Self-adjusting slide swing type seed taking and planting device

Abstract

The application discloses a self-adjusting slide swing type seedling taking and throwing device, which comprises a seedling feeding mechanism, a seedling taking and throwing mechanism and a control mechanism. In the seedling feeding mechanism, the inclination angle of a plug tray supporting plate can be adjusted through a cylinder I; in the seedling taking and throwing mechanism, a power assembly drives a seedling taking needle in the seedling taking and throwing assembly to swing around a supporting assembly through a connecting rod transmission assembly, so that the adjustment of the seedling taking and throwing angle is realized; a pair of symmetrical light barriers are arranged on the two opposite side walls of the plug tray supporting plate and on the seedling taking and throwing assembly, and in the seedling taking process, the angles of the plug tray supporting plate and the seedling taking and throwing assembly are adjusted, so that the light barriers on the same side can receive signals from each other, and the seedling taking needle in the seedling taking and throwing assembly can keep a vertical state with the plug tray. Through the device, the seedling taking needle can keep a vertical state with the plug tray all the time, and the distance between the needle tip of the seedling taking needle and the plug tray is always unchanged, so that the damage of the seedling taking needle to the pot seedlings is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to a self-adjusting slideway swinging seedling taking and throwing device, which is mainly used for transplanting seedlings in a plug tray. Background Art

[0002] Currently, semi-automatic transplanters still require manual labor to remove seedlings, which is labor-intensive. While various new seedling removal mechanisms have been developed and implemented, significantly reducing labor intensity and improving efficiency, the removal process can still damage the seedlings. This is particularly true during field operations, where factors such as the machine's tilting due to slopes and uneven speeds can cause damage to the seedlings. This can affect seedling survival rates, reduce transplant quality, and increase production costs. Summary of the Invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a self-adjusting slide swinging seedling retrieval device. When the road surface on which the transplanter works is uneven or there is a slope, the device can ensure that the seedling retrieval needle and the plug tray always remain in a vertical state, and the distance from the needle tip of the seedling retrieval needle to the plug tray remains unchanged, thereby reducing the damage of the seedling retrieval needle to the pot seedlings.

[0004] In order to achieve the above object, the specific scheme adopted by the present invention is:

[0005] A self-adjusting slide swing type seedling taking and throwing device comprises a seedling delivery mechanism for delivering seedlings in a seedling tray, a seedling taking and throwing mechanism for picking up the seedlings in the seedling tray from the seedling delivery mechanism and dropping them into a seedling throwing cup, and a control mechanism;

[0006] The seedling delivery mechanism includes a frame and a tray support plate provided on the frame for supporting the tray. At least one cylinder 1 connected to the tray support plate is fixed on the frame in an inclined manner, and the inclination angle of the tray support plate can be adjusted by the cylinder 1.

[0007] The seedling taking and throwing mechanism includes a support assembly, a power assembly, a connecting rod transmission assembly, and a seedling taking and throwing assembly, wherein the seedling taking and throwing assembly is movably arranged on the support assembly, and the power assembly is powered by a motor II through a pair of mutually meshing gear pairs, and then drives the seedling taking needle in the seedling taking and throwing assembly to swing around the support assembly through the connecting rod transmission assembly to adjust the seedling taking and throwing angle;

[0008] A pair of opposing photoelectric sensors are provided on the two opposite side walls of the plug tray supporting plate and the seedling taking and throwing assembly, and each pair of opposing photoelectric sensors is symmetrically arranged relative to the plug tray; during the seedling taking process, by adjusting the inclination angle of the plug tray supporting plate and the swing angle of the seedling taking and throwing assembly, it can be ensured that the opposing photoelectric sensors located on the same side receive each other's signals, thereby achieving the seedling taking needle in the seedling taking and throwing assembly to maintain a vertical state with the plug tray.

[0009] As a preferred solution, the support assembly includes a pair of first support legs, a pair of second support legs with a height higher than the first support legs, and a horizontally arranged support platform, and the support platform is respectively connected to the top of the first support leg and the bottom of the second support leg; the upper parts of the two second support legs are connected to a connecting rod, and a seedling taking and throwing assembly is rotatably connected to the connecting rod.

[0010] As a preferred solution, the connecting rod assembly includes a crank connected to the power assembly, a linear slide horizontally connected to the second supporting leg, a roller arranged in the linear slide and capable of moving along the linear slide, a rocker whose two ends are respectively connected to the roller and the crank, and a connecting rod I whose two ends are respectively connected to the roller and the seedling taking and throwing assembly; the power assembly drives the crank, which can convert the swinging motion of the rocker into the linear motion of the roller along the linear slide, and then the connecting rod I drives the seedling taking and throwing assembly to flip around the connecting rod.

