An automatic seedling picking device for rapeseed pot seedlings with a clamping bowl

Abstract

The present invention discloses a clamping bowl type automatic seedling picking device for rapeseed bowl seedlings, which includes a batch seedling feeding mechanism, a seedling picking and conveying mechanism, and a seedling tray top seedling mechanism; the seedling picking and conveying mechanism includes a seedling picking bracket, two groups of flipping cylinders, and two groups of seedling picking units. The two groups of flipping cylinders are hinged to the frame, and the telescopic ends are hinged to the seedling picking bracket. The two groups of seedling picking units are hinged to both sides of the seedling picking bracket; when the flipping cylinders control the seedling picking bracket to swing between the preset seedling picking positions on both sides, the two groups of seedling picking units can swing with it but have opposite working time sequences. When one side swings above the batch seedling feeding mechanism to feed seedlings, the other side swings to the corresponding preset seedling picking position to clamp a row of bowl seedlings. The present invention can perform left-right reciprocating seedling picking and feeding operations, and at the same time operate on two rows of bowl seedlings, which can improve the efficiency of automatic seedling picking; adopt integral pneumatic top seedlings to separate the bowl body from the seedling tray holes, which can better protect the stems and leaves of the bowl seedlings and greatly reduce the damage to the bowl seedlings during the seedling picking process, and is suitable for the automatic transplanting of rapeseed bowl seedlings with fragile stems.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural mechanization engineering, and particularly relates to a clamping bowl type automatic seedling picking device for rapeseed bowl seedlings. Background Art

[0002] The stems of rapeseed bowl seedlings are fragile and the planting density is high. The clamping rod type automatic seedling picking mechanism is likely to break the stems and is not suitable for the field of automatic seedling picking of rapeseed bowl seedlings. The multi-seedling arm inserting bowl clamping type seedling picking mechanism has a slow speed and it is difficult to achieve high-speed automatic seedling picking. Although the single-row whole-row pushing-out clamping bowl type is conducive to improving the speed of automatic seedling picking, compared with the transplanting density of nearly 200,000 plants per hectare, the speed of the single-row whole-row pushing-out clamping bowl type automatic seedling picking mechanism is still relatively slow. To solve the above problems, there is an urgent need to invent a clamping bowl type automatic seedling picking device for rapeseed bowl seedlings that can push out the whole row alternately from the left and right rows, enabling the rapeseed bowl seedlings to be picked automatically at high speed, so as to achieve high-speed transplanting of rapeseed bowl seedlings. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a clamping bowl type automatic seedling picking device for rapeseed bowl seedlings with a simple and compact structure, low cost, simple control, and high working efficiency, which can push out the whole row of bowl seedlings from the left and right rows.

[0004] To solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A clamping bowl type automatic seedling picking device for rapeseed bowl seedlings includes a frame type rack, on which a batch feeding seedling mechanism, a seedling picking and feeding mechanism located above the batch feeding seedling mechanism, and two groups of tray pushing seedling mechanisms symmetrically arranged on both sides of the seedling picking and feeding mechanism are installed; each group of tray pushing seedling mechanisms includes a tray feeding component capable of feeding the bowl seedlings in the seedling tray row by row into a preset seedling picking position and a seedling pushing component for pushing out a row of bowl seedlings located at the preset seedling picking position from the seedling tray. The seedling picking and feeding mechanism includes a swingable seedling picking bracket, two groups of turning cylinders, and two groups of seedling picking units. The two ends of the seedling picking bracket are hinged to the rack, the two groups of turning cylinders are hinged to the rack and are respectively arranged at the two ends of the seedling picking bracket, the telescopic ends of the turning cylinders are hinged to the seedling picking bracket, and the two groups of seedling picking units are hinged to both sides of the seedling picking bracket; the tray feeding component is provided with an inclined downward feeding tray channel, and the feeding tray channels of the two groups of tray feeding components are arranged oppositely on both sides of the two groups of seedling picking units to form a V shape. The low end of the feeding tray channel is the preset seedling picking position. When the turning cylinder controls the seedling picking bracket to swing between the preset seedling picking positions on both sides, the two groups of seedling picking units can swing with it but have opposite working time sequences. When one side of the seedling picking unit swings above the batch feeding seedling mechanism to pick up seedlings, the other side of the seedling picking unit swings to the corresponding preset seedling picking position to clamp a row of bowl seedlings pushed out by the seedling pushing component.

[0006] As a further improvement of the above technical solution:

[0007] The seedling picking support includes a rotating shaft horizontally arranged with both ends hinged to the machine frame, supporting end plates arranged in parallel and fixed to both ends of the rotating shaft, and a partition vertically arranged below the rotating shaft with both ends connected between the supporting end plates; the supporting end plates are fan-shaped with the arc bottom at the bottom end, and a support plate extends from the top end to one side and is provided with a support shaft parallel to the rotating shaft. The telescopic end of the flipping cylinder is hinged to the support shaft on the corresponding side, and two groups of seedling picking units are symmetrically arranged on both sides of the rotating shaft.

[0008] Each group of the seedling picking units includes a displacement assembly, a pot pressing assembly, a seedling pushing assembly, and multiple seedling clamping assemblies;

[0009] The displacement assembly includes a slide rail parallel to the rotating shaft and fixed to the upper ends of the inclined sides of the supporting end plates at both ends, two displacement cylinders oppositely installed inside the slide rail, and two spreading brackets perpendicular to the telescopic rods of the two displacement cylinders and clamped in the interval of the slide rail; a plurality of sliders capable of moving along it are installed on the outer side of the slide rail;

[0010] A plurality of the seedling clamping assemblies are arranged side by side and respectively installed on the outer side of a slider. The lower ends of the seedling clamping assemblies are far from the partition, so that the seedling clamping assemblies can be parallel to the axis of the potted seedlings ejected when picking seedlings; any two adjacent seedling clamping assemblies are connected by nylon lines of equal length, and the two outermost seedling clamping assemblies are respectively connected to a spreading bracket; when the two groups of displacement cylinders extend, the spreading brackets drive the seedling clamping assemblies at both ends to move away from each other until the seedling clamping assemblies are equidistant directly above the batch seedling throwing mechanism; when the two groups of displacement cylinders contract, the spreading brackets drive the seedling clamping assemblies at both ends to move towards each other until the seedling clamping assemblies correspond to the positions of the single-row potted seedlings in the seedling tray one by one;

[0011] The pot pressing assembly includes two pot pressing rod cylinders and a pot pressing rod parallel to the rotating shaft. The two pot pressing rod cylinders are respectively installed at the upper inner sides of a supporting end plate. The telescopic rods of the pot pressing rod cylinders face downwards and are connected to both ends of the pot pressing rod through fish-eye joints. A connecting bracket is hinged in the middle of the partition, and the lower end of the connecting bracket is hinged to the pot pressing rod. The bottom end of the pot pressing rod between the partition and the seedling clamping assemblies is used to push the seedling clamping assemblies to clamp the potted seedlings;

[0012] The seedling pushing assembly includes two seedling pushing plate cylinders and a seedling pushing plate vertically arranged with both top ends hinged to the upper inner sides of the supporting end plates. The two seedling pushing plate cylinders are respectively installed at the upper outer sides of the supporting end plates. The telescopic rods of the seedling pushing plate cylinders face downwards and are connected to both bottom ends of the seedling pushing plate through fish-eye joints; the seedling pushing plate is located outside the seedling clamping assemblies and is used to push out the potted seedlings.

