A multi-claw parallel type stem clamping and seedling taking device

Abstract

This invention proposes a multi-claw parallel stem-clamping seedling-picking device for precise clamping and pulling of seedlings, solving the problems of high seedling damage rate and low seedling picking efficiency of traditional devices. The device includes a lifting plate, a base column, a fixed plate, a lead screw, a translation plate, a double-hinged scissor-type telescopic mechanism, and a clamping arm. The lifting plate is slidably connected to the base plate and can rise to a high position or descend to a low position. The base column and fixed plate are equipped with a rotatable lead screw and a horizontal guide groove, which is divided into upper and lower layers connected at their ends. The lifting plate is equipped with a translation groove aligned with the guide groove. The lead screw drives the translation plate to move along it. The translation plate has multiple Z-axis slides, with slide pins slidingly installed within the slides and positioning pins below. The double-hinged scissor-type telescopic mechanism is installed on the front of the translation plate and consists of a long rotating rod and a short rotating rod, forming a diamond-shaped closed loop, with the lower end connected to the clamping arm. Precise control of seedling transplanting and placement is achieved through the composite mechanism of the slide assembly.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a multi-claw parallel stem clamping and seedling picking device. Background Technology

[0002] Although many existing crops, such as tomatoes, cucumbers, and peppers, have achieved automated transplanting techniques, seedling damage and low efficiency still commonly occur during the seedling removal and transplanting process. This is because seedling removal and placement are key components of transplanting, which mainly involves clamping the seedlings in the plug trays, removing the plug trays, and placing them into seedling cups.

[0003] Existing technology CN222736632U discloses a rapeseed seedling clamping and pulling device. This device is designed with a seedling tray conveying function and a clamping and pulling function linked together, making the seedling picking orderly and precise, and ensuring efficient seedling picking operation. However, combined with this technology... Figure 9 It is known that the seedling clamping structure is located within the seedling pulling mechanism. This clamping structure can rotate relative to the pulling mechanism. A cam and a spring control the opening and closing of a pair of seedling clamps, allowing for four seedling pulls per rotation. The problem is that the seedling tray is conveyed to the clamping mechanism at the bottom via an inclined chain conveyor, resulting in the seedlings being in an inclined position. When the clamps grasp the seedling stem, they may damage the leaves. Furthermore, during the inclined clamping process, the direction of force on the seedling stem differs from the direction of root growth within the tray, leading to uneven force and significant damage to the seedlings. Additionally, the inclined conveying or retrieval of seedlings can easily cause soil to scatter or be carried out of the tray, increasing the workload of cleaning.

[0004] In the prior art CN222706998U, a Dendrobium seedling separation and extraction device is disclosed. In this device, the clamp for picking up Dendrobium is vertically set above Dendrobium. The problem with this is that the Dendrobium seedling is easily damaged during the picking process.

[0005] Therefore, in order to solve the problems of existing technologies, the seedling clamping device needs to consider the biological and mechanical characteristics of the stems of various crop seedlings in the plug tray, and combine the technical requirements of crop planting agronomy to propose a low-damage and high-efficiency seedling clamping device. Summary of the Invention

[0006] This invention addresses the problems of high seedling damage rate and low seedling removal efficiency during the transplanting of various crops such as tomatoes, cucumbers, and peppers from plug seedling trays. It proposes a multi-claw parallel stem-clamping seedling removal device, which includes: a lifting plate that is slidably connected to the front of a base plate in the Z direction; a driving mechanism is provided in the base plate to control the lifting plate to rise to a high position or fall to a low position in the Z direction relative to the base plate.

[0007] The front of the base column and the fixed plate is provided with a rotatable lead screw along the X direction. The front of the fixed plate and the lifting plate are flush with each other. The front of the fixed plate is provided with X-direction guide groove 1 and guide groove 2. Guide groove 1 is located above guide groove 2. The first end of guide groove 1 and guide groove 2 both extend to the Z-direction side of the fixed plate near the lifting plate. The second end of guide groove 1 extends downward at an angle into guide groove 2. The second end of guide groove 2 extends to the other Z-direction side near the fixed plate. The front of the lifting plate is provided with a translational slide groove extending to the Z-direction side of the lifting plate. When the lifting plate is at the high position and the low position, the translational slide groove is aligned with guide groove 1 and guide groove 2 respectively.

[0008] There is a gap between the lead screw, the fixed plate, and the lifting plate, and a translation plate is installed in the gap. The front 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 to move along the lead screw. The translation plate is also provided with multiple Z-axis slides. The Z-axis slides are orthogonal to the translation slide grooves, and the Z-axis slides pass through the front and back of the translation plate.

[0009] The front of the translation plate is equipped with a double-hinged scissor telescopic mechanism corresponding to each Z-axis slide. A slide pin is slidably installed inside the Z-axis slide, and a positioning pin is installed directly below the Z-axis slide. The double-hinged scissor telescopic mechanism includes two long rotating rods that are hinged to each other on the positioning pin, and two short rotating rods that are hinged to each other on the slide pin at their upper ends. 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 a clamping arm that is perpendicular to the front of the translation plate.

[0010] Preferably, when the lifting plate is in the high position, the sliding pin and positioning pin of the double-hinged scissor telescopic mechanism are far apart from each other, and the distance between the Z-direction slides is equal to the distance between the seedlings in the seedling tray.

