A transplanting device and method for seedlings with roots
By designing a robotic arm, rotating device, and root-gathering device for transplanting seedlings with roots, the problems of exposed and collided roots were solved, achieving non-destructive transplanting and improving the seedling establishment effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SOUTH CHINA AGRICULTURAL UNIVERSITY
- Filing Date
- 2024-01-22
- Publication Date
- 2026-06-30
AI Technical Summary
In existing seedling transplanting devices with roots, the roots are easily exposed outside the seedling tray or interfere with and collide with the seedling tray during the transplanting process, resulting in root damage and affecting the seedling establishment effect.
A rooted seedling transplanting device is used, including a robotic arm, a rotating device, a clamping device, and a root-gathering device. The clamping angle is adjusted by the rotating device, the seedling is clamped by the clamping device, and the roots are straightened by the root-gathering device to avoid root exposure and collision, thus achieving damage-free transplanting.
It effectively avoids root exposure and collision, improves seedling establishment, and ensures root integrity.
Smart Images
Figure CN117716846B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of seedling transplanting technology, specifically to a device and method for transplanting seedlings with roots. Background Technology
[0002] With large-scale production, an increasing number of rooted tissue culture seedlings need to be transplanted. To improve the quality and efficiency of transplanting, rooted seedling transplanting devices have been developed to replace manual transplanting.
[0003] However, existing rooted seedling transplanting devices have the following technical problems:
[0004] During the transplanting process, the rooted seedling transplanting device uses a transplanting hand to insert into the substrate pot to hold the seedling, and then directly places the rooted seedling into the seedling tray. This results in some roots being exposed outside the seedling tray, or interfering with and colliding with the seedling tray during the transplanting process, causing root damage and thus affecting the seedling planting effect. Summary of the Invention
[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a transplanting device and method for seedlings with roots, which can avoid the roots being exposed outside the seedling tray or damaged during seedling transplanting, thereby improving the seedling establishment effect.
[0006] To achieve the above objectives, the present invention adopts the following technical solution:
[0007] A transplanting device for seedlings with roots, including a robotic arm;
[0008] The robotic arm is connected to a rotating device for moving the rotating device;
[0009] The rotating device is connected to a clamping device and a root-gathering device, and is used to drive the clamping device and the root-gathering device to rotate.
[0010] The clamping device is used to hold the seedlings to be transplanted;
[0011] The root-gathering device is located on one side of the clamping device and is used to straighten the roots of the seedlings held by the clamping device.
[0012] Furthermore, the rotating device includes a pen-shaped cylinder and a linkage slider mechanism. The fixed end of the pen-shaped cylinder is connected to the robotic arm, and the movable end of the pen-shaped cylinder is connected to the clamping device and the root-gathering device through the linkage slider mechanism, so as to drive the clamping device and the root-gathering device to rotate using the linkage slider mechanism.
[0013] Furthermore, the rotating device is also equipped with a support connecting plate, a left connecting plate and a right connecting plate. The top surface of the support connecting plate is fixedly connected to the robotic arm, and the left connecting plate and the right connecting plate are symmetrically fixed at both ends of the bottom surface of the support connecting plate.
[0014] Furthermore, a supporting reinforcing rib is provided between the left and right connecting plates to strengthen and fix the left and right connecting plates.
[0015] Furthermore, the pen-shaped cylinder is connected to the right-side connecting plate via a pen-shaped cylinder fixing plate, and the extension or retraction of the movable end of the pen-shaped cylinder controls the linkage slider mechanism to rotate back and forth.
[0016] Furthermore, the linkage-slider mechanism includes a rotating plate, a screw shaft, and a bushing. The rotating plate is located on the side away from the supporting connecting plate. The left side of the rotating plate is connected to the left connecting plate via a bearing, and the right side of the rotating plate is connected to the right connecting plate via a short shaft. The rotating plate rotates around the short shaft. The right side of the rotating plate is connected to the screw shaft, which is connected to the movable end of the pen-shaped cylinder. A bushing is fitted over the screw shaft.
[0017] Furthermore, the clamping device includes a pneumatic finger and two steel teeth. The pneumatic finger is fixed to the linkage slider mechanism and connected to the two steel teeth, and is used to drive the two steel teeth to perform a clamping action.