[0013] Each of the seedling clamping components includes a slider connecting seat arranged outside the slider, two seedling clip support plates hinged side by side outside the slider connecting seat, and a pot seedling base connected to the lower end of the slider connecting seat. The upper ends of the two seedling clip support plates are connected by a support plate spring capable of controlling them to have an opening tendency. The outer bottom end of each seedling clip support plate is hinged with a pot seedling clip plate, and the two pot seedling clip plates can be closed to form a complete pot seedling clip. A seedling locking plate is hinged inside the pot seedling base, and the seedling locking plate can be engaged with the pot seedling clip plate through concave-convex engagement to close and clamp the seedlings. The bottom end of the seedling pushing plate is located above the pot seedling clip for pushing the seedlings.

[0014] The upper end of the seedling locking plate is provided with a seedling locking plate spring capable of controlling it to have a tendency to move away from the pot seedling base. The seedling locking plate spring is located between the seedling locking plate and the pot seedling base. The lower end of the seedling locking plate is provided with a seedling locking plate boss and two seedling locking plate side plates connected to both ends of the seedling locking plate boss. The side of the pot seedling clip plate for clamping the seedlings is provided with an inner arc groove of the pot seedling clip plate, and a concave inner locking groove of the pot seedling clip plate for cooperating with the seedling locking plate boss is opened on the side close to the seedling locking plate. A side locking groove of the support plate for cooperating with the seedling locking plate side plate is arranged on the seedling clip support plate outside the pot seedling clip plate.

[0015] The seedling tray feeding component includes a tray pushing member and an inclined seedling carrying plate. The high end of the seedling carrying plate is the feeding end of the tray, and the low end is the discharging end of the tray. The preset seedling taking position is located at a position close to the discharging end. A row of top seedling holes corresponding to single-row pot seedlings is arranged at the preset seedling taking position. Both sides of the seedling carrying plate are provided with side plates perpendicular to it and hollow in the middle. The edge of the side plate is provided with a seedling tray limiting guide rail, and a long strip-shaped tray pushing hole for the tray pushing member to push the tray is opened at a position on the limiting guide rail corresponding to the top seedling hole.

[0016] The edge of the side plate includes an inclined edge located above the seedling carrying plate, a horizontal edge located below the seedling carrying plate, and an intermediate arc edge connecting the inclined edge and the horizontal edge. The inclined edge and the seedling carrying plate enclose the feeding channel. The side plate is also provided with a guiding groove for the two side edges of the seedling tray to be inserted to guide the movement of the seedling tray, which includes a feeding guiding groove corresponding to the position of the top seedling hole, an arc groove corresponding to the arc edge, and a horizontal groove corresponding to the horizontal edge. The arc groove and the horizontal groove are connected into an integrated discharging guiding groove, the arc groove corresponding to the arc edge, and the horizontal groove corresponding to the horizontal edge. The arc groove and the horizontal groove are connected into an integrated discharging guiding groove.

[0017] The pushing plate member includes a pushing plate cylinder located between two side plates and two rocker arms respectively hinged to the outer sides of the side plates. The other ends of the rocker arms are respectively hinged to a pushing plate hook located in the pushing plate hole. The rocker arms on both sides are connected into one body through a connecting plate. The telescopic rod of the pushing plate cylinder is connected to the middle of the connecting plate, and the telescopic direction is parallel to the conveying direction of the seedling tray. The pushing plate hook is inserted into the positioning holes provided on both sides of the seedling tray from the pushing plate hole. Each time the pushing plate cylinder extends, the pushing plate hook pushes the seedling tray forward by one grid, so that a row of seedling pots to be taken moves to the top seedling hole. When the pushing plate cylinder retracts, the pushing plate hook withdraws and then falls into the positioning holes of the next row.

[0018] The top seedling assembly includes a top seedling cylinder and multiple parallel top seedling rods corresponding to the top seedling holes one by one. One ends of the multiple top seedling rods are located in the corresponding top seedling holes, and the other ends are vertically installed on two parallel mounting plates. Both sides of the two mounting plates are penetrated by a stroke shaft parallel to the top seedling rods and fixed at both ends on the frame. The top seedling cylinder is installed on a cylinder support located below the seedling carrying plate, and its telescopic rod is connected to the middle of the mounting plate. When the top seedling cylinder extends, it drives the top seedling rods to extend into the bottom holes of the seedling tray to lift the corresponding seedling pots, and when it retracts, it drives the top seedling rods to withdraw from the seedling tray.

[0019] Convex blocks are provided on the inner wall of the side plate. An inlet tray guide groove and an outlet tray guide groove are formed between the convex blocks and the limit guide rail; a convex platform portion for reducing the width of the inlet tray guide groove is provided on the side wall of the convex block at the inlet tray guide groove. The convex platform portion extends from the preset seedling taking position towards the inlet end of the seedling carrying plate, and both ends of the convex platform portion in its extending direction have a transition surface that smoothly connects the convex surface of the convex platform portion and the inner wall of the inlet tray guide groove.

[0020] Two through holes are symmetrically provided at the upper and lower ends of the slider connecting seat. The nylon threads connect adjacent two through holes on adjacent two slider connecting seats.

[0021] The slide rail includes two parallel and spaced rectangular straight rails. A groove arranged along its inclined direction is provided on the inner side of the inclined side of the support end plate. Both ends of the two rectangular straight rails are installed in the groove.

[0022] It further includes a pneumatic control system, which is used to control the coordinated operation of each cylinder.

[0023] Compared with the prior art, the advantages of the present invention are as follows:

[0024] For the clamping type automatic rape seedling pot seedling taking device of the present invention, under the push of the flipping cylinder, the seedling taking units on the left and right sides can perform left and right reciprocating seedling taking and throwing operations, and at the same time operate on two rows of seedling pots. Adopting the scheme of fixed seedling buckets for seedling separation can improve the efficiency of automatic seedling taking and the planting efficiency.

