Multi-claw parallel stem clamping and seedling taking device

Abstract

The invention provides a multi-claw parallel stem clamping and seedling taking device which is used for accurately clamping and pulling out seedlings and solves the problems that a traditional device is high in seedling damage rate and low in seedling taking efficiency. The device comprises a lifting plate, a base column, a fixing plate, a lead screw, a translation plate, a double-hinge scissor-type telescopic mechanism, a clamping arm and the like. The lifting plate is connected with the base plate in a sliding mode and can ascend to a high station or descend to a low station. Rotatable lead screws and horizontal guide sliding grooves are arranged on the base column and the fixing plate, the guide sliding grooves are divided into an upper layer and a lower layer, and the tail ends of the guide sliding grooves are connected. And a translation sliding groove is formed in the lifting plate and is aligned with the guide sliding groove. A plurality of Z-direction sliding ways are arranged on the translation plate, sliding groove pins are arranged in the sliding ways in a sliding mode, and positioning pins are arranged below the sliding ways. The double-hinge scissor-type telescopic mechanism is installed on the front face of the translation plate and composed of a long rotating rod and a short rotating rod to form a rhombic closed ring, and the lower end is connected with the clamping arm. Through connection of a composite mechanism of the sliding groove assembly, accurate control over seedling transplanting and seedling dropping is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a multi-claw parallel stem-clamping seedling-picking device. Background Art

[0002] Although many existing crops such as tomatoes, cucumbers, and peppers have achieved automated transplanting and planting technologies, seedling damage and low efficiency in seedling removal are still common during the process of transplanting crop seedlings. This is because seedling removal is a key component of transplanting, which mainly involves clamping the seedlings in the plug tray, removing the plug tray, and placing it in the seedling cup.

[0003] The prior art CN222736632U discloses a rapeseed pot seedling clamping and pulling seedling device, which is designed to link the seedling tray conveying function and the clamping and pulling seedling function, so that the device can take seedlings in an orderly and accurate manner, ensuring efficient seedling taking operation results. However, combined with the technology Figure 9 It can be seen that the seedling clamping structure is located in the seedling pulling mechanism. The seedling clamping structure can rotate relative to the seedling pulling mechanism. A cam and a compression spring are provided to control the opening or closing of a pair of seedling clamps for clamping the seedlings, so that the seedlings can be pulled out four times in one rotation. The problem is that the seedling tray of the seedlings is transported to the seedling clamping mechanism at the bottom through the inclined chain conveying mechanism. In this way, the seedlings are in an inclined state, and when the seedling clamps clamp the stems of the seedlings, their leaves may be damaged. Moreover, during the clamping process in the inclined state, the force direction of the seedling stems and the growth direction of the seedling roots in the seedling tray are different, resulting in uneven force and greater damage to the seedlings. In addition, transporting or removing seedlings in an inclined seedling tray can easily cause the soil in the seedling tray to scatter or be brought out, which increases the work of cleaning the soil.

[0004] The prior art CN222706998U discloses a device for separating and removing dendrobium seedlings. In the device, a clamp for clamping dendrobium is vertically arranged above the dendrobium. This has the problem that the dendrobium seedlings are easily accidentally injured during the clamping process.

[0005] Therefore, in order to solve the problems of the existing technology, the seedling clamping device needs to take into account the biological and mechanical properties of the stems of the plug seedlings of various crops, and combine the technical requirements of crop planting agronomy to propose a low-loss, high-efficiency seedling removal device. Summary of the Invention

[0006] The present invention addresses the problems of high seedling injury rate and low seedling removal efficiency during transplanting of plug seedlings of various crops such as tomatoes, cucumbers, and peppers. A multi-claw parallel stem-clamping seedling removal device is proposed, comprising: a lifting plate slidably connected to the Z-direction front surface of a base plate; a driving mechanism is provided in the base plate for controlling the lifting plate to rise to a high position or descend to a low position relative to the base plate in the Z direction;

[0007] The front sides of the base column and the fixed plate are provided with a rotatable lead screw along the X direction, the front sides of the fixed plate and the lifting plate are flush with each other, the front sides of the fixed plate are provided with an X-direction guide slot 1 and a guide slot 2, the guide slot 1 is located above the guide slot 2, the first ends of the guide slot 1 and the guide slot 2 both extend to the Z-direction edge of the fixed plate close to the lifting plate, the second end of the guide slot 1 extends obliquely downward into the guide slot 2, the second end of the guide slot 2 extends to the other Z-direction edge close to the fixed plate, the front side of the lifting plate is provided with a translation slot extending to the Z-direction edge of the lifting plate in the X direction, and when the lifting plate is at the high position and the low position, the translation slot is aligned with the guide slot 1 and the guide slot 2 respectively;

[0008] There is a gap between the lead screw and the fixed plate and the lifting plate, and a translation plate is provided in the gap. The front side of the translation plate is fixedly connected to the lead screw pair on the lead screw. The lead screw is used to control the lead screw pair to carry the translation plate along the lead screw. The translation plate is also provided with multiple Z-direction slideways, which are orthogonal to the translation slide grooves and pass through the front and back sides of the translation plate.

[0009] A double-hinged scissor-type telescopic mechanism corresponding to each Z-direction slide is provided on the front of the translation plate. A slide pin is slidingly provided in the Z-direction slide, and a positioning pin is provided directly below the Z-direction slide. The double-hinged scissor-type telescopic mechanism includes two long rotating rods hinged to each other on the positioning pins in a scissor-type manner, and two short rotating rods whose upper ends are hinged to each other on the slide pins. The lower end of each short rotating rod is hinged to the upper end of a long rotating rod to form a diamond-shaped closed loop. The lower ends of the two long rotating rods are respectively connected to the clamping arms perpendicular to the front of the translation plate.

[0010] Preferably, when the lifting plate is at a high position, the slide pins and the positioning pins of the scissor mechanism are away from each other, and the spacing between the Z-direction slides is equal to the spacing between the seedlings in the seedling tray.

[0011] Preferably, when the lifting plate is at the high position and the low position, the clamping arms move closer to and away from each other respectively, and when the lifting plate is at the low position, adjacent double-hinged scissor-type telescopic mechanisms do not collide with each other.

[0012] Preferably, the clamping arm is made of rubber.