[0018] Furthermore, the steel teeth are divided into left steel teeth and right steel teeth.
[0019] Furthermore, the end of the steel tooth is provided with a pointed tip. When the movable end of the pen-shaped cylinder extends, the pointed tip is in a vertical position, and when the movable end of the pen-shaped cylinder retracts, the pointed tip is in a horizontal position.
[0020] Furthermore, the angle of the pointed tip is 30°.
[0021] Furthermore, the root-closing device includes an inclined pneumatic slide, a trajectory planning component, a constraint device, and two root-closing plates. The inclined pneumatic slide and the trajectory planning component are both inclined. The cross-section of the trajectory planning component gradually decreases from top to bottom. The lower ends of the two root-closing plates are located on the outside of the two steel teeth, respectively. The constraint device is connected to the two root-closing plates and is used to constrain the upper ends of the two root-closing plates to the two sides of the trajectory planning component, respectively. The inclined pneumatic slide is fixed to the linkage slider mechanism and connected to the two root-closing plates, and is used to drive the two root-closing plates to move obliquely downward toward each other or obliquely upward away from each other along the two sides of the trajectory planning component.
[0022] Furthermore, the root plate is provided with a left root plate and a right root plate.
[0023] Furthermore, the root-gathering device also includes a vertical pneumatic slide, a vertical slide mounting plate, an inclined slide mounting plate, a slide rail, a left slider, a right slider, and root-gathering claws. The vertical pneumatic slide is connected to the linkage slider mechanism through the vertical slide mounting plate, and the vertical pneumatic slide is connected to the inclined slide mounting plate. The inclined pneumatic slide is mounted on the inclined slide mounting plate.
[0024] Furthermore, the slide rail includes an upper slide rail and a lower slide rail, which are connected to an inclined pneumatic slide table. Both the upper and lower slide rails are equipped with left and right sliders for sliding connection. The left and right sliders are respectively located on both sides of the trajectory planning component. A left-heading cylinder fixing plate is mounted on the left slider, and a left-heading steel plate and a screw bearing are mounted on the left-heading cylinder fixing plate. The left-heading steel plate is connected to the left-heading cylinder fixing plate via a head-gathering slide table, and the left-heading cylinder fixing plate is connected to the trajectory planning component via a screw bearing. A right-heading cylinder fixing plate is mounted on the right slider, and a right-heading steel plate and a screw bearing are mounted on the right-heading cylinder fixing plate. The right-heading steel plate is connected to the right-heading cylinder fixing plate via a head-gathering slide table, and the right-heading cylinder fixing plate is connected to the trajectory planning component via a screw bearing. The screw bearing is fixedly mounted on both the left and right head-gathering cylinder fixing plates via bearing fixing plates. The screw bearing is made of polyurethane molding.
[0025] Furthermore, a pad is provided between the vertical pneumatic slide and the vertical slide mounting plate.
[0026] Furthermore, the tilting pneumatic slide table is provided with an upper slide rail mounting plate and a lower slide rail mounting plate, the upper slide rail mounting plate being fixedly connected to the upper slide rail, and the lower slide rail mounting plate being fixedly connected to the lower slide rail.
[0027] Furthermore, the trajectory planning component has a tongue-shaped structure that is wider at the top and narrower at the bottom.
[0028] Furthermore, the restraint device is an elastic element wrapped around two steel teeth.
[0029] Furthermore, when the movable end of the pen-shaped cylinder extends, the tilting pneumatic slide is at a 30° angle to the vertical direction.
[0030] Furthermore, the root claw includes a left root claw and a right root claw. The left root claw is located at the end of the left root steel plate, and the right root claw is located at the end of the right root steel plate. Both the left and right root claws are semi-circular structures and are combined to form an enclosing ring.
[0031] Furthermore, the transplanting device is equipped with a conveying mechanism, which includes a seedling conveyor belt and a seedling tray conveyor belt. The seedling conveyor belt and the seedling tray conveyor belt are respectively located on both sides of the robotic arm. The seedling conveyor belt is used to transport the seedlings to be transplanted, and the seedling tray conveyor belt is used to transport the seedling trays.
[0032] Furthermore, the transplanting device is also equipped with a vision system, which is used to identify the location of the seedlings and the location of the holes in the seedling tray.
