Transplanting machine for transplanting pepper pot seedlings and pepper pot seedling transplanting method

Abstract

The invention discloses a transplanting machine for transplanting capsicum pot seedlings and a capsicum pot seedling transplanting method.The transplanting machine comprises a rack, and a pot seedling tray conveying mechanism, a seedling taking mechanism, a seedling cup mechanism and a transplanting mechanism are installed on the rack; the pot seedling tray conveying mechanism comprises a conveying belt; the seedling cup mechanism comprises a plurality of seedling cups forming an annular cup chain, and the lower sides of the seedling cups can be opened at preset positions to release pepper seedlings in the seedling cups; the conveying belt is arranged around the seedling cup mechanism, and the seedling cup mechanism is provided with two rows of seedling cups exposed from the left side and the right side of the conveying belt respectively; and the pot seedling trays positioned on the second side of the conveying belt sequentially release the chili seedlings in the pot seedling trays to the transplanting mechanism. By rearranging the seedling cup mechanism, the internal space and the side space of the conveying belt are fully utilized, so that the overall layout of the transplanter is compact, the size of the transplanter can be reduced, the flexibility of the transplanter can be improved, the seedling taking stroke of the seedling taking clamping jaw is reduced, and the transplanting efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of pepper seedling transplanting and planting, in particular to a transplanting machine and a pepper seedling transplanting method for pepper seedlings in pots. Background Art

[0002] In modern agricultural production, pepper is one of the important cash crops, and its planting efficiency and quality have a direct impact on agricultural economic benefits. Traditional pepper transplanting methods mostly rely on manual operations, which have problems such as high labor intensity, low efficiency, high cost, and difficulty in ensuring transplanting quality. With the improvement of agricultural mechanization, pot seedling transplanting technology has gradually become the mainstream. It not only improves transplanting efficiency and survival rate, but also helps to achieve precision agriculture and ensure the consistency of crop growth.

[0003] In the prior art, patent CN 108337967 A discloses an automatic seedling picking and throwing device and method for a transplanter. The seedling picking and throwing device of the patent includes a seedling picking mechanism, a seedling guiding device, a box shifting mechanism and a seedling separating mechanism. The seedling guiding device and the seedling separating mechanism are arranged on the side of the box shifting mechanism. The seedling picking mechanism includes a plurality of claws arranged in an array. After the claws pick up the seedlings, the lifting mechanism causes the claws to rise, and then causes all the seedling picking claws to move sideways, and all the picked seedlings are dropped into the seedling guiding device. This transplanting equipment has the disadvantages of dispersed structure and bulky volume, poor passability of the machine and difficult transportation, and low seedling picking efficiency. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a transplanter and a method for transplanting pepper seedlings in pots, which have a compact structure and high transplanting efficiency.

[0005] Technical solution: To achieve the above-mentioned purpose, the transplanter for transplanting pepper seedlings in pots of the present invention comprises a frame, on which a seedling tray conveying mechanism, a seedling taking mechanism, a seedling cup mechanism and a transplanting mechanism are installed; the seedling tray conveying mechanism is used to convey the seedling tray; the seedling taking mechanism comprises seedling taking claws arranged in a linear array, and the seedling taking mechanism can transfer the pepper seedlings on the seedling tray to the seedling cup mechanism row by row; the seedling tray conveying mechanism comprises a conveyor belt; the seedling cup mechanism comprises a plurality of seedling cups constituting an annular cup chain, and the lower side of the seedling cup can be opened at a preset position to release the pepper seedlings therein;

[0006] The conveyor belt is arranged around the seedling cup mechanism, and the seedling cup mechanism has two rows of seedling cups exposed from the left and right sides of the conveyor belt respectively; the seedling retrieval mechanism transfers a horizontal row of seedlings on the seedling tray to a row of seedling cups located on the first side of the conveyor belt; the seedling tray located on the second side of the conveyor belt releases the pepper seedlings therein to the transplanting mechanism in turn.

[0007] Furthermore, the seedling tray conveying mechanism includes four pulleys, which are divided into two groups and placed at the front and rear ends of the conveyor belt, and the two pulleys at the same end are arranged up and down. In this way, the space inside the conveyor belt can be appropriately raised, so that the pepper seedlings can pass through the inside of the conveyor belt from the first side to the second side.

