Air control full-automatic tray feeding, seedling taking and transplanting method for tobacco

Abstract

The application discloses a tobacco gas control full-automatic seedling tray feeding and transplanting method, wherein the pot seedling containing hole tray is placed on a hole tray conveying device, the hole tray conveying device intermittently feeds the pot seedling containing hole tray in a row to a specified position where a pot seedling can be clamped by an automatic seedling taking device, automatic seedling feeding is realized, the automatic seedling taking device clamps the whole row of pot seedlings and pulls out the whole row of pot seedlings from the hole tray, the pot seedlings are put into corresponding seedling cups after being pulled out, seedling feeding is completed, and the automatic seedling taking device returns to the original position to take and feed seedlings in the next time. The application has the advantages of simple operation, strong applicability, reasonable layout, high automation degree and strong reliability, greatly improves the automation degree of the device, and effectively solves the technical problems of low reliability, low automation degree and poor adaptability of the existing method.

Description

Technical Field

[0001] This invention belongs to the field of tobacco transplanting technology, specifically, it relates to a fully automated method for tobacco seedling transplanting using pneumatic control. Background Technology

[0002] Tobacco is an annual herbaceous plant. As a highly profitable economic crop, it has an extremely wide planting area, with my country's annual tobacco planting area exceeding 1,000,000 hectares. The main method of tobacco cultivation is seedling transplanting. Tobacco transplanting refers to planting tobacco seedlings grown in greenhouses into the field when the temperature is suitable in early spring. Timely transplanting is beneficial to the later development of tobacco, improving its quality and yield.

[0003] With tobacco companies vigorously developing large-scale planting, the concentration of tobacco fields has gradually increased, providing the preconditions for the use of high-efficiency tobacco agricultural machinery. Currently, there are relatively few transplanters used for tobacco, and their automation level is low, with most being semi-automatic. This requires manual labor in conjunction with the machine; humans manually pick up and place the seedlings, while the machine performs the transplanting. Transplanting efficiency is significantly affected by manual labor. As labor costs increase, transplanters capable of replacing manual seedling picking and placement continue to develop. Currently, the most commonly used automatic seedling picking methods include: 1) Pin insertion type, where a picking probe is inserted into the pot to remove the seedling; 2) Push-out type, where the seedling is pushed out from a small hole at the bottom of the seedling tray; 3) Clamping type, where the stem is clamped to pull out the seedling; and 4) Combinations of various methods derived from the above.

[0004] Chinese invention patent application CN116711517 discloses a transplanter and its automatic seedling-collecting device and method. The transplanter includes an automatic seedling-collecting device, which comprises: a frame mounted on the transplanter chassis; a seedling supply mechanism mounted on the frame; a seedling separation mechanism mounted on top of the frame corresponding to the seedling supply mechanism, with multiple seedling-collecting mechanisms connected to the separation mechanism, each controlling a retracted position and an extended position of the seedling-collecting mechanisms; a seedling-lifting mechanism positioned below the seedling supply mechanism corresponding to the seedling-collecting mechanisms; a controller mounted on the frame and connected to the seedling supply mechanism, seedling-lifting mechanism, seedling-collecting mechanism, and seedling separation mechanism; and a position sensor mounted on the frame and connected to the controller, used to transmit the detected position signals of the seedling supply mechanism and seedling-lifting mechanism to the controller, which then analyzes and judges the signals to control the orderly movement of the seedling supply mechanism, seedling-lifting mechanism, seedling-collecting mechanism, and seedling-separating mechanism.

[0005] The needle-type seedling extraction method can easily damage the roots of tobacco seedlings, affecting their recovery and growth. The top-out seedling extraction method described above requires high positioning accuracy, and the complex conditions of tobacco field transplanting operations do not provide a suitable operating environment. Tobacco transplanting takes place in farmland, where the field working environment is complex, and methods relying on multiple sensors and electronic controls are susceptible to field conditions, leading to reduced reliability. Therefore, a fully automated, pneumatically controlled, tray-feeding and transplanting method for tobacco seedlings is needed, characterized by a reasonable layout, high degree of automation, and strong reliability. Summary of the Invention

[0006] The purpose of this invention is to provide a fully automated tobacco seedling transplanting method with reasonable layout, high degree of automation, and high reliability.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The fully automated tobacco seedling transplanting and tray feeding method using pneumatic control includes the following steps: (1) Place the seedling trays containing the seedlings on the seedling tray conveying device. The seedling tray conveying device intermittently delivers the seedling trays in a row to a designated position that is easy for the automatic seedling picking device to pick up the seedlings, thereby realizing automatic seedling delivery. (2) The automatic seedling picking device picks up the whole row of potted seedlings and pulls the whole row of potted seedlings out of the seedling tray. After pulling them out, the potted seedlings are put into the corresponding seedling cups to complete the seedling placement. (3) After the seedlings are placed, the automatic seedling picker returns to its original position and picks up the seedlings again.

[0008] The seedling tray conveying device and the automatic seedling picking device are integrated and installed on the main frame. The seedling tray conveying device includes a tray feeding frame, a seedling tray placement mechanism, an intermittent chain tray feeding mechanism, a seedling tray recycling mechanism, and a damping mechanism. The tray feeding frame includes a first left column, a first right column, a second right column, a third left column, a third right column, a left diagonal bar, and a right diagonal bar. The left diagonal bar and the right diagonal bar are arranged with the back higher than the front. The top of the first left column is connected to the rear end of the left diagonal bar, the top of the third left column is connected to the front end of the left diagonal bar, the top of the first right column is connected to the front end of the right diagonal bar, and the top of the third right column is connected to the rear end of the right diagonal bar. The second right column is located between the first right column and the second right column. The bottom ends of the first left column, the first right column, the second right column, the third left column, and the third right column are on the same plane. The acupuncture tray placement mechanism includes a tray delivery rear shell, an upper sliding guide rod for the acupuncture tray, an upper limit plate for the acupuncture tray, a lower sliding guide rod for the acupuncture tray, and a lower support for the acupuncture tray. The left end of the tray delivery rear shell is connected to a left inclined rod, and the right end of the tray delivery rear shell is connected to a right inclined rod. The lower support for the acupuncture tray includes a left lower support and a right lower support, which are respectively installed on the left inclined rod and the right lower support is installed on the right inclined rod. The tray delivery rear shell is located at the upper rear part of the tray delivery frame, and the lower support for the acupuncture tray is located at the lower front part of the tray delivery frame. The upper sliding guide rod for the acupuncture tray is fixed to the middle position of the tray delivery rear shell by bolts.

[0009] The intermittent chain feeding mechanism includes a feeding drive shaft, a feeding drive sprocket, a left feeding chain, a right feeding chain, a feeding driven sprocket, a feeding driven shaft, a drive shaft mounting base, a driven shaft mounting base, a feeding ratchet, a pawl spring, a feeding pawl, a feeding cylinder, and a push rod connector. There are two drive shaft mounting seats, which are respectively installed on the left front end of the left slant bar and the right front end of the right slant bar. There are two driven shaft mounting seats, which are respectively installed on the left middle part of the left slant bar and the right middle part of the right slant bar. The feed plate drive shaft is installed on two drive shaft mounting seats. The feed plate driven shaft is installed on two driven shaft mounting seats. There are two feed plate drive sprockets, which are respectively installed at both ends of the feed plate drive shaft. There are two feed plate driven sprockets, which are respectively installed at both ends of the feed plate driven shaft. The left feed plate chain is sleeved on the left feed plate drive sprocket and the left feed plate driven sprocket. The right feed plate chain is sleeved on the right feed plate drive sprocket and the right feed plate driven sprocket. Several chain connecting rods are provided between the left feed plate chain and the right feed plate chain. A cylinder mounting plate is provided on the second right column. The tray feeding cylinder is mounted on the cylinder mounting plate. The push rod connector of the tray feeding cylinder is connected to the cylinder connector. The right end of the tray feeding drive shaft extends outward to provide a first extension. The tray feeding ratchet is mounted on the first extension. A pawl return plate is provided on one side of the tray feeding ratchet. A pawl mounting pin is provided on the pawl return plate. The tray feeding pawl is sleeved on the pawl mounting pin. The cylinder connector is connected to the pawl mounting pin. A first connecting pin is provided on the tray feeding pawl. A second connecting pin corresponding to the first connecting pin is provided on the pawl return plate. The upper end of the pawl spring is connected to the first connecting pin, and the lower end of the pawl spring is connected to the second connecting pin.