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

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

[0013] Preferably, the base column and the fixing plate are fixedly connected to the two Z-direction edges of the base plate, respectively. The base column or the fixing 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 fixing plate.

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

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

[0016] Preferably, the base column is symmetrically provided with the base plate, lead screw, lead screw pair, fixing plate, lifting plate, translation plate and double hinged scissor telescopic mechanism and clamping arm on the left and right sides, and the spiral direction of the spiral slide on the lead screw on the left and right sides of the base column is opposite.

[0017] Preferably, the lower part of the fixed plate is provided with an X-guide rail, which 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, which is located below the second guide groove.

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

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

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] (1) This invention breaks through the inefficient mode of traditional single-plant seedling picking. Combining the biological and mechanical characteristics of crops (such as elastic modulus, yield strength, etc.) and the agronomic requirements of crop planting, a multi-claw parallel stem-clamping seedling picking device is proposed. The device constructs a planar linkage-slide composite mechanism, that is, using the translation plate and its seedling clamping unit as the seedling clamping component, and the lifting plate or guide slider as the seedling pulling component. The combination of the two completes the seedling clamping and pulling operations. When the two are moved together into the slide component, the continuous process of seedling transfer, seedling placement and return for re-operation is realized. It realizes the efficient grabbing and separate placement of multiple seedlings in a single cycle, and at the same time provides a new technical path for low-loss and high-efficiency seedling picking.

[0022] (2) The present invention optimizes the details of the mechanism structure of the seedling taking device. Based on the lifting plate in Embodiment 1, a guide slider and a guide rod can be added to the translation plate panel. Alternatively, the lifting plate can be omitted, and a guide slider and a guide rod can be added directly to the translation plate panel. On the one hand, the number of parts in the mechanism can be reduced, and the entire seedling taking device can be simplified. 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, the welding process in the installation process can be reduced, the overall stability and smoothness can be improved, and the seedling taking efficiency and success rate can be improved. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the multi-claw parallel seedling transplanter for tray seedlings of the present invention;

[0024] Figure 2This is a schematic diagram of the overall structure of the frame and belt pulley conveyor of the multi-claw parallel seedling picking machine of the present invention.

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

[0026] Figure 4 This is a schematic diagram of the seedling tray support and seedling tray recycling device of the multi-claw parallel seedling picking machine of the present invention.

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

[0028] Figure 6 A circuit diagram of a multi-claw parallel seedling transplanter for tray seedlings;

[0029] Figure 7 This is a schematic diagram of the clamping and detachment process of the multi-claw parallel seedling picking mechanism in Example 2;

[0030] Figure 8 This is a schematic diagram of the clamping and detachment process of the multi-claw parallel seedling picking mechanism in Example 2;

[0031] Figure 9 This is a schematic diagram of the seedling holding, transporting, and fixed-point seedling placement process of the multi-claw parallel seedling picking mechanism in Example 2;

[0032] Figure 10 This is a schematic diagram of the scissor mechanism of the multi-claw parallel seedling picking mechanism in Example 2;

[0033] Figure 11 This is a schematic diagram of the scissor mechanism of the multi-claw parallel seedling picking mechanism in Example 3. Detailed Implementation

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0037] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0038] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0039] Example 1

[0040] like Figures 1-3 As shown, a multi-claw parallel seedling transplanter for tray seedlings includes a frame 21. The frame 21 comprises upper and lower frames and a column connecting the two frames. Similar to ZL202211268562.5, the frame 21 is mounted on a self-propelled track assembly for driving the transplanter. A seedling tray lift is located at the first end of the lower frame of the frame 21. Figure 1 and Figure 2At the left end of the frame 21, a belt pulley conveyor 29 is connected to the lower frame of the frame 21. This conveyor is used to transport the seedling tray 28 along the Y direction to the seedling picking station to be close to the multi-claw parallel seedling picking mechanism 26. The seedling picking 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 recycling station is located at the second end of the lower frame.

[0041] The belt pulley conveyor 29 is also equipped with a seedling tray bracket 30. The seedling tray bracket 30 has a U-shaped structure and is hollow in the Z direction. It restricts the movement of the seedling tray 28 in the Y direction and leaves a notch in the X direction to allow the seedling tray 28 to be pushed into the seedling tray recycling box 25 after seedling retrieval. Above the seedling tray bracket 30, there is also a seedling tray pressing frame 31 and a seedling tray recycling device 24. The seedling tray pressing frame 31 is set above the seedling retrieval station. The seedling tray pressing frame 31 can press down the edge of the seedling tray 28 to keep the seedlings in the clamped seedling tray 28 stable when it moves in the X direction. The seedling tray recycling device 24 is set above the seedling tray recycling station. The seedling tray recycling device 24 includes an empty seedling tray deflector 32. The empty seedling tray deflector 32 is driven by an X-direction cylinder and can push the empty seedling tray into the seedling tray recycling box 25.

[0042] The belt pulley conveyor 29 includes pulleys 29f located at the four corners of the lower frame of the machine frame 21. Two pulleys 29f at each of the second and first ends of the lower frame are mounted as a group on the output shaft of the stepper motor 29b. A belt 29e is mounted on the two pulleys 29f at the second and first ends of the lower frame. The seedling tray support 30 is mounted on the belt 29e. The lower frame also has a Y-axis optical axis 29a, which is slidably connected to a slide rail 29c fixed on the seedling tray support 30. Multiple Y-axis position sensors 29d are located on the lower frame of the machine frame 21. These sensors emit a proximity signal when the seedling tray support 30 reaches the clamping position and a recovery signal when it reaches the seedling tray recovery position. Each Y-axis position on the seedling tray support 30 corresponds to a multiple X-axis row of seedlings on the seedling tray 28, enabling the seedling trays to be fed row by row as needed.