[0013] Preferably, the Z-direction edges on both sides of the base plate are fixedly connected to the base column and the fixed plate respectively, and the base column or the fixed plate is installed on the seedling pulling device, which is used to control the synchronous lifting and lowering of the base plate, the base column and the fixed plate.

[0014] Preferably, a Z-direction front surface of the substrate is provided with a Z-guide rail, and the lifting plate is slidably connected to the Z-guide rail.

[0015] Preferably, bearing seats are respectively provided on the front sides of the base column and the fixed plate, the lead screw is arranged between the bearing seats along the X direction and is rotatably connected to the bearing seats, and a motor for driving the lead screw is provided on the side of the fixed plate away from the lifting plate.

[0016] Preferably, the base plate, lead screw, lead screw pair, fixed plate, and the lifting plate, translation plate, double-hinged scissor-type telescopic mechanism, and clamping arm are symmetrically arranged on the left and right sides of the base column, and the spiral slides on the lead screws on the left and right sides of the base column have opposite spiral directions.

[0017] Preferably, an X-guide rail is provided at the lower part of the fixed plate, the X-guide rail extends to the front of the lifting plate and does not contact the lifting plate, the lower part of the translation plate is slidably connected to the X-guide rail, and the X-guide rail is located below the second guide slot.

[0018] Preferably, the upper end of the Z-direction slideway is not lower than the first guide slideway, and the lower end of the Z-direction slideway is not higher than the second guide slideway.

[0019] Preferably, the distance from the intersection of the inclined sections of the second guide slot and the first guide slot to the second end of the second guide slot is greater than the X-direction length of the translation plate.

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

[0021] (1) The present invention breaks through the inefficient mode of traditional single-plant seedling removal, combines the biological and mechanical properties of crops (such as elastic modulus, yield strength, etc.), and combines the agronomic technical requirements of crop planting to propose a multi-claw parallel stem clamping and seedling removal device. The device constructs a planar connecting rod-slideway composite mechanism, that is, a translation plate and its seedling clamping unit are used as the seedling clamping component, and a lifting plate or a guide slider is used as the seedling pulling component. The combination of the two completes the seedling clamping and pulling operations, and when the two are moved together into the slideway component, a continuous process of transplanting, dropping and returning to the operation is realized, achieving efficient grasping and separate placement of multiple seedlings in a single cycle, and at the same time providing a new technical path for low-loss and efficient seedling removal.

[0022] (2) The present invention optimizes the details of the mechanism structure of the seedling picking device. On the basis of the lifting plate in Example 1, a guide slider and a guide slide bar can be added to the translation plate panel, or the lifting plate can be omitted and the guide slider and the guide slide bar can be directly added to the translation plate panel. On the one hand, the parts setting in the mechanism can be reduced, and the entire seedling picking device can be streamlined. On the other hand, the installation accuracy error of the clamping unit in the seedling clamping assembly can be reduced, that is, the bolt connection form can be reduced, and the welding process during the installation process can be reduced, thereby improving the overall stability and smoothness, and improving the efficiency and success rate of seedling picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic structural diagram of the plug seedling transplanter with multiple claws and parallel seedling removal according to the present invention;

[0024] Figure 2This is a schematic diagram of the overall structure of the frame and belt pulley conveyor device of the multi-claw parallel seedling removal plug tray seedling transplanter of the present invention;

[0025] Figure 3 This is a schematic structural diagram of the multi-claw parallel seedling picking mechanism of the present invention;

[0026] Figure 4 This is a structural schematic diagram of the seedling tray bracket and seedling tray recovery device of the plug tray seedling transplanter with multiple claws and parallel seedling removal according to the present invention;

[0027] Figure 5 It is a structural schematic diagram of the scissor-type mechanism of the multi-claw parallel seedling picking mechanism of the present invention;

[0028] Figure 6 A circuit diagram of a tray seedling transplanter with multiple claws and parallel seedling removal;

[0029] Figure 7 Schematic diagram of the clamping and removing process of the multi-claw parallel seedling removal mechanism in Example 2;

[0030] Figure 8 Schematic diagram of the clamping and removing process of the multi-claw parallel seedling removal mechanism in Example 2;

[0031] Figure 9 Schematic diagram of the seedling holding, transporting and fixed-point seedling delivery process of the multi-claw parallel seedling taking mechanism of Example 2;

[0032] Figure 10 Schematic diagram of the scissor-type mechanism of the multi-claw parallel seedling picking mechanism of Example 2;

[0033] Figure 11 Schematic diagram of the scissor-type mechanism of the multi-claw parallel seedling picking mechanism of Example 3. DETAILED DESCRIPTION

[0034] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0037] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0038] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0039] Example 1

[0040] like Figures 1 to 3 As shown, a multi-claw parallel seedling picking plug tray seedling transplanter includes a frame 21, which includes two upper and lower frames and a column connecting the two frames. The frame 21 is similar to ZL202211268562.5 and is mounted on a self-propelled crawler assembly for driving the transplanter. The first end of the lower frame of the frame 21 has a seedling tray elevator, which is set at Figure 1 and Figure 2At the left end of the frame 21 in the middle, a belt pulley conveyor 29 is connected to the lower frame of the frame 21, which is used to convey the seedling tray 28 to the seedling taking station along the Y direction to approach the multi-claw parallel seedling taking mechanism 26. The seedling taking station is parallel to the X direction and is located on the belt pulley conveyor 29 between the second end (right end) and the first end of the lower frame. The seedling tray recovery station is located at the second end of the lower frame.

[0041] The seedling tray recovery device 24 is arranged above the seedling tray recovery station, and the seedling tray recovery device 24 includes an empty seedling tray dial plate 32, and the empty seedling tray dial plate 32 is driven by an X-direction cylinder, and the empty seedling tray can be pushed into the seedling tray recovery box 25.

[0042] The belt pulley conveyor 29 includes pulleys 29f disposed at the four corners of the lower frame 21. Two pulleys 29f at the second and first ends of the lower frame are mounted as a set on the output shaft of a stepper motor 29b. A belt 29e is mounted on the two pulleys 29f at the second and first ends of the lower frame. A seedling tray holder 30 is mounted on the belt 29e. The lower frame also includes a Y-axis 29a, which is slidably connected to a slideway 29c fixed to the seedling tray holder 30. The lower frame 21 is also equipped with multiple Y-position sensors 29d arranged along the Y direction. These sensors are configured to generate an approach signal when each Y-position on the seedling tray holder 30 reaches a clamping station, and to generate a recovery signal when the seedling tray holder 30 reaches a seedling tray recovery station. Each Y-position on the seedling tray holder 30 corresponds to a plurality of seedling rows arranged in the X direction on the seedling tray 28, enabling the seedling trays to be fed row by row on demand.