[0025] The clamping bowl type automatic seedling picking device for rape seedling bowls of the present invention adopts integral pneumatic top seedlings to separate the seedling bowl body from the holes of the seedling tray. Under the action of the seedling picking and conveying mechanism, it can better protect the stems and leaves of the seedling bowls, and greatly reduce the damage to the seedling bowls during the seedling picking process, and is applicable to the automatic transplanting of rape seedling bowls with fragile stems. Brief Description of the Drawings

[0026] Figure 1 It is a three-dimensional structure schematic diagram of the whole machine of the present invention.

[0027] Figure 2 It is a three-dimensional structure schematic diagram of the whole machine of the present invention (removing the seedling bowls).

[0028] Figure 3 It is a three-dimensional structure schematic diagram of the seedling picking and conveying mechanism in the present invention.

[0029] Figure 4 It is a three-dimensional structure schematic diagram of the seedling picking and conveying mechanism in the present invention (removing the seedling picking unit).

[0030] Figure 5 It is a partial structure schematic diagram of the seedling picking unit in the present invention.

[0031] Figures 6 - 7 They are respectively the structure schematic diagrams of the shifting component driving the seedling clamping component to close and open in the present invention.

[0032] Figure 8 It is an exploded three-dimensional structure schematic diagram of the seedling clamping component in the present invention.

[0033] Figure 9 It is a three-dimensional structure schematic diagram of the seedling clamping component when picking seedlings in the present invention.

[0034] Figure 10 It is a three-dimensional structure schematic diagram of the seedling clamping component when locking seedlings in the present invention.

[0035] Figure 11 It is a three-dimensional structure schematic diagram of the seedling clamping component when throwing seedlings in the present invention.

[0036] Figure 12 It is a schematic diagram of the working principle of the seedling clamping component and the seedling pushing plate in the present invention (when the seedling pushing plate pushes the seedlings).

[0037] Figure 13 It is a schematic diagram of the working principle of the seedling bowl clamp in the present invention (from closing to clamp the seedlings to opening to drop the seedlings).

[0038] Figure 14 It is a three-dimensional structure schematic diagram of the seedling tray top seedling mechanism in the present invention.

[0039] Figure 15 It is a three-dimensional structure schematic diagram of the seedling tray component in the present invention.

[0040] Figure 16 It is a schematic perspective view of another angle of the seedling tray top-seedling mechanism in the present invention.

[0041] Figure 17 It is the schematic diagram of the seedling tray feeding principle of the present invention.

[0042] Figure 18 It is the schematic diagram of different shapes of the flexible seedling tray before feeding and during discharging.

[0043] Figures 19 - 23 It is the schematic diagram of the seedling picking and delivering principle of the seedling picking unit.

[0044] Figures 24 - 27 It is the schematic diagram of left and right reciprocating seedling picking.

[0045] Legend:

[0046] 1. Frame;

[0047] 2. Batched seedling throwing mechanism; 21. Seedling dropping bucket;

[0048] 3. Seedling picking and delivering mechanism; 31. Seedling picking bracket; 311. Rotating shaft; 312. Supporting end plate; 3121. Support shaft; 313. Partition board; 32. Tipping cylinder; 33. Seedling picking unit; 331. Slide rail; 332. Shifting cylinder; 333. Spreading bracket; 334. Nylon thread; 335. Pressing bowl rod cylinder; 336. Pressing bowl rod; 337. Pushing seedling plate cylinder; 338. Pushing seedling plate; 339. Slide block connecting seat; 34. Seedling bowl clamp; 340. Seedling bowl base; 341. Seedling locking plate; 342. Seedling bowl clamping plate; 343. Seedling clamp support plate; 344. Seedling clamp support plate pin; 345. Support plate spring; 346. Seedling locking plate spring; 3401. Seedling locking plate support; 3411. Seedling locking plate boss; 3412. Seedling locking plate side plate; 3421. Inner arc groove of seedling bowl clamping plate; 3422. Locking groove of seedling bowl clamping plate; 3431. Side locking groove of support plate;

[0049] 4. Seedling tray top-seedling mechanism; 41. Seedling tray assembly; 411. Seedling carrying plate; 412. Side plate; 413. Rocker; 414. Pushing tray hook; 415. Connecting plate; 416. Pushing tray cylinder; 417. Limit guide rail; 418. Feeding tray guide groove; 419. Discharging tray guide groove; 420. Pushing tray hole; 42. Top-seedling assembly; 421. Top-seedling rod; 422. Stroke shaft; 423. Top-seedling cylinder; 424. Cylinder support; 425. Top-seedling hole;

[0050] 5. Seedling tray; 51. Positioning hole; 52. Straight seedling carrying interval; 53. Empty tray bending interval; 54. Empty tray straight interval;

[0051] 6. Seedling bowl. Specific implementation mode

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0053] As Figures 1 - 27 shown, the clamping bowl type automatic seedling picking device for rapeseed bowl seedlings in this embodiment includes a frame type rack 1, on which a batch feeding seedling mechanism 2 is installed, a seedling picking and conveying mechanism 3 located above the batch feeding seedling mechanism 2, and two groups of tray feeding and seedling pushing mechanisms 4 symmetrically arranged on both sides of the seedling picking and conveying mechanism 3; each group of tray feeding and seedling pushing mechanisms 4 includes a tray feeding component 41 capable of feeding the bowl seedlings 6 in the seedling tray 5 row by row into a preset seedling picking position and a seedling pushing component 42 for pushing out a row of bowl seedlings 6 located at the preset seedling picking position from the seedling tray 5. The seedling picking and conveying mechanism 3 includes a swingable seedling picking bracket 31, two groups of turning cylinders 32, and two groups of seedling picking units 33. The two ends of the seedling picking bracket 31 are hinged to the rack 1, the two groups of turning cylinders 32 are hinged to the rack 1 and are respectively arranged at the two ends of the seedling picking bracket 31, the telescopic ends of the turning cylinders 32 are hinged to the seedling picking bracket 31, and the two groups of seedling picking units 33 are hinged to both sides of the seedling picking bracket 31; the tray feeding component 41 is provided with an inclined downward feeding tray channel, and the feeding tray channels of the two groups of tray feeding components 41 are arranged oppositely on both sides of the two groups of seedling picking units 33 to form a V shape. The low end of the feeding tray channel is the preset seedling picking position. When the turning cylinder 32 controls the seedling picking bracket 31 to swing between the preset seedling picking positions on both sides, the two groups of seedling picking units 33 can swing with it to the preset seedling picking position, but the working sequences of the two groups of seedling picking units 33 are opposite. When one side of the seedling picking unit 33 swings above the batch feeding seedling mechanism 2 to pick up seedlings, the other side of the seedling picking unit 33 swings to the corresponding preset seedling picking position to clamp a row of bowl seedlings 6 pushed out by the seedling pushing component 42. The present invention can perform left and right reciprocating seedling picking and feeding, and at the same time operate on the left and right rows of bowl seedlings, adopting a fixed seedling bucket seedling separation scheme, which can improve the efficiency of automatic seedling picking and is suitable for the automatic transplanting of rapeseed bowl seedlings with fragile stems.