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

[0044] Therefore, when the multi-claw parallel seedling taking mechanism 26 is at the seedling pulling station, it will grab the seedlings in the seedling tray 28 and pull them out until they are separated from the seedling tray 28. The multi-claw parallel seedling taking mechanism 26 can move the seedlings in the seedling tray 28 that have been grabbed 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 will not block the seedling tray 28 from being transported to the seedling tray recycling station along the belt pulley conveyor 29.

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

[0046] Preferably, the fixing plate 7 is located on the left and right sides of the seedling taking position. The first guide chute 71 includes an X-direction section and an inclined downward section. The X-direction section is located on the side of the fixing plate 7 close to the seedling taking position, and the inclined downward section is located at the end of the X-direction section away from the seedling taking position and extends into the second guide chute 72.

[0047] The Z-direction linear drive mechanism 8 includes an X-direction guide rail 61 disposed between two fixed plates 7. The two fixed plates 7 and the X-direction guide rail 61 are jointly mounted on the X-direction connector 8a. The X-direction guide rail 61 can move in the Z-direction relative to the X-direction connector. The X-direction connector 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 to drive the translation plate 5 to translate along the X-direction. When the X-direction guide rail 61 is aligned with the first guide groove 71 and the second guide groove 72, the slider 18 can slide into the X-direction guide rail 61.

[0048] Furthermore, the frame 21 is equipped with a seedling pulling position sensor, which is used to send a seedling pulling signal when the multi-claw parallel seedling picking mechanism 26 reaches the seedling pulling position, and to send a ready-to-pick signal when the multi-claw parallel seedling picking mechanism 26 reaches the seedling picking position. The seedling pulling device can be a pneumatic device, such as a cylinder. The seedling pulling position sensor can be set in the upper and lower ends of the cylinder, respectively, to detect when the multi-claw parallel seedling picking mechanism 26 reaches the seedling pulling position and the seedling picking position.

[0049] like Figure 3 As shown, the multi-claw parallel seedling picking mechanism 26 is equipped with an X-axis position sensor, which is used to issue a clamping permission signal when the translation plate 5 is completely in the clamping position, and to issue a return permission signal when the scissor mechanism on the translation plate 5 moves to the end of the fixed plate 7 away from the clamping position and has completely passed the transplanter 27. When the clamping position, i.e., the translation plate 5 is directly above the clamping position, a set of X-axis position sensors 26a is set at the end of the fixed plate 7 away from the clamping position to detect that the scissor mechanism on the translation plate 5 has completely passed the transplanter 27, and a set of X-axis position sensors 26b is set on the base column 4 to detect that the translation plate 5 is completely in the clamping position.

[0050] The multi-claw parallel seedling picking mechanism 26 is also equipped with a Z-axis position sensor, which is used to send a clamping signal when the slider 18 is at the same height as the guide slide 71, and to send a releasing signal when the slider 18 is at the same height as the guide slide 72. The Z-axis position sensor is located in the Z-axis linear drive mechanism 8, which is a pneumatic device.

[0051] An electrical control box 22 is located next to the rack 21, such as Figure 6 As shown, the electrical control box 22 contains a power supply, a PLC controller, and a driver module. The driver module is used to drive the belt pulley conveyor 29, the X-axis linear drive mechanism 2, the Z-axis linear drive mechanism 8, the seedling tray recycling 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-axis linear drive mechanism 2 are electrically connected to the motor drive control module. The Z-axis linear drive mechanism 8, the seedling tray recycling device 24, and the seedling pulling device 23 are pneumatic devices and are controlled by a solenoid valve.

[0052] The PLC controller controls the belt pulley conveyor 29, the X-axis linear drive mechanism 2, the Z-axis linear drive mechanism 8, the seedling tray recycling 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 a proximity signal, a clamping signal, a clamping permission signal, or a release signal, it controls the Z-axis linear drive mechanism 8 to raise the X-axis guide rail 61 to the same height as the guide groove 71.

[0055] When the PLC controller receives a proximity signal, a waiting-to-grab signal, a gripping permission signal, or a clamped signal, it controls the seedling pulling device 23 to move the multi-claw parallel seedling picking mechanism 26 to the seedling pulling position.

[0056] When the PLC controller receives a proximity signal, a seedling pulling signal, a clamping permission signal, or a clamping signal, it controls the X-axis linear drive mechanism 2 to move the scissor mechanism on the translation plate 5 toward the end of the fixed plate 7 away from the clamping position and completely 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-axis until the next proximity signal is generated, and controls the Z-axis linear drive mechanism 8 to lower the X-axis guide rail 61 to the same height as the guide chute 72.

[0057] When the PLC controller receives the approach signal, seedling pulling signal, return permission signal, or release signal, it controls the X-axis linear drive mechanism 2 to move all the scissor mechanisms on the translation plate 5 to the gripping position.

[0058] When the PLC controller receives a proximity signal, a seedling pulling signal, a permission to clamp signal, or a release signal, it controls the seedling pulling device 23 to move the multi-claw parallel seedling picking mechanism 26 to the seedling picking position.