[0008] Furthermore, a guiding mechanism is installed on the first side of the conveyor belt, and the guiding mechanism includes an outer plate and a plurality of partitions fixed on the outer plate; a plurality of guiding channels are formed between the partitions, and all of the guiding channels are aligned one by one with the plurality of seedling cups located on the first side of the conveyor belt.

[0009] Furthermore, the seedling taking mechanism further comprises an L-shaped track, wherein the track comprises a transverse track and a longitudinal track; a first slider and a second slider which are slidably mounted on the transverse track and the longitudinal track respectively and which are slidably matched therewith, and the two sliders are mutually connected by a connecting rod; the connecting rod and the two sliders are both in a rotational connection relationship, and the distance between the axes of the two sets of rotational connection relationships is a first distance;

[0010] The seedling removal mechanism also includes a driving rod connected to the middle part of the connecting rod, and a first motor drivingly connected to the driving rod; the connecting rod and the driving rod are rotationally connected, and the distance between the rotation axes of the two and the output shaft axis of the first motor is the second distance, and the first distance is twice the second distance.

[0011] All the seedling-taking clamps are installed on a moving beam, two ends of the moving beam are rotatably connected to two sliding blocks respectively, and the moving beam can perform lifting and lowering movements relative to the track.

[0012] Specifically, the track has a sliding groove that runs through the top and bottom, and a vertical shaft is installed on the first slider and the second slider, that is, there are two shafts in total, the connecting rod, the driving rod and the first motor are located above the track, and the two ends of the connecting rod are connected to the two shafts respectively. The moving beam is located below the track, and the moving beam can slide up and down relative to the shaft. A mounting seat with a fixed height is set between the two shafts, and a lifting drive unit for driving the moving beam to rise and fall is installed on the mounting seat.

[0013] In addition, a baffle is installed on the moving beam. When taking seedlings, a part of the seedling clamping claw performs the seedling clamping operation before the baffle, and the baffle separates the moving beam, the mounting seat and the pepper seedlings.

[0014] In the above structure, the moving beam can switch between a horizontal state and a vertical state. When the moving beam is in the horizontal state, the seedling picking claws on it correspond one by one to a row of pepper seedlings on the seedling pot tray. After the seedling picking claws pick up the seedlings, the lifting drive unit raises the moving beam, and then the first motor rotates the drive rod, and the two sliders slide relative to the horizontal track and the longitudinal track respectively until the moving beam becomes a longitudinal state. At this time, the baffle is located on the opposite side of the outer plate (such as Figure 7 As shown), the seedling clamp releases the pepper seedlings, so that each pepper seedling enters each seedling cup on the first side along the guide channel between the partitions.

[0015] Since the two ends of the moving beam are supported by sliders respectively when the moving beam moves, the moving beam moves smoothly. Since the two ends move simultaneously, the difference in the movement amplitude of each seedling picking claw is small. Compared with directly driving the moving beam to rotate, the seedling picking claw will not drop the pepper seedlings when the moving beam of the above-mentioned seedling picking mechanism moves.

[0016] Furthermore, the seedling retrieval clamp comprises a rotating shaft and two clamp halves rotating relative to the rotating shaft, the clamp halves comprising a rotating portion, the middle portion of the rotating portion is hinged relative to the rotating shaft, and the front lower end and the rear upper end of the rotating portion are respectively provided with a clamping rod and an operating rod; operating members acting on the two clamp halves respectively are slidably mounted on the movable beam, the two operating members respectively have strip holes with the same number as the seedling retrieval clamp, and the two operating rods corresponding to the two clamp halves included in each seedling retrieval clamp are respectively placed in the strip holes corresponding to two different operating members, and the two operating members slide in opposite directions at the same speed.

[0017] Specifically, the two operating members have gear parts on their opposing surfaces, and a gear meshing with the gear parts of the two operating members is provided between the two operating members, and the gear is driven by the second motor. With the above structure, all the seedling clamps can be opened and closed synchronously by driving the gear forward and reversely by the second motor.

[0018] Furthermore, the transplanting mechanism includes a swing arm and a duckbill mechanism disposed at the end of the swing arm, the swing arm can swing back and forth, and the duckbill mechanism is installed at the end of the swing arm; the seedling cup mechanism also includes a conical guide member, and all the seedling cups can be opened in sequence above the guide member.

[0019] Furthermore, the conveyor belt is provided with equidistantly arranged raised plates, so as to ensure that the seedling pot tray will not shift relative to the conveyor belt, and ensure that the seedling pot tray is accurately pushed.

