Citrus rootstock seedling transplanting auxiliary device and method of use thereof

Abstract

The application discloses a citrus rootstock seedling transplanting auxiliary device and a use method thereof, which comprises a rack and multiple seedling trays, multiple seedling holes are uniformly and fixedly connected on the seedling tray, the rack is a frame structure, a feeding mechanism is arranged on the inner side of the rack, a feeding mechanism is arranged on the end position of the feeding mechanism on the inner side of the rack, and a seedling sending mechanism is arranged on the bottom of the rack and below the feeding mechanism. The feeding mechanism is used for conveying the seedling tray, and the feeding mechanism is used for feeding the seedling tray to the feeding mechanism, so that the feeding mechanism can carry multiple seedling trays, the number of seedlings carried is greatly increased during transplanting, and seedlings do not need to be frequently added; the seedling grabbing mechanism is further arranged, and is used for sending the citrus rootstock seedlings in the seedling tray into the seedling sending mechanism to perform transplanting work, so that the seedlings do not need to be manually taken out, the seedling tray can be directly added to the feeding mechanism, the degree of automation is higher, and use is more convenient.

Description

Technical Field

[0001] This invention relates to the field of fruit tree planting technology, specifically to an auxiliary device for transplanting citrus rootstock seedlings and its usage method. Background Technology

[0002] Citrus plants include various species such as oranges, pomelos, lemons, mandarins, and kumquats, belonging to the Rutaceae family. Currently, citrus cultivation first requires the cultivation of seedlings and rootstocks. These seedlings and rootstocks are cultivated in seedbeds before being transplanted to the field. Transplanting saves seed usage and solves the difficulty of obtaining full and robust seedlings from direct sowing of small seeds. Currently, transplanting is mainly done manually, using tools such as duckbill transplanters to dig out the seedlings from the cultivation trays and transfer them to the field, which is very labor-intensive. In response, Chinese invention patent CN111165308A discloses a camellia seedling transplanting device, including a fixed base frame and a rotating... The rotating cylinder and drive casters are used. The rotating cylinder is movably mounted on the upper part of the fixed base frame, and a central rotating rod is fixedly installed at the middle of the inner surface of the rotating cylinder. The rotating cylinder is movably connected to the fixed base frame through the central rotating rod. A circular base plate is movably sleeved on the outer surface of the central rotating rod near the lower part of the rotating cylinder. A circular slot is opened through the upper inner side of the circular base plate. Storage sleeves are fixedly installed on both sides of the inner surface of the rotating cylinder near the central rotating rod. A drive gear sleeve is fixedly installed on the outer surface of the central rotating rod near the lower part of the circular base plate. Fixed retaining rings are fixedly sleeved on the outer surfaces of both ends of the rotating cylinder. The system has a high degree of automation, but still has the following defects:

[0003] The seedlings are placed on a rotating cylinder, and the number of seedlings that can be carried is limited by the number of holes on the rotating cylinder. As a result, the number of seedlings that can be carried is limited. During the transplanting process, seedlings need to be added to the holes frequently. Furthermore, seedlings cannot be directly removed from the cultivation tray and need to be added manually one by one, which is very inconvenient to use.

[0004] To address these issues, we propose an auxiliary device for transplanting citrus rootstock seedlings and its usage method. Summary of the Invention

[0005] The purpose of this invention is to provide an auxiliary device for transplanting citrus rootstock seedlings and its method of use, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a citrus rootstock seedling transplanting auxiliary device and its usage method, comprising a frame and multiple seedling trays, wherein multiple seedling holes are uniformly fixed on the seedling trays, the frame is a frame structure, a feeding mechanism is provided on the inner side of the frame, a feeding mechanism is provided at the end of the feeding mechanism on the inner side of the frame, a seedling feeding mechanism is provided at the bottom of the frame below the feeding mechanism, and a seedling gripping mechanism is provided on the top surface of the frame above the feeding mechanism, wherein some of the seedling trays are disposed on the feeding mechanism, and one seedling tray is disposed on the feeding mechanism;

[0007] The feeding mechanism includes two side frames and two movable side plates. The two side frames are fixed to the inner side walls of the machine frame. The two movable side plates are located between the two side frames. The two movable side plates are close to each other on one side and are rotatably connected to driven wheels at the end closest to the feeding mechanism. The end of the movable side plate away from the feeding mechanism is horizontally rotatably sleeved onto a shaft column. A driving wheel is fixedly sleeved on the shaft column. A feeding belt is sleeved on the driving wheel and the driven wheel. The bottom surfaces on both sides of the seedling tray contact the surface of the feeding belt.

[0008] The feeding mechanism includes two support blocks, which are fixed to the top surfaces of both sides of the end of the frame. Two side plates are fixed to the two support blocks on one side of each other. An upper rotating rod is rotatably connected between the top ends of the two side plates, and a lower rotating rod is rotatably connected between the bottom ends of the two side plates. Two first driving sprockets are fixedly sleeved on the upper rotating rod, and a first driven sprocket is fixedly sleeved on the lower rotating rod. A first transmission chain is sleeved on the first driving sprockets and the first driven sprockets. Multiple horizontal plates are evenly fixed to the periphery of the first transmission chain. Multiple horizontal bars are horizontally fixed to the side walls of the horizontal plates. Seedling trays are provided on the multiple horizontal plates near the side of the feeding mechanism. The horizontal bars are slidably connected between the seedling holes. The seedling trays on the feeding mechanism are located between the ends of the two movable side plates. A third servo reduction motor is fixedly connected to the top side wall of one of the side plates, and the shaft end of the third servo reduction motor is fixedly connected to the end of the upper rotating rod.

[0009] Preferably, the seedling delivery mechanism includes a lower plate and an upper plate. The area of ​​the upper plate is smaller than that of the lower plate. The upper plate is located directly above the lower plate. A second driving sprocket is rotatably connected to the top surface of one end of the upper plate, and a second driven sprocket is rotatably connected to the top surface of the other end of the upper plate. A second transmission chain is sleeved on the second driving sprocket and the second driven sprocket. Multiple annular frames are uniformly fixed to the outer wall of the second transmission chain. A seedling storage cylinder is provided on each annular frame. A seedling drop opening is vertically opened at the center of one side of the lower plate, and a seedling assembly is provided on the lower plate near the seedling drop opening.