[0059] Example 2

[0060] like Figure 1 and Figure 3 and Figures 7-10As shown, this invention proposes a multi-claw parallel seedling picking mechanism. This device is installed at the seedling picking station of a multi-claw parallel seedling transplanter. The device employs a double-sided symmetrical composite drive structure of lead screws and slides, including multiple clamping units mounted on slide combination plates on both sides. The device includes a Z-axis linear drive mechanism 8 slidably connected to an X-axis connector 8a. The Z-axis linear drive mechanism 8 is equipped with a drive mechanism for controlling the Z-axis linear drive mechanism 8 to rise to a higher position or descend to a lower position relative to the X-axis connector 8a along the Z-axis. In this embodiment, the X-axis connector 8a is constructed as a base plate, and the Z-axis linear drive mechanism 8 is constructed including a lifting plate and a cylinder. The cylinder is used to control the lifting plate to rise to a higher position or descend to a lower position relative to the base plate 8a along the Z-axis.

[0061] like Figure 3 As shown, the multi-claw parallel seedling picking mechanism includes a centrally located base column 4 and symmetrically arranged base plates 8a on the left and right sides of the base column 4. The base column 4 and the fixing plate 7 are fixedly connected to the two Z-direction edges of the base plates 8a, respectively, so that the fixing plate 7 is spaced apart from the base column 4. The base column 4, the fixing plate 7, and the base plates 8a are mounted on a lifting plate, which is used to control the base plates 8a, the base column 4, and the fixing plate 7 to move up and down synchronously in the Z-direction.

[0062] A bearing seat 10 is provided on the front side of the base column 4 (the side facing away from the seedling tray recycling station). A bearing seat 10 is also provided on the front side of the fixing plate 7 at the end away from the base column 4 (the side facing away from the seedling tray recycling station). The lead screw 2 is positioned between the three bearing seats 10 along the X-axis and is rotatably connected to the bearing seats 10, so that the lead screw 2 is positioned on the front side of the base column 4 and the fixing plate 7 along the X-axis. The motor driving the lead screw 2 is located on the side of the fixing plate 7 away from the base column 4. The spiral tracks 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 configured on the two spiral tracks with opposite spiral directions on the lead screw 2. The lead screw pair 3 is threadedly connected to the spiral tracks on the lead screw 2. When the lead screw 2 rotates forward or backward, the lead screw pair 3 can move away from or closer to 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 further away from each other.

[0063] The front of the fixed plate 7 is provided with a guide groove 71 along the X direction and a guide groove 72 along the X direction. The guide groove 71 is located above the guide groove 72. The first ends of both guide grooves 71 and 72 extend to the Z-direction edge of the fixed plate 7 near the base column 4. The second end of guide groove 71 extends downward at an angle into guide groove 72. The second end of guide groove 72 extends to the Z-direction edge of the fixed plate 7 away from the base column 4. The front of the lifting plate is horizontally provided with a translation groove 61 extending to the Z-direction edge of the lifting plate. When the lifting plate is in the high position and the low position, the translation groove 61 is aligned with the guide grooves 71 and 72, respectively. The fronts of the fixed plate 7 and the lifting plate are flush with each other and parallel to the XZ plane.

[0064] like Figure 1 and Figure 3 As shown, the multi-claw parallel seedling picking mechanism includes a seedling pulling device 23, which can control the multi-claw parallel seedling picking mechanism that has clamped the seedlings and pull the seedlings out of the seedling tray along the Z direction. There is a gap between the lead screw 2, the fixed plate 7, and the lifting plate, 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 to move along the lead screw 2. The translation plate 5 is also provided with multiple Z-direction slides 51, which are orthogonal to the translation groove 61 and pass through the front and back of the translation plate 5. The distance between the Z-direction slides 51 is equal to the distance between the seedlings in the seedling tray.

[0065] The front of the translation plate 5 is provided with a scissor mechanism corresponding to each Z-axis slide rail 51. A sliding groove pin 13 is slidably arranged inside the Z-axis slide rail 51, and a positioning pin 14 is provided directly below the Z-axis slide rail 51. Figure 5 As shown, the scissor mechanism includes two long rotating rods 11 that are hinged to each other on the positioning pin 14, and two short rotating rods 12 that are hinged to each other on the sliding pin 13 at their upper ends. The lower end of each short rotating rod 12 is hinged to the upper end of one of the long rotating rods 11 to form a diamond-shaped closed loop. The lower ends of the two long rotating rods 11 are respectively connected to the clamping arm 1 that is perpendicular to the front of the translation plate 5.

[0066] The front side of the substrate 8a is provided with a Z-guide rail in the Z direction. The lifting plate is slidably connected to the Z-guide rail of the substrate 8a, and the lifting plate can reciprocate in the Z direction relative to the front side of the substrate 8a. A Z-direction cylinder is provided in the substrate 8a. The Z-direction cylinder is used to control the lifting plate to rise to a high position or fall to a low position in the Z direction relative to the substrate 8a.

