An automatic seedling picking and placing device

Abstract

The present invention relates to an automatic seedling picking and transplanting device, which includes a frame, two groups of seedling tray top-pushing mechanisms arranged oppositely on the frame, a seedling picking and transplanting mechanism, a seedling separating mechanism and a power mechanism arranged between the two groups of seedling tray top-pushing mechanisms. The seedling tray top-pushing mechanism can send the pot seedlings to a preset seedling picking position and loosen the pot seedlings. The seedling picking and transplanting mechanism includes a translation bracket, two groups of seedling clamping assemblies and a seedling clamping lifting assembly. The power mechanism includes a motor, a reciprocating lead screw and two groups of gear transmission lifting assemblies. The translation bracket is connected to the reciprocating lead screw, and the seedling clamping assemblies are driven by it to alternately pick up a row of pot seedlings. The seedling clamping assemblies that pick up the pot seedlings rise under the action of the gear transmission lifting assemblies to achieve seedling pulling, and descend to the horizontal seedling transplanting under the action of the downward pressing rod during the movement to the upper part of the seedling separating mechanism. The present invention completes actions such as seedling sending, top-pushing, picking and transplanting through a mechanical driving method, with a simple and efficient structure, convenient operation, improved transplanting efficiency and quality, and is applicable to the vegetable transplanting of various scenarios and varieties.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural mechanization engineering, and particularly relates to an automatic seedling picking and placing device. Background Art

[0002] At present, the research direction of vegetable transplanting operations mainly focuses on the planting mechanism, mostly semi-automatic transplanting machines, and rarely involves the seedling picking mechanism. Vegetable transplanting is mainly carried out manually. However, manual picking is a labor-intensive task. Therefore, transplanting vegetable pot seedlings manually has high labor intensity, low collection efficiency, high labor costs, and the pot seedlings are not easy to survive. Therefore, with the rapid development of the vegetable market demand, the manual transplanting method can no longer meet the urgent needs of the current vegetable production capacity. Pot seedling transplanting has become the weakest link in the development of the vegetable industry and has gradually become a bottleneck hindering the rapid development of the vegetable industry. There is an urgent need to develop a fully automatic seedling picking and placing transplanting device with simple operation and high transplanting efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic seedling picking and placing device with a simple structure, stable, accurate and efficient seedling picking, so as to solve the above problems.

[0004] To solve the above technical problems, the technical solution provided by the present invention is as follows:

[0005] An automatic seedling picking and placing device includes a frame-type rack. Two sets of oppositely arranged seedling tray top-pushing mechanisms are installed on the rack, a seedling picking and placing mechanism is installed between the two sets of seedling tray top-pushing mechanisms, a seedling separating mechanism is located below the seedling picking and placing mechanism, and a power mechanism. Each set of seedling tray top-pushing mechanisms includes a seedling tray component that can send the pot seedlings in the seedling tray row by row to a preset seedling picking position and a top-pushing component that loosens a row of pot seedlings located at the preset seedling picking position.

[0006] The seedling picking and placing mechanism includes a translation bracket and two sets of seedling clamping components. The translation bracket is horizontally arranged at the symmetry center of the two sets of seedling tray top-pushing mechanisms and is slidably supported on the rack at the bottom. The two sets of seedling clamping components are respectively arranged on both sides of the translation bracket. Both ends of each set of seedling clamping components are connected to a damping-type seedling clamping lifting component that can block the automatic falling of the seedling clamping component after clamping the seedlings and rising. The two seedling clamping lifting components at the same end of the two sets of seedling clamping components are arranged in opposite directions and fixedly connected to the translation bracket. A pressing rod that can lower the seedling clamping component after clamping the seedlings is fixedly installed on the rack. The pressing rod is horizontally arranged above the translation bracket but does not move with the movement of the translation bracket. The seedling clamping lifting component is located between the translation bracket and the pressing rod.

[0007] The power mechanism includes a reciprocating lead screw horizontally arranged on the same side of two seedling feeding and top - lifting mechanisms, a slider capable of reciprocating on the reciprocating lead screw, and a motor for driving the rotation of the reciprocating lead screw. A set of gear - driven jacking assemblies are provided at both ends of the reciprocating lead screw. One end of the translation bracket is connected to the slider;

[0008] When the translation bracket reciprocates with the slider, it drives two sets of seedling clamping assemblies to reciprocate between two preset seedling - taking positions. The time sequences of the two sets of seedling clamping assemblies reaching the preset seedling - taking positions are opposite. One set of seedling clamping assemblies moves to a preset seedling - taking position to clamp the seedlings, and the corresponding set of gear - driven jacking assemblies jack it up to achieve seedling pulling, and the connected seedling - clamp lifting assembly is lifted; after the other set of seedling clamping assemblies take the seedlings, they move above the seedling - separating mechanism, and the seedling - clamp lifting assembly connected to it is pressed down by the pressing rod during the movement to drive the seedling clamping assembly to drop to the horizontal position for seedling throwing.

[0009] As a further improvement of the above - mentioned technical solution:

[0010] Each set of gear - driven jacking assemblies includes a set of bevel - gear transmission pairs and two seedling - clamp jacking cams installed on both sides of the same seedling feeding and top - lifting mechanism. The driving bevel gear in the bevel - gear transmission pair is sleeved on the reciprocating lead screw and driven by it to rotate. The transmission shaft of the driven bevel gear is horizontally supported on the frame and perpendicular to the extending direction of the reciprocating lead screw. The connecting shafts of the two seedling - clamp jacking cams are installed on one side of the seedling feeding and top - lifting mechanism through a mounting bracket and are located above the transmission shaft of the driven bevel gear. Two driving pulleys are installed on the transmission shaft of the driven bevel gear, and one driven pulley is installed on the rotating shaft of each of the two seedling - clamp jacking cams. The two seedling - clamp jacking cams are respectively connected to the transmission shaft of the driven bevel gear through belts wound around the driving pulleys and the driven pulleys. The seedling - clamp jacking cams in the two sets of gear - driven jacking assemblies continuously rotate with the movement of the reciprocating lead screw and reach the jacking position simultaneously, but cannot jack up the two sets of seedling clamping assemblies at the same time.

[0011] The seedling - clamp lifting assembly includes an L - shaped seedling - clamp lifting assembly connecting piece, a hinge shaft, a bushing, an L - shaped bracket, an adjusting bolt, and a seedling - clamp mounting bracket. One end of the seedling - clamp lifting assembly connecting piece is fixedly installed on the top of the translation bracket, and the other end is hinged to one end of the seedling - clamp mounting bracket through the hinge shaft. The other end of the seedling - clamp mounting bracket is connected to the seedling clamping assembly. A bushing and an L - shaped bracket are provided at the end of the hinge shaft far from the seedling - clamp lifting assembly connecting piece. The bushing is located between the seedling - clamp mounting bracket and the L - shaped bracket. The shaft hole on the L - shaped bracket and the hinge shaft form damping through interference fit. Snap rings are provided at both ends of the hinge shaft. The adjusting bolt is arranged on the seedling - clamp lifting assembly connecting piece to adjust the friction force between the seedling - clamp mounting bracket and the L - shaped bracket.