[0010] Preferably, the seedling grasping mechanism includes two second T-shaped slide rails, which are fixed to the top surfaces of both sides of the frame. Two uprights are horizontally slidably arranged on the two second T-shaped slide rails. Two side sliding grooves are opened on one side of the two uprights that are close to each other. Two side sliding blocks are vertically slidably connected in the two side sliding grooves. A rod is fixed between the two side sliding blocks. The side wall of the rod is fixed to the top side wall of the plate. The bottom side wall of the plate is fixed to the mounting plate. A T-shaped long rod is fixed to the side wall of the mounting plate. Multiple grasping assemblies are arranged on the T-shaped long rod. The number of grasping assemblies is consistent with the number of seedling holes in a single row on the seedling tray.

[0011] Preferably, two bottom rods are fixed between the bottom surfaces of the two side frames, and a first T-shaped slide rail is fixed to the top surface of the bottom rods. A first T-shaped sliding opening is opened on the bottom surface of the movable side plate corresponding to the bottom rod position. The first T-shaped sliding opening is slidably connected to the first T-shaped slide rail. A first servo reduction motor is fixed to the top surface of one side frame near the drive wheel, and a support plate is fixed to the top surface of the other side frame near the drive wheel. One end of the first long rod is fixed to the shaft end of the first servo reduction motor, and the other end of the first long rod is rotatably connected to the surface of the support plate. Two splined shafts are fixedly sleeved on the first long rod. A spline groove is horizontally opened on the shaft, and the splined shaft is slidably sleeved into the spline groove.

[0012] Preferably, a second long rod is horizontally rotatably connected between the two side frames, and two first lead screws are fixedly sleeved on both sides of the second long rod. A first threaded sleeve is fixedly connected to the movable side plate at the position corresponding to the first lead screw. The first lead screw is threadedly connected to the first threaded sleeve. A second servo reduction motor is fixedly connected to the side frame, and the shaft end of the second servo reduction motor is fixedly connected to the end of the second long rod. One of the first lead screws is a left-hand lead screw structure, and the other first lead screw is a right-hand lead screw structure.

[0013] Preferably, the seedling assembly includes a transplanting cylinder and an L-shaped frame. The transplanting cylinder is located directly below the seedling inlet. Two horizontal seats are fixed to both sides of the bottom of the transplanting cylinder. The horizontal seats are rotatably connected to a rotating rod. One end of the rotating rod is fixed to a semi-conical nozzle, and the other end is fixed to a lower hinge seat. A ring is fixed to the side wall of the transplanting cylinder. Two upper hinge seats are fixed to both sides of the ring. One end of an electric push rod is rotatably connected to the upper hinge seat, and the other end of the electric push rod is rotatably connected to the lower hinge seat. The top of the L-shaped frame is fixed to the middle of the side wall of the lower plate. A T-shaped groove is formed in the side wall of the L-shaped frame. A vertically sliding T-shaped slider is connected to a horizontal support at one end of its sidewall, and a ring is fixed to the other end of the horizontal support. A reciprocating screw is vertically rotatably connected inside the T-shaped groove. A third threaded sleeve is fixed to the T-shaped slider, and the reciprocating screw is threadedly connected to the third threaded sleeve. A fifth servo reduction motor is fixed to the top surface of the L-shaped frame. A shaft is fixed to the shaft end of the fifth servo reduction motor. The bottom end of the shaft is fixed to the top end of the reciprocating screw. The shaft is rotatably connected inside the L-shaped frame. A tapered flare is fixed to the top end of the transplanting cylinder. A micro switch is fixedly embedded in the sidewall of the T-shaped groove.

[0014] Preferably, the bottom surface of the seedling storage cylinder is rotatably connected to one side of the inclined cover, and the bottom surface of the other side of the inclined cover is rotatably connected to a roller. The roller rolls in contact with the top surface of the lower plate. Multiple vertical blocks are vertically fixed between the top surface of the lower plate and the bottom surface of the upper plate. A fourth servo reduction motor is fixedly connected to the top surface of the lower plate. A half-tooth gear is fixedly connected to the shaft end of the fourth servo reduction motor. The bottom end of the shaft end of the second drive sprocket passes through the upper plate and is fixedly connected to a driven gear. The half-tooth gear meshes with the driven gear. Multiple vertical supports are vertically fixed to both ends of the lower plate. The top ends of the multiple vertical supports are fixed to both sides of the bottom surface of the frame.

[0015] Preferably, the gripper assembly includes a sliding block, a pneumatic finger fixed to the side wall of the sliding block, two clamping arms fixed to the two output shafts of the pneumatic finger, two small clamping blocks fixed to one side of the two clamping arms close to each other, a T-shaped opening horizontally opened on the side of the sliding block away from the pneumatic finger, the T-shaped opening horizontally slidingly sleeved on the T-shaped long rod, a threaded hole vertically opened on the top surface of the sliding block, a locking bolt threadedly connected to the threaded hole, and the bottom end of the locking bolt contacting the top surface of the T-shaped long rod.

[0016] Preferably, a pneumatic push rod is fixedly connected to the top surface of the frame near one of the second T-shaped slide rails. The output end of the pneumatic push rod is fixedly connected to the side wall of one of the uprights. A second T-shaped sliding opening is formed at the bottom end of the upright, and the second T-shaped sliding opening is horizontally slidably sleeved onto the second T-shaped slide rail. A top strip plate is fixedly connected to the top ends of the two uprights. A second lead screw is vertically rotatably connected in each side sliding groove. A second threaded sleeve is fixedly connected to the side slide block. The second lead screw is threadedly connected to the second threaded sleeve. A power rod is horizontally rotatably connected inside the top strip plate. One end of the top strip plate... A sixth servo geared motor is fixedly connected. The shaft end of the sixth servo geared motor is fixedly connected to the end of a power rod. Two driving bevel gears are fixedly sleeved on the power rod near the two uprights. A driven bevel gear is fixedly connected to the top of the second lead screw. The driven bevel gear is located inside the top plate. The driving bevel gear meshes with the driven bevel gear. A waste trough is fixedly connected to the inner side of the frame away from the feeding mechanism. A connector is fixedly connected to the outer side of the frame away from the waste trough. Four traveling wheels are fixedly connected to both sides of the bottom surface of the frame. A battery and controller are fixedly connected to the top surface of the frame.

[0017] This invention also provides a method for using a citrus rootstock seedling transplanting auxiliary device, comprising the following steps:

[0018] Step 1: Connect the connector on the frame to the agricultural tractor. Place the seedling trays containing citrus rootstock seedlings on the agricultural tractor. Place some of the seedling trays on the crossbar on the side of the feeding mechanism near the seedling delivery mechanism, ensuring that the crossbar is inserted into the gap of the seedling hole.

[0019] Step 2: The driver starts the agricultural tractor to move the device in the field. When moving, the first transmission chain in the feeding mechanism starts until the two sides of the bottom seedling tray contact the two feeding belts in the feeding mechanism. At this time, the feeding mechanism stops, and the feeding belt of the feeding mechanism starts, so that the seedling tray at this position moves to a position close to the seedling grabbing mechanism, and the feeding belt stops.