[0033] A transplanting method for a transplanting device for rooted seedlings includes the following steps:
[0034] The robotic arm moves the rotating device above the seedlings to be transplanted;
[0035] The clamping angle of the clamping device is adjusted by rotating the device, and the clamping device is used to hold the seedling to be transplanted.
[0036] The robotic arm moves the seedlings it is holding to a position above the transplanting tray;
[0037] Use a root-gathering device to straighten the roots of the seedlings;
[0038] The robotic arm moves down and inserts the seedling, after straightening its roots, into the seedling tray.
[0039] In summary, this invention has the following advantages: During use, the robotic arm first moves above the seedling to be transplanted. The clamping angle of the gripping device is adjusted via a rotating device. After the gripping device holds the seedling, the robotic arm moves the seedling above the transplanting tray. Then, a root-gathering device straightens the roots of the seedling held by the gripping device. The robotic arm then lowers to insert the seedling into the tray. Finally, all mechanisms reset, completing the seedling transplanting process. This invention, during seedling transplanting, first uses a root-gathering device to straighten the seedling roots before inserting the seedling into the tray. This avoids some roots being exposed outside the tray due to lack of root straightening, and prevents root damage from interference or collision with the tray during insertion, thus improving the seedling establishment effect. Attached Figure Description
[0040] Figure 1 This is a schematic diagram of the structure of the present invention;
[0041] Figure 2 This is a schematic diagram of the installation structure of the rotating device, clamping device, and root-gathering device in this invention;
[0042] Figure 3 A schematic diagram of the extended piston of the pen-shaped cylinder in the rotating device;
[0043] Figure 4 A schematic diagram of the retracted piston of the pen-shaped cylinder in the rotating device;
[0044] Figure 5 A schematic diagram of the clamping state of the steel teeth of the clamping device;
[0045] Figure 6 A schematic diagram of the clamping device with its steel teeth in the open state;
[0046] Figure 7 This is a schematic diagram of the front structure of the root-closing device;
[0047] Figure 8 This is a schematic diagram of the rear structure of the root-gathering device;
[0048] Figure 9 This is a schematic diagram of the tilting pneumatic slide in the root-closing device when it is not in operation.
[0049] Figure 10 This is a schematic diagram showing the state of the tilting pneumatic slide in the root-closing device when the action is completed.
[0050] Figure 11 This is a schematic diagram showing the state of the root-gathering slide in the root-gathering device when the action is completed.
[0051] Figure 12 Top view of the mounting structure between the cam, screw bearing, left cylinder mounting plate, and right cylinder mounting plate;
[0052] Figure 13 A front view of the mounting structure between the cam, screw bearing, left cylinder mounting plate, and right cylinder mounting plate;
[0053] Figure 14 This is a schematic diagram of the picking position of the transplanting device in an embodiment of the present invention;
[0054] Figure 15 This is a schematic diagram of the transplanting position of the transplanting device in an embodiment of the present invention;
[0055] Figure 16 This is a schematic diagram of the starting position of the root-gathering device in an embodiment of the present invention;
[0056] Figure 17 This is a schematic diagram of the end position of the root-gathering device in an embodiment of the present invention;
[0057] Figure 18 This is a schematic diagram of the transplanting device transplanting seedlings into seedling trays in an embodiment of the present invention.
[0058] In the picture:
[0059] 1- Robotic arm;
[0060] 21-Rotating device; 211-Support connecting plate; 2110-Rotating plate; 2111-Support reinforcing rib; 212-Left side connecting plate; 213-Pen-shaped cylinder fixing plate; 214-Right side connecting plate; 215-Pen-shaped cylinder; 216-Screw shaft; 217-Busset; 218-Short shaft; 219-Bearing;
[0061] 22-Clamping device; 221-Pneumatic finger; 222-Steel tooth; 223-Pointed nozzle;
[0062] 23-Root-gathering device; 231-Vertical slide mounting plate; 232-Pad plate; 234-Vertical pneumatic slide; 235-Inclined slide mounting plate; 236-Inclined pneumatic slide; 237-Upper slide rail mounting plate; 238-Lower slide rail mounting plate; 239-Upper slide rail; 2310-Left slider; 2311-Lower slide rail; 2312-Right slider; 2313-Left root-gathering cylinder fixing plate; 2314-Right root-gathering cylinder fixing plate; 2315-Screw bearing; 2316-Bearing fixing plate; 2317-Cam; 2318-Rubber band; 2319-Root-gathering slide; 2320-Left root-gathering steel plate; 2321-Right root-gathering steel plate; 2322-Root-gathering claw;
[0063] 3-Plant tray; 4-Plant tray conveyor belt; 5-Seedling conveyor belt; 6-Seedling. Detailed Implementation
[0064] The present invention will now be described in further detail.