[0054] In this embodiment, the seedling picking bracket 31 includes a rotating shaft 311 horizontally arranged and hinged to the rack 1 at both ends, fan-shaped supporting end plates 312 arranged in parallel and fixedly connected to both ends of the rotating shaft 311, and a partition plate 313 vertically arranged below the rotating shaft 311 and connected between the centers of the supporting end plates 312 at both ends; the middle of the supporting end plate 312 is hollowed out, its arc bottom is located at the bottom end, the top end extends to one side to form a support plate, and a support shaft 3121 parallel to the rotating shaft 311 is provided at the end of the support plate. The extending direction of the support shaft faces the turning cylinder, and the telescopic end of the turning cylinder 32 is hinged to the support shaft 3121 on the corresponding side. The two groups of seedling picking units 33 are symmetrically arranged on both sides of the rotating shaft 311.

[0055] In this embodiment, each group of seedling picking units 33 includes a displacement component, a bowl pressing component, a seedling pushing component, and a plurality of seedling clamping components;

[0056] The shift assembly includes a slide rail 331 parallel to the rotation axis 311 and fixed at both ends to the upper ends of the inclined side of the support end plate 312, two shift cylinders 332 mounted on the inner side of the slide rail 331 in opposite directions, and two flat brackets 333 perpendicular to the telescopic rods of the two shift cylinders 332 and clamped in the interval of the slide rail 331. A plurality of sliders 3310 capable of moving along the slide rail 331 are mounted on the outer side of the slide rail 331. In this embodiment, the slide rail 331 includes two parallel and spaced rectangular straight rails, and a groove arranged along the inclined direction of the support end plate 312 is provided on the inner side of the inclined side, and both ends of the two rectangular straight rails are mounted in the groove, so that the outer side of the slide rail is in an inclined state.

[0057] In this embodiment, the seedling pushing assembly includes two seedling pushing plate cylinders 337 and a seedling pushing plate 338 arranged vertically and hinged at both ends of the top to the inner upper end of the support end plate 312. The two seedling pushing plate cylinders 337 are respectively installed at the outer upper end of the support end plate 312, and the telescopic rods of the seedling pushing plate cylinders 337 face downward and are connected to the bottom ends of the seedling pushing plates 338 through fisheye joints; the seedling pushing plates 338 are located on the outer side of the seedling clamping assembly and are used to push the pot seedlings 6 out.

[0058] In this embodiment, a plurality of seedling clamping assemblies are arranged side by side and are respectively installed on the outside of a slider 3310, and the lower end of the seedling clamping assembly is away from the partition 313, so that the seedling clamping assembly can be parallel to the axis of the seedling pot 6 that is ejected when taking the seedling, so as to facilitate receiving the seedling pot. Any two adjacent seedling clamping assemblies are connected by nylon lines 334 of equal length, which are used to limit the position of the seedling clamp after the displacement cylinder is extended. The two seedling clamping assemblies located at the outermost ends are respectively connected to a flat bracket 333. When the two groups of displacement cylinders 332 are extended, the flat bracket 333 drives the seedling clamping assemblies at both ends to move back to each seedling clamping assembly equidistantly above the seedling dropping barrel 21 of the batch seedling delivery mechanism 2, and the seedlings are dropped in an orderly manner; when the two groups of displacement cylinders 332 are contracted, the flat bracket 333 drives the seedling clamping assemblies at both ends to move toward each other until each seedling clamping assembly corresponds to the position of the single row of seedling pots 6 in the seedling tray 5.

[0059] In this embodiment, each seedling clamp assembly includes a slider connecting seat 339 arranged on the outside of the slider 3310, two seedling clamp support plates 343 hinged side by side on the outside of the slider connecting seat 339, and a seedling pot base 340 connected to the lower end of the slider connecting seat 339. The two seedling clamp support plates 343 are hinged to the slider connecting seat 339 through the seedling clamp support plate pin 344, and can rotate within a certain angle range around the seedling clamp support plate pin 344. The upper ends of the two seedling clamp support plates 343 are each provided with a through hole, and are connected by a support plate spring 345 passing through the two through holes. The elastic force of the support plate spring 345 controls the seedling clamp support plates 343 to have a tendency to open.

[0060] In this embodiment, a seedling bowl clamping plate 342 is hinged to the outer bottom end of each seedling clamp support plate 343. The two seedling bowl clamping plates 342 can be closed to form a complete seedling bowl clamp 34. A locking seedling plate 341 is hinged to the inner side of the seedling bowl base 340 through a locking seedling plate support 3401. The locking seedling plate 341 can be engaged with the seedling bowl clamping plate 342 through concave-convex engagement to close and clamp the seedlings. The bottom end of the seedling pushing plate 338 is located above the seedling bowl clamp 34 for pushing the seedlings.

[0061] In this embodiment, a locking seedling plate spring 346 is provided at the upper end of the locking seedling plate 341. The locking seedling plate spring 346 is located between the locking seedling plate 341 and the seedling bowl base 340. The tension of the locking seedling plate spring 346 controls the locking seedling plate 341 to have a tendency to move away from the seedling bowl base 340. A locking seedling plate boss 3411 is provided at the lower end of the locking seedling plate 341 and two locking seedling plate side plates 3412 connected to both ends of the locking seedling plate boss 3411; on the side of the seedling bowl clamping plate 342 for clamping the seedlings, there is a seedling bowl clamping plate inner arc groove 3421, and a concave locking seedling plate lock groove 3422 is opened on the side close to the locking seedling plate 341 for cooperating with the locking seedling plate boss 3411. On the seedling clamp support plate 343, a support plate side lock groove 3431 for cooperating with the locking seedling plate side plate 3412 is provided on the outer side of the seedling bowl clamping plate 342.

