Automatic seedling taking test bed for pepper plug seedlings and seedling taking method of automatic seedling taking test bed

Abstract

The invention discloses an automatic seedling taking test bed for pepper plug seedlings and a seedling taking method of the automatic seedling taking test bed, and belongs to the technical field of agricultural machinery. The device comprises a seedling taking mechanism, a seedling conveying mechanism and a rack, the seedling conveying mechanism is fixedly installed on the top of the rack, and the seedling taking mechanism is installed on the inner side of a frame of the rack and fixedly connected with the rack; the seedling taking mechanism comprises a multi-connecting-rod-sliding-block mechanism and a seedling taking end executor, the multi-connecting-rod-sliding-block mechanism and the seedling feeding mechanism are in driving connection through a seedling feeding motor, the seedling feeding motor is fixedly connected with the rack, and the seedling taking end executor is connected with the multi-connecting-rod-sliding-block mechanism and moves plug seedlings to a seedling throwing position along a seedling taking track. The automatic seedling taking test bed is compact in structure and easy to maintain, so that the reliability and the high efficiency of the whole system are ensured. The structure and the movement mode of the multi-connecting-rod-sliding-block mechanism ensure high automation and low labor intensity in the whole seedling taking process, and meanwhile, the low-damage seedling taking effect is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to an automatic seedling picking test stand for pepper plug seedlings and a seedling picking method thereof. Background Art

[0002] As a vital means of cultivating strong seedlings in modern agriculture, seedling transplanting technology has demonstrated incomparable superiority compared to traditional direct seeding methods. It can not only effectively extend the growth cycle of crops, but also cleverly avoid the invasion of adverse climatic conditions such as late spring cold and early spring low temperatures, thereby ensuring stable and high yields of crops; it also significantly improves the efficiency of land use, and through scientific management and layout, every inch of land can exert its maximum production potential. More importantly, this technology can greatly improve the survival rate of seedlings, laying a solid foundation for improving the per-acre yield and quality of crops, ensuring that the final agricultural products can fully meet or even exceed the strict requirements of agronomy.

[0003] At present, seedling transplanting and planting technology has been widely and deeply promoted and applied in my country's vegetable industry. However, in the actual operation process, semi-automatic transplanting machines are still dominant. Although this process has achieved partial mechanization, a large number of manual labor is still required to participate in the seedling picking and feeding links, resulting in a low level of automation in the overall operation, high labor intensity, and difficulty in further improving efficiency. In addition, the matching between the various links is not tight enough, which affects the smoothness of the operation.

[0004] It is particularly noteworthy that the existing seedling removal method mostly uses seedling needles directly inserted into the plug tray matrix to clamp the seedlings. This operation often causes unnecessary damage to the delicate root system of the seedlings and destroys the original structure of the matrix, making the seedlings need to go through a long growth recovery period after transplanting, which invisibly increases production costs and may affect the early growth and development of crops. Therefore, exploring more low-loss and efficient seedling removal technology has become an important topic in current agricultural mechanization research, in order to further improve agricultural production efficiency and crop quality while ensuring the health of seedlings. Summary of the invention

[0005] In order to achieve high automation and low labor intensity in the entire seedling removal process while ensuring the effect of low-damage seedling removal, the present invention proposes an automatic seedling removal test bench for pepper plug seedlings and a seedling removal method thereof. The present invention innovatively superimposes a grooved wheel mechanism and a multi-link-slider mechanism to achieve the movement of two mechanisms driven by one power source, thereby simplifying the system structure and improving reliability. At the same time, a seedling removal end effector that can be clamped from both sides of the plug tray seedling pot is designed to ensure low damage in the seedling removal process.

