Transplanter and automatic seedling taking device thereof

Abstract

A transplanting machine and an automatic seedling taking device thereof, the transplanting machine comprising the automatic seedling taking device, which is installed on the transplanting machine and comprises: a frame on which a gearbox is installed; a seedling feeding mechanism installed on the frame and located above the front side of the frame; a seedling lifting mechanism installed below the seedling taking position of the seedling feeding mechanism and corresponding to the seedling tray; a seedling taking mechanism installed on the frame and located behind the seedling feeding mechanism, the seedling taking mechanism being connected with the gearbox and driven by the gearbox; a seedling separating mechanism installed on the frame and located below the seedling taking mechanism; the seedling taking mechanism clamps and takes out the seedling stem or the substrate in the seedling tray and feeds into the seedling separating mechanism; and a planting mechanism installed below the seedling separating mechanism, which plants the seedlings fed out by the seedling separating mechanism into the soil one by one; wherein the automatic seedling taking device has a clamping seedling stem mode and a clamping substrate mode, in the clamping seedling stem mode, the seedling taking mechanism works independently; in the clamping substrate mode, the seedling taking mechanism and the seedling lifting mechanism work cooperatively.

Description

Technical Field

[0001] This invention relates to agricultural seedling transplanting technology, and in particular to a transplanting machine with stable movement that can automatically pick up and place seedlings, and its automatic seedling picking device. Background Technology

[0002] Seedling transplanting technology can shorten the production cycle, improve crop survival rate and multiple cropping index, and increase economic benefits. Currently, most transplanting relies on semi-automatic transplanters. However, semi-automatic transplanting limits efficiency and is labor-intensive, making it unsuitable for large-scale operations and hindering large-scale production. Semi-automatic transplanting involves manually removing seedlings from pots and placing them on conveyor belts or directly into planting devices. Due to the limited speed of manual seedling feeding, a large number of workers are required, resulting in low efficiency and unsuitability for completing large-scale transplanting in a short time, thus the mechanization benefits are not significant. Furthermore, in some sparsely populated areas with large planting areas, labor shortages hinder the promotion of semi-automatic transplanting. In addition, the use of transplanting in conjunction with drip irrigation technology requires rapid completion of transplanting across entire fields, placing higher demands on the speed of transplanters. Because of the limitations imposed by manual seedling feeding speed, semi-automatic transplanters suffer from low efficiency and limited economic benefits, thus hindering their widespread adoption. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing a transplanter with stable movement and automatic seedling picking and placing, as well as an automatic seedling picking device.

[0004] To achieve the above objectives, the present invention provides an automatic seedling picking device, installed on a transplanter, comprising:

[0005] A frame on which a gearbox is mounted;

[0006] A seedling feeding mechanism is installed on the frame and located above the front side of the frame. It is used to feed the seedling trays row by row to complete the seedling feeding work.

[0007] The seedling-lifting mechanism is installed below the seedling-to-be-picked position of the seedling-delivery mechanism and is set accordingly to the seedling tray, and is used to lift out the entire row of seedlings to be picked out in intervals.

[0008] A seedling-collecting mechanism is installed on the frame and located behind the seedling-delivering mechanism. The seedling-collecting mechanism is connected to and driven by the gearbox.

[0009] A seedling separating mechanism is installed on the frame and located below the seedling picking mechanism; the seedling picking mechanism clamps and removes seedling stems or substrate from the seedling tray and places them into the seedling separating mechanism; and

[0010] A planting mechanism is installed below the seedling separating mechanism to plant the seedlings that are thrown out by the seedling separating mechanism one by one into the soil;

[0011] The automatic seedling picking device has a seedling stem picking mode and a substrate picking mode. In the seedling stem picking mode, the seedling picking mechanism works independently; in the substrate picking mode, the seedling picking mechanism and the seedling lifting mechanism work together.

[0012] The aforementioned automatic seedling-collecting device, wherein the seedling-collecting mechanism includes:

[0013] A non-circular gearbox is mounted on the frame via a support base;

[0014] A square shaft, one end of which is coaxially connected to the planetary gear shaft of the non-circular gearbox, and the other end of which is connected to another support base;

[0015] A push rod is mounted parallel to the square shaft and slides back and forth along the axial direction of the planetary gears of the non-circular gearbox; the push rod is provided with multiple baffles and push rod tension springs;

[0016] A clamping cam is installed on the outside of the non-circular gearbox;

[0017] A seedling-clamping roller is mounted on the end of the push rod and contacts the seedling-clamping cam; and

[0018] The seedling claw component is mounted on the square shaft and connected to the baffle of the push rod. The seedling claw component changes its posture as the non-circular gearbox swings to achieve seedling picking and seedling placement.