[0012] The translation bracket is a rectangular long tube. There are two guide rails on the frame located below it. The bottom of the translation bracket is slidably supported on the two guide rails through two sliding blocks.

[0013] Each group of the seedling clamping assemblies includes a slide rail arranged horizontally and parallel to the pressing rod, a plurality of seedling clamps arranged horizontally and corresponding to the pot seedlings one by one, and two seedling separating cylinders. Each seedling clamp is arranged side by side below the slide rail through a connecting slider. There are two through holes on each connecting slider. A nylon rope is connected between the adjacent through holes on the adjacent connecting sliders.

[0014] A vertical support plate is provided at both ends of the slide rail. A horizontal seedling separating cylinder mounting plate is installed on the tops of the two support plates. Two groups of seedling separating cylinders are provided below the seedling separating cylinder mounting plate. The telescopic ends of the two groups of seedling separating cylinders are arranged in the opposite directions and are both connected to a flat plate perpendicular to it. The two flat plates are respectively connected to the outside of the connecting slider at the outermost end. The seedling separating cylinder drives the seedling clamp to move on the slide rail through the flat plate.

[0015] Each group of the seedling clamping assemblies further includes a seedling blocking plate arranged vertically above the seedling clamp. One side of the seedling blocking plate is connected to one side of the seedling separating cylinder mounting plate.

[0016] Each group of the seedling tray feeding assemblies includes a seedling tray carrier plate horizontally supported on a frame for carrying a bendable seedling tray, and two groups of tray pushing members for pushing the seedling tray forward. The two ends of the seedling tray carrier plate are respectively a feeding end and a discharging end. The preset seedling taking position is located at a position close to the discharging end. A row of top seedling holes corresponding to the single row of pot seedlings is provided at the preset seedling taking position. Side plates with a hollow middle part perpendicular to the seedling tray carrier plate are provided on both sides of the seedling tray carrier plate. Guide grooves for inserting the two side edges of the seedling tray to guide its movement are provided at the inner edges of the two side plates. A groove hole is opened at the position corresponding to the top seedling hole at the top of the guide groove. A plurality of tray pushing holes are evenly distributed at intervals on the two side edges of the seedling tray. The two groups of tray pushing members are respectively arranged outside the two side plates. One end of the tray pushing member is inserted into the tray pushing hole through the groove hole, and the other end of the tray pushing member is connected to the corresponding end of the translation bracket through a connecting rod linkage assembly.

[0017] The tray pushing member includes a tray pushing hook, a vertically arranged tray pushing rocker, and a horizontally arranged tray pushing connecting rod. The tray pushing hook is inserted into the tray pushing hole of the seedling tray through the groove hole. The top end of the tray pushing rocker is hinged to the tray pushing hook. One end of the tray pushing connecting rod is hinged to the middle part of the tray pushing rocker, and the other end is connected to the connecting rod linkage assembly. The bottom ends of the two tray pushing rockers are connected through a synchronizing rod installed on the side plate.

[0018] Each of the above-mentioned top-seedling assemblies includes a top-seedling support horizontally disposed below the seedling-carrying plate and two top-seedling support connecting plates disposed outside the side plates. A plurality of top-seedling columns corresponding to the top-seedling holes one by one are provided in the middle of the top-seedling support. Vertical through holes are provided at both ends of the top-seedling support, and a vertical shaft passes through them. Both ends of the vertical shaft are installed on the outside of the side plate through supports, and a return spring is sleeved on the vertical shaft above the top-seedling support.

[0019] The top-seedling support connecting plate is provided with a convex section and a concave section, and the convex section and the concave section are connected by an inclined section in a transitional manner. One ends of the two top-seedling support connecting plates close to the concave section are fixedly connected by a synchronous connecting shaft supported on the side plate. A support rod connected to the bottom of the top-seedling support is installed in the middle of the synchronous connecting shaft. The convex sections of the two top-seedling support connecting plates are respectively supported on a top-seedling cam, and the top-seedling cam is connected to the connecting rod linkage assembly. When the connecting rod linkage assembly moves along with the translation support, it can drive the top-seedling cam to swing, causing the top-seedling support connecting plate to rise and fall, and driving the top-seedling support to move up and down along the vertical shaft to achieve top-seedling or retract the top-seedling.

[0020] The connecting rod linkage assembly includes a linkage cross bar, one end of which is hinged below the end of the translation support, and the other end is hinged to the top of a vertically arranged middle rocker. The bottom end of the middle rocker is hinged to the frame. An intermediate connecting rod is hinged to the inner side of the lower end of the middle rocker. The other end of the intermediate connecting rod is hinged to the middle of a linkage connecting rod. A horizontal hinge shaft is provided at the top of the linkage connecting rod. The inner end of the hinge shaft is connected to the top-seedling cam, and the outer end of the hinge shaft is connected to the push plate connecting rod. The lower end of the linkage connecting rod is hinged to the frame through a horizontal shaft.

[0021] The chute includes an upper horizontal section above the seedling-carrying plate, a lower horizontal section below the seedling-carrying plate, and an intermediate arc section connecting the upper horizontal section and the lower horizontal section. One end of the lower horizontal section far from the intermediate arc section serves as the output end of the seedling tray and is located below the feeding end of the seedling-carrying plate. The seedling tray passes through the upper horizontal section and then makes a 180-degree turn through the intermediate arc section and is horizontally output from the lower horizontal section.

[0022] The length of the chute hole is the distance for the push plate hook to move once, and there are two push plate holes entering the chute hole each time.

[0023] Each of the feeding tray assemblies further includes a seedling tray lower pressing plate that can prevent the seedling tray from protruding from the middle during transportation. The seedling tray lower pressing plate is located in front of the symmetric center of the seedling tray and includes a vertical plate with the bottom end fixed to the frame and an arc plate connected to the top end of the vertical plate. The radian of the arc plate is the same as that of the intermediate arc section of the chute, and the top of the seedling tray fits with the bottom of the arc plate when the seedling tray moves along the chute.

[0024] Compared with the prior art, the advantages of the present invention are as follows:

[0025] 1. The present invention uses a motor to drive a reciprocating lead screw for left and right reciprocating seedling picking and planting, and at the same time operates on two rows of seedlings. By adopting the scheme of fixed seedling buckets for seedling separation, the efficiency of automatic seedling picking can be improved. Moreover, the actions of seedling feeding, seedling pushing, seedling picking and seedling planting are completed through a mechanical driving method, with a simple and efficient structure and convenient operation.

[0026] 2. The present invention uses a gear transmission lifting component and a pressing rod member to realize the automatic rising and falling of the seedling clamping component, which can avoid missing seedlings and double seedlings.