[0010] The burrowing plate recovery mechanism includes a fixed connecting plate, a first turning plate, a second turning plate, and a third turning plate. The left end of the fixed connecting plate is connected to a left diagonal bar, and the right end of the fixed connecting plate is connected to a right diagonal bar. The first turning plate is located at the left end of the fixed connecting plate, the second turning plate is located in the middle of the fixed connecting plate, and the third turning plate is located at the right end of the fixed connecting plate. The damping mechanism includes a damping frame, a damping wheel, and a damping belt. The left end of the feed disc drive shaft extends outward to form a second extension. The damping wheel is mounted on the second extension. The damping frame is mounted on the main frame by mounting bolts. The top end of the damping belt is fitted onto the damping wheel, and the bottom end of the damping belt is connected to the damping frame by tension bolts and tension nuts.

[0011] The automatic seedling picking device includes an automatic seedling picking frame, a seedling picking and repositioning mechanism, and a seedling transfer mechanism; The automatic seedling picker frame includes a left horizontal bar, a right horizontal bar, left and right connecting rods, a first support column, and a second support column. The left end of the left and right connecting rods is connected to the left horizontal bar, and the right end of the left and right connecting rods is connected to the right horizontal bar. The tops of the first and second support columns are both connected to the left and right connecting rods, and the bottoms of the first and second support columns are connected to the main frame. The transplanting mechanism includes a first mounting column, a second mounting column, a third mounting column, a fourth mounting column, a left transplanting slide rail, and a right transplanting slide rail. The first and second mounting columns are located at both ends of the left crossbar, and the third and fourth mounting columns are located at both ends of the right crossbar. The left transplanting slide rail is installed between the first and second mounting columns, with its front end connected to the first mounting column and its rear end connected to the second mounting column. The right transplanting slide rail is installed between the third and fourth mounting columns, with its front end connected to the fourth mounting column and its rear end connected to the third mounting column.

[0012] The seedling repositioning mechanism includes a fixed frame, a first mounting plate, a seedling pulling cylinder, a repositioning slide rail, a repositioning slider, a repositioning cylinder, a second mounting plate, seedling picking grippers, a flipping cylinder, a guide rail mounting seat, gripper connecting rods, a seedling pulling guide rail, and a guide rail fixing block. The left end of the first mounting plate is connected to a left seedling moving slider, and the right end is connected to a right seedling moving slider. The left seedling moving slider is slidably mounted on the left seedling moving slide rail, and the right seedling moving slider is slidably mounted on the right seedling moving slide rail. The seedling pulling cylinder is installed in the middle of the first mounting plate, and a guide rail fixing block is installed on each side of the seedling pulling cylinder. The front end of the seedling pulling guide rail is slidably disposed within the guide rail fixing block, and the rear end of the seedling pulling guide rail is connected to the fixed frame via the guide rail mounting seat. The displacement slide rail is horizontally mounted on the fixed frame. Several displacement sliders are slidably mounted on the displacement slide rail. The second mounting plate is mounted on the displacement slider. The seedling clamp is mounted on the second mounting plate. The second mounting plates are connected to each other through the clamp connecting rod. A flipping cylinder is set at each end of the fixed frame. The inner side of the flipping cylinder is connected to the fixed frame. The outer side of the flipping cylinder is connected to the displacement slide rail through the slide rail connecting plate. The flipping cylinder is equipped with an oil pressure adjusting bolt. A horizontally mounted displacement cylinder is installed on the upper and lower sides of the displacement slide rail through mounting bolts. The push rod of the upper displacement cylinder is connected to the leftmost second mounting plate. The push rod of the lower displacement cylinder is connected to the rightmost second mounting plate. A cylinder mounting plate is provided between the first mounting column and the fourth mounting column. A seedling transplanting cylinder is installed on the cylinder mounting plate, and the push rod of the seedling transplanting cylinder is connected to the first mounting plate. Height adjustment components are provided on the first, second, third, and fourth mounting posts. The height adjustment components include a height adjustment mounting base, a height adjustment screw, and a height adjustment sliding sleeve. The height adjustment screw is mounted on the height adjustment mounting base. The side of the height adjustment sliding sleeve is provided with a first ear plate and a second ear plate that are symmetrical and parallel to each other. The height adjustment screw passes through the first ear plate and the second ear plate in sequence and is fixed by an adjusting nut. The right side of the seedling pulling cylinder is equipped with a first reversing valve and a cylinder trigger plate mounted on the first mounting plate. The left side of the seedling pulling cylinder is equipped with a second reversing valve mounted on the first mounting plate. A third reversing valve is mounted on the second mounting column. A first trigger plate corresponding to the third reversing valve is mounted on the left seedling moving slider. A fourth reversing valve is mounted on the cylinder mounting plate above the seedling moving cylinder. A first limit switch is mounted on the third mounting column. A second trigger plate corresponding to the first limit switch is mounted on the right seedling moving slider.

[0013] The specific process of step (1) is as follows: ① Place the custom-made seedling tray containing the seedlings on the seedling tray placement mechanism, so that the bottom of each row of seedling slots at the front of the seedling tray is placed between two adjacent chain links and is in close contact with the chain links; ② When the entire row of seedling-taking claws approaches the seedling-taking position, the seedling-taking claws are in the open state. The second trigger plate triggers the first limit switch, and the tray-feeding cylinder is ventilated. After the tray-feeding cylinder is ventilated, the push rod of the tray-feeding cylinder pushes the push rod joint, which in turn drives the tray-feeding pawl to rotate. The tray-feeding pawl drives the tray-feeding ratchet to rotate, which in turn drives the tray-feeding drive shaft to rotate. Furthermore, the rotation of the tray-feeding drive shaft drives the tray-feeding drive sprockets at both ends to rotate. The tray-feeding drive sprockets drive the tray-feeding driven sprocket and the tray-feeding driven shaft to rotate through the left tray-feeding chain and the right tray-feeding chain, which in turn causes the chain connecting rod set between the left tray-feeding chain and the right tray-feeding chain to rotate, so that the entire row of seedling trays is conveyed forward to realize the seedling tray delivery. At this time, the seedlings in the first row of seedling slots of the seedling tray are located between the fingers of the seedling-taking claws. ③ During the conveying process of the seed tray, the empty seed tray continues to be conveyed along the chain link along the first, second and third turning plates until the end of the first, second and third turning plates. Under the action of gravity, the empty seed tray is separated from the chain link, realizing the coiling and recycling of the seed tray.

[0014] The specific process of step (2) is as follows: ①When the seedling is placed between the fingers of the seedling picker, the first trigger plate contacts the third reversing valve, triggering the fingers of the seedling picker to close and clamp the seedling. ② The seedling-pulling cylinder retracts, causing the entire row of seedling-pulling claws that clamp the seedlings in the pots to move upwards, pulling the seedlings out of the seedling tray; ③ After the seedling pulling cylinder retracts, the cylinder trigger plate triggers the first reversing valve, causing the displacement cylinder to extend and the seedling transfer cylinder to retract. When the displacement cylinder is fully extended, the seedling transfer cylinder is fully retracted, thereby changing the spacing of the seedling clamping claws holding the potted seedlings to the spacing of the seedling cups suitable for seedling placement, realizing the seedling transfer and positioning to wait for seedling placement. ④ After the seedling cup conveying device conveys the seedling cup to the appropriate position, the seedling pulling cylinder extends, the cylinder is tilted to flatten, and at the same time the seedling clamps are released, and the seedling falls into the seedling cup, thus realizing the seedling placement action.