[0006] To achieve the above-mentioned purpose, the present invention provides an automatic seedling taking test stand for pepper seedlings in a plug tray, comprising a seedling taking mechanism, a seedling sending mechanism and a frame, wherein the seedling sending mechanism is fixedly mounted on the top of the frame, and the seedling taking mechanism is mounted on the inner side of the frame of the frame and is fixedly connected to the frame;

[0007] The seedling retrieval mechanism includes a multi-link-slider mechanism and a seedling retrieval end effector. The multi-link-slider mechanism and the seedling delivery mechanism are connected by a seedling delivery motor. The seedling delivery motor is fixedly connected to the frame. The seedling retrieval end effector is connected to the multi-link-slider mechanism and realizes the movement of the seedlings in the plug tray to the seedling delivery position along the seedling retrieval trajectory.

[0008] Preferably, a grooved wheel mechanism is provided in the seedling delivery mechanism, and the grooved wheel mechanism is connected to the multi-link-slider mechanism in a superimposed drive manner. The grooved wheel mechanism includes a grooved wheel and a dial, and the grooved wheel is connected to the seedling delivery motor via the dial. A round pin is provided on the dial, and the radial groove on the grooved wheel engages with the round pin to realize the intermittent movement of the grooved wheel mechanism.

[0009] Preferably, the multi-link-slider mechanism includes a long axis support, a long axis, a crank, a connecting rod, a rocker, an intermediate support, a slide and a long support, the long axis support is fixedly supported at both ends of the long axis, the crank is connected to the long axis, one end of the connecting rod is rotatably connected to the crank, and the other end is rotatably connected to the rocker, the middle of the rocker is rotatably connected to the intermediate support through a rotating shaft, the top of the rocker is connected to the slide, and the top of the long support is slidably connected to the slide to realize reciprocating movement of the slide along the seedling retrieval trajectory.

[0010] Preferably, a rectangular slide groove is provided on the slideway, a sliding block is provided on the long bracket, and the sliding block passes through the rectangular slide groove and is slidably connected thereto.

[0011] Preferably, the seedling removing end effector is fixedly connected to the multi-link-slider mechanism through a long mounting plate, and the seedling removing end effector includes a cylinder, a push rod, a cylinder mounting plate and an end pot clamping piece, the cylinder is fixedly mounted on the cylinder mounting plate, the push rod passes through the long mounting plate and is connected to the end pot clamping piece, and the push rod is fixedly connected to the cylinder mounting plate.

[0012] Preferably, the end pot clamping pieces are arranged in pairs in sequence and equidistantly along the axial direction of the long mounting plate, and eight groups of the end pot clamping pieces are provided, and the spacing between two adjacent groups of the end pot clamping pieces matches the distance between the seedlings in the plug tray.

[0013] Preferably, the frame structure is constructed of aluminum profiles, and the frame material is high-strength industrial aluminum alloy.

[0014] Preferably, a method for taking seedlings of a pepper plug seedling automatic seedling taking test stand comprises the following steps:

[0015] S1. When the test bench is working, the seedlings in the plug tray are manually placed in the initial position of the seedling delivery mechanism, that is, the center of the first row of holes in the plug tray is kept aligned with the seedling removal mechanism. After the test bench is powered on, the seedling delivery motor is powered on and started;

[0016] S2, after the power of the seedling delivery motor is transmitted to the long shaft, it is transmitted to the multi-link-slider mechanism by the crank, and the crank rotates at a constant speed, driving the connecting rod to make the rocker swing back and forth at a variable speed. The slideway performs a planar compound motion under the joint action of the rocker and the slider, and can form a specific trajectory. The slideway drives the seedling removal end effector installed on the long mounting plate to move and finally forms the trajectory required for seedling removal;

[0017] S3, when the seedling taking end effector reaches the seedling clamping position, the cylinder drives the end clamping pot piece to close, at this time, the two end clamping pot pieces on the seedling taking end effector are inserted into the seedling culture matrix and clamped to take out the seedlings in the plug tray, and then with the movement of the seedling delivery motor, the seedling taking end effector moves the seedling tray to the seedling throwing position along the seedling taking track, and adjusts the posture of the seedling tray to a vertical state, and finally the cylinder moves to open the end clamping pot piece to complete the seedling throwing action, and this cycle is repeated to complete the clamping of the seedling tray;