[0011] As a preferred solution, the seedling taking and throwing assembly includes an H-shaped seedling taking and throwing connecting piece rotatably connected to the connecting rod, and the seedling taking and throwing connecting piece includes two parallel vertical sections and a horizontal section connecting the two vertical sections. The upper parts of the two vertical sections are rotatably connected to the connecting rod, and the lower parts are hinged to the connecting rod I. A cylinder II is provided on the inner side of any vertical section, and its piston rod is retractable within the length range of the horizontal section. The piston rod of cylinder II is connected to a support frame, and a number of seedling taking and throwing robots are provided on the support frame at equal intervals along its length direction. The cylinder II can be used to control the several seedling taking and throwing robots to move back and forth along the transverse direction of the hole tray.

[0012] As a preferred solution, a pair of opposing photoelectric sensors are arranged on the bottom surfaces of the two vertical sections in the seedling taking and throwing connecting piece.

[0013] As a preferred embodiment, the seedling taking and planting robot includes a cylinder III, a fixed unit fixed on the cylinder III, a plurality of connecting rod units evenly distributed on the fixed unit, a seedling taking needle connected to the top end of the corresponding connecting rod unit, and a limiting unit connected to the fixed unit for the seedling taking needle to pass through, wherein the fixed unit, the plurality of connecting rod units, the plurality of seedling taking needles and the limiting unit form an umbrella-shaped structure, under the action of the control mechanism, the piston rod of the cylinder III pushes the connecting rod unit to move, driving the seedling taking needle to move downward, and under the action of the limiting unit, the needle tip of the seedling taking needle gathers inward, the needle tip distance is reduced, and the pot seedling is grabbed; the piston rod of the cylinder III retracts, driving the needle tip distance of the seedling taking needle to increase, and then releasing the pot seedling.

[0014] As a preferred solution, the fixing unit includes a fixing block fixed on the cylinder III, a chassis connected to the fixing block through a cylinder bracket, and a driving block connected to the piston rod of the cylinder III. The connecting rod unit is arranged at the upper end of the driving block and the chassis, and the limiting unit is arranged at the lower end of the chassis.

[0015] As a preferred solution, a linear module is provided in the second supporting leg, and slots are provided on the opposite sides of the two second supporting legs. The linear module can drive the seedling taking and throwing assembly to move up and down.

[0016] As a preferred solution, the connecting rod 1 is a telescopic rod with a built-in power supply.

[0017] As a preferred embodiment, a motor 1 is fixed to the back of the plug tray support, and the motor 1 carries out power transmission through a sprocket chain, which can drive the plug tray seedlings placed on the plug tray support plate to move downward.

[0018] Beneficial effects:

[0019] The seedling retrieval and delivery device disclosed in the present invention uses a cylinder to drive a seedling delivery mechanism for angle adjustment, linear motion of the retrieval and delivery manipulator, and grasping action. This device features a simple power source and is easy to install and maintain. A motor drives a gear pair to achieve swinging of the retrieval and delivery manipulator claw, making it easy to control. A slide-type flipping retrieval and delivery method is used to convert the motor's rotational motion into linear motion of a roller, and the retrieval and delivery manipulator's flipping motion is achieved via a connecting rod transmission assembly. During the retrieval process, the seedling delivery and delivery mechanisms simultaneously adjust their angles, allowing a corresponding photoelectric sensor on the same side to receive a corresponding signal. This ensures that the retrieval needle and the plug tray remain perpendicular during transplanting operations on sloping land. Furthermore, the retrieval and delivery manipulator, driven by a linear module, can move up and down along the slot, maintaining a constant distance between the retrieval needle tip and the plug tray. This reduces damage to the seedlings from the retrieval needle, improves the stability of the retrieval and delivery process, and ensures the accuracy of the retrieval and delivery trajectory, thereby improving retrieval and delivery efficiency and transplanting quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the seedling taking and throwing device in the present invention.

[0021] Figure 2 It is one of the structural diagrams of the seedling delivery mechanism in the present invention.

[0022] Figure 3 This is the second structural diagram of the seedling delivery mechanism of the present invention.

[0023] Figure 4 It is one of the structural diagrams of the seedling taking and throwing mechanism in the present invention.