[0043] like Figure 3 As shown, a multi-claw parallel seedling taking mechanism 26 is suspended on the upper frame of the frame 21 through a seedling taking device 23. The seedling taking device 23 can lift the multi-claw parallel seedling taking mechanism 26 to the seedling taking station and the clamping station in the Z direction. When at the clamping station, the multi-claw parallel seedling taking mechanism 26 is close to the belt pulley conveyor device 29. At the seedling taking station, the multi-claw parallel seedling taking mechanism 26 is raised relative to the clamping station.

[0044] Therefore, the multi-claw parallel seedling taking mechanism 26 clamps the seedlings in the seedling tray 28 and pulls them out until they are separated from the seedling tray 28 when the seedlings are pulled out. The multi-claw parallel seedling taking mechanism 26 can translate the seedlings in the clamped seedling tray 28 to the transplanters 27 on the left and right sides of the seedling taking station. When the multi-claw parallel seedling taking mechanism 26 is at the seedling pulling station, it does not block the seedling tray 28 from being transported to the seedling tray recovery station along the belt pulley conveyor 29.

[0045] As shown Figure 1 and Figure 3 As shown, the multi-claw parallel seedling removal mechanism 26 includes an X-direction linear drive mechanism 2, a Z-direction linear drive mechanism 8, a fixed plate 7, a translation plate 5, and n scissor-type mechanisms. The translation plate 5 is evenly spaced with n Z-direction slideways 51. The Z-direction linear drive mechanism 8 is located on the side of the multi-claw parallel seedling removal mechanism 26 facing the seedling tray recovery station. Figure 5 As shown, each scissor-type mechanism includes two short rotating rods 12 at the upper end which are interlaced and hinged on the sliding pins 13, and two long rotating rods 11 at the lower end which are interlaced and hinged on the positioning pins 14. Each short rotating rod 12 and a long rotating rod 11 are hinged to each other, and a clamping arm 1 is provided at the lower end of the two long rotating rods 11. The clamping arm 1 is arranged along the Y direction and faces the first end of the lower frame. Each positioning pin 14 is close to the lower edge of the translation plate 5 and is fixed. Each sliding groove pin 13 is connected to a slider 18 slidingly arranged on the Z-direction slideway 51. The fixed plate 7 is provided with a guide slide 71 and a guide slide 72 in the X direction. The linear drive mechanism 8 in the Z direction can control the slider 18 to rise relative to the positioning pin 14 to the same height as the guide slide 71, so that the clamping arm 1 can clamp the seedlings therebetween. The linear drive mechanism 8 in the X direction can also control the slider 18 to descend to the same height as the guide slide groove 2 72, so that the clamping arm 1 is released. The linear drive mechanism 2 in the X direction can drive the translation plate 5 to translate along the X direction. The guide slide groove 1 71 is used to enable the slider 18 to move with the translation plate 5 to slide into the guide slide groove 1 71 when it is at the same height as the guide slide groove 1 71, and keep the slide pin 13 moving along the X direction to above the transplanter 27 without lowering the height, and then guide the slider 18 to descend to slide into the guide slide groove 2 72, so that the clamping arm 1 is released above the transplanter 27. The guide slide groove 2 72 is used to enable the slider 18 to move back along the X direction with the translation plate 5 while maintaining the same height as the guide slide groove 2 72, so that the clamping arm 1 remains in a loosened state and returns to the clamping position.

[0046] Preferably, the fixed plate 7 is located on the left and right sides of the seedling picking station, and the guide chute 1 71 includes an X-direction section and a downward inclined section. The X-direction section is located on the side of the fixed plate 7 close to the seedling picking station, and the downward inclined section is located at the end of the X-direction section away from the seedling picking station and extends into the guide chute 2 72.

[0047] The Z-direction linear drive mechanism 8 includes an X-direction guide rail 61 arranged between the two fixed plates 7. The two fixed plates 7 and the X-direction guide rail 61 are jointly mounted on the X-direction connecting member 8a. The X-direction guide rail 61 can move in the Z-direction relative to the X-direction connecting member. The X-direction connecting member 8a is connected to the seedling pulling device 23. The X-direction linear drive mechanism 2 is configured to keep the translation plate 5 rising and falling synchronously with the base column 4 and the fixed plate 7, and drive the translation plate 5 to translate along the X-direction. When the X-direction guide rail 61 is aligned with the guide slide 1 71 and the guide slide 2 72, the slider 18 can slide into the X-direction guide rail 61.

[0048] Furthermore, a seedling pulling position sensor is provided on the frame 21, which is used to send a seedling pulling signal when the multi-claw parallel seedling picking mechanism 26 reaches the seedling pulling station, and send a waiting signal when the multi-claw parallel seedling picking mechanism 26 reaches the seedling taking station; the seedling pulling device can use a pneumatic device, such as a cylinder, and the seedling pulling position sensors can be set in the upper and lower ends of the cylinder, respectively used to detect whether the multi-claw parallel seedling picking mechanism 26 reaches the seedling pulling station and the seedling taking station.

[0049] like Figure 3 As shown, the multi-claw parallel seedling picking mechanism 26 is provided with an X-axis position sensor, which is used to send a clamping permission signal when the translation plate 5 is completely located at the clamping position, and send a return permission signal when the scissor-type mechanism on the translation plate 5 moves toward the end of the fixed plate 7 away from the clamping position and passes through the transplanter 27; when the clamping position, that is, the translation plate 5 is located directly above the clamping position, a group of X-axis position sensors 26a are provided at the end of the fixed plate 7 away from the clamping position, which is used to detect that the scissor-type mechanism on the translation plate 5 has passed through the transplanter 27, and a group of X-axis position sensors 26b are provided on the base column 4, which is used to detect that the translation plate 5 is completely located at the clamping position.