[0020] Step 3: After the multiple gripper components in the seedling grabbing mechanism move, they grab the citrus rootstock seedlings in the same row of seedling holes. When grabbing, the bottom of the clamp arm holds the soil, while the small clamping block holds the seedling. After grabbing the citrus rootstock seedlings, they are moved to multiple seedling storage cylinders on one side of the seedling delivery mechanism. At the same time, the second transmission chain in the seedling delivery mechanism moves intermittently, causing the seedling storage cylinders to change position. The seedling grabbing mechanism continuously feeds the citrus rootstock seedlings into the seedling storage cylinders. When all the citrus rootstock seedlings in the seedling trays on the feeding mechanism have been transferred, the feeding belt drives the empty seedling trays to the waste trough. At the same time, Step 2 is repeated to feed the next seedling tray into the feeding mechanism.

[0021] Step 4: After the seedling storage cylinder moves to the seedling dropping position, the slanted cover opens under gravity, and the citrus rootstock seedling falls into the transplanting cylinder. Under the action of the reciprocating screw, the transplanting cylinder moves downward. When the T-shaped slider falls and contacts the micro switch, the two semi-conical nozzles will slowly open. At this time, the two semi-conical nozzles insert downward into the soil, opening up the soil, and the citrus rootstock seedling falls into the soil, completing the transplanting. At the same time, under the action of the reciprocating screw, the transplanting cylinder moves upward. When the T-shaped slider moves upward, it contacts the micro switch again, and the two semi-conical nozzles slowly close. When the transplanting cylinder moves to the highest point, the citrus rootstock seedling in the next seedling storage cylinder falls again, and the next transplanting is carried out. The transplanting work is continuously cycled.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] This invention includes a feeding mechanism and a delivery mechanism. The feeding mechanism transports seedling trays, while the delivery mechanism supplies seedling trays to the feeding mechanism. This allows the delivery mechanism to carry multiple seedling trays, significantly increasing the number of seedlings that can be carried during transplanting without the need for frequent seedling additions. Furthermore, a seedling-grabbing mechanism is included to transfer citrus rootstock seedlings from the seedling trays into the delivery mechanism for transplanting. This eliminates the need for manual removal of seedlings; the seedling trays can be directly added to the delivery mechanism, resulting in higher automation and greater ease of use. Attached Figure Description

[0024] Figure 1 These are schematic diagrams of the main structure in the first, second, and third embodiments of the present invention;

[0025] Figure 2 These are schematic diagrams of the feeding mechanism in the first, second, and third embodiments of the present invention;

[0026] Figure 3 These are schematic diagrams of the feeding mechanism in the first, second, and third embodiments of the present invention;

[0027] Figure 4 These are schematic diagrams of the internal structure of the feeding mechanism in the second and third embodiments of the present invention;

[0028] Figure 5 These are schematic diagrams of the seedling delivery mechanism in the second and third embodiments of the present invention;

[0029] Figure 6 These are schematic diagrams of the cross-sectional structure of the seedling component in the second and third embodiments of the present invention;

[0030] Figure 7 These are schematic diagrams of the seedling-grabbing mechanism in the second and third embodiments of the present invention;

[0031] Figure 8 For the present invention Figure 7 Enlarged structural diagram of point A in the middle;

[0032] Figure 9 These are schematic diagrams of the cross-sectional structure of the seedling-grabbing mechanism in the second and third embodiments of the present invention;

[0033] Figure 10 This is a cross-sectional view of the seedling delivery mechanism in the second and third embodiments of the present invention.

[0034] In the diagram: 1. Frame; 2. Seedling tray; 3. Feeding mechanism; 4. Feeding mechanism; 5. Seedling delivery mechanism; 6. Seedling gripping mechanism; 11. Waste trough; 12. Connector; 13. Running wheel; 14. Battery; 15. Controller; 21. Seedling hole; 31. Side frame; 32. Movable side plate; 33. Shaft column; 34. Drive wheel; 35. Driven wheel; 36. Feeding belt; 37. Base rod; 38. First T-shaped slide rail; 39. First T-shaped slide opening; 310. First servo geared motor; 311. Support plate; 312. First long rod; 313. Splined shaft; 314. Splined groove; 315. Second long rod; 316. Second servo geared motor; 317. First lead screw; 318. First threaded sleeve; 41. Support block; 42. Side plate; 43. Upper rotating rod; 44. Lower rotating rod; 45. First driving sprocket; 46. First driven sprocket; 47. First transmission chain; 48. Horizontal plate; 49. Horizontal bar; 410. Third servo geared motor; 51. Lower plate; 52. Upper plate; 53. Second driving sprocket; 54. Second driven sprocket; 55. Second transmission chain; 56. Ring frame; 57. Seedling storage cylinder; 58. Seedling outlet; 59. Seedling assembly; 510. Vertical support; 511. Vertical block; 512. Fourth servo geared motor Servo geared motor; 513, Half-tooth gear; 514, Driven gear; 515, Slanted cover; 516, Roller; 591, Transplanting cylinder; 592, Horizontal seat; 593, Rotating rod; 594, Semi-conical nozzle; 595, L-shaped frame; 596, T-shaped slide rail; 597, T-shaped slider; 598, Horizontal support; 599, Ring body; 5910, Upper hinge seat; 5911, Lower hinge seat; 5912, Electric push rod; 5913, Reciprocating lead screw; 5914, Third threaded sleeve; 5915, Micro switch; 5916, Shaft; 5917, Fifth servo geared motor; 5918, Conical flare; 61, Second 62. T-shaped slide rail; 63. Upright pole; 64. Side slide groove; 65. Side slider; 66. Rod body; 67. Plate body; 68. Mounting plate; 69. T-shaped long rod; 60. Grip assembly; 610. Second T-shaped slide opening; 611. Pneumatic push rod; 612. Top bar plate; 613. Power long rod; 614. Second lead screw; 615. Second threaded sleeve; 616. Driving bevel gear; 617. Driven bevel gear; 618. Sixth servo geared motor; 691. Sliding block; 692. Pneumatic finger; 693. Clamping arm; 694. Small clamping block; 695. T-shaped opening; 696. Threaded hole; 697. Locking bolt. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0036] Please see Figure 1-3 The present invention provides a technical solution: a citrus rootstock seedling transplanting auxiliary device and its usage method, including a frame 1 and multiple seedling trays 2, multiple seedling holes 21 are evenly fixed on the seedling trays 2, the frame 1 is a frame structure, a feeding mechanism 3 is provided on the inner side of the frame 1, a feeding mechanism 4 is provided at the end of the feeding mechanism 3 on the inner side of the frame 1, a seedling feeding mechanism 5 is provided at the bottom of the frame 1 below the feeding mechanism 3, and a seedling gripping mechanism 6 is provided on the top surface of the frame 1 above the feeding mechanism 3, some of the seedling trays 2 are set on the feeding mechanism 4, and one of the seedling trays 2 is set on the feeding mechanism 3;