[0027] 3. The present invention uses a seedling clamping lifting component to be connected with the seedling clamping component. The seedling clamping mounting frame in the seedling clamping lifting component is hinged to the L-shaped bracket through a hinge shaft, and an interference fit is adopted between the hinge shaft and the L-shaped bracket, forming a damping effect, which can prevent the seedling clamping mounting frame from driving the seedling clamping component to fall freely, ensuring the stability of the seedling clamping component; an adjusting bolt is also adopted to realize the adjustable damping size, with a wider application range.

[0028] 4. In the present invention, the translation bracket is connected to the push plate member and the seedling pushing component through a link linkage component. When the translation bracket reciprocates, it drives the push plate member and the seedling pushing component to move synchronously, and the accuracy of synchronous movement can be realized.

[0029] 5. The present invention adopts a whole row of mechanical seedling pushing to loosen the gap between the seedling pots of the pot seedlings and the seedling tray holes, and then uses a whole row of pneumatic seedling clamps to clamp the pot seedlings. Under the action of the seedling clamping lifting component, the seedling picking action is completed, and then the whole row of seedling clamps is moved through the power mechanism. After reaching above the seedling separation mechanism, the seedlings are planted, with stable movement and accurate seedling planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional structure schematic diagram of the whole machine of the present invention.

[0031] Figure 2 is a schematic diagram of the whole machine of the present invention (removing the left side seedling tray pushing and seedling pushing mechanism, seedling picking and planting mechanism).

[0032] Figure 3 is a front view structure schematic diagram of the present invention.

[0033] Figure 4 is a structure schematic diagram of the seedling picking and planting mechanism in the present invention.

[0034] Figure 5 is a structure schematic diagram of the seedling pushing cam in the present invention pushing the seedling pushing component to rise.

[0035] Figure 6 is a structure schematic diagram of the seedling pushing component descending to press the seedling pushing cam in the present invention.

[0036] Figure 7 It is a schematic diagram of the seedling clip closing and separating the seedlings; where a is the schematic diagram of the seedling clip closing, and b is the schematic diagram of the seedling clip separating the seedlings.

[0037] Figure 8 It is a schematic diagram of the structure of the seedling clip lifting assembly.

[0038] Figure 9 It is a schematic diagram of the mating structure between the seedling clip lifting assembly and the downward pressing rod.

[0039] Figure 10 It is a schematic diagram of the structure of the seedling tray top-seedling mechanism.

[0040] Figure 11 It is a schematic diagram of the structure of the seedling separating mechanism.

[0041] Figures 12 - 14 It is the schematic diagram of the seedling picking and dropping principle of the seedling picking and dropping mechanism.

[0042] Figures 15 - 17 It is the schematic diagram of the push plate top-seedling principle of two groups of seedling tray top-seedling mechanisms.

[0043] Figure 18 It is a schematic diagram of the structure of using a set of power mechanism to drive two sets of the devices of the present invention in other embodiments.

[0044] Legend description:

[0045] 0, Frame;

[0046] 1, Seedling tray top-seedling mechanism; 11, Left seedling tray top-seedling mechanism; 12, Right seedling tray top-seedling mechanism; 13, Linking cross bar; 14, Intermediate rocker; 15, Intermediate connecting rod; 16, Linking connecting rod; 17, Top-seedling cam; 171, Torsion spring; 172, Limit block; 18, Top-seedling support connecting plate; 19, Push plate connecting rod; 110, Push plate rocker; 111, Push plate hook; 112, Top-seedling column; 113, Top-seedling support; 1131, Vertical shaft; 1132, Return spring; 114, Seedling tray lower pressing plate; 115, Side plate; 117, Chute; 1171, Chute hole; 118, Frame; 119, Seedling-carrying plate;

[0047] 2, Seedling picking and dropping mechanism; 21, Translation support; 22, Left seedling clip assembly; 23, Right seedling clip assembly; 221, Seedling separating cylinder mounting plate; 222, Seedling blocking plate; 223, Seedling separating cylinder; 224, Spreading plate; 225, Support plate; 226, Nylon rope; 227, Connecting slider; 228, Slide rail; 25, Seedling clip; 26, Downward pressing rod; 27, Seedling clip lifting assembly; 271, Seedling clip lifting assembly connecting piece; 272, Hinge shaft; 273, Bush; 274, L-shaped bracket; 275, Adjusting bolt; 276, Seedling clip mounting frame;

[0048] 3. Power mechanism; 31. Slide block; 32. Reciprocating lead screw; 33. Left bevel gear transmission pair; 34. Right bevel gear transmission pair; 35. Driving bevel gear; 36. Driven bevel gear; 37. Seedling clamp lifting cam; 38. Connecting shaft; 39. Motor;

[0049] 4. Seedling separating mechanism;

[0050] 5. Seedling tray; 51. Pushing tray hole; 52. Plug seedlings. Specific implementation manner

[0051] The invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] As Figures 1 - 17 shown, the automatic seedling picking and placing device of this embodiment includes a frame - type machine frame 0. On the machine frame 0, two sets of oppositely arranged seedling tray pushing and seedling lifting mechanisms 1 (the left seedling tray pushing and seedling lifting mechanism 11 and the right seedling tray pushing and seedling lifting mechanism 12 respectively), a seedling picking and placing mechanism 2 installed between the two sets of seedling tray pushing and seedling lifting mechanisms 1, a seedling separating mechanism 4 located below the seedling picking and placing mechanism 2, and a power mechanism 3 are installed. Each set of seedling tray pushing and seedling lifting mechanisms 1 includes a seedling tray pushing component that can send the plug seedlings 52 in the seedling tray 5 row by row to a preset seedling picking position, and a seedling lifting component that loosens the plug seedlings 52 in a row located at the preset seedling picking position.

[0053] In this embodiment, the seedling picking and placing mechanism 2 includes a translation support 21 and two sets of seedling clamp assemblies (the left seedling clamp assembly 22 and the right seedling clamp assembly 23 respectively). The translation support 21 is a rectangular long tube, which is horizontally arranged at the symmetry center of the two sets of seedling tray pushing and seedling lifting mechanisms 1 and is slidably supported on the machine frame 0 at the bottom. The two sets of seedling clamp assemblies are arranged on both sides of the translation support 21 and are staggered at both ends. At both ends of each set of seedling clamp assemblies, a damping - type seedling clamp lifting assembly 27 that can block the automatic falling of the seedling clamp after clamping the seedlings and rising is connected. The seedling clamp lifting assemblies 27 at the same end of the two sets of seedling clamp assemblies are arranged in the opposite direction and are fixedly connected to the translation support 21. On the machine frame 0, a pressing rod 26 is fixedly installed at the symmetry center of the two sets of seedling tray pushing and seedling lifting mechanisms 1 (the specific installation method is to extend a cross - shaped cantilever support from the machine frame, and both ends of the pressing rod are supported on the cantilever support). The pressing rod 26 is arranged parallel to the upper side of the seedling separating mechanism 4 and the translation support 21 but does not move with the movement of the translation support 21. The damping - type seedling clamp lifting assembly 27 is located between the translation support 21 and the pressing rod 26. The damping - type seedling clamp lifting assembly 27 can be lifted when a force is applied, but it does not fall due to its own gravity under the action of damping. Only when the seedling picking and placing mechanism moves and contacts the pressing rod 26, can it complete the pressing action under the action of the pressing rod 26, so that the seedling clamp assembly after clamping the seedlings descends.