[0062] In this embodiment, the pressing bowl assembly includes two pressing bowl rod cylinders 335 and a pressing bowl rod 336 parallel to the rotating shaft 311. The two pressing bowl rod cylinders 335 are respectively installed at the upper inner side of a support end plate 312. The telescopic rod of the pressing bowl rod cylinder 335 faces downward and is connected to both ends of the pressing bowl rod 336 through a spherical eye joint. A connecting bracket is hinged to the middle of the partition plate 313, and the lower end of the connecting bracket is hinged to the pressing bowl rod 336. The bottom end of the pressing bowl rod 336 is located between the partition plate 313 and the seedling clamping assembly.

[0063] Working principle of the locking seedling plate and the seedling bowl clamp:

[0064] Seedling picking: When the shifting cylinder 332 contracts, the flat spreading bracket 333 drives the seedling clamping assemblies at both ends to move towards each other until the positions of the seedling clamping assemblies correspond to the positions of the single-row seedling bowls 6 in the seedling tray 5 one by one. At this time, as Figure 9 shown, the two seedling bowl clamping plates 342 contract inward, and the two seedling bowl clamping plate inner arc grooves 3421 form a cylindrical space with an open top and a bottom circle diameter slightly larger than the size of the seedling bowl body. When the top seedling rod 421 ejects the seedling bowl 6 from the seedling tray, the body of the seedling bowl 6 enters this cylindrical space, and the seedling bowl 6 is taken out from the seedling tray.

[0065] Locking the seedlings: When the body of the seedling bowl 6 enters the cylindrical space in the seedling bowl clamping plate inner arc groove 3421, the pressing bowl rod cylinder 335 extends, and the pressing bowl rod 336 pushes the locking seedling plate 341 to move towards the seedling bowl clamping plate 342. As Figure 10As shown in the figure, on the one hand, the locking seedling plate boss 3411 enters the seedling bowl clamping plate locking groove 3422. The locking seedling plate boss 3411 causes a slight deformation of the body of the seedling bowl 6 and makes it closely fit with the inner arc groove 3421 of the seedling bowl clamping plate. The seedling bowl 6 is locked in the cylindrical space, preventing the seedling bowl 6 from falling off the seedling bowl clamp 34 when the seedling taking bracket 31 swings. On the other hand, the side locking groove 3431 of the support plate is inserted into the side plate 3412 of the locking seedling plate. The two seedling clamp support plates 343 are limited by the side plate 3412 of the locking seedling plate 341. Even during the outward displacement of the two displacement cylinders 332 and under the pulling force of the support plate spring 345, the seedling bowl clamp 34 remains in the locked position, and the seedling bowl 6 will not fall off the seedling bowl clamp 34.

[0066] Seedling delivery: When the seedling taking bracket 31 swings to the seedling delivery position, the pressing seedling bowl rod cylinder 335 contracts, and the locking seedling plate 341 moves away from the seedling bowl clamping plate 342 under the action of the locking seedling plate spring 346. As Figure 11 shown in the figure, on the one hand, the locking seedling plate boss 3411 leaves the seedling bowl clamping plate locking groove 3422, the clamping force on the seedling bowl 6 disappears, and the seedling bowl 6 disengages from the seedling bowl clamp 34 and drops vertically downward. On the other hand, the side locking groove 3431 of the support plate separates from the side plate 3412 of the locking seedling plate. Under the pulling force of the support plate spring 345, the two seedling bowl clamping plates 342 open outward, forming a conical space much larger than the diameter of the body of the seedling bowl 6, which is more conducive to the seedling bowl 6 falling off the seedling bowl clamp 34.

[0067] In this embodiment, the seedling tray assembly 41 includes a pushing tray member and an inclined seedling carrying plate 411. The high end of the seedling carrying plate 411 is the feeding end, and the low end is the discharging end. The preset seedling taking position is located near the discharging end. A row of top seedling holes 425 corresponding to the single row of seedling bowls 6 is provided at the preset seedling taking position. Both sides of the seedling carrying plate 411 are provided with a side plate 412 perpendicular to it. The middle of the side plate 412 is hollowed out. At the position corresponding to the top seedling hole 425 on the limiting guide rail 417, a long strip-shaped pushing tray hole 420 for the pushing tray member to push the tray is provided.

[0068] In this embodiment, the edge of the side plate 412 includes an inclined edge above the seedling-carrying plate 411, a horizontal edge below the seedling-carrying plate 411, and an intermediate arc edge connecting the inclined edge and the horizontal edge. The inclined edge and the seedling-carrying plate 411 enclose an inlet channel for the seedling tray. The side plate 412 is also provided with a guiding groove for inserting the two side edges of the seedling tray 5 to guide the movement of the seedling tray 5. It includes an inlet guiding groove 418 corresponding to the position of the seedling ejecting hole 425, an arc groove corresponding to the arc edge, and a horizontal groove corresponding to the horizontal edge. The arc groove and the horizontal groove are connected into an integrated outlet guiding groove 419, so that the outlet end is directly below the inlet end of the seedling tray. The seedling tray applicable to this structure is a flexible plastic product and can achieve good bending deformation. The seedling tray made of flexible plastic enters from the inlet end of the seedling-carrying plate, takes seedlings through the inlet guiding groove to the outlet end, and the empty tray is sent out to both sides of the rack along the outlet guiding groove formed by the arc groove and the horizontal groove. During this process, the seedling tray forms three intervals: a straight seedling-carrying interval 52, a bent empty-tray interval 53, and a straight empty-tray interval 54, as shown in Figure 14 shown. Under the inlet and outlet modes of the present invention, on the premise of realizing the output of the seedling tray, the upper and lower spaces can be fully utilized, greatly saving the floor space.

[0069] In this embodiment, the tray-pushing member includes a tray-pushing cylinder 416 located between two side plates 412 and two rocker arms 413 respectively hinged to the outside of the side plates 412. The other ends of the rocker arms 413 are respectively hinged to a tray-pushing hook 414 located in the tray-pushing hole 420. The two side rocker arms 413 are connected into an integrated body through a connecting plate 415. The telescopic rod of the tray-pushing cylinder 416 is connected to the middle of the connecting plate 415 and the telescopic direction is parallel to the conveying direction of the seedling tray 5. The tray-pushing hook 414 is inserted into the positioning holes 51 provided on the two side edges of the seedling tray 5 from the tray-pushing hole 420. A plurality of positioning holes are arranged at intervals on the two side edges of the seedling tray, and the distance between adjacent two positioning holes is equal to the distance between adjacent two rows of pot seedlings.