[0018] S4, before the end pot clamping piece reaches the seedling clamping position again, the round pin on the dial of the groove wheel mechanism enters the radial groove of the groove wheel, at this time, the inner concave locking arc on the groove wheel and the outer concave locking arc of the dial are released, and the groove wheel is driven by the round pin on the dial to rotate, completing the intermittent feeding of the whole row of seedlings in the plug tray, thereby driving the seedlings in the plug tray to move down a grid distance, so that the center of the second row of holes in the plug tray seedlings is aligned with the seedling taking mechanism to prepare for step S2. In the process of clamping the seedlings, since the round pin on the dial leaves the radial groove of the groove wheel, the inner concave locking arc on the groove wheel is stuck by the outer concave locking arc of the dial, and the groove wheel remains stationary;

[0019] S5. Repeat the above steps S2-S4 in sequence until a complete seedling tray is obtained.

[0020] Therefore, compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The present invention realizes high degree of automation and low labor intensity: through the designed multi-link-slider mechanism and groove wheel mechanism, a fully automated process from seedling picking to seedling delivery is realized, which greatly reduces manual participation, reduces labor intensity, and improves work efficiency.

[0022] (2) The present invention can ensure low-damage seedling removal: the seedling removal end effector adopts a clamping method from both sides of the plug tray seedling pot body, avoiding root damage and matrix structure damage caused by the traditional seedling needle inserted into the matrix, effectively shortening the growth recovery period of the seedlings, and improving the survival rate and subsequent growth quality of the seedlings.

[0023] (3) The present invention can achieve precise control and efficient operation: the superposition drive of the groove wheel mechanism and the multi-link-slider mechanism, wherein the multi-link-slider mechanism can accurately control the motion trajectory of the end effector, meet the requirements of variable speed seedling retrieval operation, and ensure the stability and accuracy of the seedling retrieval process. At the same time, the groove wheel mechanism realizes the intermittent movement of the tray delivery mechanism, works reliably, can accurately control the turning angle, and further improves the operation efficiency.

[0024] (4) The present invention has a compact structure and is easy to maintain: the frame is constructed with industrial aluminum profiles, has a simple structure, is easy to disassemble and assemble, has good bearing capacity, and is convenient for daily maintenance and troubleshooting.

[0025] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional model of the overall structure of the pepper plug seedling automatic seedling test stand of the present invention;

[0027] Figure 2 This is a front view of the automatic seedling taking test stand for pepper seedlings in the plug tray of the present invention;

[0028] Figure 3 It is a three-dimensional structural model of the seedling taking mechanism in the present invention;

[0029] Figure 4 The figure is a motion diagram of the motion trajectory of the seedling taking mechanism in the present invention.

[0030] Reference numerals:

[0031] 1. Frame; 2. Seedling removal mechanism; 21. Multi-link-slider mechanism; 2101. Long axis; 2102. Long axis bracket; 2103. Crank; 2104. Connecting rod; 2105. Intermediate bracket; 2106. Rocker; 2107. Long bracket; 2108. Rotating shaft; 2109. Slider; 2110. Slide; 22. Seedling removal end effector; 2201. Push rod; 2202. Cylinder; 2203. Cylinder mounting plate; 2204. End pot clamp; 3. Seedling delivery mechanism; 31. Grooved wheel mechanism; 3101. Grooved wheel; 3102. Round pin; 3103. Dial; 4. Seedling tray; 5. Seedling removal motor; 6. Long mounting plate. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0033] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0034] Example

[0035] See also Figure 1-Figure 3 The present invention provides an automatic seedling taking test platform for pepper seedlings in a plug tray, comprising a seedling taking mechanism 2, a seedling sending mechanism 3 and a frame 1, wherein the seedling sending mechanism 3 is fixedly installed on the top of the frame 1, the seedling taking mechanism 2 is installed on the inner side of the frame of the frame 1 and is fixedly connected to the frame 1, the frame 1 adopts a frame structure built of aluminum profiles, the material of the frame 1 is high-strength industrial aluminum alloy, wherein the frame 1 plays a supporting role and is built of industrial aluminum profiles, has a simple structure, is easy to disassemble and assemble, and has good bearing capacity.