[0050] The multi-claw parallel seedling removal mechanism 26 is also equipped with a Z-axis position sensor, which is used to send a clamping signal when the slider and guide chute 1 71 are at the same height, and send a release signal when the slider 18 and guide chute 2 72 are at the same height. The Z-axis position sensor is installed in the Z-axis linear drive mechanism 8, which uses a pneumatic device.

[0051] An electric control box 22 is provided beside the frame 21. Figure 6 As shown, the electric control box 22 is equipped with a power supply, a PLC controller, and a driver module. The driver module is used to drive the belt pulley conveyor 29, the X-direction linear drive mechanism 2, the Z-direction linear drive mechanism 8, the seedling tray recovery device 24, and the seedling pulling device 23. The driver module includes a motor drive control module and a solenoid valve 22a; the belt pulley conveyor 29 and the X-direction linear drive mechanism 2 are electrically connected to the motor drive control module, and the Z-direction linear drive mechanism 8, the seedling tray recovery device 24, and the seedling pulling device 23 use pneumatic devices and are controlled by the solenoid valve.

[0052] The PLC controller controls the belt pulley conveyor 29, the X-direction linear drive mechanism 2, the Z-direction linear drive mechanism 8, the seedling tray recovery device 24, and the seedling pulling device 23 in the following manner:

[0053] When the PLC controller receives the recycling signal, it controls the seedling tray recycling device 24 to push the seedling tray 28 into the seedling tray recycling box 25 along the X direction;

[0054] When the PLC controller receives the approach signal, the waiting signal, the permission signal, and the release signal, it controls the Z-direction linear drive mechanism 8 to raise the X-direction guide rail 61 to the same height as the guide slot 71;

[0055] When the PLC controller receives the approach signal, the waiting signal, the permission signal, and the clamped signal,

[0056] Control the seedling pulling device 23 to move the multi-claw parallel seedling taking mechanism 26 to the seedling pulling station;

[0057] When the PLC controller receives the approach signal, the seedling pulling signal, the clamping permission signal, and the clamping signal, it controls the linear drive mechanism 2 in the X direction to move the scissor-type mechanism on the translation plate 5 toward the end of the fixed plate 7 away from the clamping station and all pass through the transplanter 27. At the same time, it controls the belt pulley conveyor 29 to convey the seedling tray 28 along the Y direction until the next approach signal is generated, and controls the linear drive mechanism 8 in the Z direction to lower the X guide rail 61 to the same height as the guide chute 2 72.

[0058] When the PLC controller receives the approach signal, the seedling pulling signal, the return permission signal, and the release signal, it controls the X-axis linear drive mechanism 2 to move all the scissor-type mechanisms on the translation plate 5 to the clamping position;

[0059] When the PLC controller receives the approach signal, the seedling pulling signal, the permission clamping signal, and the release signal, it controls the seedling pulling device 23 to move the multi-claw parallel seedling pulling mechanism 26 to the seedling pulling station.

[0060] Example 2

[0061] like Figure 1 and Figure 3 and Figures 7 to 10As shown, a multi-claw parallel seedling removal mechanism proposed by the present invention is arranged on the seedling removal station of a tray seedling transplanter with multi-claw parallel seedling removal. The device adopts a composite drive structure of a bilaterally symmetrical lead screw and a slide groove, including a plurality of clamping units respectively installed on the slide groove combination plates on both sides. The device includes a Z-direction linear drive mechanism 8 that is slidably connected to the X-direction connecting member 8a. The Z-direction linear drive mechanism 8 is provided with a drive mechanism for controlling the Z-direction linear drive mechanism 8 to rise to a high position or descend to a low position along the Z direction relative to the X-direction connecting member 8a. In this embodiment, the X-direction connecting member 8a is constructed as a base plate, and the Z-direction linear drive mechanism 8 is constructed to include a lifting plate 8 and a cylinder. The cylinder is used to control the lifting plate 8 to rise to a high position or descend to a low position in the Z direction relative to the base plate 8a.

[0062] like Figure 3 As shown, the multi-claw parallel seedling removal mechanism includes a centrally located base column 4 and base plates 8a symmetrically arranged on the left and right sides of the base column 4. The Z-direction edges of the base plates 8a are respectively fixedly connected to the base column 4 and the fixed plate 7, so that the fixed plate 7 is spaced apart from the base column 4. The base column 4, the fixed plate 7, and the base plate 8a are mounted on a lifting plate 8, which is used to control the base plate 8a, the base column 4, and the fixed plate 7 to rise and fall synchronously in the Z direction.

[0063] A bearing seat 10 is provided on the front side of the base column 4 (the side facing away from the seedling tray recovery station), and a bearing seat 10 is provided on the front end of the fixed plate 7 away from the base column 4 (the side facing away from the seedling tray recovery station). The lead screw 2 is arranged between the three bearing seats 10 along the X direction and is rotatably connected to the bearing seats 10, so that the lead screw 2 is arranged on the front side of the base column 4 and the fixed plate 7 along the X direction, and the motor driving the lead screw 2 is arranged on the side of the fixed plate 7 away from the base column 4. The spiral slideways on the lead screw 2 on the left and right sides of the base column 4 have opposite spiral directions. A lead screw pair 3 is respectively provided on the two spiral slideways with opposite spiral directions on the lead screw 2. The lead screw pair 3 is threadedly connected to the spiral slideway on the lead screw 2. When the lead screw 2 rotates forward or reverse, the lead screw pair 3 can move away from the base column 4 or approach the base column 4 along the lead screw 2. When the lead screw 2 rotates, the pair of lead screw pairs 3 can move closer to or away from each other.

[0064] The front of the fixed plate 7 is provided with a guide slot 1 71 and a guide slot 2 72 along the X direction. Guide slot 1 71 is located above guide slot 2 72. The first ends of guide slot 1 71 and guide slot 2 72 both extend to the Z-direction edge of the fixed plate 7 near the base column 4. The second end of guide slot 1 71 extends obliquely downward into guide slot 2 72. The second end of guide slot 2 72 extends to the Z-direction edge of the fixed plate 7 away from the base column 4. The front of the lifting plate 8 is provided with a horizontal translation slot 61 extending to the Z-direction edge of the lifting plate 8. When the lifting plate 8 is in the high and low positions, the translation slot 61 is aligned with guide slot 1 71 and guide slot 2 72, respectively. The front faces of the fixed plate 7 and the lifting plate 8 are flush with each other and parallel to the XZ plane.