[0065] like Figure 1 and Figure 2 As shown, a transplanting device for seedlings with roots includes a robotic arm 1;
[0066] The robotic arm 1 is connected to a rotating device 21 for moving the rotating device 21;
[0067] The rotating device 21 is connected to the clamping device 22 and the root-gathering device 23, and is used to drive the clamping device 22 and the root-gathering device 23 to rotate.
[0068] Clamping device 22 is used to clamp the seedling 6 to be transplanted;
[0069] The root-gathering device 23 is located on one side of the clamping device 22 and is used to straighten the roots of the seedling 6 held by the clamping device 22.
[0070] like Figures 2 to 4As shown, the rotating device 21 includes a pen-shaped cylinder 215 and a linkage slider mechanism. The fixed end of the pen-shaped cylinder 215 is connected to the robotic arm 1, and the movable end of the pen-shaped cylinder 215 is connected to the clamping device 22 and the root-gathering device 23 through the linkage slider mechanism, so as to drive the clamping device 22 and the root-gathering device 23 to rotate using the linkage slider mechanism. The rotating device 21 also has a support connecting plate 211, a left connecting plate 212, and a right connecting plate 214. The top surface of the support connecting plate 211 is fixedly connected to the robotic arm 1, and the left connecting plate 212 and the right connecting plate 214 are symmetrically fixed at both ends of the bottom surface of the support connecting plate 211. A supporting reinforcing rib 2111 is provided between the left connecting plate 212 and the right connecting plate 214 to reinforce and fix the left connecting plate 212 and the right connecting plate 214. The pen-shaped cylinder 215 is connected to the right-side connecting plate 214 via the pen-shaped cylinder fixing plate 213. The extension or retraction of the movable end of the pen-shaped cylinder 215 controls the reciprocating rotation of the linkage slider mechanism. The linkage slider mechanism includes a rotating plate 2110, a screw shaft 216, and a bushing 217. The rotating plate 2110 is located on the side away from the supporting connecting plate 211. The left side of the rotating plate 2110 is connected to the left-side connecting plate 212 via a bearing 219, and the right side of the rotating plate 2110 is connected to the right-side connecting plate 214 via a short shaft 218. The rotating plate 2110 rotates around the short shaft 218. The right side of the rotating plate 2110 is connected to the screw shaft 216, which is connected to the movable end of the pen-shaped cylinder 215. The bushing 217 is fitted over the screw shaft 216.
[0071] like Figure 5 and Figure 6 As shown, the clamping device 22 includes a pneumatic finger 221 and two steel teeth 222. The pneumatic finger 221 is fixed to the linkage slider mechanism and connected to the two steel teeth 222, and is used to drive the two steel teeth 222 to perform a clamping action. The steel teeth 222 are divided into left steel teeth and right steel teeth. The ends of the steel teeth 222 are provided with tips 223. When the movable end of the pen-shaped cylinder 215 is extended, the tips 223 are in a vertical state; when the movable end of the pen-shaped cylinder 215 is retracted, the tips 223 are in a horizontal state. Preferably, the angle of the tips 223 is 30°.