[0024] Figure 5This is the second structural diagram of the seedling taking and throwing mechanism in the present invention.

[0025] Figure 6 It is one of the structural diagrams of the seedling taking and planting robot.

[0026] Figure 7 This is the second structural diagram of the seedling taking and planting robot (excluding the cylinder bracket).

[0027] Markings in the figure: 1, frame, 2, cylinder I, 3, roller chain with ears on one side, 4, plug tray push rod, 5, plug tray support plate, 6, plug tray, 7, through-beam photoelectric sensor, 8, motor I, 9, connecting rod I, 10, linear slide, 11, rocker, 12, first support leg, 13, support platform, 14, crank, 15, motor II, 16, gear pair, 17, roller, 18, connecting rod, 19, take-out Seedling manipulator, 1901, cylinder III, 1902, fixed block, 1903, connecting rod unit, 1903-1, connecting rod II, 1903-2, connecting rod III, 1904, cylinder bracket, 1905, chassis, 1906, connecting rod IV, 1907, seedling removal needle, 1908, driving block, 20, support frame, 21, cylinder II, 22, seedling removal connector, 23, second support leg. DETAILED DESCRIPTION

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] This embodiment discloses a self-adjusting slide swing type seedling taking and throwing device, please refer to Figure 1 The device includes a seedling delivery mechanism and a seedling taking and throwing mechanism. The seedling delivery mechanism is used to deliver the plug tray 6, and the seedling taking and throwing mechanism is used to clamp the plug tray seedlings on the plug tray and throw the plug tray seedlings into the seedling throwing cup (not shown in the figure). The specific structures of the seedling delivery mechanism and the seedling taking and throwing mechanism are described in detail below.

[0030] Please refer to Figure 2 and Figure 3 The seedling delivery mechanism includes a frame 1, which is provided with a hole tray supporting plate 5 for supporting the hole tray 6. At least one cylinder 1 2 connected to the hole tray supporting plate 5 is fixed on the frame 1 at an angle upward. The inclination angle of the hole tray supporting plate 5 can be adjusted by the cylinder 1 2. A motor 1 8 is fixed on the back of the hole tray supporting plate 5. The motor 1 8 transmits power through a sprocket chain and can drive the hole tray 6 placed on the hole tray supporting plate 5 to move.

[0031] Specifically, please refer to Figure 2 and Figure 3 The hole tray supporting plate 5 includes a pair of spaced side plates, a support shaft connecting the two side plates, and a support plate provided on the support shaft and connected to the side plates. The chain in the sprocket chain used to control the movement of the hole tray 6 is a single-sided ear roller chain 4, and the single-sided ear roller chain 4 is provided with a hole tray push rod 4 for pushing the hole tray 6 to move. During the rotation process, the single-sided ear roller chain 4 drives the hole tray push rod 4 to push the hole tray 6 to move together.

[0032] Please refer to Figure 4 and Figure 5 , the specific structure of the seedling taking and throwing mechanism is described in detail below.

[0033] The seedling taking and throwing mechanism includes a support assembly, a power assembly, a connecting rod transmission assembly and a seedling taking and throwing assembly, wherein the power assembly and the seedling taking and throwing assembly are both arranged on the support assembly. The power assembly is powered by a motor II 15 through a pair of mutually meshing gear pairs 16, and then drives the seedling taking and throwing assembly to swing through the connecting rod transmission assembly to achieve adjustment of the seedling taking and throwing angle.

[0034] Among them, the support assembly includes a pair of first support legs 12, a pair of second support legs 23 with a height higher than the first support legs 12, and a horizontally arranged support platform 13, and the support platform 13 is respectively connected to the top of the first support leg 12 and the lower part of the second support leg 23; the upper parts of the two second support legs 23 are connected to the connecting rod 18, and the connecting rod 18 is rotatably connected to the seedling taking and throwing assembly.

[0035] Preferably, a linear module is provided in the second supporting leg 23, and slots are provided on the opposite sides of the two second supporting legs 23, and the linear module can drive the seedling taking and throwing assembly to move up and down.