[0065] like Figure 1 and Figure 3 As shown, the multi-claw parallel seedling removal mechanism includes a seedling pulling device 23, which can control the multi-claw parallel seedling removal mechanism that has clamped the seedling and pull the seedling out of the hole tray along the Z direction. A gap is separated from the lead screw 2 and the fixed plate 7 and the lifting plate 8. A translation plate 5 is disposed in the gap. The front of the translation plate 5 is fixedly connected to the lead screw pair 3 on the lead screw 2. The lead screw 2 is used to control the lead screw pair 3 to carry the translation plate 5 along the lead screw 2. The translation plate 5 is also provided with multiple Z-direction slideways 51, which are orthogonal to the translation chute 61 and extend through the front and back of the translation plate 5. The spacing between the Z-direction slideways 51 is equal to the spacing between the seedlings in the seedling tray.

[0066] The front of the translation plate 5 is provided with a scissor-type mechanism corresponding to each Z-direction slide 51, a slide pin 13 is slidably provided in the Z-direction slide 51, and a positioning pin 14 is provided just below the Z-direction slide 51. Figure 5 As shown, the scissor-type mechanism includes two long rotating rods 11 hinged to each other on the positioning pin 14 in a scissor-type manner, and two short rotating rods 12 whose upper ends are hinged to each other on the slide pin 13. The lower end of each short rotating rod 12 is hinged to the upper end of a long rotating rod 11 to form a diamond-shaped closed loop, and the lower ends of the two long rotating rods 11 are respectively connected to the clamping arms 1 perpendicular to the front of the translation plate 5.

[0067] The Z-direction front surface of base plate 8a is provided with a Z-direction guide rail, and lift plate 8 is slidably connected to the Z-direction guide rail of base plate 8a, allowing lift plate 8 to reciprocate in the Z-direction relative to the front surface of base plate 8a. A Z-direction cylinder is provided in base plate 8a to control lift plate 8 to rise to a high position or descend to a low position in the Z-direction relative to base plate 8a.

[0068] like Figure 3As shown, the translation plate 5 slides back and forth on the front sides of the flush fixed plate 7 and the lifting plate 8 via an X-guide rail 16. The X-guide rail 16 is mounted on the lower portion of the fixed plate 7 and below the second guide slot 72. The length of the X-guide rail 16 is not less than the sum of the length of the translation slot 61 on the lifting plate 8 and the length of the second guide slot 72 on the fixed plate 7. The bottom or back side of the translation plate 5 is nested with the X-guide rail 16, and the translation plate 5 can reciprocate in the X direction along the X-guide rail 16 on the front sides of the flush fixed plate 7 and the lifting plate 8.

[0069] Furthermore, the upper end of the Z-direction slideway 51 is no lower than the first guide slot 71 of the fixed plate 7, and the lower end of the Z-direction slideway 51 is no higher than the second guide slot 72 of the fixed plate 7. The length of the Z-direction slideway 51 is no less than the Z-direction travel distance of the lifting plate 8 from ascending to the high position to descending to the low position. On the fixed plate 7, the distance from the intersection of the inclined section of the first guide slot 71 and the second guide slot 72 to the second end of the second guide slot 72 is greater than the X-direction length of the translation plate 5.

[0070] When the lifting plate 8 is at a high position, the chute pin 13 and the positioning pin 14 of the scissor mechanism move away from each other until the clamping arms 1 move closer to each other. When the lifting plate 8 is at a low position, the chute pin 13 and the positioning pin 14 of the scissor mechanism move closer to each other until the clamping arms (1) move away from each other. The clamping arms 1 are made of rubber. When the lifting plate 8 is at a low position, adjacent scissor mechanisms do not collide with each other.

[0071] Furthermore, the distance from the intersection of the inclined sections of the second guide slot 72 and the first guide slot 71 to the second end of the second guide slot 72 is greater than the X-direction length of the translation plate 5 .

[0072] The multi-claw parallel seedling picking mechanism of this embodiment can be divided into four steps in the process of picking up seedlings: clamping and removing from the tray, holding and transporting seedlings, fixed-point seedling placement and return. In actual work, before the operation begins, Figure 7 As shown, the lifting plate 8 in the multi-claw parallel seedling removal mechanism is located at the low position and the translation plate 5 is close to both sides of the base column 4, and the clamping arms 1 are separated from each other. The multi-claw parallel seedling removal mechanism is lowered to the clamping position by the seedling pulling device 23. The first step is the operation process of clamping the seedlings off the tray. When multiple evenly arranged seedlings in the seedling tray are placed at the seedling removal position and the seedlings in the seedling tray are between a pair of clamping arms 1, the lifting plate 8 is controlled to move upward in the Z direction to the high position, and the slide pin 13 in the Z-direction slide of the translation plate 5 is driven to move to the high position (as shown in FIG. Figure 8 As shown), the upper end of the scissor-type mechanism is vertically lifted to the point where the clamping arms 1 are brought closer to each other (as shown). Figure 8As shown), at this time, the angle between the two long rotating rods 11 or the two short rotating rods 12 is close to 0°, so that the seedlings are clamped and not damaged. Then the seedling pulling device 23 is controlled to lift the entire multi-claw parallel seedling removal mechanism, so that the entire multi-claw parallel seedling removal mechanism 26 is lifted, so that the seedlings in the plug tray are separated from the plug tray. The second step is the operation process of holding and transporting the seedlings. At this time, the lifting plate 8 is at the high working position, the translation slot 61 of the lifting plate 8 is aligned with the guide slot 71 of the fixed plate 7, and the control screw 2 starts to rotate (as shown). Figure 8 As shown by the rotation arrow, the screw pair 3 moves along the screw 2 in the direction away from the base column 4, that is, along the X direction (as shown by the rotation arrow Figure 9 The third step is the fixed-point seedling operation process. During the translation of the translation plate 5 along with the translation of the screw pair 3 (as shown by the horizontal arrow), the screw pair 3 carries the translation plate 5 to move along the X-direction guide rail 16, and the scissor-type mechanism on the front of the translation plate 5 also moves toward the fixed plates 7 on both sides. Figure 9 When the slide pin 13 in the Z-direction slideway 51 on the translation plate 5 slides from the guide slide 71 to the inclined section connected with the guide slide 72, the slide pin 13 gradually descends from the high position (as shown in the horizontal arrow). Figure 9 ), at this time, the scissor-type mechanism is vertically compressed until the clamping arms 1 are away from each other (as shown by the inclined arrows). Figure 9 As shown by the horizontal arrow, the transplanter 27 for receiving the seedlings is arranged below the inclined section where the guide chute 71 is connected on the fixed plate 7, and can receive the seedlings clamped by each scissor-type mechanism. The fourth step is the return operation process. When the guide rail 72 is lifted up, the lifting plate 8 is lifted off the support rail 71 and the support rail 72 is lifted up, so that the lifting plate 8 is lifted off the support rail 71 and the support rail 72 is lifted up. The seedlings in the seedling tray can be clamped in batches and pulled out of the seedling tray, and then put into the transplanter 27 in sequence, which greatly improves the working efficiency.