[0037] The feeding mechanism 3 includes two side frames 31 and two movable side plates 32. The two side frames 31 are fixed to the inner two side walls of the frame 1. The two movable side plates 32 are located between the two side frames 31. The two movable side plates 32 are close to each other on one side and are rotatably connected to driven wheels 35 at the end close to the feeding mechanism 4. The end of the movable side plate 32 away from the feeding mechanism 4 is horizontally rotatably sleeved to a shaft column 33. A drive wheel 34 is fixedly sleeved on the shaft column 33. A feeding belt 36 is sleeved on the drive wheel 34 and the driven wheel 35. The bottom surfaces of both sides of the seedling tray 2 contact the surface of the feeding belt 36. The feeding mechanism 3 is used to transport the seedling tray 2. The two sides of the seedling tray 2 are transported on the feeding belt 36.

[0038] The feeding mechanism 4 includes two support blocks 41, which are fixed to the top surfaces of both sides of the end of the frame 1. Two side plates 42 are fixed to the two support blocks 41 close to each other on one side. An upper rotating rod 43 is rotatably connected between the top ends of the two side plates 42, and a lower rotating rod 44 is rotatably connected between the bottom ends of the two side plates 42. Two first driving sprockets 45 are fixedly sleeved on the upper rotating rod 43, and a first driven sprocket 46 is fixedly sleeved on the lower rotating rod 44. A first transmission chain 47 is sleeved on the first driving sprockets 45 and the first driven sprockets 46. Multiple horizontal plates 48 are evenly fixed to the periphery of the first transmission chain 47, and multiple horizontal plates 48 are horizontally fixed to the side walls of the horizontal plates 48. A crossbar 49 and multiple horizontal plates 48 near the feeding mechanism 3 are each equipped with a seedling tray 2. The crossbar 49 is slidably connected between the seedling holes 21. The seedling tray 2 on the feeding mechanism 4 is located between the ends of two movable side plates 32. A third servo reduction motor 410 is fixed to the top side wall of one of the side plates 42. The shaft end of the third servo reduction motor 410 is fixed to the end of the upper rotating rod 43. The feeding mechanism 4 is used to supply the seedling tray 2 to the feeding mechanism 3. In this way, the feeding mechanism 4 can carry multiple seedling trays 2. When transplanting, the number of seedlings carried is greatly increased, and there is no need to frequently add seedlings. Example 2

[0039] Please see Figure 1-10 This is the second embodiment of the present invention, which is based on the previous embodiment. The seedling delivery mechanism 5 includes a lower plate 51 and an upper plate 52. The area of ​​the upper plate 52 is smaller than that of the lower plate 51. The upper plate 52 is located directly above the lower plate 51. The top surface of one end of the upper plate 52 is rotatably connected to a second driving sprocket 53, and the top surface of the other end of the upper plate 52 is rotatably connected to a second driven sprocket 54. A second transmission chain 55 is sleeved on the second driving sprocket 53 and the second driven sprocket 54. Multiple ring frames 56 are evenly fixed to the outer side wall of the second transmission chain 55. A seedling storage cylinder 57 is provided on each ring frame 56. A seedling drop opening 58 is vertically opened at the center of one side of the lower plate 51. A seedling assembly 59 is provided on the lower plate 51 near the seedling drop opening 58. The seedling delivery mechanism 5 is used to transport and transplant seedlings into the soil.

[0040] The seedling grabbing mechanism 6 includes two second T-shaped slide rails 61, which are fixed to the top surfaces of both sides of the frame 1. Two uprights 62 are horizontally slidably mounted on the two second T-shaped slide rails 61. Two side sliding grooves 63 are opened on one side of the two uprights 62, which are close to each other. Two side sliding blocks 64 are vertically slidably connected in the two side sliding grooves 63. A rod body 65 is fixed between the two side sliding blocks 64. The top side wall of a plate body 66 is fixed to the side wall of the rod body 65. A mounting plate 67 is fixed to the bottom side wall of the plate body 66. A T-shaped long rod 68 is fixed to the side wall of the mounting plate 67. Multiple gripper assemblies 69 are provided on the T-shaped long rod 68. The number of gripper assemblies 69 is the same as the number of seedling holes 21 in a single row on the seedling tray 2. The seedling grabbing mechanism 6 is used to send the citrus rootstock seedlings in the seedling tray 2 into the seedling feeding mechanism 5 for transplanting. This eliminates the need to manually remove the seedlings. The seedling tray 2 can be directly added to the feeding mechanism 4, resulting in a higher degree of automation and greater convenience.

[0041] Two bottom rods 37 are fixed between the bottom surfaces of the two side frames 31. The top surface of the bottom rods 37 is fixed to the first T-shaped slide rail 38. The bottom surface of the movable side plate 32 is provided with a first T-shaped slide opening 39 corresponding to the bottom rods 37. The first T-shaped slide opening 39 is slidably connected to the first T-shaped slide rail 38. The top surface of one side frame 31 near the drive wheel 34 is fixed to the first servo reduction motor 310. The top surface of the other side frame 31 near the drive wheel 34 is fixed to the support plate 311. The shaft end of the first servo reduction motor 310 is fixed to one end of the first long rod 312. The other end of the first long rod 312 is rotatably connected to the surface of the support plate 311. Two splined shafts 313 are fixedly sleeved on the first long rod 312. A splined groove 314 is horizontally opened on the shaft column 33. The splined shafts 313 are slidably sleeved on the splined grooves 314.

[0042] A second long rod 315 is horizontally rotatably connected between the two side frames 31. Two first lead screws 317 are fixedly sleeved on both sides of the second long rod 315. A first threaded sleeve 318 is fixedly connected to the movable side plate 32 at the position corresponding to the first lead screw 317. The first lead screw 317 is threadedly connected to the first threaded sleeve 318. A second servo reduction motor 316 is fixedly connected to the side frame 31. The shaft end of the second servo reduction motor 316 is fixedly connected to the end of the second long rod 315. One of the first lead screws 317 is a left-hand lead screw structure, and the other first lead screw 317 is a right-hand lead screw structure. According to the size of the seedling tray 2, the two movable side plates 32 can be moved by the two first lead screws 317, changing the spacing of the two feeding belts 36, which can transport different types of seedling trays 2, making it more flexible.

