of the seedling pushing action is relatively long, and it is not necessarily guaranteed that the seedlings will be pushed to the correct position. Patent No. ZL202120815838.1 discloses a dense planting transplanter, which can achieve dense planting and full planting of seedlings such as Ophiopogon japonicus. When taking seedlings, the seedlings are also taken by forking with a seedling needle. During the downward planting process, the Ophiopogon japonicus seedlings may fall off. Moreover, for vegetable seedlings having only one main stem, the vegetable seedlings are easily damaged during the forking process because the diameters of the main stems vary and the width of the seedling fork is fixed.

[0004] Therefore, it is of great practical significance to design a transplanting device that can adapt to various types of seedlings, reliably clamp seedlings, ensure that the seedlings do not fall off during the downward planting process, and quickly and accurately push the seedlings to the correct position. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic seedling clamping and transplanting device, which is used to solve the problem of automatically clamping seedlings during transplanting, ensuring that the seedlings do not fall off during the downward planting and soil embedding process, and quickly and accurately pushing the seedlings to the correct position.

[0006] The present invention adopts the following technical solution: an automatic seedling-grabbing and transplanting device, comprising a frame, side panels, a crank-rocker mechanism, a cam seedling-pushing mechanism, and a seedling-grabbing clamp. Side panels are mounted on both sides of the frame, and a crank-rocker mechanism is mounted on each of the left and right side panels. The crank and rocker of the crank-rocker mechanism are mounted on the side panels. The present invention is characterized in that a cam seedling-pushing mechanism is mounted on the crank-rocker mechanism. The cam seedling-pushing mechanism comprises a first gear, a second gear, a cam, a rotating shaft, a roller, a connecting seat, and a transverse pull plate. Gear one is mounted at the hinged joint of the crank and the connecting rod, and is fixedly connected to the crank as a whole and meshes with gear two. The transmission ratio of gear one to gear two is 1:1. Gear two is mounted to the middle portion of the connecting rod via a rotating shaft. A cam is mounted on the other end of the rotating shaft, and gear two drives the cam to rotate together. A roller is provided on the inner side of the cam. When the cam rotates, the roller is driven to move along the radius direction of the cam. The transverse pull plate is installed in the pull plate slide groove of the connecting rod. The roller drives the transverse pull plate to slide back and forth along the pull plate slide groove through the connecting seat. The transverse pull plate is connected to the pull rod of the seedling clamp.

[0007] Furthermore, the seedling clamp is fixed on the seedling clamp mounting plate, and the seedling clamp mounting plate is mounted on the front end of the connecting rod. As the crank rotates, the seedling clamp realizes the planting actions of taking seedlings, clamping seedlings and pushing seedlings.

[0008] Furthermore, the seedling retrieval clamp includes a seedling clamp bracket, a pull rod, a compression spring, a movable clamp, a fixed clamp, a seedling pushing needle, a seedling pushing block, a torsion spring and a pin, and is characterized in that: a pull rod and a fixed clamp are provided on the seedling clamp bracket, one end of the pull rod is connected to a seedling pushing block, a compression spring is provided in the middle of the pull rod, and the pull rod moves back and forth under the action of the horizontal pull plate and the compression spring, thereby driving the seedling pushing block to realize the seedling pushing action.

[0009] Furthermore, the seedling pushing block is provided with a seedling clamp chute and a head lever.

[0010] Furthermore, the seedling needle has a long head and a short tail, and a seedling needle rotating shaft is provided in the middle.

[0011] Furthermore, a movable clamp and a seedling-moving needle are installed on the fixed clamp, and the movable clamp is connected to the fixed clamp through a pin and a torsion spring.

[0012] The tail of the movable clamp is provided with a tail inclined surface, and the clamp formed by the fixed clamp and the movable clamp is arranged in the seedling clamp slide groove on the seedling pushing block. When the seedling pushing block slides back and forth, the clamp can be clamped and opened by the mutual cooperation of the torsion spring and the seedling clamp slide groove.