[0020] A method for transplanting pepper seedlings in pots is based on the above-mentioned transplanter for transplanting pepper seedlings in pots. Initially, the moving beam is in a horizontal state and located at a low position, and the seedling clamp is in an open state; the method comprises:

[0021] Controlling the seedling tray conveying mechanism to operate so that the seedling tray on the conveying mechanism moves forward by one step, so that a horizontal row of pepper seedlings are within the clamping range of the seedling clamping claws;

[0022] Control all the seedling grippers to close and control the moving beam to rise to the high position;

[0023] Control the movement of the moving beam so that it changes from a horizontal state to a vertical state, and all the seedling grippers move to the first side of the conveyor belt;

[0024] Control all the seedling grippers to open to release a row of pepper seedlings so that each pepper seedling enters a different seedling cup, and then return the moving beam to the initial position;

[0025] Controlling the operation of the seedling cup mechanism, after the seedling cup mechanism conveys the pepper seedlings to the second side of the conveyor belt, the seedling cup mechanism opens at a release position to release the pepper seedlings to the transplanting mechanism;

[0026] The transplanting mechanism operates to transplant the pepper seedlings into the soil.

[0027] Beneficial effects: The transplanter and method for transplanting pepper seedlings in pots of the present invention fully utilize the space inside the conveyor belt and the side space by rearranging the seedling cup mechanism, so that the overall layout of the transplanter is compact, the size of the machine can be reduced, the flexibility of the machine can be improved, and the seedling picking stroke of the seedling picking claws can be reduced, thereby improving the transplanting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The figure is a side view of a transplanter for transplanting pepper seedlings in pots;

[0029] Figure 2 The top view of the structure of the transplanter used for transplanting pepper seedlings in pots;

[0030] Figure 3 The first three-dimensional structural diagram of a transplanter for transplanting pepper seedlings in pots;

[0031] Figure 4 A second three-dimensional structural diagram of a transplanter for transplanting pepper seedlings in pots;

[0032] Figure 5 It is a structural diagram of the first state of the seedling taking mechanism;

[0033] Figure 6 for Figure 5 The enlarged structure diagram of part A in the middle;

[0034] Figure 7 It is the second state structural diagram of the seedling taking mechanism.

[0035] In the figure: 1-frame; 2-pot seedling tray conveying mechanism; 21-conveyor belt; 22-pulley; 23-raised plate; 3-seedling taking mechanism; 31-seedling taking claw; 3101-rotating shaft; 3102-claw half body; 31a-rotating part; 31b-clamping rod; 31c-operating rod; 32-moving beam; 33-track; 33a-transverse track; 33b-longitudinal track; 34-first slider; 35-second slider ; 36-connecting rod; 37-driving rod; 38-first motor; 39-shaft; 310-mounting seat; 311-lifting drive unit; 312-baffle; 4-seedling cup mechanism; 41-seedling cup; 42-guide; 5-transplanting mechanism; 51-swing arm; 52-duckbill mechanism; 6-guide mechanism; 61-outer plate; 62-partition; 71-operating member; 72-gear; 73-second motor; a-seedling tray. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] like Figures 1 to 4 The transplanter for transplanting pepper seedlings in pots shown in the figure comprises a frame 1, on which a seedling tray conveying mechanism 2, a seedling taking mechanism 3, a seedling cup mechanism 4 and a transplanting mechanism 5 are installed; the seedling tray conveying mechanism 2 is used to convey the seedling tray a; the seedling taking mechanism 3 comprises seedling taking claws 31 arranged in a linear array, and the seedling taking mechanism 3 can transfer the pepper seedlings on the seedling tray a row by row to the seedling cup mechanism 4; the seedling tray conveying mechanism 2 comprises a conveyor belt 21; the seedling cup mechanism 4 comprises a plurality of seedling cups 41 constituting an annular cup chain, and the lower side of the seedling cup 41 can be opened at a preset position to release the pepper seedlings therein;

[0038] The conveyor belt 21 is arranged around the seedling cup mechanism 4, and the seedling cup mechanism 4 has two rows of seedling cups 41 exposed from the left and right sides of the conveyor belt 21 respectively; the seedling retrieval mechanism 3 transfers a horizontal row of seedlings on the seedling tray a to a row of seedling cups 41 located on the first side of the conveyor belt 21; the seedling tray a located on the second side of the conveyor belt 21 releases the pepper seedlings therein to the transplanting mechanism 5 in turn.