[0019] The aforementioned automatic seedling picking device, wherein the seedling claw component includes:

[0020] A seedling claw fixing seat is installed on the square shaft;

[0021] The seedling claw opening and closing roller is installed on the seedling claw fixing seat and abuts against the baffle of the push rod;

[0022] The seedling claw, with its tip connected to the seedling claw opening and closing roller; and

[0023] A seedling claw tension spring is installed below the seedling claw fixing seat, and the two ends of the seedling claw tension spring are respectively connected to the seedling claw.

[0024] In the aforementioned automatic seedling picking device, when the non-circular gearbox rotates, the seedling clamping roller and seedling claw rotate with the planetary gear shaft under the drive of the square shaft. When the seedling clamping roller contacts the high point of the seedling clamping cam, the push rod slides away from the non-circular gearbox, and the seedling claw closes. When the seedling clamping roller contacts the low point of the seedling clamping cam, the push rod slides towards the non-circular gearbox, and the seedling claw opens.

[0025] The aforementioned automatic seedling receiving device, wherein the seedling separating mechanism includes:

[0026] The seedling divider is located below the seedling claw component;

[0027] A swing-type seedling receiving plate is set at the entrance of the seedling separating tube;

[0028] A swing cam is connected to the swing seedling receiving plate via a swing lever. The upper end of the swing lever is connected to the swing seedling receiving plate via a connecting rod. A swing roller is provided at the lower end of the swing lever, and the swing roller is always in contact with the swing cam. The swing lever drives the swing seedling receiving plate to swing left and right to adapt to seedling placement at different positions.

[0029] A seedling separating cam, positioned below the swinging seedling receiving plate, is used to cause the seedlings falling into the separating cylinder one by one; and

[0030] The seedling drop outlet is located at the outlet of the seedling tube, allowing each seedling to fall into the planting mechanism.

[0031] In the aforementioned automatic seedling receiving device, the swing roller is in contact with the swing cam via a tension spring. Under the action of the tension spring, when the swing roller contacts the high point of the swing cam, the upper end of the swing lever swings to one side, causing the swing seedling receiving plate to swing to the same side; when the swing roller contacts the low point of the swing cam, the upper end of the swing lever swings to the other side, causing the swing seedling receiving plate to swing to the other side.

[0032] In the above-mentioned automatic seedling retrieval device, the seedling lifting mechanism includes a bracket, a cylinder, and a seedling lifting rod. The seedling lifting rod is mounted on the bracket, and the cylinder is connected to the bracket. The seedling lifting rod is set corresponding to the seedling tray of the seedling delivery mechanism. When the seedling delivery mechanism delivers the seedling tray to the seedling retrieval position, the cylinder drives the seedling lifting rod to push the seedling out of the seedling tray.

[0033] In the above-mentioned automatic seedling picking device, the seedling feeding mechanism feeds the seedling trays intermittently row by row, and the seedling lifting mechanism and the seedling picking mechanism are respectively set into two groups, which work together to pick up the seedlings at intervals when picking up the whole row in sequence.

[0034] In the aforementioned automatic seedling picking device, the seedling feeding mechanism intermittently feeds seedling trays row by row, and the seedling lifting mechanism pushes out the seedlings to be picked up from the trays and separates the seedlings from the trays; the seedling picking mechanism reaches the seedling clamping position and clamps the substrate part of the seedling that has been pushed out, while the seedling lifting mechanism retracts; the seedling picking mechanism moves the seedling clamped to the top of the seedling separating mechanism and throws it out, the seedlings fall into the seedling separating mechanism and fall one by one into the planting mechanism, where the planting mechanism completes the planting.

[0035] To better achieve the above objectives, the present invention also provides a transplanter, which includes the above-described automatic seedling picking device.