[0073] Example 3

[0074] This embodiment is a further improvement on the basis of embodiment 2.

[0075] like Figure 10As shown, considering that when the translation plate 5 of Example 2 moves, the middle slide pin 13 tilts relative to the translation plate 5 in the Z-direction slide 51, generating sliding friction with the inner Z-direction slide 51, and the entire slide pin 13 only bears force at the place where it is hinged to the short rotating rod 12, causing the entire scissor mechanism to get stuck during the lifting and lowering process of the lifting plate 5. In addition, due to the installation error caused by the fixing method of bolts and nuts used in the assembly of the scissor mechanism, there are errors in the Y direction at many hinges, and the slide pin 13 will have disturbance at point O. This also causes the slide pin 13 to not be completely perpendicular to the XZ plane when the end of the slide pin 13 moves in conjunction with the Z-direction slide 51, causing the entire scissor mechanism to get stuck.

[0076] On the other hand, the material strength of the slot pin 13 is low, and its compressive strength is insufficient, making it prone to bending. The hinged end only constrains displacement, or even incompletely, and cannot effectively limit rotation, causing the slot pin 13 to easily rotate or become lateral unstable under load. Compared to the fixed end, the bending stiffness of the hinged support is significantly reduced, which can easily cause structural deformation when subjected to bending moments.

[0077] At the same time, in order to solve the above problems, the present embodiment improves the translation plate 5 .

[0078] In this embodiment, Figure 1 and Figure 3 and Figures 7 to 10 As shown, a multi-claw parallel seedling removal mechanism proposed by the present invention is arranged on the seedling removal station of a tray seedling transplanter with multi-claw parallel seedling removal. The device adopts a composite drive structure of a bilaterally symmetrical lead screw and a slide groove, including a plurality of clamping units respectively installed on the slide groove combination plates on both sides. The device includes a Z-direction linear drive mechanism 8 that is slidably connected to the X-direction connecting member 8a. The Z-direction linear drive mechanism 8 is provided with a drive mechanism for controlling the Z-direction linear drive mechanism 8 to rise to a high position or descend to a low position along the Z direction relative to the X-direction connecting member 8a. In this embodiment, the X-direction connecting member 8a is constructed as a base plate, and the Z-direction linear drive mechanism 8 is constructed to include a lifting plate 8 and a cylinder. The cylinder is used to control the lifting plate 8 to rise to a high position or descend to a low position in the Z direction relative to the base plate 8a.

[0079] See also Figure 11 right Figure 3 The improved multi-claw parallel seedling removal mechanism includes a centrally located base column 4 and base plates 8a symmetrically arranged on the left and right sides of the base column 4. The Z-direction edges of the base plates 8a are respectively fixedly connected to the base column 4 and the fixed plate 7, so that the fixed plate 7 is spaced apart from the base column 4. The base column 4, the fixed plate 7, and the base plate 8a are mounted on a lifting plate 8, which is used to control the base plate 8a to rise and fall synchronously with the base column 4 and the fixed plate 7 in the Z direction.

[0080] A bearing seat 10 is provided on the front side of the base column 4 (the side facing away from the seedling tray recovery station), and a bearing seat 10 is provided on the front end of the fixed plate 7 away from the base column 4 (the side facing away from the seedling tray recovery station). The lead screw 2 is arranged between the three bearing seats 10 along the X direction and is rotatably connected to the bearing seats 10, so that the lead screw 2 is arranged on the front side of the base column 4 and the fixed plate 7 along the X direction, and the motor driving the lead screw 2 is arranged on the side of the fixed plate 7 away from the base column 4. The spiral slideways on the lead screw 2 on the left and right sides of the base column 4 have opposite spiral directions. A lead screw pair 3 is respectively provided on the two spiral slideways with opposite spiral directions on the lead screw 2. The lead screw pair 3 is threadedly connected to the spiral slideway on the lead screw 2. When the lead screw 2 rotates forward or reverse, the lead screw pair 3 can move away from the base column 4 or approach the base column 4 along the lead screw 2. When the lead screw 2 rotates, the pair of lead screw pairs 3 can move closer to or away from each other.

[0081] The front of the fixed plate 7 is provided with a guide slot 1 71 and a guide slot 2 72 along the X direction. Guide slot 1 71 is located above guide slot 2 72. The first ends of guide slot 1 71 and guide slot 2 72 both extend to the Z-direction edge of the fixed plate 7 near the base column 4. The second end of guide slot 1 71 extends obliquely downward into guide slot 2 72. The second end of guide slot 2 72 extends to the Z-direction edge of the fixed plate 7 away from the base column 4. The front of the lifting plate 8 is provided with a horizontal translation slot 61 extending to the Z-direction edge of the lifting plate 8. When the lifting plate 8 is in the high and low positions, the translation slot 61 is aligned with guide slot 1 71 and guide slot 2 72, respectively. The front faces of the fixed plate 7 and the lifting plate 8 are flush with each other and parallel to the XZ plane.

[0082] like Figure 1 and see Figure 11 right Figure 3 The improvement of the multi-claw parallel seedling extraction mechanism includes a seedling pulling device 23, which can control the multi-claw parallel seedling extraction mechanism that has clamped the seedling and pull the seedling out of the hole tray along the Z direction. There is a gap between the lead screw 2 and the fixed plate 7 and the lifting plate 8, and a translation plate 5 is provided in the gap. The front of the translation plate 5 is fixedly connected to the lead screw pair 3 on the lead screw 2. The lead screw 2 is used to control the lead screw pair 3 to carry the translation plate 5 along the lead screw 2. The translation plate 5 is also provided with multiple Z-direction slide bars 51. The Z-direction slide bars 51 are orthogonal to the translation chute 61, and the translation plates 5 on the left and right sides of the Z-direction slide bars 51 are penetrated from the front and back. The spacing between the Z-direction slide bars 51 is equal to the spacing between the seedlings in the seedling tray.