[0015] The seedling cup conveying mechanism includes a seedling cup tray, seedling cup sprockets, seedling cup chains, seedling cups, a second limit switch, and a third trigger plate. The seedling cup tray is mounted on the main frame. The inner side of the seedling cups is connected to the seedling cup chains through seedling cup mounting plates. The seedling cup tray is equipped with at least four seedling cup sprockets. The seedling cup chains are connected to the seedling cup sprockets via a drive mechanism. A third trigger plate is installed on every eight seedling cups. A second limit switch corresponding to the third trigger plate is installed on the seedling cup tray.

[0016] The specific process of step (3) is as follows: ① When the seedling cup is in place, the third trigger plate triggers the second limit switch, the seedling pulling cylinder extends, the cylinder is tilted to flatten, the seedling clamp is released, and the potted seedling falls into the seedling cup; ② After the third trigger plate triggers the second limit switch, the seedling pulling cylinder extends and triggers the first reversing valve again, causing the displacement cylinder to retract and gather the entire row of seedling picking claws towards the center, so that the spacing of the seedling picking claws changes to the spacing of the seedling trays suitable for picking seedlings. The automatic seedling picking device returns to its original position, waiting for the next seedling picking and placing. ③ The second trigger plate triggers the first limit switch, venting the tray delivery cylinder. The push rod of the tray delivery cylinder pushes the push rod connector, which in turn drives the tray delivery pawl to rotate. The tray delivery pawl drives the tray delivery ratchet to rotate, which in turn drives the tray delivery drive shaft to rotate. Furthermore, the rotation of the tray delivery drive shaft drives the tray delivery drive sprockets at both ends to rotate. The tray delivery drive sprockets drive the tray delivery driven sprockets and the tray delivery driven shaft to rotate through the left and right tray delivery chains. This causes the chain link set between the left and right tray delivery chains to rotate, so that the entire row of seedling trays is conveyed forward to realize the seedling delivery. This cycle repeats to achieve fully automatic tray delivery, seedling picking, and transplanting.

[0017] This invention has outstanding substantive features and significant progress compared to the prior art. Specifically, this invention adopts a vertical inclined tray feeding method, utilizing an intermittent chain tray feeding mechanism for stable transmission, smooth connection, and the ability to achieve intermittent continuous tray feeding. After the tray feeding cylinder of this application is ventilated, the push rod of the tray feeding cylinder pushes the push rod joint, thereby driving the tray feeding pawl to rotate. The tray feeding pawl drives the tray feeding ratchet to rotate, thereby causing the tray feeding drive shaft to rotate for tray feeding. Through the cooperation of the ratchet and pawl, the entire row of trays is fed. In addition, the damping mechanism of this application can ensure the stability of tray feeding and prevent excessive ratchet rotation, which would lead to excessive tray feeding distance. During the tray feeding process, when the seedlings in the tray are removed, the tray will continue to be fed, but will be recycled by the tray recycling mechanism for easy reuse. During the tray feeding process of this application, the feeding is smooth and the positioning is accurate. In this application's automatic seedling picking device, during seedling picking, a tilting cylinder drives the seedling picking claws upward, making them parallel to the seedling tray. The flexible gripping fingers of the claws can tightly grip the root stems of the seedlings on the upper surface of the seedling tray, reducing damage to the seedlings. During seedling picking, the claws first reach their positions, tightly gripping the seedling tray. The seedling tray is then conveyed downward, sending the entire row of seedlings between the claws, which grip the root stems. The seedling pulling cylinder then pulls the seedlings out of the seedling tray, reducing the interference of the seedling leaves. When placing the seedlings, the tilting cylinder's action causes the claws to tilt slightly downward from the tilted position, placing the seedlings out, effectively preventing the claws from snagging the seedlings. The seedling picking displacement mechanism is set up in a front-to-back configuration with the seedling tray to be picked, and their relative position, height, and angle can all be adjusted, improving the adaptability of this application.

[0018] In summary, this invention is simple to operate, highly applicable, rationally laid out, highly automated, and highly reliable. The seedling tray conveying device intermittently delivers the seedling trays arranged in rows to a designated position where the automatic seedling retrieval device can easily pick up the seedlings. The automatic seedling retrieval device then picks up the entire row of seedlings and pulls them out of the seedling tray, placing them into the corresponding seedling cups. This greatly improves the automation level of the device and effectively solves the technical problems of low reliability, low automation level, and poor adaptability of existing methods. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the assembly of the seedling tray conveying device and the automatic seedling picking device of the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the cavity tray conveying device of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the follicle tray placement mechanism and the follicle tray retrieval mechanism of the present invention.

[0022] Figure 4 This is a partial structural schematic diagram of the intermittent chain feeding mechanism of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of the feeding ratchet and feeding pawl of the present invention.

[0024] Figure 6 This is a schematic diagram of the damping mechanism of the present invention.

[0025] Figure 7 This is a schematic diagram of the automatic seedling picking device of the present invention.

[0026] Figure 8 This is a schematic diagram of the height adjustment component of the present invention.

[0027] Figure 9 This is a schematic diagram of the seedling-picking gripper of the present invention.

[0028] Figure 10 This is a schematic diagram of the seedling displacement mechanism of the present invention.

[0029] Figure 11 This is a schematic diagram of the transplanting mechanism of the present invention.

[0030] Figure 12 This is a schematic diagram of the seedling cup conveying device of the present invention.

[0031] Figure 13 This is a schematic diagram of the pneumatic control principle of the seedling transplanting method of the present invention.

[0032] Figure 14 This is a flowchart illustrating the process of the seedling transplanting method of the present invention. Detailed Implementation

[0033] The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0034] like Figure 1-14 As shown, the fully automated tobacco seedling transplanting and tray feeding method includes the following steps: (1) Place the seedling tray 3 containing the seedlings on the seedling tray conveying device 1. The seedling tray conveying device 1 intermittently delivers the seedling trays 3 containing the seedlings in a row to a designated position that is easy for the automatic seedling picking device 2 to pick up the seedlings, thereby realizing automatic seedling delivery. (2) The automatic seedling picking device 2 picks up the whole row of potted seedlings and pulls the whole row of potted seedlings out of the seedling tray 3. After pulling them out, the potted seedlings are put into the corresponding seedling cups 4 to complete the seedling placement. (3) After the seedlings are placed, the automatic seedling picker returns to its original position and picks up the seedlings again.

[0035] The tray conveying device 1 and the automatic seedling picking device 2 are integrated and installed on the main frame 5. The tray conveying device 1 includes a tray feeding frame, a tray placement mechanism 6, an intermittent chain tray feeding mechanism 7, a tray retrieval mechanism 8, and a damping mechanism 9. The tray placement mechanism 6 is located on the tray feeding frame, the intermittent chain tray feeding mechanism 7 is located below the tray feeding frame, the tray retrieval mechanism 8 is located below the tray feeding frame and outside the intermittent chain tray feeding mechanism 7, and the damping mechanism 9 is located at the lower left front of the tray feeding frame. The main frame 5 includes a left mounting main rod and a right mounting main rod that are correspondingly arranged on the left and right sides.