[0072] like Figures 7 to 13As shown, the root-gathering device 23 includes an inclined pneumatic slide 236, a trajectory planning component, a constraint device, and two root-gathering plates. Both the inclined pneumatic slide 236 and the trajectory planning component are inclined. The cross-section of the trajectory planning component gradually decreases from top to bottom. The lower ends of the two root-gathering plates are located outside the two steel teeth 222, respectively. The constraint device is connected to the two root-gathering plates and is used to constrain the upper ends of the two root-gathering plates to both sides of the trajectory planning component. The inclined pneumatic slide 236 is fixed to the linkage slider mechanism and connected to the two root-gathering plates, and is used to drive the two root-gathering plates to move obliquely downwards towards each other or obliquely upwards away from each other along both sides of the trajectory planning component. The root-gathering plates are provided with a left root-gathering steel plate 2320 and a right root-gathering steel plate 2321. The root-gathering device also includes a vertical pneumatic slide 234, a vertical slide mounting plate 231, an inclined slide mounting plate 235, a slide rail, a left slider 2310, a right slider 2312, and a root-gathering claw 2322. The vertical pneumatic slide 234 is connected to the linkage slider mechanism through the vertical slide mounting plate 231. The vertical pneumatic slide 234 is connected to the inclined slide mounting plate 235, and the inclined pneumatic slide 236 is mounted on the inclined slide mounting plate 235. When the movable end of the pen-shaped cylinder 215 extends, the inclined pneumatic slide 236 forms a 30° angle with the vertical direction. The slide rail includes an upper slide rail 239 and a lower slide rail 2311, which are connected to an inclined pneumatic slide table 236. Both the upper slide rail 239 and the lower slide rail 2311 are equipped with a left slider 2310 and a right slider 2311 for sliding connection. The left slider 2310 and the right slider 2311 are respectively located on both sides of the trajectory planning component. A left-hand apex cylinder fixing plate 2313 is mounted on the left slider 2310. A left-hand apex steel plate 2320 and a screw bearing 2315 are mounted on the left-hand apex cylinder fixing plate 2313. The left-hand apex steel plate 2320 and the left-hand apex cylinder fixing plate 2313 are connected via the apex slide table 2319. The left apex... The root cylinder fixing plate 2313 is connected to the trajectory planning component via a screw bearing 2315. A right root-gathering cylinder fixing plate 2314 is mounted on the right slider 2312. A right root-gathering steel plate 2321 and a screw bearing 2315 are mounted on the right root-gathering cylinder fixing plate 2314. The right root-gathering steel plate 2321 is connected to the right root-gathering cylinder fixing plate 2314 via a root-gathering slide table 2319. The right root-gathering cylinder fixing plate 2314 is connected to the trajectory planning component via a screw bearing 2315. The screw bearing 2315 is fixedly mounted on the left root-gathering cylinder fixing plate 2313 and the right root-gathering cylinder fixing plate 2314 via a bearing fixing plate 2316. Preferably, the screw bearing 2315 is made of polyurethane. A pad 232 is provided between the vertical pneumatic slide table 234 and the vertical slide table mounting plate 231. The tilting pneumatic slide 236 is provided with an upper slide rail mounting plate 237 and a lower slide rail mounting plate 238. The upper slide rail mounting plate 237 is fixedly connected to the upper slide rail 239, and the lower slide rail mounting plate 238 is fixedly connected to the lower slide rail 2311. The trajectory planning component is a tongue-shaped structure that is wider at the top and narrower at the bottom. Preferably, the trajectory planning component is a cam 2317.The restraining device is an elastic element wrapped around two steel teeth 222. Preferably, the restraining device is a rubber band 2318. The root claw 2322 includes a left root claw and a right root claw. The left root claw is located at the end of the left root steel plate 2320, and the right root claw is located at the end of the right root steel plate 2321. Both the left and right root claws are semi-circular structures and are combined to form an enclosing ring.
[0073] like Figure 1 As shown, the transplanting device is equipped with a conveying mechanism, which includes a seedling conveyor belt 4 and a seedling tray conveyor belt 5. The seedling conveyor belt 4 and the seedling tray conveyor belt 5 are respectively located on both sides of the robotic arm 1. The seedling conveyor belt 4 is used to transport the seedlings 6 to be transplanted, and the seedling tray conveyor belt 5 is used to transport the seedling trays 3.
[0074] The transplanting device is also equipped with a vision system, which is used to identify the position of the seedling 6 and the position of the holes in the seedling tray 3.
[0075] A transplanting method for a transplanting device for rooted seedlings includes the following steps:
[0076] like Figure 14 As shown, the robotic arm 1 moves the rotating device 21 above the seedling 6 to be transplanted;
[0077] The clamping angle of the clamping device 22 is adjusted by the rotating device 21, and the clamping device 22 is used to clamp the seedling 6 to be transplanted.