[0013] The operating principle is as follows: a motor transmits power to cranks mounted on two side plates via a drive shaft and chain, causing both cranks to rotate simultaneously and in phase. A connecting rod is connected to a rocker at one end, and a seedling clamp mounting plate is mounted on the other end. The connecting rod, driven by the crank rocker, achieves a continuous planting motion. As the crank rotates, Gear 1, mounted on the crank, drives Gear 2, which in turn rotates a cam via a rotating shaft mounted on the connecting rod. A transverse pull plate is mounted within a pull plate slot at the front end of the connecting rod. The cam drives the transverse pull plate back and forth along the pull plate slot via rollers and a connecting seat. The pattern of the transverse pull plate's reciprocating motion is controlled by the cam's profile. The transverse pull plate is then connected to the seedling clamp via a pull rod. The combined action of the transverse pull plate and compression springs within the clamps enables the clamp to open, remove, lower the seedling, rapidly push, and retract.

[0014] The action cycle of the seedling clip is as follows:

[0015] (1) The seedling clamp opens: During the retreat of the seedling pushing block, the rotation radius of the cam's contour line gradually decreases. The pull rod drives the seedling pushing block to retreat to the limit position under the control of the cam. At the same time, the compression spring is compressed. Due to the restriction of the tail inclined surface of the movable clamp in the seedling clamp slide, the movable clamp can rotate around the pin, thereby opening the front end of the movable clamp and the entire seedling clamp opens. At the same time, the head lever of the seedling pushing block moves the tail of the seedling needle, so that the head of the seedling needle stands upright. At this time, the seedling clamp is just at the seedling removal position, ready to remove the seedlings.

[0016] (2) Removing seedlings: At the seedling removal position, as the cam rotates, the cam's profile rotation radius suddenly increases by a certain value, releasing the roller and the horizontal pull plate. At this time, the pull rod drives the seedling pushing block to move forward quickly for a small distance under the action of the compression spring. This distance is equal to the increase in the cam's profile rotation radius. At this time, the seedling pushing needle rotates to a horizontal position under the action of the push rod at the head of the seedling pushing block. The seedlings are pushed to the middle of the fixed clamp and the movable clamp using the seedling pushing needle. At the same time, as the seedling pushing block moves forward for a distance, its seedling clamp slide exits the tail inclined position of the movable clamp, and the movable clamp clamps the seedlings under the action of the torsion spring.

[0017] (3) Clamping the seedlings downward: After the seedlings are clamped, as the crank rotates, the connecting rod drives the seedling clamp and the seedlings downward into the soil. During the downward process, the seedling clamp is always in a clamping state for the seedlings. During this process, the contour rotation radius of the cam remains unchanged.

[0018] (4) Rapid seedling pushing: When the seedling clamp and the seedlings go down into the soil to a certain depth, the cam profile rotation radius suddenly increases again, further releasing the displacement of the roller and the horizontal pull plate. At this time, the pull rod drives the seedling pushing block to move forward quickly under the action of the compression spring to push the seedlings into the soil. This distance is the seedling pushing stroke, which is equal to the increase in the cam profile rotation radius.

[0019] (5) The seedling pushing block retreats: After the seedlings are pushed, the seedling picking clamp moves upward as the crank rotates. During the upward process, the cam's contour line rotation radius gradually decreases, and the pull rod is driven by the roller, connecting seat, and horizontal pull plate to compress the compression spring and pull the seedling pushing block back to the extreme position. At this time, the seedling picking clamp opens again, ready to take the seedlings and enter the next cycle.

[0020] In each action cycle, each state of the seedling clamp and the duration of the state are controlled by the shape of the cam contour line. Therefore, a reasonably designed contour line can well control the action cycle of the seedling clamp.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: the automatic seedling clamping and transplanting device utilizes a cam seedling pushing mechanism to control the seedling pushing needle of the seedling clamp to quickly and reliably push the seedlings to the middle of the clamp, thereby realizing automatic and reliable seedling removal; after the seedlings are removed, during the downward planting process, the seedling clamp is always in a clamping state until the seedlings are planted in the soil, thereby ensuring that the seedlings do not fall off during the downward process after the seedlings are removed; after reaching the predetermined planting depth, the cam controls the seedling pushing block to quickly push the seedlings to the accurate position; therefore, the present invention effectively ensures reliable seedling removal, prevents the seedlings from falling off during the downward planting process, and quickly pushes the seedlings to the accurate position, thereby ensuring the success rate and planting quality of the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure and principle of the present invention;