[0036] The tray feeding frame includes a first left column 10, a first right column 11, a second right column 12, a third left column 13, a third right column 14, a left diagonal brace 15, and a right diagonal brace 16. The left diagonal brace 15 and the right diagonal brace 16 are arranged with the rear end higher than the front end. The top of the first left column 10 is connected to the rear end of the left diagonal brace 15, the top of the third left column 13 is connected to the front end of the left diagonal brace 15, the top of the first right column 11 is connected to the front end of the right diagonal brace 16, and the top of the third right column 14 is connected to... The second right column 12 is located between the first right column 11 and the second right column 12, connected to the rear end of the right diagonal rod 16. The bottom ends of the first left column 10, the first right column 11, the second right column 12, the third left column 13 and the third right column 14 are on the same plane, and the lower ends of the first left column 10 and the third left column 13 are connected to the left mounting main rod, and the lower ends of the first right column 11, the second right column 12 and the third right column 14 are connected to the right mounting main rod. The acupuncture tray placement mechanism 6 includes a tray delivery rear shell 17, an upper sliding guide rod 18 for the acupuncture tray, an upper limit plate 19 for the acupuncture tray, a lower sliding guide rod 20 for the acupuncture tray, and a lower support 21 for the acupuncture tray. The left end of the tray delivery rear shell 17 is connected to a left inclined rod 15, and the right end of the tray delivery rear shell 17 is connected to a right inclined rod 16. The lower support 21 for the acupuncture tray includes a left lower support and a right lower support, which are respectively installed on the left inclined rod 15 and the right lower support is installed on the right inclined rod 16. The tray delivery rear shell 17 is located at the upper rear part of the tray delivery frame, and the lower support 21 for the acupuncture tray is located at the lower front part of the tray delivery frame. The upper sliding guide rod 18 for the acupuncture tray is fixed to the middle position of the tray delivery rear shell 17 by bolts, thereby ensuring that the acupuncture tray 3 is centered. There is a gap between the upper limit plate 19 of the acupuncture plate and the lower support 21 of the acupuncture plate, so that the acupuncture plate can slide freely. The lower guide rod 20 of the acupuncture plate slides is located inside the enclosure formed by the feeding chain connecting rod 35, which plays a role in centering and supporting the acupuncture plate 3, and prevents the feeding chain from deforming under the action of the acupuncture plate 3 and its own gravity.

[0037] The intermittent chain feeding mechanism 7 includes a feeding drive shaft 22, a feeding drive sprocket 23, a left feeding chain 24, a right feeding chain 25, a feeding driven sprocket 26, a feeding driven shaft 27, a drive shaft mounting base 28, a driven shaft mounting base 29, a feeding ratchet 30, a pawl spring 31, a feeding pawl 32, a feeding cylinder 33, and a push rod connector 34; There are two drive shaft mounting seats 28, which are respectively installed on the left front end of the left slant rod 15 and the right front end of the right slant rod 16. There are two driven shaft mounting seats 29, which are respectively installed on the left middle part of the left slant rod 15 and the right middle part of the right slant rod 16. The plate feeding drive shaft 22 is mounted on the two drive shaft mounting seats 28, and the plate feeding driven shaft 27 is mounted on the two driven shaft mounting seats 29. There are two plate feeding drive sprockets 23, which are respectively installed at both ends of the plate feeding drive shaft 22, and two plate feeding driven sprockets 26, which are respectively installed on the plate feeding drive shaft 27. At both ends of the drive shaft 27, the left feed chain 24 is fitted onto the left-side feed drive sprocket 23 and feed driven sprocket 26, and the right feed chain 25 is fitted onto the right-side feed drive sprocket 23 and feed driven sprocket 26. Several chain links 35 are arranged between the left and right feed chains 24 and 25. According to chain drive installation requirements, the feed drive sprocket 23 and feed driven sprocket 26 are on the same plane, and the distance between two feed drive sprockets 23 is equal to the distance between two feed driven sprockets 26. The chain links 35 are 4mm diameter stainless steel bars, 296mm long, with reducing sleeves 36 installed at both ends. The reducing sleeves 36 are fitted onto the pins of the two symmetrically installed feed chains. The feed chains have a total of 70 links, with one chain link 35 installed every other pin, for a total of 35 chain links 35. The ratchet and pawl drive the plate feeding shaft 22 to rotate, which in turn drives the plate feeding sprocket 23 to rotate. The rotation of the plate feeding sprocket 23 drives the plate feeding chain to rotate, which in turn drives the chain link 35 to move. The chain link 35 cooperates with the acupoint plate 3, causing the acupoint plate 3 to move intermittently. A cylinder mounting plate 37 is provided on the second right column 12. The tray feeding cylinder 33 is mounted on the cylinder mounting plate 37. The push rod of the tray feeding cylinder 33 is connected to the cylinder connector 38 through the push rod joint 34. The right end of the tray feeding drive shaft 22 extends outward and is provided with a first extension. The tray feeding ratchet 30 is mounted on the first extension. A pawl return plate 39 is provided on one side of the tray feeding ratchet 30. A pawl mounting pin 40 is provided on the pawl return plate 39. The tray feeding pawl 32 is sleeved on the pawl mounting pin 40. The cylinder connector 38 is connected to the pawl mounting pin 40. A first connecting pin 41 is provided on the tray feeding pawl 32. A second connecting pin 42 corresponding to the first connecting pin 41 is provided on the pawl return plate 39. The upper end of the pawl spring 31 is connected to the first connecting pin 41, and the lower end of the pawl spring 31 is connected to the second connecting pin 42.

[0038] The locator tray retrieval mechanism 8 includes a fixed connecting plate 43, a first turning plate 44, a second turning plate 45, and a third turning plate 46. The left end of the fixed connecting plate 43 is connected to a left diagonal rod 15, and the right end of the fixed connecting plate 43 is connected to a right diagonal rod 16. The first turning plate 44 is located at the left end of the fixed connecting plate 43, the second turning plate 45 is located in the middle of the fixed connecting plate 43, and the third turning plate 46 is located at the right end of the fixed connecting plate 43. The top ends of the first turning plate 44, the second turning plate 45, and the third turning plate 46 are all connected to the fixed connecting plate 43. The lower ends of the first turning plate 44, the second turning plate 45, and the third turning plate 46 are bent downward to form an arc shape, so that during the transportation process, the top of the locator tray 3 is supported by the inner side of the first turning plate 44, the second turning plate 45, and the third turning plate 46, so that the locator tray 3 moves with the chain connecting rod 35 to the end of the first turning plate 44, the second turning plate 45, and the third turning plate 46, thereby realizing the curling and retrieval of the locator tray 3.

[0039] Furthermore, the seedling tray 3 selected in this application is a custom-made tray, which differs from traditional tobacco seedling trays. The tray specifications are 128 cells [590 / 300 / 43], and the weight of a single tray is 156 grams (±3%). The distance between adjacent rows is 36.5 mm, which is a multiple of the 18.25 mm pitch of the designed left and right feed chains 24 and 25, thus ensuring smooth operation and no cumulative error. After two seedling trays 3 are connected end to end, the distance between the two rows is also 36.5 mm, ensuring no gaps when a new seedling tray is placed and a smooth connection.

[0040] The damping mechanism 9 includes a damping frame 47, a damping wheel 48, and a damping belt 49. A second extension portion extends outward from the left end of the feed disc drive shaft 22. The damping wheel 48 is mounted on the second extension portion. The damping frame 47 is mounted on the main frame 5 by mounting bolts. The top end of the damping belt 49 is fitted onto the damping wheel 48, and the bottom end of the damping belt 49 is connected to the damping frame 47 by a tensioning bolt 50 and a tensioning nut 51. Adjusting the tensioning nut 51 achieves the desired tension.

[0041] The automatic seedling taking device 2 includes an automatic seedling taking machine frame, a seedling taking repositioning mechanism 52, and a seedling transferring mechanism 53. The seedling transferring mechanism 53 is mounted on the automatic seedling taking machine frame, and the seedling taking repositioning mechanism 52 is mounted on the seedling transferring mechanism 53. The automatic seedling picker frame includes a left horizontal bar 54, a right horizontal bar 55, left and right connecting rods 56, a first support column 57, and a second support column 58. The left end of the left and right connecting rods 56 is connected to the left horizontal bar 54, and the right end of the left and right connecting rods 56 is connected to the right horizontal bar 55. The tops of the first support column and the second support column are both connected to the left and right connecting rods 56, and the bottoms of the first support column and the second support column are connected to the main frame 5. The transplanting mechanism 53 includes a first mounting column 59, a second mounting column 60, a third mounting column 61, a fourth mounting column 62, a left transplanting slide rail 63, and a right transplanting slide rail 64. The first mounting column 59 and the second mounting column 60 are located at both ends of the left crossbar 54, and the third mounting column 61 and the fourth mounting column 62 are located at both ends of the right crossbar 55. The left transplanting slide rail 63 is installed between the first mounting column 59 and the second mounting column 60. The front end of the left transplanting slide rail 63 is connected to the first mounting column 59, and the rear end of the left transplanting slide rail 63 is connected to the second mounting column 60. The right transplanting slide rail 64 is installed between the third mounting column 61 and the fourth mounting column 62. The front end of the right transplanting slide rail 64 is connected to the fourth mounting column 62, and the rear end of the right transplanting slide rail 64 is connected to the third mounting column 61.