[0078] like Figure 15 As shown, the robotic arm 1 moves the seedling 6 to be transplanted, which it has gripped, to above the transplanting tray 3;
[0079] like Figure 16 and Figure 17 As shown, the roots of the seedling 6 are straightened using the root-gathering device 23;
[0080] like Figure 18 As shown, the robotic arm 1 moves down and inserts the seedling 6, after straightening its roots, into the seedling tray 3.
[0081] The main function of this invention is as follows: In use, the robotic arm 1 first moves above the seedling 6 to be transplanted. The clamping angle of the clamping device 22 is adjusted by the rotating device 21. After the clamping device 22 holds the seedling 6, the robotic arm 1 moves the seedling 6 above the transplanting tray 3. Then, the root-gathering device 23 straightens the roots of the seedling 6 held by the clamping device 22. The robotic arm 1 then lowers the seedling 6 held by the clamping device 22 into the tray 3. Finally, all mechanisms reset, completing the seedling transplanting process. In this invention, during the seedling transplanting process, the root-gathering device 23 is used to straighten the roots of the seedling 6 before inserting the seedling 6 into the tray 3. This avoids some roots being exposed outside the tray 3 due to lack of root straightening, and prevents root damage from interference and collision with the tray 3 during insertion, thus improving the seedling establishment effect.
[0082] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.
Claims
1. A transplanting device for seedlings with roots, characterized in that: Including robotic arms; The robotic arm is connected to a rotating device for moving the rotating device; The rotating device is connected to a clamping device and a root-gathering device, and is used to drive the clamping device and the root-gathering device to rotate. The clamping device is used to hold the seedlings to be transplanted; The root-gathering device is located on one side of the clamping device and is used to straighten the roots of the seedlings held by the clamping device. The rotating device includes a pen-shaped cylinder and a linkage slider mechanism. The fixed end of the pen-shaped cylinder is connected to the robotic arm, and the movable end of the pen-shaped cylinder is connected to the clamping device and the root-gathering device through the linkage slider mechanism. The linkage slider mechanism is used to drive the clamping device and the root-gathering device to rotate. The clamping device includes a pneumatic finger and two steel teeth. The pneumatic finger is fixed to the linkage slider mechanism and connected to the two steel teeth, and is used to drive the two steel teeth to perform clamping actions. The root-gathering device includes an inclined pneumatic slide, a trajectory planning component, a constraint device, and two root-gathering plates. The inclined pneumatic slide and the trajectory planning component are both inclined. The cross-section of the trajectory planning component gradually decreases from top to bottom. The lower ends of the two root-gathering plates are located on the outside of the two steel teeth, respectively. The constraint device is connected to the two root-gathering plates and is used to constrain the upper ends of the two root-gathering plates to the two sides of the trajectory planning component, respectively. The inclined pneumatic slide is fixed to the linkage slider mechanism and connected to the two root-gathering plates, and is used to drive the two root-gathering plates to move obliquely downward toward each other or obliquely upward away from each other along the two sides of the trajectory planning component. The trajectory planning component has a tongue-shaped structure that is wider at the top and narrower at the bottom; The restraint device is an elastic element wrapped around two steel teeth; When the movable end of the pen-shaped cylinder extends, the tilting pneumatic slide is at a 30° angle to the vertical direction.
2. The transplanting device for seedlings with roots according to claim 1, characterized in that: The steel teeth have a pointed tip at the end. When the movable end of the pen-shaped cylinder extends, the pointed tip is in a vertical position, and when the movable end of the pen-shaped cylinder retracts, the pointed tip is in a horizontal position.
3. A transplanting device for seedlings with roots according to claim 2, characterized in that: The angle of the pointed tip is 30°.
4. A transplanting method for a transplanting device for rooted seedlings as described in any one of claims 1-3, characterized in that: Includes the following steps, The robotic arm moves the rotating device above the seedlings to be transplanted; The clamping angle of the clamping device is adjusted by the rotating device, and the clamping device is used to hold the seedling to be transplanted. The robotic arm moves the seedlings it is holding to a position above the transplanting tray; Use a root-gathering device to straighten the roots of the seedlings; The robotic arm moves down and inserts the seedling, after straightening its roots, into the seedling tray.