[0036] The connecting rod assembly includes a crank 14 connected to the power assembly, a linear slide 10 horizontally connected to the second support leg 23, a roller 17 arranged in the linear slide 10 and capable of moving along the linear slide 10, a rocker 11 whose two ends are respectively connected to the roller 17 and the crank 14, and a connecting rod 19 whose two ends are respectively connected to the roller 17 and the seedling taking and throwing assembly. The power assembly drives the crank 14, the rocker 11, the linear slide 10 and the roller 17 to cooperate with each other, and can convert the swinging motion of the rocker 11 into the linear motion of the roller 17 along the linear slide 10. At the same time, the connecting rod 19 is rotationally connected to the roller 17, thereby driving the seedling taking and throwing assembly to flip around the connecting rod 18.

[0037] It should be noted that the connecting rod 19 is a telescopic rod with a built-in power supply.

[0038] The seedling taking and throwing assembly includes an H-shaped structure of a seedling taking and throwing connector 22, which includes two parallel vertical sections and a horizontal section connecting the two vertical sections. The upper parts of the two vertical sections are rotatably connected to the connecting rod 18, and the lower parts are hinged to the connecting rod I9. A cylinder II 21 is provided on the inner side of the vertical section, and its piston rod moves within the length range of the horizontal section. The piston rod of the cylinder II 21 is connected to a support frame 20, and a plurality of manipulator connectors are evenly spaced along the length direction of the support frame 20. The seedling taking and throwing manipulator 19 is provided on the corresponding manipulator connector. The telescopic movement of the cylinder II 21 can control the plurality of seedling taking and throwing manipulators 19 to move back and forth in the transverse direction of the hole tray 6; the spacing between two adjacent seedling taking and throwing manipulators 19 is consistent with the spacing between two adjacent hole tray seedlings in any row on the hole tray 6.

[0039] Please refer to Figure 6 and Figure 7 , the structure of the seedling taking and throwing robot 19 is described below. The seedling taking and throwing robot 19 includes a cylinder III 1901, a fixed unit fixed on the cylinder III 1901, a plurality of connecting rod units 1903 evenly distributed on the fixed unit, a seedling taking needle 1907 connected to the top end of the corresponding connecting rod unit 1903, and a limiting unit connected to the fixed unit for the seedling taking needle 1907 to pass through. Among them, the fixed unit, the plurality of connecting rod units 1903, the plurality of seedling taking needles 1907 and the limiting unit form an umbrella-shaped structure. Under the action of the control mechanism, the piston rod of the cylinder III 1901 pushes the connecting rod unit 1903 to move, driving the seedling taking needle 1907 to move downward. Under the action of the limiting unit, the needle tip of the seedling taking needle 1907 gathers inward, the needle tip distance is reduced, and the seedling in the pot is grabbed; the piston rod of the cylinder III 1901 retracts, driving the needle tip distance of the seedling taking needle 1907 to increase, and then releasing the seedling in the pot.

[0040] Specifically, the fixing unit includes a fixing block 1902 fixed on the cylinder III 1901, a chassis 1905 connected to the fixing block 1902 through a cylinder bracket 1904, and a driving block 1908 connected to the piston rod of the cylinder III 1901. The connecting rod unit 1903 is arranged at the upper end of the driving block 1902 and the chassis 1905, and the limiting unit is arranged at the lower end of the chassis 1905.

[0041] The connecting rod unit 1903 includes a connecting rod II 1903-1 and a connecting rod III 1903-2. One end of the connecting rod II 1903-1 is hinged to the driving block 1902, and the other end is hinged to the middle portion of the connecting rod III 1903-2. One end of the connecting rod III 1903-2 is hinged to the seedling removal needle 1907, and the other end is hinged to the upper end of the chassis 1905. The angle between the connecting rod III 1903-2 and the seedling removal needle 1908 is acute.

[0042] The limiting unit includes a connecting rod IV 1906, one end of which is hinged to the lower end of the chassis 1905, and the other end is provided with a through hole for the seedling needle 1907 to pass through.

[0043] like Figure 7 As shown, the seedling manipulator 19 includes four seedling needles 1907, and the cylinder bracket 1904 is right-angled, and a gap for the connecting rod unit 1903 to move is left between two adjacent cylinder brackets 1904. In detail, the chassis 1905 is a structure with a cross section similar to the character "士".

[0044] A pair of opposing photoelectric sensors are provided on the two opposite side walls of the plug tray supporting plate and the seedling taking and throwing assembly, and each pair of opposing photoelectric sensors is symmetrically arranged relative to the plug tray; during the seedling taking process, by adjusting the inclination angle of the plug tray supporting plate and the swing angle of the seedling taking and throwing assembly, it can be ensured that the opposing photoelectric sensors located on the same side receive each other's signals through opposing radiation, thereby achieving the seedling taking needle in the seedling taking and throwing assembly to maintain a vertical state with the plug tray.