[0036] The seedling retrieval mechanism 2 includes a multi-link-slider mechanism 21 and a seedling retrieval end effector 22. The multi-link-slider mechanism 21 and the seedling delivery mechanism 3 are connected by a seedling delivery motor, and the seedling delivery motor is fixedly connected to the frame 1. The seedling retrieval end effector 22 is connected to the multi-link-slider mechanism 21 and realizes that it moves the plug tray seedlings 4 to the seedling delivery position along the seedling retrieval trajectory.

[0037] The multi-link-slider mechanism 21 includes a long axis support 2102, a long axis 2101, a crank 2103, a connecting rod 2104, a rocker 2106, an intermediate support 2105, a slide 2110 and a long support 2107. The long axis support 2102 is fixedly supported at both ends of the long axis 2101, the crank 2103 is connected to the long axis 2101, one end of the connecting rod 2104 is rotatably connected to the crank 2103, and the other end is rotatably connected to the rocker 2106, the middle of the rocker 2106 is rotatably connected to the intermediate support 2105 through a rotating shaft 2108, the top of the rocker 2106 is connected to the slide 2110, a rectangular slide groove is arranged on the slide 2110, and a slider 2109 is arranged on the long support 2107. The slider 2109 passes through the rectangular slide groove and is slidably connected thereto, so that the slide 2110 can reciprocate along the seedling removal track. In the multi-link-slider mechanism 21, the long axis 2101 is the power input axis, and the long axis brackets 2102 are on both sides and are installed with the long axis 2101 through bearings. The crank 2103 is installed on the long axis 2101 through a flat key. The rotating shaft 2108 is installed on the intermediate bracket 2105 through a bearing. The rocker 2106 is installed on the rotating shaft 2108 and can swing left and right. One end of the connecting rod 2104 is connected to the crank 2103, and the other end is connected to the rocker 2106. Both are connected by pins. The slider 21 09 is installed on the long bracket 2107 through a pin shaft and can swing left and right. One side of the slide 2110 is connected to the rocker 2106, and a rectangular slide groove is opened on its side for installation on the slider 2109. It can make linear motion relative to the slider 2109 while swinging with the rocker 2106. The two slides 2110 are connected by a long mounting plate 6. The multi-link-slider mechanism 21 can realize the seedling picking trajectory required by the seedling picking end effector 22 and meet the requirements of variable speed seedling picking operations. It has a simple structure and is easy to manufacture.

[0038] The seedling taking end effector 22 is fixedly connected to the multi-link-slider mechanism 21 through the long mounting plate 6. The seedling taking end effector 22 includes a cylinder 2202, a push rod 2201, a cylinder mounting plate 2203 and an end pot clamping piece 2204. The cylinder 2202 is fixedly mounted on the cylinder mounting plate 2203. The push rod 2201 passes through the long mounting plate 6 and is connected to the end pot clamping piece 2204. The push rod 2201 is fixedly connected to the cylinder mounting plate 2203. The end pot clamping pieces 2204 are arranged equidistantly in pairs along the axial direction of the long mounting plate 6. Eight groups of end pot clamping pieces 2204 are provided, and the spacing between two adjacent groups of end pot clamping pieces 2204 matches the distance between the plug tray seedlings 4. In this embodiment, eight groups of end pot clamping pieces 2204 are equidistantly installed on the long mounting plate 6, the side of the cylinder 2202 is fixedly connected to the long mounting plate 6, the extending shaft of the cylinder 2202 is fixedly connected to the cylinder mounting plate 2203 by bolts, and the cylinder mounting plate 2203 is fixedly connected to the push rod 2201 in the seedling taking end effector 22 by bolts. When taking seedlings, the two end pot clamping pieces 2204 on the seedling taking end effector 22 are inserted into the seedling matrix and then clamped to take out the plug tray seedlings 4, avoiding root damage and matrix structure damage caused by the traditional seedling needle inserted into the matrix, effectively shortening the growth recovery period of the seedlings, and improving the survival rate and subsequent growth quality of the seedlings.