[0054] In this embodiment, the power mechanism 3 includes a reciprocating lead screw 32, a slider 31, and a motor 39 for driving the reciprocating lead screw 32 to rotate. The reciprocating lead screw 32 is horizontally arranged on the same side of the two seedling feeding and top - lifting mechanisms 1 and is located below one end of the translation bracket 21. The slider 31 can reciprocate on the reciprocating lead screw 32. The bottom of the translation bracket 21 is connected to the slider 31 through a connecting member and is driven by the slider 31 to make reciprocating movements. A set of gear - driven lifting components are provided at both ends of the reciprocating lead screw 32, which are used to lift the seedling - clamping assembly after clamping the seedlings so that the pot seedlings leave the seedling tray to complete seedling pulling.

[0055] When the translation bracket 21 reciprocates with the slider 31, it drives the two seedling - clamping assemblies to reciprocate between two preset seedling - taking positions. The timing sequences of the two seedling - clamping assemblies reaching the preset seedling - taking positions are opposite. When one set of seedling - clamping assemblies reaches the preset seedling - taking position to clamp the seedlings, the corresponding set of gear - driven lifting components will lift it, and the connected seedling - clip lifting component 27 will be lifted; after the other set of seedling - clamping assemblies takes the seedlings and moves above the seedling - separating mechanism 4, the seedling - clip lifting component 27 connected to this seedling - clamping assembly is gradually pressed down under the action of the fixed pressing rod 26 during the movement, driving the seedling - clamping assembly to drop to the horizontal position for seedling throwing.

[0056] In this embodiment, each set of gear - driven lifting components includes a set of bevel - gear transmission pairs and two seedling - clip lifting cams 37 installed on both sides of the same seedling feeding and top - lifting mechanism 1, which are used to lift the same set of seedling - clamping assemblies. The two sets of bevel - gear transmission pairs are the left - hand bevel - gear transmission pair 33 and the right - hand bevel - gear transmission pair 34 respectively. Each set of bevel - gear transmission pairs includes an engaged driving bevel gear 35 and a driven bevel gear 36. The driving bevel gear 35 is sleeved on the reciprocating lead screw 32 and is driven by it to rotate. The transmission shaft of the driven bevel gear 36 is horizontally supported on the frame 0 and is perpendicular to the extending direction of the reciprocating lead screw 32. The connecting shafts 38 of the two seedling - clip lifting cams 37 in the same set are both installed on one side of the seedling feeding and top - lifting mechanism 1 through a mounting bracket and are located above the transmission shaft of the driven bevel gear 36. Two driving pulleys are installed on the transmission shaft of the driven bevel gear 36, and a driven pulley is installed on the rotating shaft of each of the two seedling - clip lifting cams 37. The two seedling - clip lifting cams 37 are respectively connected to the transmission shaft of the driven bevel gear 36 through belts wound around the driving pulleys and the driven pulleys. The seedling - clip lifting cams 37 in the two sets of gear - driven lifting components continuously rotate with the movement of the reciprocating lead screw and reach the lifting position simultaneously. However, because the timing sequences of the two seedling - clamping assemblies reaching the preset seedling - taking positions are opposite, when one set of seedling - clamping assemblies reaches the seedling - taking position to clamp the pot seedlings, the corresponding set of seedling - clip lifting cams 37 can just contact and lift this seedling - clamping assembly, while the other set of seedling - clip lifting cams 37 fails to contact the other set of seedling - clamping assemblies and cannot lift them.

[0057] In this embodiment, the seedling clip lifting assembly 27 includes an L-shaped seedling clip lifting assembly connecting piece 271, a hinge shaft 272, a bushing 273, an L-shaped bracket 274, an adjusting bolt 275, and an L-shaped seedling clip mounting bracket 276. One end of the horizontal side of the seedling clip lifting assembly connecting piece 271 is fixedly installed on the top of the translation bracket 21, and the vertical side of the other end is hinged to the vertical side of one end of the seedling clip mounting bracket 276 through the hinge shaft 272. The horizontal side of the other end of the seedling clip mounting bracket 276 is connected to the seedling clip assembly. One end of the hinge shaft 272 away from the seedling clip lifting assembly connecting piece 271 is provided with a bushing 273 and an L-shaped bracket 274. The bushing 273 is located between one side of the seedling clip mounting bracket 276 and the L-shaped bracket 274. Both ends of the hinge shaft 272 are fixed by snap rings to prevent them from falling out. The other side of the L-shaped bracket 274 is clamped between the seedling clip lifting assembly connecting piece 271 and the seedling clip assembly, so that it cannot rotate with the hinge shaft. An interference fit is formed between the shaft hole on the L-shaped bracket 274 and the hinge shaft 272 to form a damping force. This damping force can lock the seedling clip mounting bracket 276 in any position and prevent it from falling freely, enhancing the stability of the seedling clip assembly. The adjusting bolt 275 is arranged on the seedling clip lifting assembly connecting piece 271 and is used to adjust the friction force between the seedling clip mounting bracket 276 and the L-shaped bracket 274. This friction force and the aforementioned damping force together form an adjustable damping system.

[0058] In this embodiment, the translation bracket 21 is a rectangular long tube. There are two parallel guide rails on the frame 0 below it. The extending directions of the two guide rails are perpendicular to the extending direction of the translation bracket 21. The bottom of the translation bracket 21 is slidably supported on the two guide rails through two sliding blocks.

[0059] In this embodiment, each group of seedling clip assemblies (the left seedling clip assembly 22 and the right seedling clip assembly 23) includes a slide rail 228 arranged horizontally and parallel to the pressing rod 26, a plurality of seedling clips 25 arranged horizontally and corresponding to the pot seedlings one by one (pneumatic seedling clips in the prior art), and two seedling separating cylinders 223. Each seedling clip 25 is arranged side by side below the slide rail 228 through a connecting slider 227. Each connecting slider 227 is provided with two through holes. Equal-length nylon ropes 226 are connected between the adjacent through holes on the adjacent connecting sliders 227. The nylon ropes can limit the equidistant displacement of each seedling clip 25.

[0060] Vertical support plates 225 are provided at both ends of the slide rail 228. A horizontal seedling separating cylinder mounting plate 221 is installed on the tops of the two support plates 225. Two groups of seedling separating cylinders 223 are arranged side by side below the seedling separating cylinder mounting plate 221. The telescopic ends of the two groups of seedling separating cylinders 223 are arranged in opposite directions and are both connected to a flat plate 224 perpendicular to them. The two flat plates 224 are respectively connected to the outside of the connecting slider 227 at the outermost end. The seedling separating cylinder 223 drives the seedling clip 25 to move on the slide rail 228 through the flat plate 224.

