A universal and adjustable device for automatically taking and delivering tobacco seedlings in a row

Abstract

The present invention is applicable to the field of transplanting seedlings, and is specifically a universal and adjustable whole-row tobacco automatic seedling taking and delivery device, comprising a seedling taking mechanism, which is mounted on a flipping mechanism, and the flipping mechanism transfers the seedling taking mechanism from the seedling taking station to the seedling placing station; the seedling taking mechanism comprises a plurality of seedling taking clamps, which are arranged in sequence on an adjustable fixed plate, and the adjustable fixed plate comprises a support base and a support plate fixedly mounted on one side of the support base, and a plurality of guide sliding holes are provided on the support plate at equal intervals; the flipping mechanism comprises a fixed slide plate, and a second stepping motor is fixedly mounted on the fixed slide plate, and the output shaft of the second stepping motor is fixedly connected to one end of a Z-shaped connecting rod; and a sliding rod is hingedly connected at the other end of the Z-shaped connecting rod. The seedling taking and delivery device of the present invention can be applied to tobacco seedling plug trays of different sizes and specifications, and has strong versatility and wide applicability; and the present invention can realize the whole-row taking and delivery of tobacco seedlings in the plug tray, which greatly improves the efficiency of taking and delivering tobacco seedlings.

Description

Technical Field

[0001] The invention belongs to the technical field of transplanting seedlings, and in particular relates to a universal and adjustable device for automatically taking and delivering seedlings of a whole row of tobacco. Background Art

[0002] As an economic crop with huge economic benefits, tobacco has an extremely wide range of cultivation.

[0003] In the existing technology, there are few tobacco transplanters, and the degree of automation is not high. Most of them are semi-automatic transplanters, which require manual and machine cooperation. Manual seedling picking and seedling planting, and machine transplanting, the transplanting efficiency is greatly affected by manual labor. With the increase of labor costs, transplanters that can replace manual seedling picking and seedling planting are also innovating and developing.

[0004] At present, there are several commonly used automatic seedling removal methods: the first is the pin-insertion type, which inserts the seedling removal probe into the pot body to bring out the pot seedlings; the second is the ejection type, which pushes the pot seedlings out from the small hole at the bottom of the seedling tray; the third is the clamping type, which clamps the stems and pulls out the pot seedlings. The inventor found that in the current related technologies of the automatic tobacco seedling removal and delivery device, the seedling removal and delivery device has poor versatility and cannot adapt to plug trays of different specifications and sizes. Different delivery mechanisms need to be replaced for different plug tray seedling substrate sizes, which has the problem of low universality, and the efficiency of the seedling removal and delivery device for tobacco seedlings is low. Summary of the invention

[0005] The purpose of the embodiment of the present invention is to provide a universal and adjustable whole-row tobacco seedling automatic taking and delivering device, aiming to solve the technical problems of poor universality and low efficiency of taking and delivering seedlings in the current automatic tobacco seedling taking and delivering device.

[0006] The embodiment of the present invention is implemented as follows: a universal and adjustable whole-row tobacco automatic seedling taking and sending device comprises a seedling taking mechanism, wherein the seedling taking mechanism is installed on a flipping mechanism, and the flipping mechanism transfers the seedling taking mechanism from a seedling taking station to a seedling placing station, wherein the seedling taking station is located above a seedling sending conveyor belt, and the seedling placing station is located above a seedling guide tube;

[0007] The seedling taking mechanism comprises a plurality of seedling taking clamps, which are arranged in sequence on an adjustable fixing plate, wherein the adjustable fixing plate comprises a supporting pedestal and a support plate fixedly mounted on one side of the supporting pedestal, and a plurality of guide sliding holes are provided on the support plate at equal intervals;

[0008] The seedling clip comprises a push rod and a mounting support, the top end of the push rod is fixedly connected to the column rod; the mounting support is fixedly mounted on the lower surface of the adjustable fixing plate, the front and rear ends of the mounting support are hingedly connected to be provided with a seedling rod, and the bottom ends of the two seedling rods of each seedling clip are detachably mounted with an end effector;

[0009] The flip mechanism comprises a fixed slide plate, on which a second stepper motor is fixedly mounted, and an output shaft of the second stepper motor is fixedly connected to one end of a Z-shaped connecting rod; and a sliding rod is hingedly connected to the other end of the Z-shaped connecting rod.