[0042] The seedling repositioning mechanism 52 includes a fixed frame 65, a first mounting plate 66, a seedling pulling cylinder 67, a repositioning slide rail 68, a repositioning slider 69, a repositioning cylinder 70, a second mounting plate 71, a seedling gripper 72, a flipping cylinder 73, a guide rail mounting seat 74, a gripper connecting rod 75, a seedling pulling guide rail 76, and a guide rail fixing block 77. The left end of the first mounting plate 66 is connected to the left seedling moving slider, and the right end of the first mounting plate 66 is connected to the right seedling moving slider. The left seedling moving slider is slidably mounted on the left seedling moving slide rail 63, and the right seedling moving slider is slidably mounted on the right seedling moving slide rail 64. The seedling pulling cylinder 67 is installed in the middle of the first mounting plate 66. A guide rail fixing block 77 is installed on each side of the seedling pulling cylinder 67. The front end of the seedling pulling guide rail 76 is slidably disposed in the guide rail fixing block 77, and the rear end of the seedling pulling guide rail 76 is connected to the guide rail mounting seat. 74 Connects to the fixed frame 65. The displacement slide rail 68 is horizontally arranged on the fixed frame 65. Several displacement sliders 69 are slidably arranged on the displacement slide rail 68. The second mounting plate 71 is installed on the displacement sliders 69. The seedling clamp 72 is installed on the second mounting plate 71. The second mounting plates 71 are connected to each other through the clamp connecting rod 75. A flipping cylinder 73 is set at each end of the fixed frame 65. The inner side of the flipping cylinder 73 is connected to the fixed frame 65. The outer side of the flipping cylinder 73 is connected to the displacement slide rail 68 through the slide rail connecting plate. The flipping cylinder 73 is equipped with a hydraulic adjustment bolt, which can be used to adjust the rotation angle of the flipping cylinder 73 to adjust the angle of the seedling clamp 72 to ensure that it adapts to the tilt angle of the seedling tray 3 and can clamp the stem of the seedling near the substrate. It also plays a buffering role in the movement of the mechanism. A horizontally arranged displacement cylinder 70 is mounted on each of the upper and lower sides of the displacement slide rail 68 via mounting bolts. The push rod of the upper displacement cylinder 70 is connected to the leftmost second mounting plate 71, and the push rod of the lower displacement cylinder 70 is connected to the rightmost second mounting plate 71. The main body width of the seedling clamp 72 is less than or equal to the hole spacing of the seedling tray 3, the length of the clamping fingers of the seedling clamp 72 is between half and one hole spacing, and the clamping surface of the clamping fingers of the seedling clamp 72 is covered with flexible material. A cylinder mounting plate 78 is provided between the first mounting post 59 and the fourth mounting post 62. A seedling transplanting cylinder 79 is mounted on the cylinder mounting plate 78, which is arranged front and rear. The push rod of the seedling transplanting cylinder 79 is connected to the first mounting plate 66. A height adjustment component is provided on the first mounting post 59, the second mounting post 60, the third mounting post 61 and the fourth mounting post 62. The height adjustment component includes a height adjustment mounting seat 80, a height adjustment screw 81 and a height adjustment sliding sleeve 82. The height adjustment sliding sleeve 82 is sleeved on the corresponding mounting post. The height adjustment screw 81 is mounted on the height adjustment mounting seat 80. The side of the height adjustment sliding sleeve 82 is provided with a first ear plate 83 and a second ear plate 84 that are symmetrical and parallel. The height adjustment screw 81 passes through the first ear plate 83 and the second ear plate 84 in sequence and is fixed by an adjusting nut 85. The right side of the seedling pulling cylinder 67 is provided with a first reversing valve 86 and a cylinder trigger plate 87 mounted on the first mounting plate 66. The left side of the seedling pulling cylinder 67 is provided with a second reversing valve 88 mounted on the first mounting plate 66. The second mounting column 60 is provided with a third reversing valve. The left seedling moving slider is provided with a first trigger plate 90 corresponding to the third reversing valve 89. The top of the seedling moving cylinder 79 is provided with a fourth reversing valve 91 mounted on the cylinder mounting plate 78. The third mounting column 61 is provided with a first limit switch 92. The right seedling moving slider is provided with a second trigger plate 93 corresponding to the first limit switch 92. The seedling removal and repositioning mechanism 52 is responsible for removing the tobacco seedlings transported to the appropriate position by the seedling tray conveying device 1 from the seedling tray 3, thereby expanding the distance between adjacent seedlings to the appropriate position (i.e., the center distance between adjacent seedling cups 4 is 127mm); the seedling transfer mechanism 53 has two functions: first, it moves the tobacco seedlings taken by the seedling removal and repositioning mechanism 52 to the top of the seedling cup 4, and releases the tobacco seedlings after the seedling cup 4 has moved to the appropriate position; second, after a seedling removal process is completed, it moves the empty seedling removal and repositioning mechanism 52 to the appropriate seedling removal position for the next seedling removal process.

[0043] The specific process of step (1) is as follows: ① Place the customized seedling tray 3 containing the seedlings on the seedling tray placement mechanism 6, so that the bottom of the seedling tray 3 is placed between the two chain links 35 and is in close contact with the chain links 35; ② When the seedling tweezers 72 approach the seedling tweezers position, the seedling tweezers 72 are in the open state. The second trigger plate 93 triggers the first limit switch 92, and the tray delivery cylinder 33 is ventilated. After the tray delivery cylinder 33 is ventilated, the push rod of the tray delivery cylinder 33 pushes the push rod joint 34, which in turn drives the tray delivery pawl 32 to rotate. The tray delivery pawl 32 drives the tray delivery ratchet 30 to rotate, which in turn drives the tray delivery drive shaft 22 to rotate. Furthermore, the rotation of the tray delivery drive shaft 22 drives the tray delivery drive sprockets at both ends to rotate. The tray delivery drive sprocket 23 drives the rotation of the tray delivery driven sprocket 26 and the tray delivery driven shaft 27 through the left tray delivery chain 24 and the right tray delivery chain 25, which in turn causes the chain connecting rod 35 set between the left tray delivery chain 24 and the right tray delivery chain 25 to rotate, so that the entire row of seedling trays 3 is conveyed forward to realize the delivery of seedling trays 3. At this time, the seedlings in the seedling trays 3 are located in the seedling tweezers 72. ③ During the conveying process of the pit plate 3, the empty pit plate 3 continues to be conveyed along the first turning plate 44, the second turning plate 45 and the third turning plate 46 with the chain link 35 until the end of the first turning plate 44, the second turning plate 45 and the third turning plate 46. Under the action of gravity, the empty pit plate 3 is separated from the chain link 35, realizing the curling and recycling of the pit plate 3.

[0044] The specific process of step (2) is as follows: ①When the seedling is delivered into the seedling clamp 72, the first trigger plate 90 contacts the third reversing valve 89, triggering the seedling clamp 72 to clamp the seedling. ② The seedling-pulling cylinder 67 retracts, causing the entire row of seedling-pulling claws 72 that clamp the seedlings in the pots to move upwards, pulling the seedlings out of the seedling tray 3; ③ When the seedling pulling cylinder 67 retracts, the cylinder trigger plate 87 triggers the first reversing valve 86, causing the displacement cylinder 70 to extend and the seedling transfer cylinder 79 to retract. When the displacement cylinder 70 is fully extended, the seedling transfer cylinder 79 is fully retracted, thereby changing the spacing of the seedling picking claw 72 holding the potted seedling to the spacing of the seedling cup 4 suitable for seedling placement, realizing the seedling transfer and positioning waiting for seedling placement. ④ After the seedling cup conveying device 100 conveys the seedling cup 4 to the appropriate position, the seedling pulling cylinder 67 extends, the flipping cylinder 73 is flattened, the seedling picking claw 72 is released, and the potted seedling falls into the seedling cup 4, realizing the seedling throwing action.