[0043] Seedling assembly 59 includes a transplanting cylinder 591 and an L-shaped frame 595. The transplanting cylinder 591 is located directly below the seedling inlet 58. Two horizontal seats 592 are fixed to both sides of the bottom of the transplanting cylinder 591. The horizontal seats 592 are rotatably connected to a rotating rod 593. One end of the rotating rod 593 is fixed to a semi-conical nozzle 594, and the other end of the rotating rod 593 is fixed to a lower hinge seat 5911. A ring body 599 is fixed to the side wall of the transplanting cylinder 591. Two horizontal seats 592 are fixed to both sides of the ring body 595. An upper hinge seat 5910 is rotatably connected to one end of an electric push rod 5912, and the other end of the electric push rod 5912 is rotatably connected to a lower hinge seat 5911. The top of an L-shaped frame 595 is fixed to the middle of the side wall of the lower plate 51. A T-shaped groove 596 is formed in the side wall of the L-shaped frame 595, and a T-shaped slider 597 is vertically slidably connected within the T-shaped groove 596. One end of a horizontal support 598 is fixed to the side wall of the T-shaped slider 597. The other end of 598 is fixed to the ring body 599. The reciprocating screw 5913 is vertically rotatably connected inside the T-shaped slide 596. The third threaded sleeve 5914 is fixed to the T-shaped slider 597. The reciprocating screw 5913 is threadedly connected to the third threaded sleeve 5914. The top surface of the L-shaped frame 595 is fixed to the fifth servo reduction motor 5917. The shaft end of the fifth servo reduction motor 5917 is fixed to the shaft rod 5916. The bottom end of the shaft rod 5916 is fixed to the top end of the reciprocating screw 5913. The shaft rod 5916 is rotatably connected inside the L-shaped frame 595. The top end of the transplanting cylinder 591 is fixed to the conical flared end 5918. The side wall of the T-shaped slide 596 is fixedly embedded with the micro switch 5915. The transplanting cylinder 591 moves up and down repeatedly. With the opening and closing of the semi-conical nozzle 594, it can be continuously inserted into the soil and the seedlings are sent into the soil to complete the transplanting, thus carrying out continuous transplanting work.

[0044] The bottom surface of the seedling storage cylinder 57 is rotatably connected to one side of the inclined cover 515, and the bottom surface of the other side of the inclined cover 515 is rotatably connected to the roller 516. The roller 516 rolls and contacts the top surface of the lower plate 51. Multiple vertical blocks 511 are vertically fixed between the top surface of the lower plate 51 and the bottom surface of the upper plate 52. The top surface of the lower plate 51 is fixedly connected to the fourth servo reduction motor 512. The shaft end of the fourth servo reduction motor 512 is fixedly connected to the half-tooth gear 513. The bottom end of the shaft end of the second drive sprocket 53 passes through the upper plate 52 and is fixedly connected to the driven gear 514. The half-tooth gear 513 meshes with the driven gear 514. Multiple vertical supports 510 are vertically fixed to both ends of the lower plate 51. The top ends of the multiple vertical supports 510 are fixedly connected to both sides of the bottom surface of the frame 1.

[0045] The gripper assembly 69 includes a sliding block 691, with a pneumatic finger 692 fixedly connected to the side wall of the sliding block 691. Two clamping arms 693 are fixedly connected to the two output shafts of the pneumatic finger 692. Two small clamping blocks 694 are fixedly connected to the two clamping arms 693 on one side close to each other. A T-shaped opening 695 is horizontally opened on the side of the sliding block 691 away from the pneumatic finger 692. The T-shaped opening 695 is horizontally slidably sleeved on the T-shaped long rod 68. A threaded hole 696 is vertically opened on the top surface of the sliding block 691. A locking bolt 697 is threadedly connected to the threaded hole 696. The bottom end of the locking bolt 697 contacts the top surface of the T-shaped long rod 68. The number of gripper assemblies 69 can be increased or decreased by fixing them with the locking bolts 697, so that the number of gripper assemblies 69 is consistent with the number of seedling holes 21 in a single row on the seedling tray 2, which facilitates the work of grasping seedlings.

[0046] A pneumatic push rod 611 is fixedly connected to the top surface of the frame 1 near one of the second T-shaped slide rails 61. The output end of the pneumatic push rod 611 is fixedly connected to the side wall of one of the uprights 62. A second T-shaped sliding opening 610 is opened at the bottom of the upright 62. The second T-shaped sliding opening 610 is horizontally slidably sleeved with the second T-shaped slide rail 61. The top ends of the two uprights 62 are fixedly connected to the top strip plate 612. A second lead screw 614 is vertically rotatably connected in each side sliding groove 63. A second threaded sleeve 615 is fixedly connected to the side slider 64. The second lead screw 614 is threadedly connected to the second threaded sleeve 615. A power long rod 613 is horizontally rotatably connected in the top strip plate 612. A sixth [unclear text - possibly a continuation of the previous sentence] is fixedly connected to one end of the top strip plate 612. The servo geared motor 618 has its shaft end fixedly connected to the end of the power rod 613. The power rod 613 is fixedly sleeved with two drive bevel gears 616 near the two uprights 62. The top of the second lead screw 614 is fixedly connected to the driven bevel gear 617, which is located inside the top plate 612. The drive bevel gear 616 meshes with the driven bevel gear 617. The waste trough 11 is fixedly connected to the inner side of the frame 1 away from the feeding mechanism 4. A connector 12 is fixedly connected to the outer side of the frame 1 away from the waste trough 11. Four traveling wheels 13 are fixedly connected to both sides of the bottom surface of the frame 1. A battery 14 and a controller 15 are fixedly connected to the top surface of the frame 1. Example 3

[0047] Please see Figure 1-10 This is the third embodiment of the present invention, which is based on the above two embodiments. A method for using a citrus rootstock seedling transplanting auxiliary device includes the following steps:

[0048] Step 1: Connect the connector 12 on the frame 1 to the agricultural tractor. Place the seedling tray 2 containing the citrus rootstock seedlings on the agricultural tractor. Place part of the seedling tray 2 on the crossbar 49 on the side of the feeding mechanism 4 near the seedling delivery mechanism 5. When placing the tray, make sure that the crossbar 49 is inserted into the gap of the seedling hole 21.

[0049] Step 2: The driver starts the agricultural tractor to move the device in the field. When moving, the first transmission chain 47 in the feeding mechanism 4 starts until the two sides of the bottom seedling tray 2 contact the two feeding belts 36 in the feeding mechanism 3. At this time, the feeding mechanism 4 stops, and the feeding belts 36 of the feeding mechanism 3 start, so that the seedling tray 2 at this position moves to a position close to the seedling grabbing mechanism 6, and the feeding belts 36 stop.