[0010] Furthermore, the seedling conveyor belt support is arranged on a conveyor frame, and a first stepper motor for driving the seedling conveyor belt to perform conveying operation is installed on the conveyor frame;

[0011] The seedling guide tube is located on one side of the seedling conveyor belt.

[0012] Furthermore, a mounting hole is provided on the column rod, and the top end of the push rod is fixedly installed in the mounting hole; the push rod passing through the mounting hole is fixedly connected by bolts, and a plurality of screw holes matching with the bolts are opened at equal intervals on the push rod.

[0013] Furthermore, the bottom end of the seedling removal rod is fixedly connected to the end effector by means of mounting screws; the end effector is structured according to the mouth shape of a white gull.

[0014] Furthermore, the seedling picking clamp also includes a lifting support, which is fixedly mounted on the bottom end of the top rod; both ends of the lifting support are hingedly connected to each other with adjustable connecting pieces, and the other ends of the two adjustable connecting pieces are respectively connected to the upper parts of the two seedling picking rods through hinge shafts;

[0015] The adjustable connecting piece includes a first connecting piece and a second connecting piece, one end of the first connecting piece is hinged to the seedling rod, one end of the second connecting piece is hinged to the end of the lifting support, the other end of the first connecting piece is fixedly provided with a connecting protrusion, the other end of the second connecting piece is provided with a connecting groove matching with the connecting protrusion, and the connecting protrusion extending into the connecting groove is fixed by bolts; a plurality of screw holes are provided on the connecting protrusion and the second connecting piece for fixing the connecting protrusion in the connecting groove by bolts, and the length of the connecting protrusion extended and fixed in the connecting groove can be adjusted as needed.

[0016] Furthermore, a third stepper motor is installed on the adjustable fixing plate, a cam is installed on the output shaft of the third stepper motor, and the outer arc surface of the cam slides against the column rod, so that when the third stepper motor drives the cam to rotate, the column rod can be periodically pushed up and down, thereby realizing the action of multiple seedling clamps taking or placing seedlings at the same time, and realizing the whole row of tobacco seedlings.

[0017] The third stepping motor is fixedly mounted on the supporting pedestal.

[0018] Furthermore, the flipping mechanism is mounted on an adjustable gantry, and the adjustable gantry support is fixedly mounted on the conveying frame; the fixed slide plate is fixedly mounted on the adjustable gantry;

[0019] A first connecting plate is fixedly provided at the bottom end of the slide rod, and the first connecting plate is fixedly connected to a second connecting plate provided on the support plate.

[0020] Furthermore, the second stepper motor is a stepper motor with forward and reverse rotation functions, and the rotation of the second stepper motor drives the Z-shaped connecting rod to achieve a rotation range of 0 degrees to 180 degrees.

[0021] Furthermore, the flipping mechanism also includes a guide member for guiding the vertical movement of the sliding rod, the guide member includes a sliding block, a first guide groove is opened on the rear side of the sliding block, a second guide groove is opened on the front side of the sliding block, and the sliding rod is slidably connected to the second guide groove; the guide member also includes a supporting guide rail fixedly installed on the adjustable gantry, the supporting guide rail is slidably connected to the first guide groove, the sliding block can slide along the supporting guide rail, and the sliding block plays a role in guiding the displacement of the sliding rod in the vertical direction.

[0022] Compared with the prior art, the universal and adjustable whole-row tobacco automatic seedling taking and delivering device of the present invention has the following beneficial effects:

[0023] First, the turning mechanism of the present invention transfers the seedling picking mechanism from the seedling picking station to the seedling placing station, the seedling picking station is located above the seedling conveyor belt, and the seedling placing station is located above the seedling guide tube. When the turning mechanism places the seedling picking mechanism at the seedling picking station, the seedling picking mechanism is used to synchronously grab all tobacco seedlings in a row of plug trays on the seedling conveyor belt. After grabbing the tobacco seedlings, the turning mechanism is used again to transfer the seedling picking mechanism that has grabbed the tobacco seedlings to the seedling placing station, and then the seedling picking mechanism is activated to release the tobacco seedlings, so that the tobacco seedlings fall onto the seedling guide tube, and the seedling guide tube is further used to transplant the tobacco seedlings.