[0045] The specific process of step (3) is as follows: ① When the seedling cup 4 is in place, the third trigger plate 99 triggers the second limit switch 98, the seedling pulling cylinder 67 extends, the flipping cylinder 73 is laid flat at the same time, the seedling picking claw 72 is released, and the potted seedling falls into the seedling cup 4. ② After the third trigger plate 99 triggers the second limit switch 98, the seedling pulling cylinder 67 extends, triggering the first reversing valve 86 again, causing the displacement cylinder 70 to retract, bringing the seedling picking claws 72 together, and changing the spacing of the seedling picking claws 72 to a spacing suitable for picking seedlings in the seedling tray 3. The automatic seedling picking device 2 returns to its original position, waiting for the next seedling picking and placing.

[0046] ③ The second trigger plate 93 triggers the first limit switch 92, venting the tray delivery cylinder 33. The push rod of the tray delivery cylinder 33 pushes the push rod joint 34, which in turn drives the tray delivery pawl 32 to rotate. The tray delivery pawl 32 drives the tray delivery ratchet 30 to rotate, which in turn drives the tray delivery drive shaft 22 to rotate. Furthermore, the rotation of the tray delivery drive shaft 22 drives the tray delivery drive sprockets at both ends to rotate. The tray delivery drive sprocket 23 drives the tray delivery driven sprocket 26 and the tray delivery driven shaft 27 to rotate through the left tray delivery chain 24 and the right tray delivery chain 25. This causes the chain connecting rod 35 set between the left tray delivery chain 24 and the right tray delivery chain 25 to rotate, so that the entire row of seedling trays 3 is conveyed forward to realize the delivery of seedling trays 3. This cycle repeats to realize fully automatic tray delivery, seedling picking, and transplanting.

[0047] The seedling cup conveying device 100 includes a seedling cup tray 94, seedling cup sprockets 96, seedling cup chains 97, seedling cups 4, a second limit switch 98, and a third trigger plate 99. The seedling cup tray 94 is mounted on the main frame 5. The inner side of the seedling cups 4 is connected to the seedling cup chains 97 through seedling cup mounting plates. At least four seedling cup sprockets 96 are provided on the seedling cup tray 94. The seedling cup chains 97 are connected to the seedling cup sprockets 96. A third trigger plate 99 is installed on every eight seedling cups 4. A second limit switch 98 corresponding to the third trigger plate 99 is installed on the seedling cup tray 94. When the third trigger plate 99 triggers the second limit switch 98, the seedling cup 4 is in position, the seedling gripper 72 releases, and the seedling falls into the seedling cup 4. At this time, the seedling extraction cylinder 67 extends, ready to extract the seedling. The seedling cups 4 are arranged in an 8-4-8-4 pattern to coordinate with the automatic seedling extraction device 2. The seedling placement position of the seedling cup conveying device 100 can be adjusted to ensure that the seedlings are delivered to the designated position. A third trigger plate 99 is installed for every eight seedling cups 4. After eight seedling cups 4 are in position, the second limit switch 98 is triggered, and the seedling gripper 72 releases the seedling into the seedling cup 4, thereby initiating a new round of tray delivery and seedling extraction work for the tray conveying device 1 and the automatic seedling extraction device 2. The mechanism operates stably and smoothly. When dropping seedlings into the seedling cup 4, the tilting cylinder 73 moves to make the seedling gripper 72 tilt from raised to horizontal or slightly downward, effectively preventing the seedling gripper 72 from getting caught on the seedling.

[0048] In the initial state, the device of this application has the following components: seedling transfer cylinder 79 in the retracted state, tilting cylinder 73 in the raised state, seedling pulling cylinder 67 in the retracted state, seedling grasping claw 72 in the clamping state, and displacement cylinder 70 in the extended state. When the third trigger plate 99 triggers the second limit switch 98, the device enters the seedling placement state, the seedling pulling cylinder 67 extends, the seedling grasping claw 72 releases, and simultaneously, after the second limit switch 98 is triggered, the fourth reversing valve 91 is activated, causing the tilting cylinder 73 to be lowered and then... The lifting and swaying motion effectively prevents the seedling-picking claws 72 from snagging the seedlings. Initially, although the seedling-picking claws 72 have not yet picked up seedlings, these actions still occur. After the seedling-pulling cylinder 67 is fully extended, the cylinder trigger plate 87 will trigger the first reversing valve 86, causing the displacement cylinder 70 to retract, bringing the eight seedling-picking claws 72 together so that the spacing between the seedling-picking claws 72 matches the spacing between the holes in the seedling tray 3. At the same time, the seedling-transferring cylinder 79 extends, pushing the empty seedling-picking claws 72 closer to the seedling tray 3, straight... When the seedling is aligned with the seedling tray 3 and reaches the seedling-taking position, the second trigger plate 93 triggers the first limit switch 92, entering the seedling tray 3 conveying state. After the first limit switch 92 is triggered, the tray-feeding cylinder 33 extends, conveying a row of seedlings downward through the intermittent chain tray-feeding mechanism 7, so that the seedlings in the pots enter the seedling-taking claws 72. After the seedlings in the pots enter the seedling-taking claws 72, the first trigger plate 90 triggers the third reversing valve 89, so that the seedling-taking claws 72 grasp the seedlings in the pots, and at the same time, the seedling-pulling air... The cylinder 67 retracts, pulling the seedling from the seedling tray 3. Once the pulling cylinder 67 is fully retracted, it triggers the first reversing valve 86 (both ends of the first reversing valve 86 are manually reversible; therefore, both extension and retraction of the pulling cylinder 67 trigger it), causing the transplanting cylinder 79 to retract and the displacement cylinder 70 to extend, returning to its initial state, ready for seedling placement. When the third trigger plate 99 triggers the second limit switch 98 again, seedlings are placed again, and this cycle repeats to complete the fully automatic tray feeding, seedling retrieval, and placement operation. This invention adopts a mechanical and pneumatic integrated design, with high integration and a compact overall structure, enabling automatic tray feeding, seedling retrieval, and placement during tobacco transplanting. By adapting this device to existing semi-automatic transplanters, fully automatic tobacco transplanting can be achieved. Furthermore, the seedling retrieval position, angle, and height in this application can be adjusted according to different conditions of the seedlings to be transplanted during the operation, demonstrating high adaptability. Since tobacco seedling leaves often interfere with each other, conventional seedling retrieval methods easily result in accidentally retrieval of seedlings from adjacent trays. This invention employs a 55-degree tilt for tray delivery, with the seedling-taking gripper 72 positioned first before the seedling is fed into it, effectively preventing accidental removal. The seedling tray 3 used in this invention has a high degree of compatibility with the seedling tray delivery device 1, eliminating cumulative errors. When a new seedling tray is placed, it reliably connects to the currently being delivered seedling tray 3, allowing for continuous tray delivery without manual adjustment.