[0050] Step 3: After the multiple gripper components 69 in the seedling grabbing mechanism 6 move, they grab the citrus rootstock seedlings in the same row of seedling holes 21. When grabbing, the bottom of the clamp arm 693 clamps the soil, while the small clamp block 694 clamps the seedling. After grabbing the citrus rootstock seedlings, they are moved to multiple seedling storage cylinders 57 on one side of the seedling delivery mechanism 5. At the same time, the second transmission chain 55 in the seedling delivery mechanism 5 moves intermittently, causing the seedling storage cylinders 57 to change position. The seedling grabbing mechanism 6 continuously feeds the citrus rootstock seedlings into the seedling storage cylinders 57. When all the citrus rootstock seedlings in the seedling tray 2 on the feeding mechanism 3 have been transferred, the feeding belt 36 drives the empty seedling tray 2 to move to the waste trough 11. At the same time, Step 2 is repeated to feed the next seedling tray 2 into the feeding mechanism 3.

[0051] Step 4: When the seedling storage cylinder 57 moves to the seedling dropping port 58, the slanted cover 515 opens under gravity, and the citrus rootstock seedling falls into the transplanting cylinder 591. Under the action of the reciprocating screw 5913, the transplanting cylinder 591 moves downward. When the T-shaped slider 597 falls, it contacts the micro switch 5915, and the two semi-conical nozzles 594 slowly open. At this time, the two semi-conical nozzles 594 insert downward into the soil, and after the soil is opened, the citrus rootstock seedling falls into the soil, completing the transplanting. At the same time, under the action of the reciprocating screw 5913, the transplanting cylinder 591 moves upward. When the T-shaped slider 597 moves upward, it contacts the micro switch 5915 again, and the two semi-conical nozzles 594 slowly close. When the transplanting cylinder 591 moves to the highest point, the citrus rootstock seedling in the next seedling storage cylinder 57 falls again, and the next transplanting is carried out. The transplanting work is continuously cycled. Example 4

[0052] Please see Figure 1-10This is the fourth embodiment of the present invention, based on the above three embodiments. In use, the connector 12 on the frame 1 is connected to an agricultural tractor. The seedling tray 2 containing citrus rootstock seedlings is placed on the agricultural tractor. Part of the seedling tray 2 is placed on the crossbar 49 of the feeding mechanism 4 near the seedling delivery mechanism 5, with the crossbar 49 inserted into the gap of the seedling hole 21. The driver starts the agricultural tractor, moving the device in the field. During movement, the first transmission chain 47 in the feeding mechanism 4 is activated until the bottom seedling tray 2 contacts the two feeding belts 36 in the feeding mechanism 3. At this point, the feeding mechanism 4 stops, and the feeding belts 36 of the feeding mechanism 3 are activated, causing the seedling at that position to... The seedling tray 2 moves to a position close to the seedling grasping mechanism 6, and the feeding belt 36 stops. Multiple gripper components 69 in the seedling grasping mechanism 6 move and grasp citrus rootstock seedlings from the same row of seedling holes 21. During grasping, the bottom of the clamping arm 693 grips the soil, while the small clamping block 694 grips the seedling. After grasping the citrus rootstock seedlings, they are moved to multiple seedling storage cylinders 57 on one side of the seedling feeding mechanism 5. Simultaneously, the second transmission chain 55 in the seedling feeding mechanism 5 moves intermittently, causing the seedling storage cylinders 57 to change position. The seedling grasping mechanism 6 continuously feeds citrus rootstock seedlings into the seedling storage cylinders 57. When all the citrus rootstock seedlings in the seedling tray 2 on the feeding mechanism 3 have been transferred, the feeding belt 36 moves the empty seedling tray 2 to the waste trough 11, and step two is repeated. The next seedling tray 2 is fed into the feeding mechanism 3; when the seedling storage cylinder 57 moves to the seedling dropping port 58, the inclined cover 515 opens under gravity, and the citrus rootstock seedling falls into the transplanting cylinder 591. Under the action of the reciprocating screw 5913, the transplanting cylinder 591 moves downward. When the T-shaped slider 597 falls, it contacts the micro switch 5915, and the two semi-conical nozzles 594 slowly open. At this time, the two semi-conical nozzles 594 insert downward into the soil, and after the soil is opened, the citrus rootstock seedling falls into the soil, completing the transplanting. At the same time, under the action of the reciprocating screw 5913, the transplanting cylinder 591 moves upward. When the T-shaped slider 597 moves upward, it contacts the micro switch 5915 again, and the two semi-conical nozzles 594 slowly close. When 91 moves to the highest point, the citrus rootstock seedling in the next seedling storage tube 57 falls again for the next transplanting, and the transplanting work is carried out continuously in a cycle. The present invention is equipped with a feeding mechanism 3 and a feeding mechanism 4. The feeding mechanism 3 is used to transport the seedling tray 2, and the feeding mechanism 4 is used to supply the seedling tray 2 to the feeding mechanism 3. In this way, the feeding mechanism 4 can carry multiple seedling trays 2, which greatly increases the number of seedlings carried during transplanting and eliminates the need to frequently add seedlings. A seedling grabbing mechanism 6 is also provided to send the citrus rootstock seedling in the seedling tray 2 into the seedling delivery mechanism 5 for transplanting. In this way, there is no need to manually remove the seedlings. The seedling tray 2 can be directly added to the feeding mechanism 4, which has a higher degree of automation and is more convenient to use.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A citrus rootstock seedling transplanting auxiliary device, comprising a frame (1) and multiple seedling trays (2), wherein multiple seedling holes (21) are uniformly fixed on the seedling trays (2), characterized in that: The frame (1) is a frame structure. A feeding mechanism (3) is provided on the inner side of the frame (1). A feeding mechanism (4) is provided at the end of the feeding mechanism (3) on the inner side of the frame (1). A seedling feeding mechanism (5) is provided at the bottom of the frame (1) below the feeding mechanism (3). A seedling grabbing mechanism (6) is provided on the top surface of the frame (1) above the feeding mechanism (3). Some of the seedling trays (2) are set on the feeding mechanism (4), and one of the seedling trays (2) is set on the feeding mechanism (3). The feeding mechanism (3) includes two side frames (31) and two movable side plates (32). The two side frames (31) are fixed to the inner two side walls of the frame (1). The two movable side plates (32) are located between the two side frames (31). The two movable side plates (32) are close to each other on one side and are rotatably connected to the driven wheel (35) at the end close to the feeding mechanism (4). The end of the movable side plate (32) away from the feeding mechanism (4) is horizontally rotatably sleeved with a shaft column (33). The shaft column (33) is fixedly sleeved with a drive wheel (34). The drive wheel (34) and the driven wheel (35) are sleeved with a feeding belt (36). The bottom surfaces of both sides of the seedling tray (2) contact the surface of the feeding belt (36). The feeding mechanism (4) includes two support blocks (41), which are fixed to the top surfaces of both sides of the end of the frame (1). Two side plates (42) are fixed to each other on one side of the two support blocks (41). An upper rotating rod (43) is rotatably connected between the top ends of the two side plates (42), and a lower rotating rod (44) is rotatably connected between the bottom ends of the two side plates (42). Two first driving sprockets (45) are fixedly sleeved on the upper rotating rod (43), and a first driven sprocket (46) is fixedly sleeved on the lower rotating rod (44). A first transmission chain is sleeved on the first driving sprocket (45) and the first driven sprocket (46). 47), multiple horizontal plates (48) are uniformly fixed around the first transmission chain (47), and multiple horizontal bars (49) are horizontally fixed to the side wall of the horizontal plate (48). A seedling tray (2) is provided on each of the multiple horizontal plates (48) near the side of the feeding mechanism (3). The horizontal bars (49) are slidably connected between the seedling holes (21). The seedling tray (2) on the feeding mechanism (4) is located between the ends of two movable side plates (32). A third servo reduction motor (410) is fixed to the top side wall of one of the side plates (42). The shaft end of the third servo reduction motor (410) is fixed to the end of the upper rotating rod (43). Two bottom rods (37) are fixed between the bottom surfaces of the two side frames (31). The top surface of the bottom rods (37) is fixed to a first T-shaped slide rail (38). The bottom surface of the movable side plate (32) is provided with a first T-shaped slide opening (39) corresponding to the bottom rods (37). The first T-shaped slide opening (39) is slidably connected to the first T-shaped slide rail (38). One of the side frames (31) is fixed to a first servo reduction motor (310) at one end near the drive wheel (34). The other side frame (31) is fixed to a first servo reduction motor (310). 31) A support plate (311) is fixed to the top surface near one end of the drive wheel (34). The shaft end of the first servo reduction motor (310) is fixed to one end of the first long rod (312). The other end of the first long rod (312) is rotatably connected to the surface of the support plate (311). Two splined shafts (313) are fixedly sleeved on the first long rod (312). A spline groove (314) is horizontally opened on the shaft column (33). The splined shaft (313) is slidably sleeved on the spline groove (314).