[0083] The front of the translation plate 5 is provided with a scissor-type mechanism corresponding to each Z-direction slide bar 51, and a positioning pin 14 is provided just below the Z-direction slide bar 51 or just below one side of the Z-direction slide bar 51. Figure 5As shown, the scissor-type mechanism comprises two long rotating rods 11 hinged to each other in a scissor-like manner on a positioning pin 14, and two short rotating rods 12 whose upper ends are hinged to each other on a slide pin 13. The lower end of each short rotating rod 12 is hinged to the upper end of a long rotating rod 11, forming a diamond-shaped closed loop. The lower ends of the two long rotating rods 11 are respectively connected to the clamping arms 1 perpendicular to the front of the translation plate 5. The slide pin 13 is rotatably mounted on the slider 18 or on the extension of the left / right side of the slider 18. The slider 18 is slidably connected to the Z-axis slide bar 51. The back of the slider 18 is provided with a protrusion that can be inserted into the translation slide 61.

[0084] The Z-direction front surface of base plate 8a is provided with a Z-direction guide rail, and lift plate 8 is slidably connected to the Z-direction guide rail of base plate 8a, allowing lift plate 8 to reciprocate in the Z-direction relative to the front surface of base plate 8a. A Z-direction cylinder is provided in base plate 8a to control lift plate 8 to rise to a high position or descend to a low position in the Z-direction relative to base plate 8a.

[0085] like Figure 3 As shown, the translation plate 5 slides back and forth on the front sides of the flush fixed plate 7 and the lifting plate 8 via an X-guide rail 16. The X-guide rail 16 is mounted on the lower portion of the fixed plate 7 and below the second guide slot 72. The length of the X-guide rail 16 is not less than the sum of the length of the translation slot 61 on the lifting plate 8 and the length of the second guide slot 72 on the fixed plate 7. The bottom or back side of the translation plate 5 is nested with the X-guide rail 16, and the translation plate 5 can reciprocate in the X direction along the X-guide rail 16 on the front sides of the flush fixed plate 7 and the lifting plate 8.

[0086] Furthermore, the upper end of the Z-direction slide 51 is no lower than the first guide slot 71 of the fixed plate 7, and the lower end of the Z-direction slide 51 is no higher than the second guide slot 72 of the fixed plate 7. The length of the Z-direction slide 51 is no less than the Z-direction travel distance of the lifting plate 8 from ascending to the high position to descending to the low position. On the fixed plate 7, the distance from the intersection of the inclined section of the first guide slot 71 and the second guide slot 72 to the second end of the second guide slot 72 is greater than the X-direction length of the translation plate 5.

[0087] When the lift plate 8 is in the high position, the scissor mechanism's guide pins 13 and positioning pins 14 move away from each other until the clamping arms 1 move closer together. When the lift plate 8 is in the low position, the guide pins 13 and positioning pins 14 move closer together until the clamping arms 1 move away from each other. The clamping arms 1 are made of rubber. When the lift plate 8 is in the low position, adjacent scissor mechanisms do not collide with each other.

[0088] Furthermore, the distance from the intersection of the inclined sections of the second guide slot 72 and the first guide slot 71 to the second end of the second guide slot 72 is greater than the X-direction length of the translation plate 5 .

[0089] like Figure 11The left and right sides of the embodiment are improvements of this embodiment relative to embodiment 2, but are not limited thereto. Figure 11 The right side is the Z-direction slideway without the original translation plate 5. Only a plurality of Z-direction slide bars 51 are provided on the translation plate 5. The Z-direction slide bars 51 are orthogonal to the translation chute 61, and the translation plates 5 on the left and right sides of the Z-direction slide bar 51 are penetrated from the front and back; the spacing between the Z-direction slide bars 51 is equal to the spacing between the seedlings in the seedling tray. A positioning pin 14 is provided just below the right side of the Z-direction slide bar 51, and the chute pin 13 is rotatably provided on the extended end of the right side of the slider 18. The slider 18 is slidably connected to the Z-direction slide bar 51, and the back of the slider 18 is provided with a protrusion that can be embedded in the translation chute 61. Similarly, the positioning pin 14 can also be provided just below the Z-direction slide bar 51, and the chute pin 13 is rotatably provided on the slider 18, and the back of the slider 18 is provided with a protrusion that can be embedded in the translation chute 61.

[0090] like Figure 11 On the left side of the original Z-direction slide, the original translation plate 5's Z-direction slideway has been replaced. Instead, a Z-direction slide bar 51 is installed on the left side of the Z-direction slideway, and the translation plate 5 on both sides of the Z-direction slide bar 51 is connected front and back. The spacing between the Z-direction slide bars 51 is equal to the spacing of the seedlings in the seedling tray. A positioning pin 14 is installed directly below the original Z-direction slideway, and the chute pin 13 is rotatably mounted on the right side of the slider 18. The slider 18 is slidably connected to the Z-direction slide bar 51. The back of the slider 18 is equipped with a protrusion that can be inserted into the translation chute 61.

[0091] The multi-claw parallel seedling picking mechanism of this embodiment has the same operation process of pinching seedlings as that of embodiment 2, and can also be divided into four steps: pinching and removing seedlings from the tray, holding and transporting seedlings, fixed-point seedling placement, and return. It can complete the batch pinching and pulling out of the seedling tray and then sequentially placing the seedlings into the transplanter 27, greatly improving the operation efficiency.