[0039] In addition, a grooved wheel mechanism 31 is provided in the seedling delivery mechanism 3, and the grooved wheel mechanism 31 is connected with the multi-link-slider mechanism 21 in a superimposed driving mode. According to the principle and innovative method of superimposed mechanism combination, the multi-link-slider mechanism 21 and the grooved wheel mechanism 31 are superimposed, so that the power source of a seedling taking motor 5 drives the movement of the multi-link-slider mechanism 21 and the grooved wheel mechanism 31 at the same time. The grooved wheel mechanism 31 includes a grooved wheel 3101 and a dial 3103, and the grooved wheel 3101 is connected with the seedling delivery motor through the dial 3103. The dial 3103 is provided with a round pin 3102, and the radial groove on the grooved wheel 3101 is engaged with the round pin 3102 to realize the intermittent movement of the grooved wheel mechanism 31. During installation, the grooved wheel 3101 is installed on the long axis bracket 2102, and is driven by the dial 3103 installed on the long axis 2101. The groove wheel mechanism 31 is used to realize the intermittent movement of the seedling delivery mechanism 3, and it works reliably and can accurately control the rotation angle. Before the end clamping pot piece 2204 reaches the seedling clamping position, the round pin 3102 on the dial 3103 enters the radial groove of the groove wheel 3101. At this time, the inner concave locking arc on the groove wheel 3101 and the outer concave locking arc on the dial 3103 are released, and the groove wheel 3101 is driven by the round pin 3102 on the dial 3103 to rotate, completing the whole row of seedling trays 4. During the intermittent feeding, in the process of clamping the seedlings, the round pin 3102 on the dial 3103 leaves the radial groove of the groove wheel 3101, and the concave locking arc on the groove wheel 3101 is stuck by the concave locking arc of the dial 3103, and the groove wheel 3101 remains stationary, thereby realizing that the seedling feeding mechanism 3 performs a longitudinal feeding and seedling feeding after the seedling taking end effector 22 takes out a row of seedlings 4 in the hole tray, ensuring that the center of the hole of the seedling tray 4 to be taken is aligned with the seedling taking end effector 22.

[0040] See also Figure 4As shown, it is a motion diagram of the motion trajectory of the seedling removal mechanism in the present invention, wherein the crank 2103 rotates counterclockwise at a uniform speed, driving the connecting rod 2104 so that the rocker 2106 swings back and forth at a variable speed, and the slide 2110 is hinged on the frame 1, so that the slide 2110 performs a planar compound motion under the joint action of the rocker 2106 and the slider 2109, and can form a specific trajectory. Since the seedling removal end effector 22 is fixedly connected to the slide 2110, the slide 2110 drives the end pot clamping piece 2204 installed on the seedling removal end effector 22 to move and finally forms the trajectory required for seedling removal. When the crank 2103 rotates through different angular displacements, the seedling needle forms different working section tracks: the AC section track is a seedling removal track perpendicular to the plane of the seedling tray 4, at which time the end pot clamping piece 2204 has clamped the seedling tray 4 and removed the seedling from the seedling tray 4; the CB section track is a seedling holding track of the end pot clamping piece 2204, point B is the seedling casting position, point C is the position where the seedling holding posture of the end pot clamping piece 2204 begins to change, when the end pot clamping piece 2204 reaches point B, the end pot clamping piece 2204 opens, and under the action of the seedling pushing rod, the seedling tray 4 falls into the corresponding seedling receiving position; the BCA section track is the reset track of the end pot clamping piece 2204, in preparation for the next seedling removal, when the end pot clamping piece 2204 reaches point A, the two end pot clamping pieces 2204 clamp the seedling tray 4. The above three sections of track constitute the entire working track required for the automatic seedling removal of the seedling tray 4.