[0036] The technical effects of this invention are as follows:

[0037] This invention enables efficient automatic crop transplanting. During operation, it offers two modes: stem clamping (seedling claws work independently) and substrate clamping (seedling stalk and claws work together), suitable for leafy vegetables and solanaceous vegetables. Employing a rotary seedling-grabbing mechanism and a staggered arrangement of seedling claws combined with a swing-type seedling guide tube, it improves seedling-grabbing speed, eliminates the lateral movement of the seedling tray, and ensures stable operation even at high speeds. This reduces labor intensity, increases transplanting efficiency, and effectively promotes the widespread adoption and use of transplanters.

[0038] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of an automatic seedling harvesting device according to an embodiment of the present invention;

[0040] Figure 2 for Figure 1 Side view;

[0041] Figure 3 This is a schematic diagram of a seedling-collecting mechanism according to an embodiment of the present invention;

[0042] Figure 4 for Figure 3 Top view;

[0043] Figure 5 This is a schematic diagram of the seedling claw component structure according to an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of a seedling separation mechanism according to an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the seedling-topping mechanism according to an embodiment of the present invention.

[0046] Among them, the attached figures are labeled

[0047] 1 rack

[0048] 2. Seedling delivery agencies

[0049] 3 Seedling Collection Centers

[0050] 31 Non-circular gearbox

[0051] 32-clamp cam

[0052] 33 seedling rollers

[0053] 34 putter

[0054] 341 baffle

[0055] 342 push rod tension spring

[0056] 35 Seedling Claw Components

[0057] 351 Seedling Claw Fixing Base

[0058] 352 Miao Claws

[0059] 353 Seedling Claw Opening and Closing Roller

[0060] 354 Miao Claw Spring

[0061] 36 square shaft

[0062] 4 seedling organization

[0063] 41 Swinging Seedling Plate

[0064] 42-point cam

[0065] 43 Oscillating Cam

[0066] 44 Swing Rod

[0067] 45 Luomiaokou

[0068] 46-point seedling tube

[0069] 5 gearboxes

[0070] 6 Planting Institutions

[0071] 7-top seedling organization

[0072] 71 cylinder

[0073] 72 seedlings Detailed Implementation

[0074] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0075] Figure 1 This is a schematic diagram of an automatic seedling harvesting device according to an embodiment of the present invention. Figure 2 for Figure 1 The side view of the automatic seedling picking device of the present invention. The automatic seedling picking device of the present invention can be mounted on a transplanter. The composition, structure, relative position, connection relationship and function of other parts of the transplanter are all mature existing technologies, so they will not be described in detail here. The automatic seedling picking device of the present invention will be described in detail below.

[0076] like Figure 1 and Figure 2As shown, the automatic seedling receiving device of this application includes: a frame 1, on which a gearbox 5 is installed and fixed in the middle of the seedling separating mechanism 4; a seedling feeding mechanism 2, installed on the frame 1 and fixed above the front side of the frame 1, for feeding seedling trays row by row to complete the seedling feeding work; a seedling lifting mechanism 7, installed below the seedling position to be picked up by the seedling feeding mechanism 2 and set corresponding to the seedling tray, for lifting out the entire row of seedlings to be picked up in intervals; and a seedling picking mechanism 3, installed and fixed on the frame 1 and located behind the seedling feeding mechanism 2, the seedling picking mechanism 3 being connected to and driven by the gearbox 5, for gripping the seedling stem (or substrate) and picking it out. The seedling separation mechanism 4 is installed and fixed on the frame 1 and located below the seedling picking mechanism 3. It catches the seedlings thrown out by the seedling claws 352 and throws them out one by one. The seedling picking mechanism 3 picks up the seedling stems or substrate from the seedling tray and puts them into the seedling separation mechanism 4. The planting mechanism 6 is installed below the seedling separation mechanism 4 and located on both sides of the lower end of the gearbox 5. It plants the seedlings thrown out one by one by the seedling separation mechanism 4 into the soil. The automatic seedling picking device has a seedling stem picking mode and a substrate picking mode. In the seedling stem picking mode, the seedling picking mechanism 3 works independently. In the substrate picking mode, the seedling picking mechanism 3 and the seedling lifting mechanism 7 work together. The seedling feeding mechanism 2 feeds the seedling trays intermittently row by row. The seedling lifting mechanism 7 and the seedling picking mechanism 3 are respectively set into two groups. When the seedlings are picked out row by row in sequence, the seedlings are picked out at intervals. The seedling feeding mechanism 2 feeds the seedling trays intermittently row by row, and the seedling lifting mechanism 7 pushes out the seedlings to be picked up from the trays and separates the seedlings from the trays; the seedling picking mechanism 3 reaches the seedling clamping position and clamps the substrate part of the seedling that has been pushed out, while the seedling lifting mechanism 7 retracts; the seedling picking mechanism 3 moves the seedling clamping mechanism 3 to the top of the seedling separating mechanism 4 and throws it out, the seedlings fall into the seedling separating mechanism 4 and fall one by one into the planting mechanism 6, and the planting mechanism 6 completes the planting.