[0061] When the two-side seedling separating cylinders 223 contract, they act on the spreading plate 224 to drive the seedling clips 25 to move on the slide rails 228. When the seedling separating cylinders 223 contract to the limit position, each seedling clip 25 can correspond to the position of the bowl seedlings in the seedling tray one by one. The specific position is as shown in Figure 7 a, and the limit distance is L1.

[0062] When the two-side seedling separating cylinders 223 extend, they act on the spreading plate 224 to drive the seedling clips 25 to move on the slide rails 228. When the seedling separating cylinders 223 extend to the limit position, the seedling clips 25 can achieve equidistant displacement under the action of the nylon ropes 226, and the displacement distance makes each seedling clip 25 equidistantly located directly above the fixed seedling separating mechanism 4; the limit position is as shown in Figure 7 b, and the limit distance is L2. At this time, all the nylon ropes 226 are in a straightened state.

[0063] In this embodiment, each group of seedling clip assemblies further includes a seedling blocking plate 222 vertically arranged above the seedling clip 25, and one side of the seedling blocking plate 222 is connected to one side of the seedling separating cylinder mounting plate 221. The seedling blocking plate 222 functions to block the seedlings, which can prevent the bowl seedlings on the seedling clip 25 from tilting inward and prevent seedling jamming.

[0064] In this embodiment, each group of seedling tray feeding assemblies includes a seedling tray carrying plate 119 horizontally supported on a frame 118 for carrying the bendable seedling tray 5, and two sets of tray pushing members for pushing the seedling tray 5 forward. The two ends of the seedling tray carrying plate 119 are respectively a feeding end and a discharging end. The preset seedling taking position is located near the discharging end. A row of seedling pushing holes corresponding to the single-row bowl seedlings is provided at the preset seedling taking position. Both sides of the seedling tray carrying plate 119 are provided with side plates 115 perpendicular to it and hollow in the middle. At the inner edge of the two side plates 115, sliding grooves 117 are provided for the two side edges of the seedling tray 5 to be inserted to guide its movement. At the position corresponding to the top of the sliding groove 117 and the seedling pushing holes, sliding groove holes 1171 are opened. A plurality of tray pushing holes 51 are evenly distributed at intervals on the two side edges of the seedling tray 5. The two sets of tray pushing members are respectively arranged outside the two side plates 115. One end of the tray pushing member is inserted into the tray pushing hole 51 through the sliding groove hole 1171, and the other end of the tray pushing member is connected to the corresponding end of the translation support 21 through a connecting rod linkage assembly.

[0065] In this embodiment, the sliding groove 117 includes an upper horizontal section located above the seedling tray carrying plate 119, a lower horizontal section located below the seedling tray carrying plate 119, and an intermediate arc section connecting the upper horizontal section and the lower horizontal section. The end of the lower horizontal section far from the intermediate arc section is used as the output end of the seedling tray 5 and is located below the feeding end of the seedling tray carrying plate 119. After passing through the upper horizontal section, the seedling tray 5 realizes a 180-degree turn through the intermediate arc section and is horizontally output from the lower horizontal section.

[0066] In this embodiment, each seedling tray feeding assembly further includes a seedling tray lower pressing plate 114 that can prevent the seedling tray 5 from protruding from the middle during transportation. The seedling tray lower pressing plate 114 is located in front of the symmetry center of the seedling tray 5 and includes a vertical plate with the bottom end fixed to the frame and an arc plate connected to the top end of the vertical plate. The radian of the arc plate is the same as that of the middle arc section of the chute 117. When the seedling tray 5 moves along the chute, its top fits against the bottom of the arc plate.

[0067] In this embodiment, the tray pushing member includes a tray pushing hook 111, a vertically arranged tray pushing rocker 110, and a horizontally arranged tray pushing connecting rod 19. The tray pushing hook 111 is inserted into the tray pushing hole 51 of the seedling tray 5 through the chute hole 1171 (the length of the chute hole 1171 is the distance for the tray pushing hook to move once, and there are two tray pushing holes 1131 entering the chute hole 1171 each time). The top end of the tray pushing rocker 110 is hinged to the tray pushing hook 111. One end of the tray pushing connecting rod 19 is hinged to the middle of the tray pushing rocker 110, and the other end is connected to the link linkage assembly; the bottom ends of the two tray pushing rockers 110 are connected by a synchronizing rod installed on the side plate 115.

[0068] In this embodiment, each seedling ejecting assembly includes a seedling ejecting bracket 113 and two seedling ejecting bracket connecting plates 18 arranged outside the side plate 115. A plurality of seedling ejecting columns 112 corresponding to the seedling ejecting holes one by one and located therein are provided in the middle of the seedling ejecting bracket 113. The plurality of seedling ejecting columns 112 are vertically arranged side by side on a horizontally arranged rectangular plate to form an integral body. The rectangular plate equipped with the seedling ejecting columns 112 is installed on a seedling ejecting bracket 113 through fasteners. The seedling ejecting bracket 113 is horizontally arranged below the seedling carrying plate 119 and has a vertical through hole at both ends. The two ends of the seedling ejecting bracket 113 extend out from the hollow part of the side plate 115 and respectively pass through a vertical shaft 1131 through the vertical through holes. Both ends of the vertical shaft 1131 are installed outside the side plate 115 through supports. A return spring 1132 is sleeved on the vertical shaft 1131 located above the seedling ejecting bracket 113. The seedling ejecting bracket connecting plate 18 is provided with a convex section and a concave section, and the convex section and the concave section are connected by an inclined section in a transitional manner. One ends of the two seedling ejecting bracket connecting plates 18 close to the concave section are fixedly connected by a synchronizing connecting shaft supported on the side plate 115. A support rod connected to the bottom of the seedling ejecting bracket 113 is installed in the middle of the synchronizing connecting shaft. The convex sections of the two seedling ejecting bracket connecting plates 18 are respectively supported on a seedling ejecting cam 17. The seedling ejecting cam 17 is connected to the link linkage assembly; when the link linkage assembly moves with the translation bracket 21, it can drive the seedling ejecting cam 17 to swing slightly left and right, so that the seedling ejecting bracket connecting plate 18 rises and falls and drives the seedling ejecting bracket 113 to move up and down along the vertical shaft 1131 to realize seedling ejection or retraction of seedling ejection.

[0069] In this embodiment, the link linkage assembly includes a linkage crossbar 13 in an initial horizontal state. One end of the linkage crossbar 13 is hinged below the end of the translation bracket 21, and the other end is hinged to the top end of a vertically arranged intermediate rocker 14. The bottom end of the intermediate rocker 14 is hinged to the frame 0. An intermediate connecting rod 15 is hinged to the inner side of the lower end of the intermediate rocker 14. The other end of the intermediate connecting rod 15 is hinged to the middle of a linkage connecting rod 16. The top end of the linkage connecting rod 16 is provided with a horizontal hinge shaft. The inner end of the hinge shaft is fixedly provided with a seedling pushing cam 17. The outer end of the hinge shaft is connected to the push plate connecting rod 19. The lower end of the linkage connecting rod 16 is hinged to the frame 0 through a horizontal shaft.