[0067] like Figure 3 As shown, the translation plate 5 slides back and forth on the front sides of the mutually flush fixed plate 7 and lifting plate via the X-guide rail 16. The X-guide rail 16 is installed on the lower part of the fixed plate 7 and is located below the second guide groove 72. The length of the X-guide rail 16 is not less than the sum of the length of the translation groove 61 on the lifting plate and the length of the second guide groove 72 on the fixed plate 7. The bottom or back of the translation plate 5 is nested with the X-guide rail 16, and the translation plate 5 can move back and forth in the X direction along the X-guide rail 16 on the front sides of the mutually flush fixed plate 7 and lifting plate.

[0068] Furthermore, the upper end of the Z-axis slide 51 is not lower than the guide groove 71 of the fixed plate 7, and the lower end of the Z-axis slide 51 is not higher than the guide groove 72 of the fixed plate 7. The length of the Z-axis slide 51 is not less than the distance of the lifting plate's movement from rising to the high position to falling to the low position in the Z direction. On the fixed plate 7, the distance from the intersection of the inclined section of the guide groove 71 and the guide groove 72 to the second end of the guide groove 72 is greater than the X-axis length of the translation plate 5.

[0069] When the lifting plate is at the high position, the sliding pin 13 and positioning pin 14 of the scissor mechanism move away from each other until the clamping arms 1 move closer together. When the lifting plate is at the low position, the sliding pin 13 and positioning pin 14 of the scissor mechanism move closer together until the clamping arms (1) move away from each other. The clamping arms 1 are made of rubber. And when the lifting plate is at the low position, adjacent scissor mechanisms do not collide with each other.

[0070] Furthermore, the distance from the intersection of the inclined section of guide chute 2 72 and guide chute 1 71 to the second end of guide chute 2 72 is greater than the X-direction length of the translation plate 5.

[0071] The multi-claw parallel seedling picking mechanism in this embodiment can be divided into four steps in its seedling picking process: clamping and releasing from the tray, seedling holding and conveying, fixed-point seedling placement, and return trip. In actual work, before the operation begins, such as... Figure 7 As shown, in the above-mentioned multi-claw parallel seedling picking mechanism, the lifting plate is located at the low position and the translation plate 5 is close to both sides of the base column 4, with the clamping arms 1 separated from each other. The multi-claw parallel seedling picking mechanism is lowered to the clamping position by the seedling pulling device 23. The first step is the clamping and unpacking process. When multiple evenly arranged seedling trays are placed at the seedling picking position, and the seedlings in the seedling trays are between a pair of clamping arms 1, the lifting plate is controlled to move upward along the Z direction to the high position, and the sliding pin 13 in the Z-direction slide of the translation plate 5 is moved to the high position (e.g., Figure 8 As shown), the upper end of the scissor mechanism is vertically raised so that the clamping arms 1 are brought together (as shown). Figure 8 As shown), at this point, the angle between the two long rotating rods 11 or the two short rotating rods 12 is close to 0°, so that the seedling is held without being pinched or damaged. Then, the seedling pulling device 23 is controlled to lift the entire multi-claw parallel seedling picking mechanism, so that the entire multi-claw parallel seedling picking mechanism 26 is raised, causing the seedling in the plug tray to separate from the plug tray. The second step is the seedling holding and conveying operation. At this time, the lifting plate is in the high position, and the translation slide 61 of the lifting plate is aligned with the guide slide 71 of the fixed plate 7. The screw 2 is controlled to start rotating (as shown). Figure 8 (As shown by the rotating arrow), causing the lead screw 3 to move along the lead screw 2 in a direction away from the base column 4, i.e., along the X direction (as shown by the rotating arrow). Figure 9(As shown by the horizontal arrow), simultaneously, the lead screw pair 3 carries the translation plate 5 along the X-guide rail 16, and the scissor mechanism on the front of the translation plate 5 also moves towards the fixed plates 7 on both sides. The third step is the fixed-point seedling placement process. During the translation of the translation plate 5 along with the lead screw pair 3 (as shown by the horizontal arrow), the translation plate 5 moves (as shown by the horizontal arrow). Figure 9 (Horizontal arrow), when the sliding pin 13 in the Z-direction slide 51 on the translation plate 5 slides from the guide slide 1 71 to the inclined section connecting with the guide slide 2 72, the sliding pin 13 gradually descends from the high position (e.g., Figure 9 (As shown by the slanted arrow), at this time the scissor mechanism is vertically compressed until the clamping arms 1 are far apart (as shown by the slanted arrow). Figure 9 (As shown by the horizontal arrow), the transplanter 27, which receives seedlings, is located below the inclined section connected to the guide slide 71 on the fixed plate 7, and can receive each seedling clamped by the scissor mechanism. The fourth step is the return operation process. When the sliding pin 13 in the Z-direction slide 51 on the translation plate 5 gradually slides from the inclined section connected to the guide slide 71 to the guide slide 72, the sliding pin 13 in the Z-direction slide 51 on the translation plate 5 is in the low position. The pair of clamping arms 1 of the scissor mechanism are separated to the maximum distance. The translation plate 5 continues to move away from the base column 4, that is, along the X direction, so that all the scissor mechanisms are located on the guide slide 72, and the pair of clamping arms 1 of all the scissor mechanisms are separated to the maximum extent. At this time, the lifting plate is controlled to lower to the low position, so that the translation slide 61 is aligned with the guide slide 72 respectively. At the same time, the lead screw 2 is controlled to rotate in the opposite direction, so that the lead screw pair 3 moves towards the base column 4 and drives the translation plate 5 back to the base column 4. In this way, the next round of seedling clamping operation can be carried out. During the whole process, the seedlings in the plug tray are in an upright state and move with the clamping arms 1. It can pick up and remove seedlings in batches from the seedling trays and then put them into the transplanter 27 in sequence, which greatly improves the efficiency of operation.