[0041] The seedling removal working principle of the automatic seedling removal test bench for plug tray seedlings is as follows: when the test bench is powered on, the seedling removal motor 5 drives the multi-link-slider mechanism 21 to work, and the groove wheel mechanism 31 acts synchronously. After taking a row of plug tray seedlings 4, the seedling removal end effector 22 requires the tray delivery mechanism to perform longitudinal seedling delivery. According to the principle and innovative method of superimposed mechanism combination, the multi-link-slider mechanism 21 and the groove wheel mechanism 31 are superimposed to realize the movement of a power source driving mechanism. After the power is transmitted to the long shaft 2101, it is transmitted to the multi-link-slider mechanism 21 by the crank 2103, and to the groove wheel mechanism 31 by the dial 3103. The crank 2103 rotates at a constant speed, driving the connecting rod 2104 so that the rocker 2106 swings back and forth at a variable speed. The slideway 2110 performs a planar compound motion under the joint action of the rocker 2106 and the slider 2109, which can form a specific trajectory. The slideway 2110 drives the end effector installed on the long mounting plate 6 to move and finally forms the required trajectory for seedling removal. When the pot clamping piece on the end effector reaches the seedling clamping position, the cylinder 2202 drives the pot clamping piece to close and clamp the pot bodies of the entire row of seedlings in the tray 4. Then the rocker 2106 swings in the opposite direction, driving the pot clamping piece on the end effector to return along the seedling retrieval track and transport the seedlings in the tray 4 to the seedling throwing position. The cylinder 2202 is actuated, the pot clamping piece opens, and the seedling throwing action is completed. This cycle is repeated to complete the clamping of the entire tray of seedlings 4. Before the pot clamping piece reaches the seedling clamping position, the round pin 3102 on the dial 3103 enters the radial groove of the groove wheel 3101. At this time, the concave locking arc on the groove wheel 3101 and the outer concave locking arc of the dial 3103 are released, and the groove wheel 3101 is driven by the round pin 3102 on the dial 3103 to rotate, completing the intermittent feeding of the entire row of hole tray seedlings 4. In the process of clamping the seedlings, the round pin 3102 on the dial 3103 leaves the radial groove of the groove wheel 3101, and the concave locking arc on the groove wheel 3101 is stuck by the outer concave locking arc of the dial 3103, and the groove wheel 3101 remains stationary.

[0042] Therefore, the design of the multi-link-slider mechanism in the present invention is the key to achieving the precise motion trajectory of the end effector. Through reasonable link combination and rocker swing, a specific seedling removal trajectory is formed to meet the requirements of variable speed seedling removal. The seedling removal end effector that can be clamped from both sides of the plug tray seedling pot body ensures low damage to the seedling removal process. At the same time, by innovatively superimposing the grooved wheel mechanism and the multi-link-slider mechanism, it is achieved that one power source drives the movement of the two mechanisms, which simplifies the system structure and improves reliability.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An automatic seedling test stand for pepper seedlings in plug trays, characterized by: It includes a seedling taking mechanism, a seedling sending mechanism and a frame, wherein the seedling sending mechanism is fixedly installed on the top of the frame, and the seedling taking mechanism is installed on the inner side of the frame of the frame and is fixedly connected to the frame; The seedling retrieval mechanism includes a multi-link-slider mechanism and a seedling retrieval end effector. The multi-link-slider mechanism and the seedling delivery mechanism are connected by a seedling delivery motor. The seedling delivery motor is fixedly connected to the frame. The seedling retrieval end effector is connected to the multi-link-slider mechanism and realizes the movement of the seedlings in the plug tray to the seedling delivery position along the seedling retrieval trajectory.

2. The automatic seedling taking test stand for pepper seedlings in plug trays according to claim 1, characterized in that: The seedling delivery mechanism is provided with a grooved wheel mechanism, and the grooved wheel mechanism is connected to the multi-link-slider mechanism in a superimposed driving manner. The grooved wheel mechanism includes a grooved wheel and a dial. The grooved wheel is connected to the seedling delivery motor via the dial. The dial is provided with a round pin. The radial groove on the grooved wheel engages with the round pin to realize the intermittent movement of the grooved wheel mechanism.