[0024] Second, since the length of the adjustable connecting piece is adjustable, the two seedling rods are brought closer together, driving the opening of the two end effectors for clamping the plug tray tobacco seedlings to become larger or smaller, thereby improving the versatility of the seedling clamp, being suitable for plug tray tobacco seedlings of different sizes and specifications, and having good flexibility;

[0025] Thirdly, the multiple seedling clamps of the present invention are arranged in sequence on an adjustable fixed plate, and the top end of the top rod of each seedling clamp is fixedly connected to the column rod, so that the column rod is moved up or down, and the multiple seedling clamps can be synchronously driven to perform seedling picking and seedling placing actions; it is suitable for picking up and placing a whole row of tobacco seedlings in a plug tray; because the number of guide slide holes is greater than the number of seedling clamps, during specific implementation, the installation distance of the seedling clamps can be reasonably configured on the guide slide holes according to the size specifications of the plug tray.

[0026] In summary, the seedling taking and delivering device of the present invention can be used for tobacco seedling plug trays of different sizes and specifications, and has strong versatility and wide applicability. Moreover, the present invention can realize the taking and delivering of a whole row of tobacco seedlings in the plug tray, greatly improving the efficiency of taking and delivering tobacco seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0028] Figure 1 It is a three-dimensional structural diagram of a universal and adjustable device for automatically taking and delivering tobacco seedlings in a row according to the present invention;

[0029] Figure 2 It is a structural schematic diagram of the seedling taking mechanism in the universal and adjustable whole-row tobacco automatic seedling taking and delivering device of the present invention;

[0030] Figure 3 A schematic diagram of the structure of the seedling picking clamp in the seedling picking mechanism provided by the present invention;

[0031] Figure 4 A schematic diagram of the structure of the end effector in the seedling removal clamp provided by the present invention;

[0032] Figure 5 A schematic diagram of the structure of an adjustable connecting piece in the seedling removal clamp provided by the present invention;

[0033] Figure 6 It is a structural schematic diagram of the turning mechanism in the universal and adjustable whole-row tobacco seedling automatic taking and delivering device of the present invention;

[0034] Figure 7 This is a schematic structural diagram of an adjustable fixing plate in the seedling taking mechanism provided by the present invention.

[0035] The reference numerals are as follows:

[0036] 1. First stepper motor; 2. Seedling conveyor belt; 3. Seedling guide tube; 4. Turning mechanism; 5. Adjustable gantry; 6. Cam; 7. Seedling removal mechanism; 8. Slider; 9. Adjustable fixing plate; 10. End effector; 11. Second stepper motor; 12. Third stepper motor;

[0037] 4001, fixed slide plate;

[0038] 4002, Z-shaped connecting rod;

[0039] 4003, sliding rod; 40031, first connecting plate;

[0040] 7001, mounting support; 7002, mounting hole; 7003, column; 7004, lifting support; 7005, seedling removal rod; 7006, adjustable connecting piece; 7007, hinge shaft; 7008, top rod; 7009, mounting screw;

[0041] 70061, first connecting piece; 70062, connecting protrusion; 70063, second connecting piece; 70064, connecting groove;

[0042] 81. Support guide rail; 82. First guide groove; 83. Second guide groove;

[0043] 91. Support pedestal; 92. Support plate; 93. Guide slide hole; 94. Second connecting plate. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0045] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0046] Please refer to Figure 1 In one embodiment of the present invention, a universal and adjustable automatic seedling picking and delivering device for a whole row of tobacco is provided, which comprises a seedling picking mechanism 7, wherein the seedling picking mechanism 7 is mounted on a flipping mechanism 4, and the flipping mechanism 4 is used to transfer the seedling picking mechanism 7 between the seedling delivering conveyor belt 2 and the seedling guiding tube 3, so that the tobacco seedlings grabbed by the seedling picking mechanism 7 from the seedling delivering conveyor belt 2 are delivered to the seedling guiding tube 3.