[0072] Example 3

[0073] This embodiment is a further improvement based on embodiment 2.

[0074] like Figure 10 As shown, considering that in Embodiment 2, when the translation plate 5 moves, the middle sliding pin 13 is tilted relative to the translation plate 5 on the Z-direction slide rail 51, generating sliding friction with the inner Z-direction slide rail 51. Furthermore, the entire sliding pin 13 only bears force at the hinge point with the short rotating rod 12, causing the entire scissor mechanism to jam during the lifting process of the lifting plate 5. In addition, due to installation errors in the bolt and nut fixing method used during the assembly of the scissor mechanism, there are errors in the Y-direction at multiple hinge points. This causes the sliding pin 13 to have deflection at point O, resulting in the sliding pin 13 not being completely perpendicular to the XZ plane when its end moves in conjunction with the Z-direction slide rail 51, thus causing the entire scissor mechanism to jam.

[0075] On the other hand, the material of the sliding pin 13 has low strength and insufficient compressive strength, making it prone to bending. The hinged end can only restrain displacement or even not completely, and cannot effectively limit rotation, causing the sliding pin 13 to easily rotate or become laterally unstable under load. Compared with the fixed end, the bending stiffness of the hinged support is significantly reduced, especially when subjected to bending moment, which can easily lead to structural deformation.

[0076] Meanwhile, in order to solve the above problems, this embodiment improves the translation plate 5.

[0077] In this embodiment, as Figure 1 and Figure 3 and Figures 7-10 As shown, this invention proposes a multi-claw parallel seedling picking mechanism. This device is installed at the seedling picking station of a multi-claw parallel seedling transplanter. The device employs a double-sided symmetrical composite drive structure of lead screws and slides, including multiple clamping units mounted on slide combination plates on both sides. The device includes a Z-axis linear drive mechanism 8 slidably connected to an X-axis connector 8a. The Z-axis linear drive mechanism 8 is equipped with a drive mechanism for controlling the Z-axis linear drive mechanism 8 to rise to a higher position or descend to a lower position relative to the X-axis connector 8a along the Z-axis. In this embodiment, the X-axis connector 8a is constructed as a base plate, and the Z-axis linear drive mechanism 8 is constructed including a lifting plate and a cylinder. The cylinder is used to control the lifting plate to rise to a higher position or descend to a lower position relative to the base plate 8a along the Z-axis.

[0078] See Figure 11 right Figure 3 The improved multi-claw parallel seedling picking mechanism includes a centrally located base column 4 and symmetrically arranged base plates 8a on the left and right sides of the base column 4. The base column 4 and the fixing plate 7 are fixedly connected to the two Z-direction edges of the base plates 8a, respectively, so that the fixing plate 7 is spaced apart from the base column 4. The base column 4, the fixing plate 7, and the base plates 8a are mounted on a lifting plate, which is used to control the base plates 8a, the base column 4, and the fixing plate 7 to move up and down synchronously in the Z-direction.

[0079] A bearing seat 10 is provided on the front side of the base column 4 (the side facing away from the seedling tray recycling station). A bearing seat 10 is also provided on the front side of the fixing plate 7 at the end away from the base column 4 (the side facing away from the seedling tray recycling station). The lead screw 2 is positioned between the three bearing seats 10 along the X-axis and is rotatably connected to the bearing seats 10, so that the lead screw 2 is positioned on the front side of the base column 4 and the fixing plate 7 along the X-axis. The motor driving the lead screw 2 is located on the side of the fixing plate 7 away from the base column 4. The spiral tracks 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 configured on the two spiral tracks with opposite spiral directions on the lead screw 2. The lead screw pair 3 is threadedly connected to the spiral tracks on the lead screw 2. When the lead screw 2 rotates forward or backward, the lead screw pair 3 can move away from or closer to 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 further away from each other.

[0080] The front of the fixed plate 7 is provided with a guide groove 71 along the X direction and a guide groove 72 along the X direction. The guide groove 71 is located above the guide groove 72. The first ends of both guide grooves 71 and 72 extend to the Z-direction edge of the fixed plate 7 near the base column 4. The second end of guide groove 71 extends downward at an angle into guide groove 72. The second end of guide groove 72 extends to the Z-direction edge of the fixed plate 7 away from the base column 4. The front of the lifting plate is horizontally provided with a translation groove 61 extending to the Z-direction edge of the lifting plate. When the lifting plate is in the high position and the low position, the translation groove 61 is aligned with the guide grooves 71 and 72, respectively. The fronts of the fixed plate 7 and the lifting plate are flush with each other and parallel to the XZ plane.

[0081] like Figure 1 And see Figure 11 right Figure 3 The improved multi-claw parallel seedling picking mechanism includes a seedling pulling device 23, which controls the multi-claw parallel seedling picking mechanism that has clamped the seedlings and pulls the seedlings out of the seedling tray along the Z direction. There is a gap between the lead screw 2, the fixed plate 7, and the lifting plate, 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 to move along the lead screw 2. The translation plate 5 is also provided with multiple Z-direction slides 51. The Z-direction slides 51 are orthogonal to the translation groove 61, and the translation plates 5 on the left and right sides of the Z-direction slides 51 are connected to the front and back sides. The distance between the Z-direction slides 51 is equal to the distance between the seedlings in the seedling tray.