[0023] Figure 2 for Figure 1 A partial enlarged schematic diagram of middle Ⅰ;

[0024] Figure 3 It is a rear view of the present invention;

[0025] Figure 4 for Figure 3 Cross-sectional view of AA;

[0026] Figure 5 This is a schematic diagram of the seedling removal clamp of the present invention at the seedling removal port;

[0027] Figure 6 It is an axonometric view of the seedling clamp of the present invention;

[0028] Figure 7 A top view of the fixed clamp and movable clamp structure of the present invention;

[0029] Figure 8 This is a schematic diagram of the seedling pushing block structure;

[0030] Figure 9 This is a schematic diagram of the seedling needle structure;

[0031] Figure 10 This is a schematic diagram of the seedling pushing block of the present invention returning to the limit position;

[0032] Figure 11 This is a schematic diagram of the seedling pushing block of the present invention being in the seedling clamping and stopping position;

[0033] Figure 12 This is a schematic diagram of the seedling pushing block of the present invention in the seedling pushing position;

[0034] The markings in the figure are: 1-frame; 2-side plate; 3-crank; 4-rocker; 5-connecting rod; 501-pull plate slide; 6-gear 1; 7-gear 2; 8-rotating shaft; 9-cam; 10-motor; 11-drive shaft; 12-chain; 13-seedling clamp; 14-horizontal pull plate; 15-seedling clamp mounting plate; 16-roller; 17-connecting seat; 18-seedling clamp bracket; 19-pull rod; 20-compression spring; 21-movable clamp; 2101-tail inclined plane; 22-fixed clamp; 23-seedling pushing needle; 2301-seedling pushing needle rotating shaft; 2302-seedling pushing needle head; 2303-seedling pushing needle tail; 24-seedling pushing block; 2401-head lever; 2402-seedling clamp slide; 25-torsion spring; 26-pin. DETAILED DESCRIPTION

[0035] In order to better illustrate the specific solutions of the present invention, the present invention will be described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0036] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0037] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections, direct connections, indirect connections via an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] See also Figures 1 to 3An automatic seedling-grabbing and transplanting device includes: a frame 1, side panels 2, a crank-rocker mechanism, a cam seedling-pushing mechanism, and a seedling-grabbing clamp 13. The frame 1 is provided with side panels 2 on both sides, and a crank-rocker mechanism is provided on each of the left and right side panels 2. The crank 3 and rocker 4 of the crank-rocker mechanism are provided on the side panels 2, and a cam seedling-pushing mechanism is provided on the connecting rod 5 of the crank-rocker mechanism. The cam seedling-pushing mechanism is composed of a gear 1 6, a gear 2 7, a cam 9, a rotating shaft 8, a roller 16, a connecting seat 17, and a transverse pull plate 14. The gear 1 6 is provided at the hinge of the crank 3 and the connecting rod 5, and the gear 1 6 is fixedly connected to the crank 3. As a whole, Gear 2 (7) is mounted in the middle of Connecting Rod 5 via Rotating Shaft 8. Cam 9 is mounted on the other end of Rotating Shaft 8. Gear 2 (7) drives Cam 9 to rotate with it. Roller 16 is located inside Cam 9. When Cam 9 rotates, it drives Roller 16. Transverse Pull Plate 14 is mounted in Pull Plate Slot 501 of Connecting Rod 5. Roller 16 drives Transverse Pull Plate 14 to slide back and forth along Pull Plate Slot 501 via Connecting Seat 17. Transverse Pull Plate 14 is connected to Pull Rod 19 of Seedling Removal Clamp 13. The transmission ratio between Gear 1 (6) and Gear 2 (7) is 1:1, ensuring that cam 9 rotates once for every rotation of Crank 3.

[0039] See also Figures 4 and 5 The seedling clamp 13 is installed and fixed on the seedling clamp mounting plate 15, and the seedling clamp mounting plate 15 is installed on one end of the connecting rod 5. As the crank 3 rotates, under the control of the cam 9, the seedling clamp 13 is controlled by the horizontal pull plate 14 and the pull rod 19 to realize the planting actions of taking seedlings, clamping seedlings and pushing seedlings.