[0039] Preferably, the seedling tray conveying mechanism 2 includes four pulleys 22, which are divided into two groups and placed at the front and rear ends of the conveyor belt 21, and the two pulleys 22 at the same end are arranged up and down. In this way, the space inside the conveyor belt 21 can be appropriately raised, so that the pepper seedlings can pass through the conveyor belt 21 from the first side to the second side.

[0040] By adopting the above structure and rearranging the seedling cup mechanism 4, the space inside the conveyor belt 21 and the side space are fully utilized, so that the overall layout of the transplanter is compact, the size of the machine can be reduced, the flexibility of the machine can be improved, and the seedling picking stroke of the seedling picking claw 31 can be reduced, thereby improving the transplanting efficiency.

[0041] Preferably, a guide mechanism 6 is installed on the first side of the conveyor belt 21, and the guide mechanism 6 includes an outer plate 61 and a plurality of partitions 62 fixed on the outer plate 61; a plurality of guide channels are formed between the partitions 62, and all of the guide channels are aligned one by one with the plurality of seedling cups 41 located on the first side of the conveyor belt 21.

[0042] Preferably, if Figure 5 As shown, the seedling taking mechanism 3 also includes an L-shaped track 33, and the track 33 includes a transverse track 33a and a longitudinal track 33b; the transverse track 33a and the longitudinal track 33b are respectively slidably mounted with a first slider 34 and a second slider 35 that are slidably matched therewith, and the two sliders are connected to each other through a connecting rod 36; the connecting rod 36 and the two sliders are both in a rotational connection relationship, and the distance between the axes of the two sets of rotational connection relationships is a first distance;

[0043] The seedling removal mechanism 3 also includes a driving rod 37 connected to the middle part of the connecting rod 36, and a first motor 38 drivingly connected to the driving rod 37; the connecting rod 36 and the driving rod 37 are rotationally connected, and the distance between the rotation axis of the two and the output shaft axis of the first motor 38 is the second distance, and the first distance is twice the second distance.

[0044] All the seedling-taking clamps 31 are mounted on a moving beam 32 , and two ends of the moving beam 32 are rotatably connected to two sliders, and the moving beam 32 can perform lifting motion relative to the track 33 .

[0045] Specifically, the track 33 has a sliding groove that runs through the top and bottom, and a vertical shaft 39 is installed on each of the first slider 34 and the second slider 35, that is, there are two shafts 39 in total, and the connecting rod 36, the driving rod 37 and the first motor 38 are located above the track 33, and the two ends of the connecting rod 36 are respectively connected to the two shafts 39. The moving beam 32 is located below the track 33, and the moving beam 32 can slide up and down relative to the shaft 39. A mounting seat 310 with a fixed height is set between the two shafts 39, and a lifting drive unit 311 for driving the moving beam 32 to rise and fall is installed on the mounting seat 310.

[0046] In addition, a baffle 312 is installed on the moving beam 32. When taking the seedlings, a part of the seedling clamping claw 31 performs the seedling clamping operation before the baffle 312. The baffle 312 separates the moving beam 32, the mounting seat 310 and the pepper seedlings.

[0047] In the above structure, the movable beam 32 can switch between a horizontal state and a vertical state. When the movable beam 32 is in the horizontal state, the seedling catching claws 31 thereon correspond one by one to a row of pepper seedlings on the seedling pot plate a. After the seedling catching claws 31 catch the seedlings, the lifting drive unit 311 causes the movable beam 32 to rise, and then the first motor 38 causes the driving rod 37 to rotate, and the two sliders slide respectively relative to the horizontal track 33a and the longitudinal track 33b until the movable beam 32 becomes a vertical state. At this time, the baffle 312 is located on the opposite side of the outer plate 61, and the seedling catching claws 31 release the pepper seedlings, so that each pepper seedling enters each seedling cup 41 on the first side along the guide channel between the partitions 62.

[0048] Since the two ends of the movable beam 32 are supported by sliders when the movable beam 32 moves, the movable beam 32 moves smoothly. Moreover, since the two ends of the movable beam 32 move simultaneously, the difference in the movement amplitude of each seedling picking claw 31 is small. Compared with directly driving the movable beam 32 to rotate, the movable beam 32 of the above-mentioned seedling picking mechanism 3 will not drop the pepper seedlings when the movable beam 32 moves.