[0070] When pushing the tray, the tray-pushing cylinder 416 is in the retracted position, and at this time the tray-pushing hook 414 is inserted into the positioning hole 51 of the seedling tray. Subsequently, the tray-pushing cylinder 416 extends to the set limit position, and the two tray-pushing hooks 414 push the seedling tray 5 forward one grid in the positioning hole through the vertical plane provided at their front ends, so that a row of pot seedlings 6 to be taken moves to the position of the seedling ejecting hole 425 and waits for the seedling ejecting assembly to eject. After reaching the limit position, the tray-pushing cylinder 416 retracts. During the retraction process, the tray-pushing hook 414 is pulled to automatically withdraw from the positioning hole through the inclined plane provided at its rear end. When reaching the retraction limit position, the tray-pushing hook 414 falls into the next row of positioning holes 51 and waits for the next tray-pushing.

[0071] In this embodiment, bumps are provided on the inner wall of the side plate 412. An inlet tray guide groove 418 and an outlet tray guide groove 419 are formed between the bumps and the limit guide rail 417. A boss portion that reduces the width of the inlet tray guide groove 418 is provided on the side wall of the bump at the inlet tray guide groove 418. The boss portion extends from the preset seedling taking position towards the inlet end of the seedling carrying plate 411, and both ends of the boss portion in its extending direction have a raised surface that smoothly connects the boss portion and a transition surface of the inner wall of the inlet tray guide groove 418. This structure can ensure stable movement of the seedling tray in cooperation with the push tray hook 414, and after the last row of pot seedlings in the seedling tray is taken out, it is also convenient for the push tray hook 414 to push the edge end of the seedling tray to pass through the preset seedling taking position. Preferably, the length of the above-mentioned boss portion is not greater than the distance between adjacent two positioning holes.

[0072] In this embodiment, the seedling pushing assembly 42 includes a seedling pushing cylinder 423 and a plurality of parallel arranged seedling pushing rods 421 corresponding to the seedling pushing holes 425 one by one. One ends of the plurality of seedling pushing rods 421 are located in the corresponding seedling pushing holes 425, and the other ends are vertically installed on two parallel arranged mounting plates. Both sides of the two mounting plates are penetrated by a stroke shaft 422 parallel to the seedling pushing rods 421 and fixed at both ends on the frame 1. The seedling pushing cylinder 423 is installed on a cylinder bracket 424 located below the seedling carrying plate 411, and its telescopic rod is connected to the middle of the mounting plate. When the tray feeding assembly sends the pot seedlings to be pulled out to the preset seedling taking position, when the seedling pushing cylinder 423 extends, as the seedling pushing cylinder 423 continuously extends, the seedling pushing rods 421 are driven to extend into the bottom small holes of the seedling tray 5, breaking the adhesion between the seedling tray and the pot seedlings, gradually lifting the pot seedlings 6, and stopping when reaching the extended limit position. After the pot seedlings are clamped by the pot seedling clamp, the seedling pushing cylinder 423 retracts, and the seedling pushing rods 421 withdraw from the seedling tray 5.

[0073] In this embodiment, a pneumatic control system is further included, and the pneumatic control system is used to control the coordinated operation of each cylinder.

[0074] In this embodiment, the push tray hook and the batch seedling feeding mechanism are prior arts, which will not be elaborated here and can be configured with reference to the prior arts.

[0075] As Figures 19 - 23 shown, the seedling taking and feeding operation of the seedling taking and feeding mechanism in the present invention can be divided into the following five stages:

[0076] 5. Seedling releasing and feeding stage: The seedling clamping assembly has sent the pot seedlings to be planted directly above the batch seedling feeding mechanism. At this time, the pressing pot rod cylinder contracts, the pressing pot rod falls back, and the seedling locking plate separates from the pot seedling clamp; the seedling pushing plate cylinder extends, the seedling pushing plate moves forward to push out the pot seedlings, and the pot seedlings fall into the batch seedling feeding mechanism under the action of their own gravity. After the seedling feeding is completed, the flipping cylinder extends, and the seedling clamping assembly returns to the middle position under the action of the flipping cylinder, and then the seedling taking and positioning stage is carried out to complete a cycle.

[0077] AsFigures 24 - 27 As shown in the figure, the principle of the left - right reciprocating cycle for seedling picking of the present invention is as follows:

[0078] Z1 - Z6 are the 1st - 6th rows of pot seedlings on the left side, and Y1 - Y6 are the 1st - 6th rows of pot seedlings on the right side. Taking the preset seedling - picking position on the left side as Z1 and the preset seedling - picking position on the right side as Y2, and taking the right - side seedling - clamping assembly having clamped the first - row pot seedling Y1 as an example for illustration.

[0079] 1. The turning cylinder extends, pushing the right - side tray, the left - side seedlings to be clamped, and the right - side seedlings to be dropped: While the turning cylinder extends, the right - side tray - feeding assembly feeds the tray to push the pot seedlings in the Y2 row towards the preset seedling - picking position. When the turning cylinder extends to the farthest end, the right - side tray - feeding assembly feeds the tray to move the pot seedlings in the Y2 row to the preset seedling - picking position. The left - side seedling clamp rotates to the left - side preset seedling - picking position to prepare to receive the pot seedling Z1, and the right - side seedling clamp moves the already clamped first - row pot seedling Y1 above the seedling - dropping bucket, as Figure 20 shown;

[0080] 2. The turning cylinder extends to the limit position, pushing the left - side seedlings, clamping the left - side seedlings, and dropping the right - side seedlings: After the turning cylinder extends to the farthest - end limit position and has a short delay, the left - side seedling - pushing assembly pushes out the first - row pot seedling Z1. Then, the left - side seedling clamp clamps the first - row pot seedling Z1, and the right - side seedling clamp opens to drop the right - side pot seedling Y1 into the seedling - dropping bucket, as Figure 21 shown;

[0081] 3. The turning cylinder retracts, pushing the left - side tray, the right - side seedlings to be clamped, and the left - side seedlings to be dropped: While the turning cylinder retracts, the left - side tray - feeding assembly feeds the tray to push the pot seedlings in the Z2 row towards the preset seedling - picking position. When the turning cylinder retracts to the nearest end, the left - side tray - feeding assembly feeds the tray to move the pot seedlings in the Z2 row to the preset seedling - picking position. The right - side seedling clamp rotates to the right - side preset seedling - picking position to prepare to receive the pot seedling Z2, and the left - side seedling clamp moves the already clamped first - row pot seedling Z1 above the seedling - dropping bucket, as Figure 22 shown;

[0082] 4. The turning cylinder retracts to the limit position, pushing the right - side seedlings, clamping the right - side seedlings, and dropping the left - side seedlings: After the turning cylinder retracts to the nearest - end limit position and has a short delay, the right - side seedling - pushing assembly pushes out the second - row pot seedling Y2. Then, the right - side seedling clamp clamps the second - row pot seedling Y2, and the left - side seedling clamp opens to drop the left - side pot seedling Z1 into the seedling - dropping bucket, as Figure 23 shown.