[0049] This invention employs a vertical inclined tray feeding method, utilizing an intermittent chain tray feeding mechanism 7 for stable transmission, smooth connection, and the ability to achieve intermittent continuous tray feeding. After the tray feeding cylinder 33 is ventilated, its push rod pushes the push rod connector 34, which in turn rotates the tray feeding pawl 32. The pawl 32 then rotates the tray feeding ratchet 30, causing the tray feeding drive shaft 22 to rotate and feed the seedling trays 3. Through the cooperation of the ratchet and pawl, the entire row of seedling trays 3 is fed. Furthermore, the damping mechanism 9 ensures the stability of the tray feeding, preventing excessive ratchet rotation that could lead to excessive feeding distance of the seedling trays 3. During the feeding process, after the seedlings in the seedling tray 3 are removed, the tray 3 continues to be fed, but is then recycled by the seedling tray recycling mechanism 8 for future use. This invention provides smooth feeding and accurate positioning during the seedling tray feeding process. The automatic feeding mechanism of this invention... When the seedling taking device 2 takes seedlings, the flipping cylinder 73 drives the seedling taking claw 72 to rise, making the seedling taking claw 72 parallel to the seedling tray 3. The flexible gripping fingers of the seedling taking claw 72 can closely adhere to the upper surface of the seedling tray 3 to grasp the root stem of the seedling, reducing damage to the seedling. When taking seedlings, the seedling taking claw 72 first reaches its position and closely adheres to the seedling tray 3. The seedling tray 3 then conveys one seedling downwards, sending the entire row of seedlings between the seedling taking claw 72 to grasp the root stem of the seedling. Then, the seedling pulling cylinder 67 is used to pull the seedling out of the seedling tray 3, reducing the impact of interference from the seedling leaves. When placing the seedling, the flipping cylinder 73 moves the seedling taking claw 72 from the raised state to a slightly downward tilt, placing the seedling out, effectively preventing the seedling taking claw 72 from getting caught on the seedling. The seedling taking displacement mechanism 52 is set in a front-to-back position with the seedling tray 3 to be taken, and their relative position, height, angle, etc. can be adjusted, improving the adaptability of this application. This invention is simple to operate, highly applicable, rationally laid out, highly automated, and highly reliable. The seedling tray conveying device 1 intermittently delivers the seedling trays 3, which are arranged in rows, to a designated position where the automatic seedling retrieval device 2 can pick up the seedlings. The automatic seedling retrieval device 2 then picks up the entire row of seedlings and pulls them out of the seedling trays 3. After being pulled out, the seedlings are placed into the corresponding seedling cups 4. This greatly improves the automation level of the device and effectively solves the technical problems of low reliability, low automation level, and poor adaptability of existing methods.

[0050] The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A fully automated, pneumatically controlled method for feeding and transplanting tobacco seedlings into trays, characterized by: Includes the following steps: (1) Place the seedling trays containing the seedlings on the seedling tray conveying device. The seedling tray conveying device intermittently delivers the seedling trays in a row to a designated position that is easy for the automatic seedling picking device to pick up the seedlings, thereby realizing automatic seedling delivery. (2) The automatic seedling picking device picks up the whole row of potted seedlings and pulls the whole row of potted seedlings out of the seedling tray. After pulling them out, the potted seedlings are put into the corresponding seedling cups to complete the seedling placement. (3) After the seedlings are placed, the automatic seedling picker returns to its original position and the next seedling picker is carried out; The automatic seedling picking device includes an automatic seedling picking frame, a seedling picking and repositioning mechanism, and a seedling transfer mechanism; The seedling transplanting mechanism includes a first mounting column, a second mounting column, a third mounting column, a fourth mounting column, a left seedling transplanting slide rail, and a right seedling transplanting slide rail; The seedling repositioning mechanism includes a fixed frame, a first mounting plate, a seedling pulling cylinder, a repositioning slide rail, a repositioning slider, a repositioning cylinder, a second mounting plate, seedling picking grippers, a flipping cylinder, a guide rail mounting seat, gripper connecting rods, a seedling pulling guide rail, and a guide rail fixing block. The left end of the first mounting plate is connected to a left seedling moving slider, and the right end is connected to a right seedling moving slider. The left seedling moving slider is slidably mounted on the left seedling moving slide rail, and the right seedling moving slider is slidably mounted on the right seedling moving slide rail. The seedling pulling cylinder is installed in the middle of the first mounting plate, and a guide rail fixing block is installed on each side of the seedling pulling cylinder. The front end of the seedling pulling guide rail is slidably disposed within the guide rail fixing block, and the rear end of the seedling pulling guide rail is connected to the fixed frame via the guide rail mounting seat. The displacement slide rail is horizontally mounted on the fixed frame. Several displacement sliders are slidably mounted on the displacement slide rail. The second mounting plate is mounted on the displacement slider. The seedling clamp is mounted on the second mounting plate. The second mounting plates are connected to each other through the clamp connecting rod. A flipping cylinder is set at each end of the fixed frame. The inner side of the flipping cylinder is connected to the fixed frame. The outer side of the flipping cylinder is connected to the displacement slide rail through the slide rail connecting plate. The flipping cylinder is equipped with an oil pressure adjusting bolt. A horizontally mounted displacement cylinder is installed on the upper and lower sides of the displacement slide rail through mounting bolts. The push rod of the upper displacement cylinder is connected to the leftmost second mounting plate. The push rod of the lower displacement cylinder is connected to the rightmost second mounting plate. A cylinder mounting plate is provided between the first mounting column and the fourth mounting column. A seedling transplanting cylinder is installed on the cylinder mounting plate, and the push rod of the seedling transplanting cylinder is connected to the first mounting plate. The right side of the seedling pulling cylinder is equipped with a first reversing valve and a cylinder trigger plate mounted on the first mounting plate. The left side of the seedling pulling cylinder is equipped with a second reversing valve mounted on the first mounting plate. The second mounting column is equipped with a third reversing valve. The left seedling moving slider is equipped with a first trigger plate corresponding to the third reversing valve. The top of the seedling moving cylinder is equipped with a fourth reversing valve mounted on the cylinder mounting plate. The third mounting column is equipped with a first limit switch. The right seedling moving slider is equipped with a second trigger plate corresponding to the first limit switch. The specific process of step (1) is as follows: ① Place the custom-made seedling tray containing the seedlings on the seedling tray placement mechanism, so that the bottom of each row of seedling slots at the front of the seedling tray is placed between two adjacent chain links and is in close contact with the chain links; ② When the entire row of seedling-taking claws approaches the seedling-taking position, the seedling-taking claws are in the open state. The second trigger plate triggers the first limit switch, and the tray-feeding cylinder is ventilated. After the tray-feeding cylinder is ventilated, the push rod of the tray-feeding cylinder pushes the push rod joint, which in turn drives the tray-feeding pawl to rotate. The tray-feeding pawl drives the tray-feeding ratchet to rotate, which in turn drives the tray-feeding drive shaft to rotate. Furthermore, the rotation of the tray-feeding drive shaft drives the tray-feeding drive sprockets at both ends to rotate. The tray-feeding drive sprockets drive the tray-feeding driven sprocket and the tray-feeding driven shaft to rotate through the left tray-feeding chain and the right tray-feeding chain, which in turn causes the chain connecting rod set between the left tray-feeding chain and the right tray-feeding chain to rotate, so that the entire row of seedling trays is conveyed forward to realize the seedling tray delivery. At this time, the seedlings in the first row of seedling slots of the seedling tray are located between the fingers of the seedling-taking claws. ③ During the conveying process of the cavity tray, the empty cavity tray continues to be conveyed along the chain connecting rod along the first turning plate, the second turning plate and the third turning plate until the end of the first turning plate, the second turning plate and the third turning plate. Under the action of gravity, the empty cavity tray is separated from the chain connecting rod, realizing the curling and recycling of the cavity tray.

2. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 1, characterized in that: The seedling tray conveying device and the automatic seedling picking device are integrated and installed on the main frame. The seedling tray conveying device includes a tray feeding frame, a seedling tray placement mechanism, an intermittent chain tray feeding mechanism, a seedling tray recycling mechanism, and a damping mechanism. The tray feeding frame includes a first left column, a first right column, a second right column, a third left column, a third right column, a left diagonal brace, and a right diagonal brace. The left diagonal brace and the right diagonal brace are arranged with the back higher than the front. The top of the first left column is connected to the rear end of the left diagonal brace, the top of the third left column is connected to the front end of the left diagonal brace, the top of the first right column is connected to the front end of the right diagonal brace, and the top of the third right column is connected to the rear end of the right diagonal brace. The second right column is located between the first right column and the third right column. The bottom ends of the first left column, the first right column, the second right column, the third left column, and the third right column are on the same plane. The acupuncture tray placement mechanism includes a tray delivery rear shell, an upper sliding guide rod for the acupuncture tray, an upper limit plate for the acupuncture tray, a lower sliding guide rod for the acupuncture tray, and a lower support for the acupuncture tray. The left end of the tray delivery rear shell is connected to a left inclined rod, and the right end of the tray delivery rear shell is connected to a right inclined rod. The lower support for the acupuncture tray includes a left lower support and a right lower support, which are respectively installed on the left inclined rod and the right lower support is installed on the right inclined rod. The tray delivery rear shell is located at the upper rear part of the tray delivery frame, and the lower support for the acupuncture tray is located at the lower front part of the tray delivery frame. The upper sliding guide rod for the acupuncture tray is fixed to the middle position of the tray delivery rear shell by bolts.

3. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 2, characterized in that: The intermittent chain feeding mechanism includes a feeding drive shaft, a feeding drive sprocket, a left feeding chain, a right feeding chain, a feeding driven sprocket, a feeding driven shaft, a drive shaft mounting base, a driven shaft mounting base, a feeding ratchet, a pawl spring, a feeding pawl, a feeding cylinder, and a push rod connector. There are two drive shaft mounting seats, which are respectively installed on the left front end of the left slant bar and the right front end of the right slant bar. There are two driven shaft mounting seats, which are respectively installed on the left middle part of the left slant bar and the right middle part of the right slant bar. The feed plate drive shaft is installed on two drive shaft mounting seats. The feed plate driven shaft is installed on two driven shaft mounting seats. There are two feed plate drive sprockets, which are respectively installed at both ends of the feed plate drive shaft. There are two feed plate driven sprockets, which are respectively installed at both ends of the feed plate driven shaft. The left feed plate chain is sleeved on the left feed plate drive sprocket and the left feed plate driven sprocket. The right feed plate chain is sleeved on the right feed plate drive sprocket and the right feed plate driven sprocket. Several chain connecting rods are provided between the left feed plate chain and the right feed plate chain. A cylinder mounting plate is provided on the second right column. The tray feeding cylinder is mounted on the cylinder mounting plate. The push rod connector of the tray feeding cylinder is connected to the cylinder connector. The right end of the tray feeding drive shaft extends outward to provide a first extension. The tray feeding ratchet is mounted on the first extension. A pawl return plate is provided on one side of the tray feeding ratchet. A pawl mounting pin is provided on the pawl return plate. The tray feeding pawl is sleeved on the pawl mounting pin. The cylinder connector is connected to the pawl mounting pin. A first connecting pin is provided on the tray feeding pawl. A second connecting pin corresponding to the first connecting pin is provided on the pawl return plate. The upper end of the pawl spring is connected to the first connecting pin, and the lower end of the pawl spring is connected to the second connecting pin.

4. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 3, characterized in that: The burrowing plate recovery mechanism includes a fixed connecting plate, a first turning plate, a second turning plate, and a third turning plate. The left end of the fixed connecting plate is connected to a left diagonal bar, and the right end of the fixed connecting plate is connected to a right diagonal bar. The first turning plate is located at the left end of the fixed connecting plate, the second turning plate is located in the middle of the fixed connecting plate, and the third turning plate is located at the right end of the fixed connecting plate. The damping mechanism includes a damping frame, a damping wheel, and a damping belt. The left end of the feed disc drive shaft extends outward to form a second extension. The damping wheel is mounted on the second extension. The damping frame is mounted on the main frame by mounting bolts. The top end of the damping belt is fitted onto the damping wheel, and the bottom end of the damping belt is connected to the damping frame by tension bolts and tension nuts.

5. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 4, characterized in that: The automatic seedling picker frame includes a left horizontal bar, a right horizontal bar, left and right connecting rods, a first support column, and a second support column. The left end of the left and right connecting rods is connected to the left horizontal bar, and the right end of the left and right connecting rods is connected to the right horizontal bar. The tops of the first and second support columns are both connected to the left and right connecting rods, and the bottoms of the first and second support columns are connected to the main frame. The first and second mounting posts are located at both ends of the left horizontal bar, and the third and fourth mounting posts are located at both ends of the right horizontal bar. The left seedling transfer slide rail is installed between the first and second mounting posts, with the front end of the left seedling transfer slide rail connected to the first mounting post and the rear end of the left seedling transfer slide rail connected to the second mounting post. The right seedling transfer slide rail is installed between the third and fourth mounting posts, with the front end of the right seedling transfer slide rail connected to the fourth mounting post and the rear end of the right seedling transfer slide rail connected to the third mounting post.

6. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 5, characterized in that: Height adjustment components are provided on the first, second, third, and fourth mounting posts. Each height adjustment component includes a height adjustment mounting base, a height adjustment screw, and a height adjustment sliding sleeve. The height adjustment screw is mounted on the height adjustment mounting base. The side of the height adjustment sliding sleeve has a first and a second ear plate that are symmetrical and parallel to each other. The height adjustment screw passes through the first and second ear plates in sequence and is fixed by an adjusting nut.

7. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 6, characterized in that: The specific process of step (2) is as follows: ①When the seedling is placed between the fingers of the seedling picker, the first trigger plate contacts the third reversing valve, triggering the fingers of the seedling picker to close and clamp the seedling. ② The seedling-pulling cylinder retracts, causing the entire row of seedling-pulling claws that clamp the seedlings in the pots to move upwards, pulling the seedlings out of the seedling tray; ③ After the seedling pulling cylinder retracts, the cylinder trigger plate triggers the first reversing valve, causing the displacement cylinder to extend and the seedling transfer cylinder to retract. When the displacement cylinder is fully extended, the seedling transfer cylinder is fully retracted, thereby changing the spacing of the seedling clamping claws holding the potted seedlings to the spacing of the seedling cups suitable for seedling placement, realizing the seedling transfer and positioning to wait for seedling placement. ④ After the seedling cup conveying device conveys the seedling cup to the appropriate position, the seedling pulling cylinder extends, the cylinder is tilted to flatten, and at the same time the seedling clamps are released, and the seedling falls into the seedling cup, thus realizing the seedling placement action.

8. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 7, characterized in that: The seedling cup conveying mechanism includes a seedling cup tray, seedling cup sprockets, seedling cup chains, seedling cups, a second limit switch, and a third trigger plate. The seedling cup tray is mounted on the main frame. The inner side of the seedling cups is connected to the seedling cup chains through seedling cup mounting plates. The seedling cup tray is equipped with at least four seedling cup sprockets. The seedling cup chains are connected to the seedling cup sprockets via a drive mechanism. A third trigger plate is installed on every eight seedling cups. A second limit switch corresponding to the third trigger plate is installed on the seedling cup tray.

9. The fully automated tobacco seedling transplanting method with pneumatic control according to claim 8, characterized in that: The specific process of step (3) is as follows: ① When the seedling cup is in place, the third trigger plate triggers the second limit switch, the seedling pulling cylinder extends, the cylinder is tilted to flatten, the seedling clamp is released, and the potted seedling falls into the seedling cup; ② After the third trigger plate triggers the second limit switch, the seedling pulling cylinder extends and triggers the first reversing valve again, causing the displacement cylinder to retract and gather the entire row of seedling picking claws towards the center, so that the spacing of the seedling picking claws changes to the spacing of the seedling trays suitable for picking seedlings. The automatic seedling picking device returns to its original position, waiting for the next seedling picking and placing. ③ After the third trigger plate triggers the second limit switch, the tray delivery cylinder is ventilated again. The push rod of the tray delivery cylinder pushes the push rod joint, which in turn drives the tray delivery pawl to rotate. The tray delivery pawl drives the tray delivery ratchet to rotate, which in turn drives the tray delivery drive shaft to rotate. Furthermore, the rotation of the tray delivery drive shaft drives the tray delivery drive sprockets at both ends to rotate. The tray delivery drive sprockets drive the tray delivery driven sprockets and the tray delivery driven shaft to rotate through the left and right tray delivery chains. This causes the chain link set between the left and right tray delivery chains to rotate, so that the entire row of seedling trays is conveyed forward to realize the seedling delivery. This cycle repeats to achieve fully automatic tray delivery, seedling picking, and transplanting.

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