[0082] The front of the translation plate 5 is provided with a scissor mechanism corresponding to each Z-axis slide rail 51. A positioning pin 14 is provided directly below or adjacent to the Z-axis slide rail 51. Figure 5 As shown, the scissor mechanism includes two long rotating rods 11 hinged to each other on the positioning pin 14, and two short rotating rods 12 hinged to each other on the sliding pin 13 at their upper ends. The lower end of each short rotating rod 12 is hinged to the upper end of one of the long rotating rods 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 sliding pin 13 is rotatably mounted on the slider 18 or on the extended end of the left / right side of the slider 18. The slider 18 is slidably connected to the Z-axis slide rail 51, and the back of the slider 18 is provided with a protrusion that can be embedded in the translation slide rail 61.

[0083] The front side of the substrate 8a is provided with a Z-guide rail in the Z direction. The lifting plate is slidably connected to the Z-guide rail of the substrate 8a, and the lifting plate can reciprocate in the Z direction relative to the front side of the substrate 8a. A Z-direction cylinder is provided in the substrate 8a. The Z-direction cylinder is used to control the lifting plate to rise to a high position or fall to a low position in the Z direction relative to the substrate 8a.

[0084] like Figure 3As shown, the translation plate 5 slides back and forth on the front sides of the mutually flush fixed plate 7 and lifting plate via the X-guide rail 16. The X-guide rail 16 is installed on the lower part of the fixed plate 7 and is located below the second guide groove 72. The length of the X-guide rail 16 is not less than the sum of the length of the translation groove 61 on the lifting plate and the length of the second guide groove 72 on the fixed plate 7. The bottom or back of the translation plate 5 is nested with the X-guide rail 16, and the translation plate 5 can move back and forth in the X direction along the X-guide rail 16 on the front sides of the mutually flush fixed plate 7 and lifting plate.

[0085] Furthermore, the upper end of the Z-axis slide 51 is not lower than the guide groove 71 of the fixed plate 7, and the lower end of the Z-axis slide 51 is not higher than the guide groove 72 of the fixed plate 7. The length of the Z-axis slide 51 is not less than the distance of the lifting plate's movement from rising to the high position to falling to the low position in the Z direction. On the fixed plate 7, the distance from the intersection of the inclined section of the guide groove 71 and the guide groove 72 to the second end of the guide groove 72 is greater than the X-axis length of the translation plate 5.

[0086] When the lifting plate is at the high position, the sliding pin 13 and positioning pin 14 of the scissor mechanism move away from each other until the clamping arms 1 move closer together. When the lifting plate is at the low position, the sliding pin 13 and positioning pin 14 of the scissor mechanism move closer together until the clamping arms 1 move away from each other. The clamping arms 1 are made of rubber. Furthermore, when the lifting plate is at the low position, adjacent scissor mechanisms do not collide with each other.

[0087] Furthermore, the distance from the intersection of the inclined section of guide chute 2 72 and guide chute 1 71 to the second end of guide chute 2 72 is greater than the X-direction length of the translation plate 5.

[0088] like Figure 11 The left and right sides are improvements of this embodiment relative to Embodiment 2, but are not limited thereto. Figure 11 On the right side, the original translation plate 5's Z-axis slide rail has been removed. Only the translation plate 5 still has multiple Z-axis slide rails 51. The Z-axis slide rails 51 are orthogonal to the translation grooves 61, and the translation plates 5 on both sides of the Z-axis slide rails 51 are connected on both sides. The spacing between the Z-axis slide rails 51 is equal to the spacing between the seedlings in the seedling tray. A positioning pin 14 is located directly below the right side of the Z-axis slide rail 51, and a groove pin 13 is rotatably mounted on the extended end of the right side of the slider 18. The slider 18 is slidably connected to the Z-axis slide rail 51, and the back of the slider 18 has a protrusion that can be embedded in the translation groove 61. Similarly, the positioning pin 14 can also be located directly below the Z-axis slide rail 51, and the groove pin 13 can be rotatably mounted on the slider 18, with the back of the slider 18 having a protrusion that can be embedded in the translation groove 61.

[0089] like Figure 11On the left side, the original Z-axis slide rail 5 is not removed. A Z-axis slide rail 51 is set on the left side of the original Z-axis slide rail, and the original and reverse sides of the original Z-axis slide rail 51 are connected. The spacing between the Z-axis slide rails 51 is equal to the spacing between the seedlings in the seedling tray. A positioning pin 14 is set directly below the original Z-axis slide rail, and a groove pin 13 is rotatably set at the extension end of the right side of the slider 18. The slider 18 is slidably connected to the Z-axis slide rail 51, and the back of the slider 18 has a protrusion that can be inserted into the translation groove 61.

[0090] The multi-claw parallel seedling picking mechanism in this embodiment operates on the same principle as in Embodiment 2, and can be divided into four steps: clamping and removing seedlings from the tray, seedling transport, fixed-point seedling placement, and return. It can complete the batch clamping and removal of seedlings from the tray, and then sequentially place them into the transplanter 27, significantly improving operational efficiency.