[0070] In this embodiment, a torsion spring 171 is also installed at the inner end of the hinge shaft at the top end of the linkage connecting rod 16. The two ends of the torsion spring 171 are respectively connected to the same side of the seedling pushing cam 17 and the linkage connecting rod 16. A limiting block 172 is provided on the other side of the linkage connecting rod 16 (the side close to the translation bracket 21). When the seedling pushing cam 17 swings to the seedling pushing stroke, the torsion spring 171 can make the seedling pushing cam 17 return to the highest point to contact the bottom of the convex section of the seedling pushing bracket connecting plate 18 and be limited by the limiting block 172, so as to lift the seedling pushing bracket connecting plate 18 to drive the seedling pushing bracket 113 to move upward along the vertical shaft 1131 to realize seedling pushing. When the seedling pushing cam 17 swings to the return stroke (exiting the seedling pushing stroke), its highest point is located in the concave section of the seedling pushing bracket connecting plate 18. The return spring 1132 sleeved on the vertical shaft 1131 makes the seedling pushing bracket connecting plate 18 descend to press the seedling pushing cam 17, that is, the seedling pushing bracket connecting plate 18 cannot be lifted.

[0071] When the reciprocating lead screw 32 rotates in one direction, the slider 31 drives the translation bracket 21 to reciprocate. The linked crossbar 13 connected thereto moves simultaneously, driving the intermediate rocker 14, the intermediate connecting rod 15, and the linkage connecting rod 16. On the one hand, it drives the seedling pushing cam 17 to swing, so that the seedling pushing bracket connecting plate 18 drives the seedling pushing bracket to move up and down, realizing the seedling pushing action or exiting the seedling pushing action. On the other hand, it drives the push plate connecting rod 19 and the push plate rocker 110 to move, so that the push plate hook 111 inserts into the push plate hole 51 of the seedling tray 5 from the chute hole 1171, driving the seedling tray 5 to move a fixed distance along the chute 117 (that is, the distance between two adjacent push plate holes 51 on the seedling tray 5), realizing the push plate action or exiting the push plate action. The translation bracket is connected to the push plate member and the seedling pushing member through the link linkage assembly. When the translation bracket reciprocates, it drives the push plate member and the seedling pushing member on the same side to move simultaneously, realizing the accuracy of synchronous movement. The seedling pushing actions and the push plate actions on different sides (that is, the left seedling feeding and pushing mechanism 11 and the right seedling feeding and pushing mechanism 12) run alternately, that is, when the left side pushes the seedlings, the right side pushes the tray, and when the right side pushes the seedlings, the left side pushes the tray.

[0072] In this embodiment, the specific structure and connection relationship of the seedling separating mechanism 4 are both prior arts. For details, refer to the invention patent application with the publication number CN114830892A. The structure of the push plate hook is also a prior art. Details are not elaborated here.

[0073] The principle of seedling picking and placing mechanism in the present invention:

[0074] The seedling picking and placing operation can be divided into three actions: initial seedling picking positioning, moving right for seedling picking and placing, and moving left for seedling picking and placing.

[0075] As Figure 12 shown, for the initial seedling picking positioning, at this time, the power mechanism 3 is directly above the seedling separating mechanism 4.

[0076] As Figure 13 shown, for the seedling picking and placing mechanism 2 moving right to the preset seedling picking position (right extreme position), at this position, the seedling clip lifting cam 37 lifts the right seedling clip assembly 23.

[0077] During the process of the seedling picking and placing mechanism 2 moving right, the seedling clips on the left seedling clip assembly 22 will be separated under the action of the seedling separating cylinder 223, and at the same time, under the action of the pressing rod 26, the left seedling clip assembly 22 rotates and descends around the seedling clip lifting assembly 27 to the horizontal position.

[0078] When the seedling picking and placing mechanism 2 reaches the right preset seedling picking position, the right seedling clip assembly 23 first clamps the pot seedlings, and then the right seedling clip lifts the cam 37 to hold the right seedling clip assembly 23 and makes it rotate and lift around the seedling clip lifting assembly 27 to achieve right-side seedling pulling. At the same time, the left seedling clip assembly 22 just moves directly above the seedling separating mechanism 4, and the left seedling clip 25 separates, and the pot seedlings fall into the seedling separating mechanism 4.

[0079] As Figure 14 shown, for the seedling picking and placing mechanism 2 moving left to the preset seedling picking position (left extreme position), at this position, the seedling clip lifting cam 37 lifts the left seedling clip assembly 22.

[0080] During the process of moving left, the seedling clips on the right seedling clip assembly 23 will be separated under the action of the seedling separating cylinder 223, and at the same time, under the action of the pressing rod 26, the right seedling clip assembly 23 rotates and descends around the seedling clip lifting assembly 27 to the horizontal position.

[0081] When the seedling picking and placing mechanism 2 reaches the left preset seedling picking position, the left seedling clip assembly 22 first clamps the pot seedlings, and then the left seedling clip lifts the cam 37 to hold the left seedling clip assembly 22 and makes it rotate and lift around the seedling clip lifting assembly 27 to achieve left-side seedling pulling. At the same time, the right seedling clip assembly 23 just moves directly above the seedling separating mechanism 4, making the seedling clip 25 separate, and the pot seedlings fall into the seedling separating mechanism 4.

[0082] The push plate principle of the tray pushing and seedling topping mechanism in the present invention:

[0083] It is divided into three actions: initial positioning of the pushing tray, moving the pushing tray to the right, and moving the pushing tray to the left.

[0084] Such as Figure 15 Shown is the initial positioning of taking and transplanting seedlings. At this time, the power mechanism 3 is directly above the seedling separating mechanism 4.

[0085] The power mechanism 3 drives the translation support 21 to move, drives the linkage cross bar 13 to move, and thus drives other rods to move to complete the specified actions.

[0086] Such as Figure 16 Is the limit position of the pushing tray moving to the right.

[0087] When the power mechanism 3 drives the translation support 21 to move to the right, the linkage cross bar 13 connected to the translation support 21 will move to the right, driving the intermediate rocker 14, the intermediate connecting rod 15, and the linkage connecting rod 16 to move. The seedling pushing cam 17 will drive the seedling pushing support connecting plate 18 to move. The right - end seedling pushing support connecting plate 18 will make the seedling pushing column 112 move upward to achieve the seedling pushing action. At the same time, the left - end seedling pushing support connecting plate 18 makes the seedling pushing column 112 quickly return to the initial position, so as not to affect the smooth progress of the left - end pushing tray action.

[0088] The linkage connecting rod 16 moves, and at the same time, it will make the pushing tray connecting rod 19 and the pushing tray rocker 110 move, so that the left - end pushing tray hook 111 catches the pushing tray hole of the seedling tray 5 and drives the seedling tray 5 to move to the right along the chute to complete the pushing tray action. The right - end pushing tray hook 111 moves to the next pushing tray hole of the seedling tray 5 and catches into the second pushing tray hole to prepare for pushing the tray to the left end.

[0089] Such as Figure 17 Is the limit position of the pushing tray moving to the left.