[0047] For details, please continue to refer to Figure 1 In the embodiment of the present invention, the seedling conveying conveyor belt 2 is supported and arranged on a conveying frame, and a first stepper motor 1 for driving the seedling conveying conveyor belt 2 to perform conveying operation is installed on the conveying frame.

[0048] Preferably, the seedling guide tube 3 provided in the embodiment of the present invention is located on one side of the seedling conveyor belt 2. The present invention transfers the seedling retrieval mechanism 7 from the seedling retrieval station to the seedling placing station through the flipping mechanism 4. The seedling retrieval station is located above the seedling conveyor belt 2, and the seedling placing station is located above the seedling guide tube 3. When the flipping mechanism 4 makes the seedling retrieval mechanism 7 be in the seedling retrieval station, the seedling retrieval mechanism 7 is used to synchronously grab all the tobacco seedlings in the entire row of hole trays on the seedling conveyor belt 2. After grabbing the tobacco seedlings, the flipping mechanism 4 is used again to transfer the seedling retrieval mechanism 7 that has picked up the tobacco seedlings to the seedling placing station, and then the seedling retrieval mechanism 7 is activated to release the tobacco seedlings, so that the tobacco seedlings fall onto the seedling guide tube 3, and the seedling guide tube 3 is further used to transplant the tobacco seedlings.

[0049] like Figure 1-Figure 5 As shown, in a preferred embodiment of the seedling taking mechanism 7 provided by the present invention, the seedling taking mechanism 7 provided by the embodiment of the present invention comprises a plurality of seedling taking clamps, and the plurality of seedling taking clamps are sequentially arranged on the adjustable fixing plate 9;

[0050] Wherein, the seedling taking clamp includes a push rod 7008, the top end of the push rod 7008 is fixedly connected to the column 7003, wherein the column 7003 is provided with a mounting hole 7002, and the top end of the push rod 7008 is fixedly installed in the mounting hole 7002; optionally, the push rod 7008 is arranged through the mounting hole 7002, and the push rod 7008 passing through the mounting hole 7002 is fixedly connected by a bolt. In an optional embodiment, a plurality of screw holes matching with the bolts are provided at equal intervals on the push rod 7008, and the position of the push rod 7008 when installed on the column 7003 can be adjusted as needed, that is, after adjusting the height position of the push rod 7008 relative to the column 7003, the bolt is installed in the corresponding screw hole;

[0051] Furthermore, the seedling clamp also includes a mounting support 7001, which is fixedly mounted on the lower surface of the adjustable fixing plate 9. The front and rear ends of the mounting support 7001 are hingedly connected with seedling rods 7005. The bottom ends of the two seedling rods 7005 of each seedling clamp are detachably mounted with end effectors 10. Optionally, the bottom ends of the seedling rods 7005 and the end effector 10 are fixedly connected by mounting screws 7009.

[0052] Preferably, the end effector 10 is designed according to the mouth shape of a white spoonbill, and can also clamp the tobacco seedlings when the moisture content of the substrate is different. In addition, the present invention can replace the end effector 10 with different structures.

[0053] Please continue reading Figure 2 and Figure 3 The seedling removal clamp provided in the embodiment of the present invention further includes a lifting support 7004, which is fixedly mounted on the bottom end of a top rod 7008, and the top rod 7008 is slidably arranged on the mounting support 7001 up and down, that is, the top rod 7008 can pass through the mounting support 7001 to move up and down;

[0054] Both ends of the lifting support 7004 are hingedly connected with adjustable connecting pieces 7006, and the other ends of the two adjustable connecting pieces 7006 are respectively connected to the upper parts of the two seedling picking rods 7005 through hinge shafts 7007, so that when the top rod 7008 moves downward to drive the lifting support 7004 to move downward, the two seedling picking rods 7005 are pulled closer to each other under the pulling action of the adjustable connecting piece 7006, thereby driving the two end effectors 10 to move closer to each other, thereby clamping the tobacco seedlings in the hole tray, that is, the seedling picking process.