2. The citrus rootstock seedling transplanting auxiliary device according to claim 1, characterized in that: The seedling delivery mechanism (5) includes a lower plate (51) and an upper plate (52). The area of ​​the upper plate (52) is smaller than that of the lower plate (51). The upper plate (52) is located directly above the lower plate (51). The top surface of one end of the upper plate (52) is rotatably connected to a second driving sprocket (53). The top surface of the other end of the upper plate (52) is rotatably connected to a second driven sprocket (54). A second transmission chain (55) is sleeved on the second driving sprocket (53) and the second driven sprocket (54). Multiple ring frames (56) are evenly fixed to the outer side wall of the second transmission chain (55). A seedling storage cylinder (57) is provided on each ring frame (56). A seedling drop opening (58) is vertically opened at the center of one side of the lower plate (51). A seedling assembly (59) is provided on the lower plate (51) near the seedling drop opening (58).

3. The citrus rootstock seedling transplanting auxiliary device according to claim 1, characterized in that: The seedling grabbing mechanism (6) includes two second T-shaped slide rails (61). The two second T-shaped slide rails (61) are fixed to the top surfaces of both sides of the frame (1). Two uprights (62) are horizontally slidably arranged on the two second T-shaped slide rails (61). Two side sliding grooves (63) are opened on one side of the two uprights (62) close to each other. Two side sliding blocks (64) are vertically slidably connected in the two side sliding grooves (63). A rod body (65) is fixed between the two side sliding blocks (64). The top side wall of the plate body (66) is fixed to the side wall of the rod body (65). The bottom side wall of the plate body (66) is fixed to the mounting plate (67). The side wall of the mounting plate (67) is fixed to the T-shaped long rod (68). Multiple grabbing components (69) are provided on the T-shaped long rod (68). The number of grabbing components (69) is the same as the number of seedling holes (21) in a single row on the seedling tray (2).

4. The citrus rootstock seedling transplanting auxiliary device according to claim 1, characterized in that: A second long rod (315) is horizontally rotatably connected between the two side frames (31). Two first lead screws (317) are fixedly sleeved on both sides of the second long rod (315). A first threaded sleeve (318) is fixedly connected to the position of the first lead screw (317) on the movable side plate (32). The first lead screw (317) is threadedly connected to the first threaded sleeve (318). A second servo reduction motor (316) is fixedly connected to the side frame (31). The shaft end of the second servo reduction motor (316) is fixedly connected to the end of the second long rod (315). One of the first lead screws (317) is a left-hand lead screw structure, and the other first lead screw (317) is a right-hand lead screw structure.

5. The citrus rootstock seedling transplanting auxiliary device according to claim 2, characterized in that: The seedling assembly (59) includes a transplanting cylinder (591) and an L-shaped frame (595). The transplanting cylinder (591) is located directly below the seedling inlet (58). Two horizontal seats (592) are fixed to both sides of the bottom end of the transplanting cylinder (591). The horizontal seats (592) are rotatably connected to a rotating rod (593). One end of the rotating rod (593) is fixed to a semi-conical nozzle (594), and the other end of the rotating rod (593) is fixed to a lower hinge seat (5911). The transplanting cylinder (591)... 1) A ring body (599) is fixed to the side wall. Two upper hinge seats (5910) are fixed to both sides of the ring body (599). The upper hinge seats (5910) are rotatably connected to one end of an electric push rod (5912). The other end of the electric push rod (5912) is rotatably connected to a lower hinge seat (5911). The top of the L-shaped frame (595) is fixed to the middle of the side wall of the lower plate (51). A T-shaped groove (596) is opened on the side wall of the L-shaped frame (595). An inner vertical sliding T-shaped slider (597) is connected to a horizontal support (598) at one end of its side wall, and a ring (599) at the other end of its horizontal support (598). A reciprocating screw (5913) is vertically rotatably connected inside the T-shaped groove (596). A third threaded sleeve (5914) is fixed to the T-shaped slider (597), and the reciprocating screw (5913) is threadedly connected to the third threaded sleeve (5914). The L-shaped frame (599) is also connected to the T-shaped slider (597). 95) The top surface is fixed to the fifth servo geared motor (5917), the shaft end of the fifth servo geared motor (5917) is fixed to the shaft rod (5916), the bottom end of the shaft rod (5916) is fixed to the top end of the reciprocating screw (5913), the shaft rod (5916) is rotatably connected inside the L-shaped frame (595), the top end of the transplanting cylinder (591) is fixed to the conical flared end (5918), and the side wall of the T-shaped slide (596) is fixedly embedded with the micro switch (5915).