[0090] When the power mechanism 3 drives the translation support 21 to move to the left, the linkage cross bar 13 connected to the translation support 21 will move to the left, driving the intermediate rocker 14, the intermediate connecting rod 15, and the linkage connecting rod 16 to move. The seedling pushing cam 17 will drive the seedling pushing support connecting plate 18 to move. The left - end seedling pushing support connecting plate 18 will make the seedling pushing column 112 move upward to achieve the seedling pushing action. At the same time, the right - end seedling pushing support connecting plate 18 makes the seedling pushing column 112 quickly return to the initial position, so as not to affect the smooth progress of the right - end pushing tray action.

[0091] The linkage connecting rod 16 moves, and at the same time, it will make the pushing tray connecting rod 19 and the pushing tray rocker 110 move, so that the right - end pushing tray hook 111 catches the pushing tray hole of the seedling tray 5 and drives the seedling tray 5 to move to the left along the chute to complete the pushing tray action. The left - end pushing tray hook 111 moves to the next pushing tray hole of the seedling tray 5 and catches into the second pushing tray hole to prepare for pushing the tray to the right end.

[0092] In order to achieve high-speed transplanting, in other more optimal embodiments, two sets of seedling picking and placing devices can also be driven by the same power mechanism, that is, two sets of the seedling picking and placing devices of the present invention with exactly the same structure are arranged on both sides of the power mechanism 3, as Figure 18 shown, to achieve more rows of planting and improve efficiency.

Claims

1. An automatic seedling taking and throwing device, comprising a frame-type frame (0), on which are mounted two sets of oppositely arranged tray-feeding seedling-pushing mechanisms (1), a seedling-taking and throwing mechanism (2) mounted between the two sets of tray-feeding seedling-pushing mechanisms (1), a seedling-separating mechanism (4) located below the seedling-taking and throwing mechanism (2), and a power mechanism (3), each set of tray-feeding seedling-pushing mechanisms (1) comprising a tray-feeding component capable of delivering seedlings (52) in a seedling tray (5) row by row to a preset seedling taking position, and a seedling-pushing component capable of loosening a row of seedlings (52) in a seedling tray (5) located at the preset seedling taking position, characterized in that: The seedling taking and throwing mechanism (2) comprises a translation support (21) and two groups of seedling clamp assemblies. The translation support (21) is horizontally arranged at the symmetrical center of the two groups of seedling feeding and lifting mechanisms (1) and the bottom is slidably supported on the frame (0). The two groups of seedling clamp assemblies are arranged on both sides of the translation support (21). Both ends of each group of seedling clamp assemblies are connected to a damping seedling clamp lifting assembly (27) that can block the automatic falling of the seedling clamp assembly that rises after clamping the seedling. The two seedling clamp lifting assemblies (27) located at the same end of the two groups of seedling clamp assemblies are arranged in opposite directions and fixedly connected to the translation support (21). A downward pressing rod (26) that can make the seedling clamp assembly after clamping the seedling descend is fixedly installed on the frame (0). The downward pressing rod (26) is arranged parallel to the upper side of the translation support (21) but does not move with the movement of the translation support (21). The seedling clamp lifting assembly (27) is located between the translation support (21) and the downward pressing rod (26). The power mechanism (3) comprises a reciprocating screw (32) horizontally arranged on the same side of the two sets of feeding tray seedling lifting mechanisms (1), a slider (31) capable of reciprocating on the reciprocating screw (32), and a motor (39) for driving the reciprocating screw (32) to rotate, a set of gear transmission lifting components are provided at both ends of the reciprocating screw (32), and one end of the translation bracket (21) is connected to the slider (31); The translation support (21) drives the two groups of seedling clamp assemblies to move back and forth between two preset seedling picking positions when the sliding block (31) reciprocates. The two groups of seedling clamp assemblies arrive at the preset seedling picking positions in opposite order. When one group of seedling clamp assemblies arrives at the preset seedling picking position to clamp the seedlings, the corresponding group of gear transmission lifting assemblies lifts it to remove the seedlings and lifts the connected seedling clamp lifting assembly (27). After the seedlings are removed, the other group of seedling clamp assemblies moves to the top of the seedling separation mechanism (4). During the movement, the seedling clamp lifting assembly (27) connected thereto is pressed down by the pressing rod (26) to drive the seedling clamp assemblies to be lowered to a horizontal position to drop the seedlings. The seedling clamp lifting assembly (27) comprises an L-shaped seedling clamp lifting assembly connecting member (271), a hinge shaft (272), a shaft sleeve (273), an L-shaped bracket (274), an adjustment bolt (275) and a seedling clamp mounting frame (276), one end of the seedling clamp lifting assembly connecting member (271) is fixedly mounted on the top of the translation bracket (21), and the other end is hinged to one end of the seedling clamp mounting frame (276) through the hinge shaft (272), and the other end of the seedling clamp mounting frame (276) is connected to the seedling clamp assembly, and the hinge shaft (272) is far from the top of the seedling clamp lifting assembly. A shaft sleeve (273) and an L-shaped bracket (274) are provided at one end of the seedling clamp lifting assembly connecting piece (271); the shaft sleeve (273) is located between the seedling clamp mounting frame (276) and the L-shaped bracket (274); damping is formed between the shaft hole on the L-shaped bracket (274) and the hinge shaft (272) through interference fit; retaining springs are provided at both ends of the hinge shaft (272); and the adjusting bolt (275) is provided on the seedling clamp lifting assembly connecting piece (271) and is used to adjust the friction force between the seedling clamp mounting frame (276) and the L-shaped bracket (274).

2. The automatic seedling picking and planting device according to claim 1, wherein: Each group of the gear transmission lifting components comprises a group of bevel gear transmission pairs and two seedling clamp lifting cams (37) installed on both sides of the same feeding tray seedling lifting mechanism (1); the driving bevel gear (35) in the bevel gear transmission pair is sleeved on the reciprocating screw (32) and driven to rotate thereby; the transmission shaft of the driven bevel gear (36) is horizontally supported on the frame (0) and is perpendicular to the extension direction of the reciprocating screw (32); the connecting shafts (38) of the two seedling clamp lifting cams (37) are both installed on one side of the feeding tray seedling lifting mechanism (1) through a mounting bracket and are located at the driven bevel gear (36). Two driving pulleys are mounted on the transmission shaft of the driven bevel gear (36) above the transmission shaft of the bevel gear (36), and a driven pulley is mounted on the rotating shafts of the two seedling clamp lifting cams (37). The two seedling clamp lifting cams (37) are connected to the transmission shaft of the driven bevel gear (36) through belts wound around the driving pulley and the driven pulley, respectively. The seedling clamp lifting cams (37) in the two sets of gear transmission lifting assemblies continuously rotate with the movement of the reciprocating screw rod (32) and reach the lifting position at the same time, but the two sets of seedling clamp assemblies cannot be lifted at the same time.