[0040] See also Figures 6 to 9 The seedling clamp 13 includes a seedling clamp bracket 18, a pull rod 19, a compression spring 20, a movable clamp 21, a fixed clamp 22, a seedling pin 23, a seedling pushing block 24, a torsion spring 25 and a pin 26. The seedling clamp bracket 18 is provided with a pull rod 19 and a fixed clamp 22. The fixed clamp 22 is provided with a movable clamp 21 and a seedling pin 23. The movable clamp 21 is connected to the fixed clamp 22 by a pin 26 and a torsion spring 25. The seedling pin 23 is installed on the fixed clamp 22 and can rotate around its seedling pin rotating shaft 2301. One end of the pull rod 19 is connected to the seedling pushing block 24. A compression spring 20 is provided in the middle of the pull rod 19. The pull rod 19 moves back and forth under the action of the horizontal pull plate 14 and the compression spring 20, thereby driving the seedling pushing block 24 to realize the opening of the clamp, the clamping of the seedlings and the pushing of the seedlings.

[0041] The tail of the movable clamp 21 is provided with a tail inclined surface 2101, and the clamp formed by the fixed clamp 22 and the movable clamp 21 is set in the seedling clamp slide groove 2402 on the seedling pushing block 24. When the seedling pushing block 24 slides back and forth, the clamp can be clamped and released by the mutual cooperation of the torsion spring 25 and the seedling clamp slide groove 2402.

[0042] See also Figures 10 to 12The pull rod 19 is in different positions under the control of the cam 9, and can control the different states of the seedling clamp 13. Figure 10 This is the state when the pull rod 19 drives the seedling pushing block 24 to retreat to the extreme position. At this time, the compression spring 20 is compressed, and the seedling clamp slide groove 2402 limits the tail inclined surface 2101 of the movable clamp 21 to open the clamp. At the same time, the head lever 2401 of the seedling pushing block 24 drives the tail 2303 of the seedling pushing needle to make the seedling pushing needle 23 stand up to prepare for seedling pushing. Figure 11 When the cam 9 releases the pull rod 19 to a certain displacement, the pull rod 19 drives the seedling pushing block 24 to move forward a distance under the action of the compression spring 20. The head lever 2401 of the seedling pushing block 24 pushes the seedling pushing needle head 2302 to rotate the seedling pushing needle 23 to a horizontal position, thereby pushing the seedlings to the middle of the fixed clamp 22 and the movable clamp 21. At this time, the seedling clamp slide groove 2402 no longer restricts the tail inclined surface 2101 of the movable clamp 21, and the movable clamp 21 clamps the seedlings under the action of the torsion spring 25. Figure 12 When the seedling clamp 13 is moved to the predetermined planting depth, it is in the seedling pushing state under the control of the cam 9. At this time, the displacement limit of the pull rod 19 by the cam 9 is released to the maximum value. Under the action of the compression spring 20, the pull rod 19 quickly pushes out the seedling pushing block 24 to push the seedling into the soil.

[0043] The operation process is as follows: the motor 10 transmits power to the cranks 3 mounted on the two side plates 2 via the transmission shaft 11 and chain 12. The two cranks 3 rotate simultaneously and in phase. A connecting rod 5 is connected to the rocker 4 at one end, and a seedling clamp mounting plate 15 is mounted on the other end. Multiple seedling clamps 13 are mounted on the seedling clamp mounting plate 15. The number of seedling clamps 13 installed depends on the planting width and row spacing requirements. Connecting rod 5, driven by the crank 3 and rocker 4, achieves continuous planting. During the rotation of crank 3, gear 1 6 mounted on crank 3 drives gear 2 7, which in turn rotates cam 9 via shaft 8. Cam 9, via roller 16 and connector 17, drives a transverse pull plate 14 to move back and forth along the radius of cam 9. Transverse pull plate 14 is mounted in a pull plate slot 501 at the front end of connecting rod 5 to ensure that it can only slide along the pull plate slot 501. The back-and-forth sliding pattern of transverse pull plate 14 is controlled by the profile of cam 9. The horizontal pull plate 14 is connected to the seedling clamp 13 through a pull rod 19. The horizontal pull plate 14 and the compression spring 20 in the seedling clamp 13 work together to realize the opening, seedling removal, downward movement of the seedling clamp 13, rapid seedling pushing and retreat of the seedling pushing block 24.