[0045] Among them, each motor, cylinder, linear module and through-beam photoelectric sensor are electrically connected to the control mechanism. The specific control method belongs to the existing technology and will not be repeated here.

[0046] Finally, the specific working process of the present invention will be described in conjunction with the contents of the above drawings: under the driving action of motor II 15, power is transmitted to the power shaft through a pair of mutually meshing gear pairs 16. The rotation of the power shaft drives the crank 14 to rotate, and the crank 14 drives one end of the rocker 11 to rock. The other end of the rocker 11, under the restriction of the roller 17 and the linear slide 10, moves linearly along with the roller 17. Under the motion of roller 17, connecting rod I 9 pushes seedling retrieval connector 22 to rotate around connecting rod 18. Simultaneously, seedling retrieval claw 19 on seedling retrieval connector 11 flips as seedling retrieval connector 22 flips. When the through-beam photoelectric sensor 7 generates a signal, cylinder III 1901 pushes out the piston rod, driving connecting rod unit 1903 to move, causing the needle tip distance of seedling retrieval needle 1907 to decrease, thereby clamping the seedling. When gear pair 16 drives crank 14 to rotate one circle and return to the initial position, seedling retrieval claw 19 is just above the seedling cup. At this time, cylinder III 1901 retracts, releasing the seedling into the seedling cup. Next, the piston rod of cylinder II 21 pushes the seedling retrieval claw 19 to move laterally, preparing for the next round of seedling retrieval. When working in a place with a slope, the vehicle body will produce a certain inclination angle due to the inclination of the terrain. At this time, the piston rod of the cylinder 12 and the connecting rod 19 in the seedling delivery mechanism coordinate with each other so that the beam-type photoelectric sensor 7 on the same side receives the beam-type signal, so as to ensure that the needle tip and the hole tray 6 are always kept vertical during the process of clamping the seedlings, and to prevent the seedlings from being damaged during the seedling removal process. During the above adjustment process, the slider of the linear module will also drive the seedling removal and delivery connector 22 to adjust up and down along the slot to ensure the reception of the beam-type photoelectric sensor 7 signal, and to ensure that the distance between the needle tip of the seedling removal needle 1907 and the hole tray 6 remains unchanged when clamping the seedlings, so as to successfully complete the clamping of the seedlings.

[0047] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any equivalent changes or modifications made based on the essence of the present invention should be included in the scope of protection of the present invention.

Claims

1. A self-adjusting slide swinging seedling picking and dropping device, comprising a seedling delivery mechanism for delivering seedlings from a seedling tray, a seedling picking and dropping mechanism for picking up seedlings from the seedling delivery mechanism and dropping them into a seedling dropping cup, and a control mechanism; characterized by: The seedling delivery mechanism comprises a frame (1), and a plug tray support plate (5) provided on the frame (1) for supporting a plug tray (6), wherein at least one cylinder I (2) connected to the plug tray support plate (5) is fixed on the frame (1) in an inclined upward direction, and the inclination angle of the plug tray support plate (5) can be adjusted by the cylinder I (2); The seedling taking and throwing mechanism comprises a support assembly, a power assembly, a connecting rod transmission assembly and a seedling taking and throwing assembly, wherein the seedling taking and throwing assembly is arranged on the support assembly so as to be movable up and down, the power assembly is powered by a motor II (15) through a pair of mutually meshing gear pairs (16), and then drives the seedling taking needle (1907) in the seedling taking and throwing assembly to swing around the support assembly through the connecting rod transmission assembly, thereby adjusting the seedling taking and throwing angle; the support assembly comprises two second support legs (23), the upper ends of the two second support legs (23) are The connecting rod (18) is connected to the power assembly, and the connecting rod (18) is rotatably connected to the seedling taking and throwing assembly; the connecting rod transmission assembly includes a crank (14) connected to the power assembly, a linear slide (10) horizontally connected to the second support leg (23) in the support assembly, a roller (17) arranged in the linear slide (10) and capable of moving along the linear slide (10), a rocker (11) with two ends respectively connected to the roller (17) and the crank (14), and a connecting rod I (9) with two ends respectively connected to the roller (17) and the seedling taking and throwing assembly; the power assembly drives the crank (14) to convert the swinging motion of the rocker (11) into the linear motion of the roller (17) along the linear slide (10), and then the connecting rod I (9) drives the seedling taking and throwing assembly to flip around the connecting rod (18); A pair of opposing photoelectric sensors (7) are provided on the two opposite side walls of the hole tray support plate (5) and on the seedling taking and throwing assembly, and each pair of opposing photoelectric sensors (7) is symmetrically arranged relative to the hole tray (6); during the seedling taking process, by adjusting the inclination angle of the hole tray support plate (5) and the swing angle of the seedling taking and throwing assembly, it is possible to ensure that the opposing photoelectric sensors (7) located on the same side receive each other's signals, thereby achieving the seedling taking needle (1907) in the seedling taking and throwing assembly to maintain a vertical state with the hole tray (6); at the same time, a linear module is provided in the second supporting leg (23), and slots are provided on the opposite side surfaces of the two second supporting legs (23), and the linear module can drive the seedling taking and throwing assembly to move up and down.