3. The automatic seedling picking and planting device according to claim 1, characterized in that: The translation support (21) is a rectangular long tube, and two guide rails are provided on the frame (0) below the translation support (21), and the bottom of the translation support (21) is slidably supported on the two guide rails via two sliding blocks.

4. The automatic seedling picking and planting device according to claim 1, characterized in that: Each group of the seedling clamp components comprises a slide rail (228) arranged horizontally and parallel to the pressing rod (26), a plurality of seedling clamps (25) arranged horizontally and corresponding one to one with the pot seedlings (52), and two seedling separation cylinders (223), each seedling clamp (25) being arranged side by side below the slide rail (228) via a connecting slider (227), each connecting slider (227) being provided with two through holes, and a nylon rope (226) being connected between adjacent through holes on two adjacent connecting sliders (227); Both ends of the slide rail (228) are provided with a vertical support plate (225). A horizontal seedling separating cylinder mounting plate (221) is installed at the top of the two support plates (225). Below the seedling separating cylinder mounting plate (221), there are two groups of seedling separating cylinders (223). The telescopic ends of the two groups of seedling separating cylinders (223) are arranged in opposite directions and are both connected to a flat plate (224) perpendicular to them. The two flat plates (224) are respectively connected to the outside of the connection sliders (227) at the outermost ends. The seedling separating cylinder (223) drives the seedling clip (25) to move on the slide rail (228) through the flat plate (224). Each group of the seedling clip assemblies further includes a seedling blocking plate (222) vertically arranged above the seedling clip (25). One side of the seedling blocking plate (222) is connected to one side of the seedling separating cylinder mounting plate (221).

5. The automatic seedling picking and planting device according to claim 1, characterized in that: Each group of the seedling tray feeding assemblies includes a seedling tray carrying plate (119) horizontally supported on a frame (118) for carrying the bendable seedling tray (5), and two groups of tray pushing members for pushing the seedling tray (5) forward. The two ends of the seedling tray carrying plate (119) are respectively an inlet end and an outlet end. The preset seedling picking position is located near the outlet end. At the preset seedling picking position, there is a row of top seedling holes corresponding to the single-row pot seedlings (52). On both sides of the seedling tray carrying plate (119), there is a side plate (115) perpendicular to it and hollow in the middle. At the inner edge of the two side plates (115), there are chutes (117) for the two side edges of the seedling tray (5) to be inserted to guide its movement. At the position corresponding to the top seedling holes at the top of the chute (117), there are chute holes (1171). On the two side edges of the seedling tray (5), there are a plurality of tray pushing holes (51) evenly distributed at intervals. The two groups of tray pushing members are respectively arranged outside the two side plates (115). One end of the tray pushing member is inserted into the tray pushing hole (51) from the chute hole (1171), and the other end of the tray pushing member is connected to the corresponding end of the translation support (21) through a link linkage assembly.

6. The automatic seedling picking and placing device according to claim 5, wherein: The tray pushing member includes a tray pushing hook (111), a vertically arranged tray pushing rocker (110), and a horizontally arranged tray pushing connecting rod (19). The tray pushing hook (111) is inserted into the tray pushing hole (51) of the seedling tray (5) from the chute hole (1171). The top end of the tray pushing rocker (110) is hinged to the tray pushing hook (111). One end of the tray pushing connecting rod (19) is hinged to the middle of the tray pushing rocker (110), and the other end is connected to the link linkage assembly. Between the bottom ends of the two tray pushing rockers (110), there is a synchronous rod installed on the side plate (115).

7. The automatic seedling picking and placing device according to claim 6, wherein: Each of the top-seedling components described above includes a top-seedling support (113) horizontally disposed below the seedling-carrying plate (119), and two top-seedling support connecting plates (18) disposed outside the side plates (115). A plurality of top-seedling columns (112) corresponding to the top-seedling holes one by one are provided in the middle of the top-seedling support (113). Vertical through holes are provided at both ends of the top-seedling support (113), and a vertical shaft (1131) is passed through. Both ends of the vertical shaft (1131) are mounted on the outside of the side plates (115) through supports. A return spring (1132) is sleeved on the vertical shaft (1131) above the top-seedling support (113). The top-seedling support connecting plate (18) is provided with a convex section and a concave section, and the convex section and the concave section are connected by an inclined section in a transitional manner. One ends of the two top-seedling support connecting plates (18) close to the concave section are fixedly connected by a synchronous connecting shaft supported on the side plates (115). A support rod connected to the bottom of the top-seedling support (113) is mounted in the middle of the synchronous connecting shaft. The convex sections of the two top-seedling support connecting plates (18) are respectively supported on a top-seedling cam (17), and the top-seedling cam (17) is connected to the link linkage assembly. When the link linkage assembly moves with the translation support (21), it can drive the top-seedling cam (17) to swing, causing the top-seedling support connecting plate (18) to rise and fall, and driving the top-seedling support (113) to move up and down along the vertical shaft (1131) to achieve top-seeding or withdrawing from top-seeding.

8. The automatic seedling picking and planting device according to claim 7, characterized in that: The link linkage assembly includes a linkage cross bar (13), one end of which is hinged below the end of the translation support (21), and the other end is hinged to the top of a vertically arranged intermediate rocker (14). The bottom end of the intermediate rocker (14) is hinged to the frame (0). An intermediate connecting rod (15) is hinged to the inner side of the lower end of the intermediate rocker (14). The other end of the intermediate connecting rod (15) is hinged to the middle of a linkage connecting rod (16). A horizontal hinge shaft is provided at the top of the linkage connecting rod (16). The inner end of the hinge shaft is connected to the top-seedling cam (17), and the outer end of the hinge shaft is connected to the push plate connecting rod (19). The lower end of the linkage connecting rod (16) is hinged to the frame (0).

9. The automatic seedling picking and placing device according to any one of claims 5-8, characterized in that: The chute (117) includes an upper horizontal section located above the seedling-carrying plate (119), a lower horizontal section located below the seedling-carrying plate (119), and an intermediate arc section connecting the upper horizontal section and the lower horizontal section. One end of the lower horizontal section away from the intermediate arc section serves as the output end of the seedling tray (5), and is located below the feeding end of the seedling-carrying plate (119). The seedling tray (5) is turned 180 degrees through the intermediate arc section after passing through the upper horizontal section and is horizontally output from the lower horizontal section.

10. The automatic seedling picking and placing device according to any one of claims 6-8, characterized in that: There are two push plate holes (51) entering the chute hole (1171) each time, and the distance between the two push plate holes (51) is the distance that the push plate hook (111) moves once.

11. The automatic seedling picking and placing device according to claim 9, wherein: Each seedling tray feeding component also includes a seedling tray lower pressing plate (114) that can prevent the seedling tray (5) from protruding from the middle during transportation. The seedling tray lower pressing plate (114) is located in front of the symmetry center of the seedling tray (5), and includes a vertical plate with its bottom end fixed to the frame (0) and an arc plate connected to the top end of the vertical plate. The radian of the arc plate is the same as that of the middle arc section of the chute (117). When the seedling tray (5) moves along the chute (117), its top fits with the bottom of the arc plate.

Images