[0044] The state of getting seedling folder 13 concrete actions and each component is as follows:

[0045] (1) The seedling clamp 13 opens: During the retreat of the seedling pushing block 24, the contour radius of the cam 9 gradually decreases. Under the control of the cam 9, the pull rod 19 drives the seedling pushing block 24 to retreat to the limit position. Since the tail inclined surface 2101 of the movable clamp 21 is restricted by the seedling clamp slide groove 2402, the movable clamp 21 can rotate around the pin 26, thereby opening the front end of the movable clamp 21, and the entire seedling clamp 13 opens. At the same time, the head lever 2401 of the seedling pushing block 24 moves the tail 2303 of the seedling removing needle, so that the head 2302 of the seedling removing needle stands upright. At this time, the seedling removing clamp 13 is just at the seedling removing mouth position, ready to remove seedlings.

[0046] (2) Removing seedlings: At the seedling removal position, as the cam 9 rotates, the contour radius of the cam 9 suddenly increases by a certain value, releasing the roller 16 and the horizontal pull plate 14 to a certain displacement. At this time, the pull rod 19 drives the seedling pushing block 24 to move forward quickly by a small distance under the action of the compression spring 20. This distance is equal to the increase in the contour radius of the cam 9. At this time, the seedling pushing needle 23 rotates to a horizontal position under the action of the head lever 2401 of the seedling pushing block 24, and uses the seedling pushing needle head 2302 to push the seedlings to the middle of the fixed clamp 22 and the movable clamp 21. At the same time, as the seedling pushing block 24 moves forward for a certain distance, its seedling clamp chute 2402 exits the tail slope 2101 area of the movable clamp 21, and the movable clamp 21 clamps the seedlings under the action of the torsion spring 25.

[0047] (3) Clamping the seedlings downward: After the seedlings are clamped, as the crank 3 rotates, the connecting rod 5 drives the seedling clamp 13 and the seedlings downward into the soil. During the downward process, the seedling clamp 13 is always in a clamping state for the seedlings. During this process, the contour radius of the cam 9 remains unchanged.

[0048] (4) Rapid seedling pushing: When the seedling clamp 13 and the seedlings are lowered into the soil to a predetermined depth, the radius of the cam 9 profile suddenly increases again, further releasing the displacement of the roller 16 and the transverse pull plate 14. At this time, the pull rod 19 drives the seedling pushing block 24 to move forward quickly under the action of the compression spring 20 to push the seedlings into the soil. This distance is the seedling pushing stroke, which is equal to the value of the cam 9 profile radius increasing again.

[0049] (5) The seedling pushing block 24 retreats: After the seedlings are pushed, the seedling taking clamp 13 moves upward as the crank 3 rotates. During the upward process, the contour radius of the cam 9 gradually decreases, and the pull rod 19 is driven by the roller 16, the connecting seat 17, and the horizontal pull plate 14 to compress the compression spring 20 and pull the seedling pushing block 24 back to the limit position. At this time, the seedling taking clamp 13 opens again, ready to take the seedlings and enter the next cycle.

[0050] Since the present invention adopts the cam 9 to control the state of the seedling clamp 13, the seedling clamp 13 can easily clamp rice seedlings such as Ophiopogon japonicus. In the case of this embodiment, if the seedling pin 23 is removed, the seedling clamp 13 is also suitable for clamping rice seedlings with only one main stem under the clamping action of the fixed clamp 22 and the movable clamp 21, thereby expanding the scope of use of the present invention.