3. The automatic seedling taking test stand for pepper seedlings in plug trays according to claim 1 is characterized by: The multi-link-slider mechanism includes a long axis support, a long axis, a crank, a connecting rod, a rocker, an intermediate support, a slide and a long support. The long axis support is fixedly supported at both ends of the long axis, the crank is connected to the long axis, one end of the connecting rod is rotatably connected to the crank, and the other end is rotatably connected to the rocker, the middle of the rocker is rotatably connected to the intermediate support through a rotating shaft, the top of the rocker is connected to the slide, and the top of the long support is slidably connected to the slide to enable the slide to reciprocate along the seedling retrieval trajectory.

4. The automatic seedling taking test stand for pepper seedlings in plug trays according to claim 3 is characterized by: The slideway is provided with a rectangular slide groove, the long bracket is provided with a sliding block, and the sliding block passes through the rectangular slide groove and is slidably connected therewith.

5. The automatic seedling taking test stand for pepper seedlings in plug trays according to claim 1, characterized in that: The seedling retrieval end effector is fixedly connected to the multi-link-slider mechanism through a long mounting plate. The seedling retrieval end effector includes a cylinder, a push rod, a cylinder mounting plate and an end pot clamping piece. The cylinder is fixedly mounted on the cylinder mounting plate, the push rod passes through the long mounting plate and is connected to the end pot clamping piece, and the push rod is fixedly connected to the cylinder mounting plate.

6. The automatic seedling taking test stand for pepper seedlings in plug trays according to claim 5, characterized in that: The end pot clamping pieces are arranged in pairs along the axial direction of the long mounting plate in sequence and at equal distances. Eight groups of the end pot clamping pieces are provided, and the spacing between two adjacent groups of the end pot clamping pieces matches the distance between the seedlings in the plug tray.

7. The automatic seedling taking test stand for pepper seedlings in plug trays according to claim 1, characterized in that: The frame adopts a frame structure constructed of aluminum profiles, and the frame material is high-strength industrial aluminum alloy.

8. A method for removing seedlings from a pepper plug seedling automatic seedling test stand according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. When the test bench is working, the seedlings in the plug tray are manually placed in the initial position of the seedling delivery mechanism, that is, the center of the first row of holes in the plug tray is kept aligned with the seedling removal mechanism. After the test bench is powered on, the seedling delivery motor is powered on and started; S2, after the power of the seedling delivery motor is transmitted to the long shaft, it is transmitted to the multi-link-slider mechanism by the crank, and the crank rotates at a constant speed, driving the connecting rod to make the rocker swing back and forth at a variable speed. The slideway performs a planar compound motion under the joint action of the rocker and the slider, and can form a specific trajectory. The slideway drives the seedling removal end effector installed on the long mounting plate to move and finally forms the trajectory required for seedling removal; S3, when the seedling taking end effector reaches the seedling clamping position, the cylinder drives the end clamping pot piece to close, at this time, the two end clamping pot pieces on the seedling taking end effector are inserted into the seedling culture matrix and clamped to take out the seedlings in the plug tray, and then with the movement of the seedling delivery motor, the seedling taking end effector moves the seedling tray to the seedling throwing position along the seedling taking track, and adjusts the posture of the seedling tray to a vertical state, and finally the cylinder moves to open the end clamping pot piece to complete the seedling throwing action, and this cycle is repeated to complete the clamping of the seedling tray; S4, before the end pot clamping piece reaches the seedling clamping position again, the round pin on the dial of the groove wheel mechanism enters the radial groove of the groove wheel, at this time, the inner concave locking arc on the groove wheel and the outer concave locking arc of the dial are released, and the groove wheel is driven by the round pin on the dial to rotate, completing the intermittent feeding of the whole row of seedlings in the plug tray, thereby driving the seedlings in the plug tray to move down a grid distance, so that the center of the second row of holes in the plug tray seedlings is aligned with the seedling taking mechanism to prepare for step S2. In the process of clamping the seedlings, since the round pin on the dial leaves the radial groove of the groove wheel, the inner concave locking arc on the groove wheel is stuck by the outer concave locking arc of the dial, and the groove wheel remains stationary; S5. Repeat the above steps S2-S4 in sequence until a complete seedling tray is obtained.

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