[0092] In this embodiment, the axial displacement constraint capability of the chute pin is improved by 50%-70% by rotating the chute pin 13 so that it is disposed on the slider 18 or on one side of the slider 18, thereby increasing the contact area and welding strength between the slider 18 and the Z-axis slide bar 51. The surface of the Z-axis slide in the translation plate is coated with metal lubricant, and the friction coefficient is reduced by a solid lubricating film. Experimental tests have shown that this solution can reduce the lateral movement resistance of the chute pin by 40%, and the transfer effect of the lubricating film can partially compensate for the friction fluctuations caused by insufficient installation accuracy. The Z-axis slide bar 51 forms a "guide rail-like" effect through geometric constraints, and combined with the Y-axis fixation of the slider, the lateral offset of the chute pin under load is reduced to 1 / 3 of that before the improvement. After the optimization of the multi-claw parallel seedling removal mechanism is completed, the dynamic parameter test of the motion mechanism is carried out. The slider 18 slides smoothly along the Z-axis slide bar 51 and the translation chute 61, and each mechanism works normally.

[0093] The above description is merely a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A multi-claw parallel stem-gripping seedling removal device, comprising: A lifting plate (8) is slidably connected to the Z-direction front of the base plate (8a), and a driving mechanism is provided in the base plate (8a) for controlling the lifting plate (8) to rise to a high position or descend to a low position relative to the base plate (8a) in the Z direction; The front faces of the base column (4) and the fixed plate (7) are provided with a rotatable screw (2) along the X direction. The front faces of the fixed plate (7) and the lifting plate (8) are flush with each other. The front face of the fixed plate (7) is provided with an X-direction guide slot 1 (71) and a guide slot 2 (72). The guide slot 1 (71) is located above the guide slot 2 (72). The first ends of the guide slot 1 (71) and the guide slot 2 (72) are both extended to the fixed plate (7) near the lifting plate (8). The second end of the guide slot 1 (71) extends obliquely downward into the guide slot 2 (72) on the Z-direction side, and the second end of the guide slot 2 (72) extends to another Z-direction side close to the fixed plate (7). The front side of the lifting plate (8) is provided with a translation slot (61) extending to the Z-direction side of the lifting plate (8) in the X-direction. When the lifting plate (8) is at the high position and the low position, the translation slot (61) is aligned with the guide slot 1 (71) and the guide slot 2 (72) respectively. There is a gap between the lead screw (2) and the fixed plate (7) and the lifting plate (8), and a translation plate (5) is provided in the gap. The front side of the translation plate (5) is fixedly connected to the lead screw pair (3) on the lead screw (2). The lead screw (2) is used to control the lead screw pair (3) to carry the translation plate (5) along the lead screw (2). The translation plate (5) is also provided with a plurality of Z-direction slideways (51), which are orthogonal to the translation chute (61), and the Z-direction slideways (51) pass through the front and back sides of the translation plate (5). The front of the translation plate (5) is provided with a double-hinged scissor-type telescopic mechanism corresponding to each Z-direction slide (51), a slide pin (13) is slidably provided in the Z-direction slide (51), and a positioning pin (14) is provided directly below the Z-direction slide (51). The double-hinged scissor-type telescopic mechanism includes two long rotating rods (11) which are hinged to each other on the positioning pin (14) in a scissor-type manner, and two short rotating rods (12) whose upper ends are hinged to each other on the slide pin (13). The lower end of each short rotating rod (12) is hinged to the upper end of a long rotating rod (11) to form a diamond closed loop. The lower ends of the two long rotating rods (11) are respectively connected to the clamping arms (1) perpendicular to the front of the translation plate (5).

2. The multi-claw parallel stem clamping seedling removing device according to claim 1, characterized in that: When the lifting plate (8) is at a high position, the slide pin (13) and the positioning pin (14) of the scissor mechanism are away from each other, and the spacing between the Z-direction slideways (51) is equal to the spacing between the seedlings in the seedling tray.

3. The multi-claw parallel stem-gripping seedling removal device according to claim 1, characterized in that: When the lifting plate (8) is at a high position and a low position, the clamping arms (1) move closer to and farther away from each other respectively, and when the lifting plate (8) is at a low position, adjacent double-hinged scissor-type telescopic mechanisms do not collide with each other.

4. The multi-claw parallel stem-gripping seedling removal device according to claim 1, characterized in that: The clamping arm (1) is made of rubber.

5. The multi-claw parallel stem clamping and seedling removing device according to claim 1, characterized in that: The Z-direction edges on both sides of the base plate (8a) are respectively fixedly connected to the base column (4) and the fixed plate (7); the base column (4) or the fixed plate (7) is mounted on a seedling pulling device (23); and the seedling pulling device (23) is used to control the synchronous lifting and lowering of the base plate (8a), the base column (4) and the fixed plate (7).

6. The multi-claw parallel stem-gripping seedling removal device according to claim 1, characterized in that: A Z-direction guide rail is provided on the Z-direction front side of the base plate (8a), and the lifting plate (8) is slidably connected to the Z-direction guide rail.

7. The multi-claw parallel stem-gripping seedling removal device according to claim 1, characterized in that: The front sides of the base column (4) and the fixed plate (7) are respectively provided with bearing seats (10); the lead screw (2) is arranged between the bearing seats (10) along the X direction and is rotatably connected to the bearing seats (10); and a motor for driving the lead screw (2) is provided on the side of the fixed plate (7) away from the lifting plate (8).

8. The multi-claw parallel stem clamping and seedling removing device according to claim 1, characterized in that: The base plate (8a), the lead screw (2), the lead screw pair (3), the fixed plate (7), and the lifting plate (8), the translation plate (5), the double-hinged scissor-type telescopic mechanism, and the clamping arm (1) are symmetrically arranged on the left and right sides of the base column (4). The spiral slideways on the lead screws (2) on the left and right sides of the base column (4) have opposite spiral directions.

9. The multi-claw parallel stem-gripping seedling removal device according to claim 1, characterized in that: An X-direction guide rail (16) is provided at the lower portion of the fixed plate (7), and the X-direction guide rail (16) extends to the front of the lifting plate (8) and does not contact the lifting plate (8). The lower portion of the translation plate (5) is slidably connected to the X-direction guide rail (16), and the X-direction guide rail (16) is located below the second guide slot (72).

10. The multi-claw parallel stem clamping and seedling removing device according to claim 1, characterized in that: The upper end of the Z-direction slideway (51) is not lower than the guide slideway 1 (71), and the lower end of the Z-direction slideway (51) is not higher than the guide slideway 2 (72); the distance from the intersection of the guide slideway 2 (72) and the inclined section of the guide slideway 1 (71) to the second end of the guide slideway 2 (72) is greater than the X-direction length of the translation plate (5).

Images