[0049] Preferably, if Figure 6 As shown, the seedling retrieval clamp 31 includes a rotating shaft 3101 and two clamp halves 3102 rotating relative to the rotating shaft 3101, the clamp halves 3102 include a rotating portion 31a, the middle portion of the rotating portion 31a is hinged relative to the rotating shaft 3101, and the front lower end and the rear upper end of the rotating portion 31a are respectively provided with a clamping rod 31b and an operating rod 31c; the movable beam 32 is slidably mounted with operating members 71 respectively acting on the two clamp halves 3102, the two operating members 71 respectively have strip holes of the same number as the seedling retrieval clamp 31, and the two operating rods 31c corresponding to the two clamp halves 3102 included in each seedling retrieval clamp 31 are respectively placed in the strip holes corresponding to two different operating members 71, and the two operating members 71 slide in opposite directions at the same speed.

[0050] Specifically, the two operating members 71 have gear parts on their opposing surfaces, and a gear 72 meshing with the gear parts of the two operating members 71 is provided between the two operating members 71, and the gear 72 is driven to operate by the second motor 73. With the above structure, the second motor 73 drives the gear 72 to rotate forward and reversely, so that all the seedling clamping claws 31 can open and close synchronously.

[0051] Preferably, the transplanting mechanism 5 includes a swing arm 51 and a duckbill mechanism 52 placed at the end of the swing arm 51, the swing arm 51 can swing back and forth, and the duckbill mechanism 52 is installed at the end of the swing arm 51; the seedling cup mechanism 4 also includes a conical guide member 42, and all the seedling cups 41 can be opened in sequence above the guide member 42.

[0052] Preferably, the conveyor belt 21 has equidistantly arranged raised plates 23. This ensures that the seedling tray a will not shift relative to the conveyor belt 21, ensuring that the seedling tray a is accurately pushed.

[0053] The present invention also provides a pepper seedling transplanting method, which is based on the above-mentioned transplanter for pepper seedling transplanting. Initially, the moving beam 32 is in a horizontal state and located at a low position, and the seedling clamping claw 31 is in an open state; the method includes the following steps S101-S1,65:

[0054] Step S101, controlling the seedling tray conveying mechanism 2 to operate so that the seedling tray a thereon moves forward by one step, so that a horizontal row of pepper seedlings are within the clamping range of the seedling clamping claws 31;

[0055] Step S102, controlling all the seedling taking claws 31 to close, and controlling the moving beam 32 to rise to a high position;

[0056] Step S103, controlling the moving beam 32 to move from a horizontal state to a vertical state, and all the seedling gripping claws 31 move to the first side of the conveyor belt 21;

[0057] Step S104, controlling all the seedling taking claws 31 to open, so as to release a row of pepper seedlings, so that each pepper seedling enters a different seedling cup 41, and then returning the moving beam 32 to the initial position;

[0058] Step S105, controlling the seedling cup mechanism 4 to operate, after the seedling cup mechanism 4 conveys the pepper seedlings to the second side of the conveyor belt 21, the seedling cup mechanism 4 is opened at the release position to release the pepper seedlings to the transplanting mechanism 5;

[0059] Step S106, the transplanting mechanism 5 operates to transplant the pepper seedlings into the soil.

[0060] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A transplanter for transplanting pepper seedlings in pots, comprising a frame (1), on which a seedling tray conveying mechanism (2), a seedling taking mechanism (3), a seedling cup mechanism (4) and a transplanting mechanism (5) are mounted; the seedling tray conveying mechanism (2) is used to convey the seedling tray (a); the seedling taking mechanism (3) comprises seedling taking clamping claws (31) arranged in a linear array, and the seedling taking mechanism (3) can transfer the pepper seedlings on the seedling tray (a) to the seedling cup mechanism (4) row by row; the seedling tray conveying mechanism (2) comprises a conveyor belt (21); the seedling cup mechanism (4) comprises a plurality of seedling cups (41) constituting an annular cup chain, and the lower side of the seedling cup (41) can be opened at a preset position to release the pepper seedlings therein; characterized in that: The conveyor belt (21) is arranged around the seedling cup mechanism (4), and the seedling cup mechanism (4) has two rows of seedling cups (41) exposed from the left and right sides of the conveyor belt (21) respectively; the seedling retrieval mechanism (3) transfers a horizontal row of seedlings on the seedling tray (a) into a row of seedling cups (41) located on the first side of the conveyor belt (21); the seedling tray (a) located on the second side of the conveyor belt (21) releases the pepper seedlings therein to the transplanting mechanism (5) in sequence.