[0055] In an optional embodiment of the adjustable connecting piece 7006, as Figure 5As shown, the adjustable connecting piece 7006 includes a first connecting piece 70061 and a second connecting piece 70063. One end of the first connecting piece 70061 is hinged to the seedling picking rod 7005, and one end of the second connecting piece 70063 is hinged to the end of the lifting support 7004. In addition, the other end of the first connecting piece 70061 is fixedly provided with a connecting protrusion 70062, and the other end of the second connecting piece 70063 is provided with a connecting groove 70064 that matches the connecting protrusion 70062 and extends into the connecting groove 70064. The connecting protrusion 70062 in the connecting groove 70064 is fixed by bolts; optionally, the connecting protrusion 70062 and the second connecting piece 70063 are provided with a plurality of screw holes for fixing the connecting protrusion 70062 in the connecting groove 70064 by bolts, and the length of the connecting protrusion 70062 inserted into the connecting groove 70064 can be adjusted as needed. In specific operation, the connecting protrusion 70062 is first inserted into the connecting groove 70064 to the required length, and then fixed by bolts;

[0056] It can be understood that since the length of the adjustable connecting piece 7006 is adjustable, the two seedling rods 7005 are brought closer together, driving the opening of the two end effectors 10 for clamping the tobacco seedlings in the plug tray to become larger or smaller, thereby improving the versatility of the seedling clamp, making it suitable for tobacco seedlings in plug trays of different sizes and specifications, and having good flexibility.

[0057] Please continue reading Figure 1 and Figure 2 In the embodiment of the present invention, a plurality of seedling taking clamps of the present invention are arranged in sequence on the adjustable fixing plate 9, and the top end of the top rod 7008 of each seedling taking clamp is fixedly connected to the column 7003. Therefore, as long as the column 7003 is moved up or down, the plurality of seedling taking clamps can be synchronously driven to perform seedling taking and seedling placing actions;

[0058] Among them, a third stepper motor 12 is installed on the adjustable fixed plate 9, and a cam 6 is installed on the output shaft of the third stepper motor 12. The outer arc surface of the cam 6 slides against the column rod 7003, so that when the third stepper motor 12 drives the cam 6 to rotate, it can periodically push the column rod 7003 to move up and down, thereby realizing the action of multiple seedling clamps to take or release seedlings at the same time, and realizing the whole row of tobacco seedlings.

[0059] In an optional embodiment of the present invention, Figure 7As shown, the adjustable fixing plate 9 includes a support base 91 and a support plate 92 fixedly mounted on one side of the support base 91. A plurality of guide sliding holes 93 are provided on the support plate 92 at equal intervals. The number of the guide sliding holes 93 is greater than the number of the seedling clips. The seedling clips can be adjusted to be installed on the corresponding guide sliding holes 93 as needed. Specifically, when a seedling clip is installed in each guide sliding hole 93, the seedling spacing H of each seedling clip is the distance between adjacent guide sliding holes 93. When the size of the tobacco seedling hole tray is large, the corresponding adjacent seedling spacing becomes larger. The seedling clips can be selectively installed in the corresponding guide sliding holes 93 as needed, such as installing seedling clips in the first, third, and fifth guide sliding holes 93. At this time, the seedling spacing is 2H. In specific implementation, the installation distance of the seedling clips can be reasonably configured on the guide sliding holes 93 according to the size specifications of the hole tray.

[0060] Furthermore, the third stepper motor 12 is fixedly mounted on the support base 91 .

[0061] Please continue reading Figure 1 , Figure 2 and Figure 6 In the embodiment of the present invention, the flipping mechanism 4 is mounted on an adjustable gantry 5, and the adjustable gantry 5 is supported and fixedly mounted on the conveying frame;

[0062] In an optional embodiment of the present disclosure, the provided flipping mechanism 4 includes a fixed slide 4001 fixedly mounted on the adjustable gantry 5, a second stepper motor 11 is fixedly mounted on the fixed slide 4001, and an output shaft of the second stepper motor 11 is fixedly connected to one end of a Z-shaped connecting rod 4002, so that when the second stepper motor 11 is started, the Z-shaped connecting rod 4002 is driven to rotate around its end connected to the output shaft of the second stepper motor 11;