[0077] See Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of the seedling-taking mechanism 3 according to an embodiment of the present invention. Figure 4 for Figure 3A top view. The seedling-taking mechanism 3 of this embodiment includes: a non-circular gearbox 31, mounted on the frame 1 via a support base; a square shaft 36, one end of which is coaxially connected to the planetary gear shaft of the non-circular gearbox 31, and the other end of which is connected to another support base; a push rod 34, mounted parallel to the square shaft 36, and sliding back and forth along the axial direction of the planetary gear shaft of the non-circular gearbox 31; the push rod 34 is provided with multiple baffles 341 and push rod tension springs 342, the baffles 341 always maintaining contact with the seedling claw opening and closing rollers 353, thereby driving the seedling claws 353. 2. Opening or closing; one end of the push rod tension spring 342 is connected to the push rod 34, and the other end of the push rod tension spring 342 is fixedly connected to the square shaft 36; the seedling clamping cam 32 is fixedly installed on the outside of the non-circular gear box 31 by bolt connection; the seedling clamping roller 33 is installed and fixed at the end of the push rod 34 and contacts the seedling clamping cam 32; and the seedling claw component 35 is installed on the square shaft 36 and connected to the baffle 341 of the push rod 34. The seedling claw component 35 changes its posture with the swing of the non-circular gear box 31 to realize seedling picking and seedling placement.

[0078] See Figure 5 , Figure 5 This is a schematic diagram of the seedling claw component 35 according to an embodiment of the present invention. The seedling claw component 35 of this embodiment includes: a seedling claw fixing seat 351, which is mounted on the square shaft 36; a seedling claw opening and closing roller 353, which is mounted on the seedling claw fixing seat 351 and abuts against the baffle 341 of the push rod 34; a seedling claw 352, the top end of which is connected to the seedling claw opening and closing roller 353; and a seedling claw tension spring 354, which is mounted below the seedling claw fixing seat 351, with both ends of the seedling claw tension spring 354 respectively connected to the seedling claw 352. When the non-circular gearbox 31 rotates, the seedling clamping roller 33 and the seedling claw 352 rotate with the planetary gear shaft under the drive of the square shaft 36. When the seedling clamping roller 33 contacts the high point of the seedling clamping cam 32, the push rod 34 slides away from the non-circular gearbox 31, and the seedling claw 352 closes. When the seedling clamping roller 33 contacts the low point of the seedling clamping cam 32, the push rod 34 slides towards the non-circular gearbox 31 under the action of the push rod tension spring 342, and the seedling claw 352 opens under the action of the seedling claw tension spring 354. During this process, the seedling claw 352 swings and changes posture with the non-circular gearbox 31 to meet the requirements of seedling picking and placing operations.

[0079] See Figure 6 , Figure 6This is a schematic diagram of the seedling separation mechanism 4 according to an embodiment of the present invention. In this embodiment, the seedling separation mechanism 4 includes: a seedling separation cylinder 46, disposed below the seedling claw component 35; a swing receiving plate 41, disposed at the entrance of the seedling separation cylinder 46; a swing cam 43, connected to the swing receiving plate 41 via a swing pull rod 44, the upper end of the swing pull rod 44 being connected to the swing receiving plate 41 via a connecting rod; a swing roller is provided at the lower end of the swing pull rod 44, the swing roller always contacting the swing cam 43; the swing pull rod 44 drives the swing receiving plate 41 to swing left and right, adapting to seedling placement at different positions; a seedling separation cam 42, disposed below the swing receiving plate 41, used to make the seedlings falling into the seedling separation cylinder 46 fall one by one; and a seedling dropping outlet 45, disposed at the exit of the seedling separation cylinder 46, so that the falling seedlings fall into the planting mechanism 6. The swing roller is in contact with the swing cam 43 via a tension spring. Under the action of the tension spring, when the swing roller contacts the high point of the swing cam 43, the upper end of the swing lever 44 swings to the right, causing the swing seedling receiving plate 41 to swing to the right; when the swing roller contacts the low point of the swing cam 43, the upper end of the swing lever 44 swings to the left, causing the swing seedling receiving plate 41 to swing to the left.