6. The citrus rootstock seedling transplanting auxiliary device according to claim 2, characterized in that: The bottom surface of the seedling storage cylinder (57) is rotatably connected to one side of the inclined cover (515), and the bottom surface of the other side of the inclined cover (515) is rotatably connected to the roller (516). The roller (516) rolls and contacts the top surface of the lower plate (51). Multiple vertical blocks (511) are vertically fixed between the top surface of the lower plate (51) and the bottom surface of the upper plate (52). The top surface of the lower plate (51) is fixedly connected to the fourth servo reduction motor (512). The shaft end of the fourth servo reduction motor (512) is fixedly connected to the half-tooth gear (513). The bottom end of the shaft end of the second drive sprocket (53) passes through the upper plate (52) and is fixedly connected to the driven gear (514). The half-tooth gear (513) meshes with the driven gear (514). Multiple vertical supports (510) are vertically fixed at both ends of the lower plate (51). The top ends of the multiple vertical supports (510) are fixedly connected to both sides of the bottom surface of the frame (1).

7. The citrus rootstock seedling transplanting auxiliary device according to claim 3, characterized in that: The gripper assembly (69) includes a sliding block (691), a pneumatic finger (692) is fixedly connected to the side wall of the sliding block (691), two clamping arms (693) are fixedly connected to the two output shafts of the pneumatic finger (692), two small clamping blocks (694) are fixedly connected to the two clamping arms (693) on one side close to each other, a T-shaped opening (695) is horizontally opened on the side of the sliding block (691) away from the pneumatic finger (692), the T-shaped opening (695) is horizontally slidably sleeved on the T-shaped long rod (68), a threaded hole (696) is vertically opened on the top surface of the sliding block (691), a locking bolt (697) is threadedly connected to the threaded hole (696), and the bottom end of the locking bolt (697) contacts the top surface of the T-shaped long rod (68).

8. The citrus rootstock seedling transplanting auxiliary device according to claim 3, characterized in that: A pneumatic push rod (611) is fixedly connected to the top surface of the frame (1) near one of the second T-shaped slide rails (61). The output end of the pneumatic push rod (611) is fixedly connected to the side wall of one of the uprights (62). A second T-shaped slide opening (610) is opened at the bottom end of the upright (62). The second T-shaped slide opening (610) is horizontally slidably sleeved with the second T-shaped slide rail (61). A top strip plate (612) is fixedly connected to the top ends of the two uprights (62). A second lead screw (614) is vertically rotatably connected in each side slide groove (63). A second threaded sleeve (615) is fixedly connected to the side slide block (64). The second lead screw (614) is threadedly connected to the second threaded sleeve (615). A power rod (613) is horizontally rotatably connected in the top strip plate (612). A sixth servo is fixedly connected to one end of the top strip plate (612). The sixth servo geared motor (618) has its shaft end fixedly connected to the end of the power rod (613). The power rod (613) is fixedly sleeved with two active bevel gears (616) near the two uprights (62). The second lead screw (614) has its top end fixedly connected to the driven bevel gear (617). The driven bevel gear (617) is located inside the top plate (612). The active bevel gear (616) meshes with the driven bevel gear (617). The inner side of the frame (1) away from the feeding mechanism (4) is fixedly connected to the waste trough (11). The frame (1) away from the waste trough (11) is fixedly connected to the connector (12). The bottom surface of the frame (1) is fixedly connected to four traveling wheels (13). The top surface of the frame (1) is fixedly connected to the battery (14) and the controller (15).

9. A method of using the citrus rootstock seedling transplanting auxiliary device according to any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Connect the connector (12) on the frame (1) to the agricultural tractor. Place the seedling tray (2) containing the citrus rootstock seedlings on the agricultural tractor. Place part of the seedling tray (2) on the crossbar (49) on the side of the feeding mechanism (4) near the seedling delivery mechanism (5). When placing it, make sure that the crossbar (49) is inserted into the gap of the seedling hole (21). Step 2: The driver starts the agricultural tractor to move the device in the field. When moving, the first transmission chain (47) in the feeding mechanism (4) starts until the bottom seedling tray (2) contacts the two feeding belts (36) in the feeding mechanism (3). At this time, the feeding mechanism (4) stops, and the feeding belt (36) of the feeding mechanism (3) starts, so that the seedling tray (2) at this position moves to a position close to the seedling grabbing mechanism (6), and the feeding belt (36) stops. Step 3: After the multiple gripper components (69) in the seedling grabbing mechanism (6) move, they grab the citrus rootstock seedlings in the same row of seedling holes (21). When grabbing, the bottom of the clamp arm (693) clamps the soil, while the small clamp block (694) clamps the seedling. After grabbing the citrus rootstock seedlings, they move them to the multiple seedling storage cylinders (57) on one side of the seedling delivery mechanism (5). At the same time, the second transmission chain (55) in the seedling delivery mechanism (5) moves intermittently, causing the seedling storage cylinders (57) to change position. The seedling grabbing mechanism (6) continuously feeds the citrus rootstock seedlings into the seedling storage cylinders (57). When all the citrus rootstock seedlings in the seedling tray (2) on the feeding mechanism (3) are transferred away, the feeding belt (36) drives the empty seedling tray (2) to move to the waste trough (11). At the same time, Step 2 is repeated to feed the next seedling tray (2) on the feeding mechanism (3). Step 4: After the seedling storage tube (57) moves to the seedling dropping port (58), the slanted cover (515) opens under gravity, and the citrus rootstock seedling falls into the transplanting tube (591). Under the action of the reciprocating screw (5913), the transplanting tube (591) moves downward. When the T-shaped slider (597) falls and contacts the micro switch (5915), the two semi-conical nozzles (594) will slowly open. At this time, the two semi-conical nozzles (594) are inserted downward into the soil, and the soil is... After the soil is opened, the citrus rootstock seedling falls into the soil, completing the transplanting. At the same time, the transplanting cylinder (591) moves upward under the action of the reciprocating screw (5913). When the T-shaped slider (597) moves upward, it contacts the micro switch (5915) again, and the two semi-conical nozzles (594) slowly close. When the transplanting cylinder (591) moves to the highest point, the citrus rootstock seedling in the next seedling storage cylinder (57) falls down again for the next transplanting. The transplanting work is carried out continuously in a cycle.

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