[0063] The other end of the Z-shaped connecting rod 4002 is hingedly connected to a sliding rod 4003, and the adjustable gantry 5 is also equipped with a guide member for guiding the vertical movement of the sliding rod 4003, and the guide member is arranged so that the sliding rod 4003 can move vertically (without affecting the lateral displacement);

[0064] The bottom end of the slide bar 4003 is fixedly provided with a first connecting plate 40031, and the first connecting plate 40031 is fixedly connected to the second connecting plate 94 provided on the support plate 92. Therefore, when the slide bar 4003 moves vertically, the adjustable fixing plate 9 and the seedling clip on the adjustable fixing plate 9 are driven to move synchronously;

[0065] Therefore, the process of the flipping mechanism 4 of the present invention flipping the seedling retrieval mechanism 7 is as follows: when the second stepper motor 11 is started, it drives the Z-shaped connecting rod 4002 to rotate. During the rotation of the Z-shaped connecting rod 4002, the sliding rod 4003 is pulled to produce a lateral displacement, and the sliding rod 4003 is moved in the vertical direction. Among them, the lateral displacement of the sliding rod 4003 is used to transfer the seedling retrieval mechanism 7 from the seedling retrieval station to the seedling placing station (or from the seedling placing station to the seedling retrieval station), and the vertical displacement of the sliding rod 4003 is used to move the seedling retrieval mechanism 7 up and down, so that the seedling retrieval mechanism 7 can touch the tobacco seedlings in the plug tray on the seedling conveyor belt 2, and release the grabbed tobacco seedlings in the plug tray to the seedling guide tube 3 at a close distance.

[0066] Preferably, the second stepper motor 11 is a stepper motor with forward and reverse rotation functions, and the rotation of the second stepper motor 11 drives the Z-shaped connecting rod 4002 to achieve a rotation range of 0 degrees to 180 degrees.

[0067] Further, such as Figure 6 As shown, the guide member includes a slider 8, a first guide groove 82 is provided on the rear side of the slider 8, a second guide groove 83 is provided on the front side of the slider 8, and the slide bar 4003 is slidably connected to the second guide groove 83; the guide member also includes a support rail 81 fixedly mounted on the adjustable gantry 5, the support rail 81 is slidably connected to the first guide groove 82, the slider 8 can slide along the support rail 81, and the slider 8 plays a role in guiding the displacement of the slide bar 4003 in the vertical direction.

[0068] In summary, the seedling taking and delivering device of the present invention can be used for tobacco seedling plug trays of different sizes and specifications, and has strong versatility and wide applicability. Moreover, the present invention can realize the taking and delivering of a whole row of tobacco seedlings in the plug tray, greatly improving the efficiency of taking and delivering tobacco seedlings.

[0069] The above solutions are only an illustration of a preferred example, but are not limited thereto. When implementing the present invention, appropriate replacement and / or modification can be performed according to user needs.

[0070] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0071] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A universal and adjustable device for automatically taking and delivering tobacco seedlings in a whole row, comprising a seedling taking mechanism (7), characterized in that: The seedling taking mechanism (7) is installed on the turning mechanism (4), and the turning mechanism (4) transfers the seedling taking mechanism (7) from the seedling taking station to the seedling placing station, the seedling taking station is located above the seedling conveyor belt (2), and the seedling placing station is located above the seedling guide tube (3); The seedling removal mechanism (7) comprises a plurality of seedling removal clamps, which are arranged in sequence on an adjustable fixing plate (9), and the adjustable fixing plate (9) comprises a support base (91) and a support plate (92) fixedly mounted on one side of the support base (91), and a plurality of guide sliding holes (93) are formed on the support plate (92) at equal intervals; The seedling retrieval clamp comprises a top rod (7008) and a mounting support (7001), the top end of the top rod (7008) is fixedly connected to the column rod (7003), the mounting support (7001) is fixedly mounted on the lower surface of the adjustable fixing plate (9), the front and rear ends of the mounting support (7001) are hingedly connected to be provided with seedling retrieval rods (7005), and the bottom ends of the two seedling retrieval rods (7005) of each seedling retrieval clamp are detachably mounted with end effectors (10); The flip mechanism (4) comprises a fixed slide plate (4001), a second stepper motor (11) is fixedly mounted on the fixed slide plate (4001), an output shaft of the second stepper motor (11) is fixedly connected to one end of a Z-shaped connecting rod (4002), and a sliding rod (4003) is hingedly connected to the other end of the Z-shaped connecting rod (4002); The flip mechanism (4) further comprises a guide member for guiding the vertical movement of the slide bar (4003), the guide member comprising a slide bar (8), a first guide groove (82) being provided on the rear side of the slide bar (8), a second guide groove (83) being provided on the front side of the slide bar (8), and the slide bar (4003) being slidably connected to the second guide groove (83); The guide member further comprises a support guide rail (81) fixedly mounted on the adjustable gantry (5), wherein the support guide rail (81) is slidably connected to the first guide groove (82).