[0083] By repeating this process, when dropping seedlings on one side, picking seedlings can be carried out simultaneously on the other side, greatly improving the working efficiency.

Claims

1. An automatic seedling-taking device for rapeseed pot seedlings with a clamping bowl type, comprising a frame-type rack (1). A batch seedling-throwing mechanism (2), a seedling-taking and conveying mechanism (3) located above the batch seedling-throwing mechanism (2), and two groups of seedling tray top-seedling mechanisms (4) symmetrically arranged on both sides of the seedling-taking and conveying mechanism (3) are installed on the rack (1); each group of seedling tray top-seedling mechanisms (4) includes a seedling tray component (41) capable of successively feeding the pot seedlings (6) in the seedling tray (5) row by row into a preset seedling-taking position and a top-seedling component (42) for pushing out a row of pot seedlings (6) located at the preset seedling-taking position from the seedling tray (5), and is characterized in that: The seedling picking and delivering mechanism (3) includes a swingable seedling picking bracket (31), two sets of flipping cylinders (32), and two sets of seedling picking units (33). The two ends of the seedling picking bracket (31) are hinged to the frame (1). The two sets of flipping cylinders (32) are hinged to the frame (1) and are respectively arranged at the two ends of the seedling picking bracket (31). The telescopic end of the flipping cylinder (32) is hinged to the seedling picking bracket (31). The two sets of seedling picking units (33) are hinged to both sides of the seedling picking bracket (31). The seedling tray feeding assembly (41) is provided with an inclined downward feeding tray channel. The feeding tray channels of the two sets of seedling tray feeding assemblies (41) are arranged oppositely on both sides of the two sets of seedling picking units (33) to form a V shape. The low end of the feeding tray channel is the preset seedling picking position. When the flipping cylinder (32) controls the seedling picking bracket (31) to swing between the preset seedling picking positions on both sides, the two sets of seedling picking units (33) can swing along with it but have opposite working sequences. When one side of the seedling picking unit (33) swings above the batch seedling throwing mechanism (2) to throw seedlings, the other side of the seedling picking unit (33) swings to the corresponding preset seedling picking position to clamp a row of bowl seedlings (6) ejected by the seedling topping assembly (42). The seedling picking bracket (31) includes a rotating shaft (311) horizontally arranged and hinged to the frame (1) at both ends, support end plates (312) arranged in parallel and fixed to both ends of the rotating shaft (311), and a partition plate (313) vertically arranged below the rotating shaft (311) and connected between the support end plates (312) at both ends. The support end plate (312) is fan-shaped with an arc bottom at the bottom end, and a support plate extends from the top end to one side and is provided with a support shaft (3121) parallel to the rotating shaft (311). The telescopic end of the flipping cylinder (32) is hinged to the support shaft (3121) on the corresponding side. The two sets of seedling picking units (33) are symmetrically arranged on both sides of the rotating shaft (311).

2. The automatic seedling-taking device for rapeseed pot seedlings of the clamping bowl type according to claim 1, wherein: Each set of the seedling picking units (33) includes a displacement assembly, a bowl pressing assembly, a seedling pushing assembly, and a plurality of seedling clamping assemblies; The displacement assembly includes a slide rail (331) parallel to the rotating shaft (311) and fixed to the upper ends of the inclined sides of the support end plates (312) at both ends, two displacement cylinders (332) mounted back to back on the inner side of the slide rail (331), and two spreading brackets (333) perpendicular to the telescopic rods of the two displacement cylinders (332) and clamped in the interval of the slide rail (331). A plurality of sliders (3310) capable of moving along it are mounted on the outer side of the slide rail (331); A plurality of the seedling clamping assemblies are arranged side by side and are respectively installed on the outer side of a slider (3310). The lower ends of the seedling clamping assemblies are far away from the partition plate (313), so that when the seedling clamping assemblies pick up seedlings, they can be parallel to the axis of the potted seedlings (6) that are ejected. Any two adjacent seedling clamping assemblies are connected by nylon lines (334) of equal length. The two outermost seedling clamping assemblies are respectively connected to a flattening bracket (333). When the two groups of shifting cylinders (332) extend, the flattening bracket (333) drives the seedling clamping assemblies at both ends to move away from each other until the seedling clamping assemblies are equidistantly located directly above the batch seedling throwing mechanism (2). When the two groups of shifting cylinders (332) contract, the flattening bracket (333) drives the seedling clamping assemblies at both ends to move towards each other until the positions of the seedling clamping assemblies correspond to the positions of the single-row potted seedlings (6) in the seedling tray (5) one by one. The potted seedling pressing assembly includes two potted seedling pressing rod cylinders (335) and a potted seedling pressing rod (336) parallel to the rotating shaft (311). The two potted seedling pressing rod cylinders (335) are respectively installed at the upper inner side of a support end plate (312). The telescopic rods of the potted seedling pressing rod cylinders (335) face downwards and are connected to both ends of the potted seedling pressing rod (336) through fish-eye joints. A connecting bracket is hinged in the middle of the partition plate (313). The lower end of the connecting bracket is hinged to the potted seedling pressing rod (336). The bottom end of the potted seedling pressing rod (336) between the partition plate (313) and the seedling clamping assembly is used to push the seedling clamping assembly to clamp the potted seedlings (6). The seedling pushing assembly includes two seedling pushing plate cylinders (337) and a seedling pushing plate (338) arranged vertically and hinged to the upper inner sides of both ends of the support end plate (312) at the top. The two seedling pushing plate cylinders (337) are respectively installed at the upper outer sides of the support end plate (312). The telescopic rods of the seedling pushing plate cylinders (337) face downwards and are connected to both bottom ends of the seedling pushing plate (338) through fish-eye joints. The seedling pushing plate (338) is located outside the seedling clamping assembly and is used to push out the potted seedlings (6).