[0080] See Figure 7 , Figure 7 This is a schematic diagram of the seedling-lifting mechanism 7 according to an embodiment of the present invention. The seedling-lifting mechanism 7 in this embodiment includes a support, a cylinder 71, and a seedling-lifting rod 72. The seedling-lifting rod 72 is mounted on the support, and the cylinder 71 is connected to the support. The seedling-lifting rod 72 is positioned corresponding to the seedling tray of the seedling delivery mechanism 2. When the seedling delivery mechanism 2 delivers the seedling tray to the position where seedlings are to be picked, the cylinder 71 drives the seedling-lifting rod 72 to push the seedlings out of the tray. The seedling-lifting mechanism 7 may include two sets of cylinders 71 and seedling-lifting rods 72, which respectively operate to push out the entire row of seedlings to be picked in two intervals.

[0081] During operation, due to the small spacing between seedlings in the seedling trays, seedlings are removed intermittently to ensure sufficient space for seedling retrieval. The seedling-lifting mechanism 7 and the seedling-retrieval mechanism 3 each consist of two sets of working components, working together to complete the retrieval of entire rows of seedlings. The seedling-separating mechanism 4 oscillates the receiving plate 41 left and right to adapt to different seedling placement positions. The seedling-feeding mechanism 2 feeds the seedling trays intermittently, ensuring the seedling-lifting rod 72 faces the seedling to be retrieved. The seedling-lifting rod 72 is pushed upwards by the cylinder 71. The pin of the seedling-lifting rod 72 penetrates into the seedling substrate, and the seedling separates from the seedling tray under the action of the lifting rod 72. At this time, the seedling claw 352, driven by the non-circular gearbox 31, reaches the seedling-clamping position to hold the substrate portion of the pushed-out seedling, while the seedling-lifting rod 72 retracts. The seedling claw 352, holding the seedling, moves to above the seedling-separating mechanism 4 and throws it out. The seedling falls into the seedling-separating cylinder 46 and, under the action of the seedling-separating cam 42, falls one by one into the planting mechanism 6.

[0082] This invention enables efficient automatic crop transplanting. During operation, it offers two modes: stem clamping (seedling claw 352 works independently) and substrate clamping (top seedling 72 and seedling claw 352 work together). It is suitable for leafy vegetables and solanaceous vegetables. The use of a rotary seedling-grabbing mechanism 3 and a staggered arrangement of the seedling claws 352 combined with a swing-type seedling guide tube improves seedling-grabbing speed, eliminates the lateral movement of the seedling tray, and ensures stable operation even at high speeds. This reduces labor intensity, increases transplanting efficiency, and effectively promotes the widespread adoption and use of transplanters.