2. The transplanter for transplanting pepper seedlings in pots according to claim 1, characterized in that: The seedling tray conveying mechanism (2) comprises four belt wheels (22), and the four belt wheels (22) are divided into two groups and are arranged at the front and rear ends of the conveyor belt (21), and the two belt wheels (22) located at the same end are arranged up and down.

3. The transplanter for transplanting pepper seedlings in pots according to claim 1, characterized in that: A guiding mechanism (6) is installed on the first side of the conveyor belt (21), and the guiding mechanism (6) comprises an outer plate (61) and a plurality of partitions (62) fixed on the outer plate (61); a plurality of guiding channels are formed between the partitions (62), and all the guiding channels are aligned one by one with the plurality of seedling cups (41) located on the first side of the conveyor belt (21).

4. The transplanter for transplanting pepper seedlings in pots according to claim 1, characterized in that: The seedling removal mechanism (3) further comprises an L-shaped track (33), wherein the track (33) comprises a transverse track (33a) and a longitudinal track (33b); a first slider (34) and a second slider (35) which are slidably mounted on the transverse track (33a) and the longitudinal track (33b), respectively, and the two sliders are connected to each other via a connecting rod (36); The seedling taking mechanism (3) further comprises a driving rod (37) connected to the middle part of the connecting rod (36), and a first motor (38) drivingly connected to the driving rod (37); All the seedling-picking clamps (31) are mounted on a moving beam (32), the two ends of the moving beam (32) are rotatably connected to two sliders, and the moving beam (32) can perform lifting motion relative to the track (33).

5. The transplanter for transplanting pepper seedlings in pots according to claim 4, characterized in that: The seedling-taking clamp (31) comprises a rotating shaft (3101) and two clamp halves (3102) that rotate relative to the rotating shaft (3101); the clamp halves (3102) comprise a rotating portion (31a); the middle portion of the rotating portion (31a) is hinged relative to the rotating shaft (3101); the front lower end and the rear upper end of the rotating portion (31a) are respectively provided with a clamping rod (31b) and an operating rod (31c); and operating members (71) that act on the two clamp halves (3102) are slidably mounted on the movable beam (32).

6. The transplanter for transplanting pepper seedlings in pots according to claim 1, characterized in that: The transplanting mechanism (5) comprises a swing arm (51) and a duckbill mechanism (52) disposed at the end of the swing arm (51); the swing arm (51) is capable of reciprocating swing, and the duckbill mechanism (52) is mounted at the end of the swing arm (51); the seedling cup mechanism (4) further comprises a conical guide member (42), and all the seedling cups (41) are capable of opening in sequence above the guide member (42).

7. The transplanter for transplanting pepper seedlings in pots according to claim 1, characterized in that: The conveyor belt (21) is provided with raised plates (23) arranged at equal intervals.

8. A method for transplanting pepper seedlings in pots, based on the transplanter for transplanting pepper seedlings in pots according to claim 1, characterized in that: Initially, the movable beam (32) is in a horizontal position and located at a low position, and the seedling picking clamp (31) is in an open state; the method comprises: Controlling the seedling tray conveying mechanism (2) to operate so that the seedling tray (a) on it moves forward by a step distance, so that a horizontal row of pepper seedlings are within the clamping range of the seedling clamping claws (31); Control all the seedling-taking clamps (31) to close, and control the moving beam (32) to rise to a high position; Controlling the movement of the movable beam (32) so that it changes from a horizontal state to a vertical state, and all the seedling picking claws (31) move to the first side of the conveyor belt (21); Control all the seedling clamps (31) to open to release a row of pepper seedlings, so that each pepper seedling enters a different seedling cup (41), and then return the moving beam (32) to the initial position; Controlling the operation of the seedling cup mechanism (4), after the seedling cup mechanism (4) conveys the pepper seedlings to the second side of the conveyor belt (21), the seedling cup mechanism (4) is opened at a release position to release the pepper seedlings to the transplanting mechanism (5); The transplanting mechanism (5) operates to transplant the pepper seedlings into the soil.

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