[0091] In this embodiment, by rotating the sliding pin 13 onto the slider 18 or to one side of the slider 18, the contact area and welding strength between the slider 18 and the Z-axis slide rail 51 are increased, thereby improving the axial displacement constraint capability of the sliding pin by 50%-70%. Metal lubricating oil is coated on the surface of the Z-axis slide rail in the translation plate to reduce the coefficient of friction through a solid lubricating film. Experimental tests show that this scheme can reduce the lateral movement resistance of the sliding pin by 40%, and the transfer effect of the lubricating film can partially compensate for friction fluctuations caused by insufficient installation accuracy. The Z-axis slide rail 51 forms a "guide rail-like" effect through geometric constraints, and combined with the Y-axis fixation of the slider, reduces the lateral offset of the sliding pin under load to 1 / 3 of the previous value. After the multi-claw parallel seedling picking mechanism is optimized, dynamic parameter tests of the motion mechanism are conducted. The slider 18 slides smoothly along the Z-axis slide rail 51 and the translation slide rail 61, and all mechanisms function normally.

[0092] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A multi-prong parallel stem clamping plant lifter comprising: A lifting plate is slidably connected to the front of the substrate (8a) in the Z direction. A driving mechanism is provided in the substrate (8a) to control the lifting plate to rise to a high position or fall to a low position in the Z direction relative to the substrate (8a). A rotatable lead screw (2) is provided on the front of the base column (4) and the fixed plate (7) along the X direction. The front of the fixed plate (7) and the lifting plate are flush with each other. The front of the fixed plate (7) is provided with X-direction guide groove 1 (71) and guide groove 2 (72). Guide groove 1 (71) is located above guide groove 2 (72). The first end of guide groove 1 (71) and guide groove 2 (72) both extend to the Z-direction side of the fixed plate (7) near the lifting plate. The second end of guide groove 1 (71) extends downward into guide groove 2 (72). The second end of guide groove 2 (72) extends to the other Z-direction side near the fixed plate (7). The front of the lifting plate is provided with a translation groove (61) extending to the Z-direction side of the lifting plate. When the lifting plate is at the high position and the low position, the translation groove (61) is aligned with guide groove 1 (71) and guide groove 2 (72) respectively. There is a gap between the lead screw (2), the fixed plate (7), and the lifting plate, 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) to move along the lead screw (2). The translation plate (5) is also provided with multiple Z-axis slides (51). The Z-axis slides (51) are orthogonal to the translation slide groove (61), and the Z-axis slides (51) pass through the front and back of the translation plate (5). The front of the translation plate (5) is provided with a double hinged scissor telescopic mechanism corresponding to each Z-axis slide (51). A slide pin (13) is slidably arranged in the Z-axis slide (51). A positioning pin (14) is provided directly below the Z-axis slide (51). The double hinged scissor telescopic mechanism includes two long rotating rods (11) that are hinged to each other on the positioning pin (14) and two short rotating rods (12) that are hinged to each other on the slide pin (13) at their upper ends. 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. The lower ends of the two long rotating rods (11) are respectively connected to the clamping arm (1) that is perpendicular to the front of the translation plate (5). The fixed plate (7) is provided with an X-guide rail (16) at the bottom. The X-guide rail (16) extends to the front of the lifting plate and does not contact the lifting plate. The lower part of the translation plate (5) is slidably connected to the X-guide rail (16). The X-guide rail (16) is located below the second guide groove (72). The upper end of the Z-axis slide (51) is not lower than the first guide slide (71), and the lower end of the Z-axis slide (51) is not higher than the second guide slide (72); the distance from the intersection of the inclined section of the second guide slide (72) and the first guide slide (71) to the second end of the second guide slide (72) is greater than the X-axis length of the translation plate (5).

2. The multi-prong parallel stem gripper of claim 1, wherein, When the lifting plate is in the high position, the sliding pin (13) and positioning pin (14) of the double hinged scissor telescopic mechanism are far apart from each other, and the distance between the Z-direction slides (51) is equal to the distance between the seedlings in the seedling tray.

3. The multi-prong parallel stem gripper of claim 1, wherein, When the lifting plate is at a high position and a low position, the clamping arms (1) move closer to each other and further away from each other respectively, and when the lifting plate is at a low position, the adjacent double-hinged scissor telescopic mechanisms do not collide with each other.

4. The multi-prong parallel stem gripper of claim 1, wherein, The clamping arm (1) is made of rubber.

5. The multi-prong parallel stem gripper of claim 1, wherein, The base column (4) and the fixing plate (7) are fixedly connected to the two sides of the base plate (8a) in the Z direction. The base column (4) or the fixing plate (7) is installed on the seedling pulling device (23). 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 fixing plate (7).

6. The multi-prong parallel stem gripper of claim 1, wherein, The base plate (8a) has a Z-axis guide rail on its Z-direction front side, and the lifting plate is slidably connected to the Z-axis guide rail.

7. The multi-prong parallel stem gripper of claim 1, wherein, The base column (4) and the fixing 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 the fixing plate (7) is provided with a motor for driving the lead screw (2) on the side away from the lifting plate.

8. The multi-prong parallel stem gripper of claim 1, wherein, The base column (4) is symmetrically provided with the base plate (8a), lead screw (2), lead screw pair (3), fixing plate (7), lifting plate, translation plate (5) on the front of the base plate (8a), double hinge scissor telescopic mechanism, and clamping arm (1). The spiral direction of the spiral slide on the lead screw (2) on the left and right sides of the base column (4) is opposite.

Images