3. The automatic seedling picking device for rapeseed pot seedlings of the clamping bowl type according to claim 2, characterized in that: Each seedling clamping assembly includes a slider connecting seat (339) installed on the outer side of the slider (3310), two seedling clip support plates (343) arranged side by side and hinged to the outer side of the slider connecting seat (339), and a potted seedling base (340) connected to the lower end of the slider connecting seat (339). The upper ends of the two seedling clip support plates (343) are connected by a support plate spring (345) that can control them to have a tendency to open. The outer bottom end of each seedling clip support plate (343) is hinged to a potted seedling clip plate (342). The two potted seedling clip plates (342) can be closed to form a complete potted seedling clip (34). A locking seedling plate (341) is hinged to the inner side of the potted seedling base (340). The locking seedling plate (341) can be engaged with the potted seedling clip plate (342) through concave-convex meshing to close and clamp the seedlings. The bottom end of the seedling pushing plate (338) is located above the potted seedling clip (34) and is used to push the seedlings.

4. The automatic seedling-taking device for rapeseed pot seedlings of the clamping bowl type according to claim 3, characterized in that: A lock seedling plate spring (346) capable of controlling the lock seedling plate (341) to have a tendency to move away from the seedling bowl base (340) is provided at the upper end of the lock seedling plate (341). The lock seedling plate spring (346) is located between the lock seedling plate (341) and the seedling bowl base (340). A lock seedling plate boss (3411) and two lock seedling plate side plates (3412) connected to both ends of the lock seedling plate boss (3411) are provided at the lower end of the lock seedling plate (341). An inner arc groove (3421) for clamping seedlings is provided on the side of the seedling bowl clamping plate (342) for clamping seedlings. An inner concave seedling bowl clamping plate lock groove (3422) for cooperating with the lock seedling plate boss (3411) is provided on the side close to the lock seedling plate (341). A support plate side lock groove (3431) for cooperating with the lock seedling plate side plate (3412) is provided on the seedling clamping support plate (343) on the outer side of the seedling bowl clamping plate (342).

5. The automatic seedling picking device for rapeseed pot seedlings of the clamping bowl type according to claim 1, characterized in that: The seedling tray feeding assembly (41) includes a pushing tray member and an inclined seedling carrying plate (411). The high end of the seedling carrying plate (411) is the feeding end of the tray, and the low end is the discharging end of the tray. The preset seedling picking position is located near the discharging end. A row of top seedling holes (425) corresponding to the single-row seedling bowls (6) are provided at the preset seedling picking position. Side plates (412) perpendicular to the seedling carrying plate (411) and hollow in the middle are provided on both sides of the seedling carrying plate (411). Seedling tray limiting guide rails (417) are provided on the edges of the side plates (412). Long strip-shaped pushing tray holes (420) for the pushing tray member to push the tray are provided at positions on the limiting guide rails (417) corresponding to the top seedling holes (425). The edges of the side plates (412) include an inclined edge above the seedling carrying plate (411), a horizontal edge below the seedling carrying plate (411), and an intermediate arc edge connecting the inclined edge and the horizontal edge. The inclined edge and the seedling carrying plate (411) enclose the feeding channel. Guide grooves for the two side edges of the seedling tray (5) to be inserted to guide the movement of the seedling tray (5) are also provided on the side plates (412), including a feeding guide groove (418) corresponding to the position of the top seedling holes (425), an arc groove corresponding to the arc edge, and a horizontal groove corresponding to the horizontal edge. The arc groove and the horizontal groove are connected into an integrated discharging guide groove (419).

6. The automatic seedling-taking device for rapeseed pot seedlings of the clamping bowl type according to claim 5, wherein: The pushing plate member includes a pushing plate cylinder (416) located between two side plates (412) and two rocker arms (413) respectively hinged to the outer sides of the side plates (412). The other ends of the rocker arms (413) are each hinged to a pushing plate hook (414) located in the pushing plate hole (420). The rocker arms (413) on both sides are connected into one body through a connecting plate (415). The telescopic rod of the pushing plate cylinder (416) is connected to the middle of the connecting plate (415), and the telescopic direction is parallel to the conveying direction of the seedling tray (5). The pushing plate hook (414) is inserted into the positioning holes (51) provided on both sides of the seedling tray (5) from the pushing plate hole (420). Each time the pushing plate cylinder (416) extends, the pushing plate hook (414) pushes the seedling tray (5) forward by one grid, so that a row of seedling pots (6) to be picked moves to the top seedling hole (425). When the pushing plate cylinder (416) retracts, the pushing plate hook (414) withdraws and then falls into the positioning holes (51) of the next row.

7. The automatic seedling picking device for rapeseed pot seedlings of the clamping bowl type according to claim 6, wherein: The top seedling assembly (42) includes a top seedling cylinder (423) and a plurality of parallel arranged top seedling rods (421) corresponding to the top seedling holes (425) one by one. One ends of the plurality of top seedling rods (421) are located in the corresponding top seedling holes (425), and the other ends are vertically installed on two parallel arranged mounting plates. Both sides of the two mounting plates are penetrated by a stroke shaft (422) parallel to the top seedling rods (421) and fixed to the frame (1) at both ends. The top seedling cylinder (423) is installed on a cylinder bracket (424) located below the seedling carrying plate (411), and its telescopic rod is connected to the middle of the mounting plate. When the top seedling cylinder (423) extends, it drives the top seedling rods (421) to extend into the bottom small holes of the seedling tray (5) to lift the corresponding seedling pots (6), and when it retracts, it drives the top seedling rods (421) to withdraw from the seedling tray (5).

8. The automatic seedling-taking device for rapeseed pot seedlings of the clamping bowl type according to claim 5, wherein: Convex blocks are provided on the inner wall of the side plate (412). An inlet tray guide groove (418) and an outlet tray guide groove (419) are formed between the convex blocks and the limit guide rail (417); a convex platform portion for reducing the width of the inlet tray guide groove (418) is provided on the side wall of the convex block at the inlet tray guide groove (418). The convex platform portion extends from the preset seedling picking position towards the inlet end of the seedling carrying plate (411), and both ends of the convex platform portion in its extending direction have a convex surface for smoothly connecting the convex platform portion and a transition surface of the inner wall of the inlet tray guide groove (418).

9. The automatic seedling picking device for rapeseed pot seedlings of the clamping bowl type according to claim 4, wherein: Two through holes are symmetrically provided at the upper and lower ends of the slider connecting seat (339). The nylon wire (334) connects two adjacent through holes on adjacent slider connecting seats (339).

10. The automatic seedling-taking device for rapeseed pot seedlings of the clamping bowl type according to claim 9, characterized in that: The slide rail (331) includes two parallel and spaced rectangular straight rails. A groove arranged along its inclined direction is provided on the inner side of the inclined side of the support end plate (312). Both ends of the two rectangular straight rails are installed in the groove.

11. The automatic seedling picking device for rapeseed pot seedlings of the clamping bowl type according to claim 8 or 10, characterized in that: It further includes a pneumatic control system, which is used to control the coordinated operation of each cylinder.

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