2. A self-adjusting slide swing type seedling taking and throwing device according to claim 1, characterized in that: In addition to the two second supporting legs (23), the supporting assembly also includes a pair of first supporting legs (12) and a horizontally arranged supporting platform (13), wherein the height of the second supporting legs (23) is higher than that of the first supporting legs (12), and the supporting platform (13) is connected to the top of the first supporting leg (12) and the bottom of the second supporting leg (23), respectively.

3. A self-adjusting slide swing type seedling taking and throwing device according to claim 2, characterized in that: The seedling taking and throwing assembly includes an H-shaped seedling taking and throwing connecting piece (22) rotatably connected to the connecting rod (18), and the seedling taking and throwing connecting piece (22) includes two parallel vertical sections and a horizontal section connecting the two vertical sections. The upper parts of the two vertical sections are rotatably connected to the connecting rod (18), and the lower parts are hinged to the connecting rod I (9). A cylinder II (21) is provided on the inner side of any vertical section, and its piston rod is retractable within the length range of the horizontal section. The piston rod of the cylinder II (21) is connected to a support frame (20), and a plurality of seedling taking and throwing manipulators (19) are provided on the support frame (20) at equal intervals along its length direction. The plurality of seedling taking and throwing manipulators (19) can be controlled by the cylinder II (21) to move back and forth in the transverse direction of the hole tray (6).

4. A self-adjusting slide swing type seedling taking and throwing device according to claim 3, characterized in that: A pair of opposing photoelectric sensors (7) is provided on the bottom surfaces of two vertical sections of the seedling taking and throwing connecting piece (22).

5. The self-adjusting slide swing type seedling taking and throwing device according to claim 3, characterized in that: The seedling taking and planting robot (19) comprises a cylinder III (1901), a fixed unit fixed on the cylinder III (1901), a plurality of connecting rod units (1903) uniformly distributed on the fixed unit, a seedling taking needle (1907) connected at the top end to the corresponding connecting rod unit (1903), and a limiting unit connected to the fixed unit for the seedling taking needle (1907) to pass through, wherein the fixed unit, the plurality of connecting rod units (1903), the plurality of seedling taking needles (1907) and the limiting unit form an umbrella-shaped structure. Under the action of the control mechanism, the piston rod of the cylinder III (1901) pushes the connecting rod unit (1903) to move, thereby driving the seedling taking needle (1907) to move downward. Under the action of the limiting unit, the needle tips of the seedling taking needle (1907) gather inward, and the distance between the needle tips decreases, thereby grabbing the seedlings in the pot. The piston rod of (1901) retracts, driving the needle tip distance of the seedling needle (1907) to increase, thereby releasing the seedlings in the pot.

6. The self-adjusting slide swing type seedling taking and throwing device according to claim 5, characterized in that: The fixing unit includes a fixing block (1902) fixed on the cylinder III (1901), a chassis (1905) connected to the fixing block (1902) via a cylinder bracket (1904), and a driving block (1908) connected to the piston rod of the cylinder III (1901). The connecting rod unit (1903) is arranged at the upper end of the driving block (1908) and the chassis (1905), and the limiting unit is arranged at the lower end of the chassis (1905).

7. The self-adjusting slide swing type seedling taking and throwing device according to claim 1, characterized in that: The connecting rod I (9) is a telescopic rod with a built-in power supply.

8. The self-adjusting slide swing type seedling taking and throwing device according to claim 1, characterized in that: A motor I (8) is fixed to the back of the plug tray support plate (5), and the motor I (8) transmits power through a sprocket chain, and can drive the plug tray seedlings placed on the plug tray support plate (5) to move downward.

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