[0083] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. An automatic seedling-picking device, installed on a transplanter, characterized in that, The automatic seedling taking device comprises a rack, a seedling feeding mechanism, a seedling lifting mechanism, a seedling taking mechanism, a seedling separating mechanism and a seedling planting mechanism. The seedling feeding mechanism is installed on the rack and above the front side of the rack, and is used for feeding seedling trays row by row to complete the seedling feeding work. The seedling lifting mechanism is installed below the seedling taking position of the seedling feeding mechanism and is arranged correspondingly to the seedling tray, and is used for lifting the whole row of seedlings to be taken out in batches. The seedling taking mechanism is installed on the rack and behind the seedling feeding mechanism, and is connected with and driven by the gearbox. The seedling lifting mechanism and the seedling taking mechanism are correspondingly arranged in two groups to complete the taking out of the seedlings in batches. The seedling separating mechanism is installed on the rack and below the seedling taking mechanism. The seedling taking mechanism takes out the seedling stems or substrates in the seedling tray and puts them into the seedling separating mechanism. The seedling planting mechanism is installed below the seedling separating mechanism and is used for planting the seedlings taken out by the seedling separating mechanism into the soil. The automatic seedling taking device has a stem clamping mode and a substrate clamping mode. In the stem clamping mode, the seedling taking mechanism works independently. In the substrate clamping mode, the seedling taking mechanism and the seedling lifting mechanism work cooperatively. The seedling taking mechanism is of a rotary structure and comprises a non-circular gear box, a square shaft, a push rod, a clamping seedling cam, a clamping seedling roller and a seedling claw component. The non-circular gear box is installed on the rack through a support seat. One end of the square shaft is coaxially connected with the planetary wheel shaft of the non-circular gear box, and the other end of the square shaft is connected with another support seat. The push rod is installed on the square shaft and slides back and forth along the planetary wheel shaft of the non-circular gear box. The push rod is provided with a plurality of baffles and push rod springs. The clamping seedling cam is installed outside the non-circular gear box. The clamping seedling roller is installed at the end of the push rod and is in contact with the clamping seedling cam. The seedling claw component is installed on the square shaft and is connected with the baffles of the push rod. The seedling claw components of the two groups of seedling taking mechanisms are arranged in a staggered manner. The seedling claw component changes its posture with the oscillation of the non-circular gear box to realize the taking and planting of seedlings. The seedling separating mechanism comprises a seedling separating cylinder, an oscillating seedling receiving plate, an oscillating cam, a seedling separating cam and a seedling falling port.

2. The automatic seedling taking apparatus according to claim 1, wherein The seedling claw component comprises a seedling claw fixing seat, a seedling claw opening and closing roller, a seedling claw and a seedling claw spring. The seedling claw fixing seat is installed on the square shaft. The seedling claw opening and closing roller is installed on the seedling claw fixing seat and is in contact with the baffles of the push rod. The seedling claw is connected with the seedling claw opening and closing roller at the top end. The seedling claw spring is installed below the seedling claw fixing seat and is connected with the seedling claw at both ends.

3. The automatic seedling taking apparatus according to claim 2, wherein When the non-circular gear box rotates, the seedling roller and the seedling gripper rotate with the planetary wheel shaft, when the seedling roller contacts with the high point of the seedling cam, the push rod slides to the direction away from the non-circular gear box, and the seedling gripper closes; when the seedling roller contacts with the low point of the seedling cam, the push rod slides to the direction close to the non-circular gear box, and the seedling gripper opens.

4. The automatic seedling taking apparatus according to claim 1, wherein The swing roller contacts with the swing cam through a tension spring, under the action of the tension spring, when the swing roller contacts with the high point of the swing cam, the upper end of the swing pull rod swings to one side, and drives the swing seedling plate to swing to the same side; when the swing roller contacts with the low point of the swing cam, the upper end of the swing pull rod swings to the other side, and drives the swing seedling plate to swing to the other side.

5. The automatic seedling taking apparatus according to claim 1, wherein The seedling lifting mechanism comprises a support, a cylinder and a seedling lifting rod, the seedling lifting rod is installed on the support, the cylinder is connected with the support, the seedling lifting rod is arranged corresponding to the seedling tray of the seedling feeding mechanism, when the seedling feeding mechanism feeds the seedling tray to the position to be picked, the cylinder drives the seedling lifting rod to lift the seedling out of the plug tray.

6. The automatic seedling taking apparatus according to claim 1, wherein The seedling feeding mechanism feeds the seedling tray row by row intermittently, the seedling lifting mechanism and the seedling picking mechanism are respectively arranged as two groups, and the seedling is picked row by row.

7. The automatic seedling taking apparatus according to claim 1, wherein The seedling feeding mechanism feeds the seedling tray row by row intermittently, the seedling lifting mechanism lifts the seedling to be picked from the upper seedling tray and separates the seedling from the seedling tray; the seedling picking mechanism clamps the substrate of the seedling lifted by the seedling lifting mechanism when reaching the seedling clamping position, and the seedling lifting mechanism retracts; the seedling picking mechanism moves to the upper side of the seedling separating mechanism and drops the seedling, the seedling falls into the seedling separating mechanism and falls into the planting mechanism one by one, and the planting mechanism completes the seedling planting.

8. A transplanting machine characterized by, The automatic seedling picking device comprises the seedling feeding mechanism, the seedling lifting mechanism, the seedling picking mechanism, the seedling separating mechanism and the planting mechanism.

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