[0051] The above descriptions are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic seedling-grabbing and transplanting device, comprising a frame (1), a side plate (2), a crank rocker mechanism, a cam seedling-pushing mechanism, and a seedling-grabbing clamp (13), characterized in that: The crank (3) and rocker (4) of the crank-rocker mechanism are mounted on the side plate (2), and a cam seedling pushing mechanism is mounted on the connecting rod (5) of the crank-rocker mechanism. The cam seedling pushing mechanism is composed of gear 1 (6), gear 2 (7), cam (9), rotating shaft (8), roller (16), connecting seat (17), and transverse pull plate (14), wherein gear 1 (6) is mounted at the hinge of the crank (3) and the connecting rod (5), and gear 1 (6) and the crank (3) are fixedly connected to form a The whole is meshed with the gear 2 (7), the gear 2 (7) is installed in the middle part of the connecting rod (5) through the rotating shaft (8), the other end of the rotating shaft (8) is installed with a cam (9), a roller (16) is provided on the inner side of the cam (9), the roller (16) is connected to the horizontal pull plate (14) through the connecting seat (17), the horizontal pull plate (14) is installed in the pull plate slide (501) of the connecting rod (5), and the horizontal pull plate (14) is connected to the pull rod (19) of the seedling clamp (13); The plurality of seedling clips (13) are mounted and fixed on a seedling clip mounting plate (15), and the seedling clip mounting plate (15) is mounted on the front end of the connecting rod (5); The transmission ratio of gear 1 (6) and gear 2 (7) is 1:1; The seedling clamp (13) is provided with a seedling clamp bracket (18), a pull rod (19) and a fixed clamp (22) are installed on the seedling clamp bracket (18), one end of the pull rod (19) is connected to a seedling pushing block (24), a compression spring (20) is provided in the middle of the pull rod (19), and a movable clamp (21) and a seedling removing needle (23) are installed on the fixed clamp (22), and the movable clamp (21) is connected to the fixed clamp (22) through a pin (26) and a torsion spring (25); The seedling pushing block (24) is provided with a seedling clamp chute (2402) and a head lever (2401); The seedling-moving needle (23) is shaped as follows: the seedling-moving needle head (2302) is long, the seedling-moving needle tail (2303) is short, a seedling-moving needle rotating shaft (2301) is provided in the middle, the seedling-moving needle head (2302) and the seedling-moving needle tail (2303) are L-shaped, and the seedling-moving needle (23) can rotate around the seedling-moving needle rotating shaft (2301); The tail of the movable clamp (21) is provided with a tail inclined surface (2101), and the clamp formed by the fixed clamp (22) and the movable clamp (21) is arranged in the seedling clamp sliding groove (2402) on the seedling pushing block (24); When the seedling pushing block is in the process of retreating, the contour radius of the cam gradually decreases, and the pull rod drives the seedling pushing block to retreat to the limit position under the control of the cam. Since the tail inclined surface of the movable clamp is restricted by the seedling clamp slide groove, the movable clamp rotates around the pin, opening the front end of the movable clamp, and the entire seedling picking clamp is opened. At the same time, the head lever of the seedling pushing block moves the tail of the seedling picking needle, so that the head of the seedling picking needle stands upright. At this time, the seedling picking clamp is just at the seedling picking mouth position; When the cam is in the seedling-picking position, the radius of the cam's profile suddenly increases by a certain value, releasing the roller and the transverse pull plate to move. Under the action of the compression spring, the pull rod drives the seedling-pushing block to move forward a distance equal to the increase in the radius of the cam's profile. At this time, the seedling-pushing needle rotates to a horizontal position under the action of the pusher rod at the head of the seedling-pushing block, and the seedling is pushed to the middle of the fixed clamp and the movable clamp by the head of the seedling-pushing needle. At the same time, as the seedling-pushing block moves forward for a distance, its seedling clamp slide exits the tail inclined area of the movable clamp, and the movable clamp clamps the seedling under the action of the torsion spring. After the seedlings are clamped, as the crank rotates, the connecting rod drives the seedling clamp and the seedlings to descend into the soil. During the downward process, the seedling clamp is always in a clamping state on the seedlings, and the profile radius of the cam remains unchanged during this process; When the seedling clamp and the seedlings go down to the predetermined depth, the radius of the cam profile suddenly increases again, further releasing the displacement of the roller and the transverse pull plate. At this time, the pull rod drives the seedling pushing block forward a distance under the action of the compression spring to push the seedlings into the soil. This distance is the seedling pushing stroke and is equal to the value of the cam profile radius increasing again; After pushing the seedlings, the seedling clamp moves upward with the rotation of the crank. During the upward process, the contour radius of the cam gradually decreases, and the pull rod is driven by the roller, the connecting seat, and the horizontal pull plate to compress the compression spring and pull the seedling pushing block back to the limit position. At this time, the seedling clamp opens again, ready to take the seedlings and enter the next cycle.

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