2. The universal adjustable whole-row tobacco seedling automatic delivery device according to claim 1, characterized in that: The seedling conveying conveyor belt (2) is supported and arranged on a conveying frame, and a first stepper motor (1) is installed on the conveying frame for driving the seedling conveying conveyor belt (2) to perform conveying operation; The seedling guide tube (3) is located on one side of the seedling conveyor belt (2).

3. The universal adjustable whole-row tobacco seedling automatic delivery device according to claim 2, characterized in that: The column (7003) is provided with a mounting hole (7002), and the top end of the push rod (7008) is fixedly mounted in the mounting hole (7002); the push rod (7008) passing through the mounting hole (7002) is fixedly connected by bolts, and a plurality of screw holes matching the bolts are formed on the push rod (7008) at equal intervals.

4. The universal adjustable whole-row tobacco seedling automatic delivery device according to claim 3, characterized in that: The bottom end of the seedling removal rod (7005) is fixedly connected to the end effector (10) by a mounting screw (7009); The end effector (10) is of a white spoonbill mouth type structure.

5. The universal adjustable whole-row tobacco seedling automatic delivery device according to claim 3 or 4, characterized in that: The seedling removal clamp further comprises a lifting support (7004), and the lifting support (7004) is fixedly mounted on the bottom end of the top rod (7008); Both ends of the lifting support (7004) are hingedly connected to be provided with adjustable connecting pieces (7006), and the other ends of the two adjustable connecting pieces (7006) are respectively connected to the upper parts of the two seedling removal rods (7005) via hinge shafts (7007); The adjustable connecting piece (7006) comprises a first connecting piece (70061) and a second connecting piece (70063); One end of the first connecting piece (70061) is hinged to the seedling removal rod (7005), and one end of the second connecting piece (70063) is hinged to the end of the lifting support (7004); A connecting protrusion (70062) is fixedly provided at the other end of the first connecting piece (70061), a connecting groove (70064) matching with the connecting protrusion (70062) is provided at the other end of the second connecting piece (70063), and the connecting protrusion (70062) inserted into the connecting groove (70064) is fixed by means of bolts; A plurality of screw holes are provided on the connecting protrusion (70062) and the second connecting piece (70063).

6. The universal adjustable whole-row tobacco seedling automatic delivery device according to claim 5, characterized in that: A third stepping motor (12) is mounted on the adjustable fixing plate (9), a cam (6) is mounted on the output shaft of the third stepping motor (12), and the outer arc surface of the cam (6) slides against the column rod (7003); The third stepping motor (12) is fixedly mounted on the supporting base (91).

7. The universal adjustable whole-row tobacco seedling automatic delivery device according to claim 6, characterized in that: The flipping mechanism (4) is mounted on an adjustable gantry (5), and the adjustable gantry (5) is supported and fixedly mounted on a conveying frame; the fixed slide plate (4001) is fixedly mounted on the adjustable gantry (5); A first connecting plate (40031) is fixedly provided at the bottom end of the sliding rod (4003), and the first connecting plate (40031) is fixedly connected to a second connecting plate (94) provided on the supporting plate (92).

8. The universal adjustable whole-row tobacco seedling automatic delivery device according to claim 7, characterized in that: The second stepper motor (11) is a stepper motor with forward and reverse rotation functions.

Images