Adjustable magnetic control hole disc seedling taking device

Abstract

The application discloses an adjustable magnetic control plug seedling taking device, and relates to the technical field of agricultural machinery, which comprises a supporting frame, a seedling tray supporting net, a clamping mechanism, a driving mechanism and a seedling lifting mechanism; the seedling tray supporting net is fixedly arranged at the middle position of the supporting frame and is used for bearing plug trays; the driving mechanism is used for driving the moving mechanism to move horizontally towards the seedling tray supporting net, so that the clamping mechanism and the seedling lifting mechanism are synchronously moved horizontally to the plug seedling position of the seedling tray supporting net; the seedling lifting mechanism is used for lifting the plug seedlings by magnetic force; and the clamping mechanism is used for clamping the lifted plug seedlings. Through the collaborative design of the innovative magnetic control seedling lifting mechanism and the flexible clamping mechanism, combined with precise synchronous transmission, the state of the electromagnetic seat is controlled, the plug seedlings are lifted from the bottom drainage hole by magnetic repulsion, the problems of root system pulling and breaking and stem and leaf mechanical damage caused by rigid seedling taking are avoided, and the seedling taking success rate and seedling quality are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an adjustable magnetically controlled seedling tray picking device. Background Technology

[0002] Seedling tray cultivation is widely used in agricultural production due to its high efficiency and convenience. However, the difficulty of retrieving seedlings during mechanical transplanting has become a bottleneck restricting its large-scale promotion. Semi-automatic transplanters rely heavily on manual operation, resulting in high costs and limited efficiency, making it difficult to meet the needs of modern large-scale planting.

[0003] Currently, fully automatic transplanters mainly rely on methods such as top-grabbing with robotic arms or seedling needle insertion into the pot for seedling retrieval. The top-grabbing method often results in low success rates and poor seedling uniformity due to its simple and crude movements, and can also interfere with the stability of subsequent conveying mechanisms. The seedling needle insertion method, on the other hand, requires insertion from the front or top of the seedling pot, which can easily damage the roots and stems of the seedlings, and its complex design makes it difficult to meet reliability and safety requirements.

[0004] As the core actuator of a fully automatic transplanter, the performance of the end effector directly determines the efficiency and accuracy of the transplanting operation. However, the design defects of the existing seedling picking mechanism in the actual transplanting process often lead to problems such as damage to the roots and leaves of the seedlings and incomplete placement. Therefore, the working characteristics of this component require it to have high precision, high reliability and high safety. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an adjustable magnetically controlled seedling tray retrieval device, which solves the problems of cumbersome retrieval process, high manufacturing cost, low retrieval success rate and insufficient reliability in the existing technology, and realizes the simple and compact structure of the device, while achieving efficient retrieval and low seedling damage rate.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: an adjustable magnetically controlled seedling tray picking device, including a support frame, a seedling tray support net, a clamping mechanism, a driving mechanism, and a seedling lifting mechanism; The support frame is provided with a first moving mechanism and a second moving mechanism that slide horizontally, with the first moving mechanism located above the second moving mechanism; the clamping mechanism is fixedly connected to the bottom of the first moving mechanism, and the seedling lifting mechanism is fixedly connected to the top of the second moving mechanism; The seedling tray support net is horizontally fixed in the middle of the support frame to support the seedling trays; The drive mechanism is mounted on the support frame, and its power output end is connected to the first moving mechanism and / or the second moving mechanism, driving the first moving mechanism and the second moving mechanism to move synchronously along the horizontal track toward the seedling tray support net, so that the clamping mechanism and the seedling lifting mechanism move to the position of the seedling tray support net in the seedling tray. The seedling lifting mechanism includes a liftable magnetic control component, which includes an electromagnetic base and a permanent magnet block. The electromagnetic base has an open state and a closed state. When the electromagnetic base is open, it generates a force that repels the permanent magnet block, causing the permanent magnet block to move upward, thereby lifting the seedlings in the seedling tray through the drainage holes at the bottom of the tray. When the electromagnetic base is closed, it attracts and abuts against the permanent magnet block. The clamping mechanism is used to clamp the seedlings in the seedling tray after they have been lifted.

[0007] Furthermore, a second fixing plate is fixedly connected to the seedling-topping mechanism; the second fixing plate is provided with multiple base plates, each base plate being provided with a first fixing seat, a telescopic cylinder, a folded connecting rod, a third fixing plate, and a second fixing seat; one end of the telescopic cylinder is fixed to the base plate via the first fixing seat, and the other end is connected to the third fixing plate via the folded connecting rod; the third fixing plate is rotatably fixed to the base plate via the second fixing seat, and the magnetic control component is fixed at the center of the third fixing plate.

[0008] Furthermore, the clamping mechanism includes an opening and closing cylinder, a first fixing plate, and a seedling claw. The first fixing plate is connected to the first moving mechanism. The first fixing plate is provided with a plurality of opening and closing cylinders. One end of each opening and closing cylinder is connected to the first fixing plate, and the other end is connected to the seedling claw, for controlling the opening and closing of the seedling claw.

[0009] Furthermore, the drive mechanism includes a drive motor, a power output shaft, and a driven shaft. The power output shaft is connected to the first moving mechanism, and a drive gear and a drive sprocket are sequentially arranged on the power output shaft. The driven shaft is connected to the second moving mechanism, and a driven gear and a driven sprocket are sequentially arranged on the driven shaft. A chain is provided between the driven sprocket and the drive sprocket. The drive motor is connected to the power output shaft or the driven shaft to provide torque to the drive mechanism.

[0010] Furthermore, the permanent magnet block is circular, and its diameter matches the diameter of the drain outlet at the bottom of the cavity plate.

[0011] Furthermore, the electromagnetic base includes a steel housing and a magnetizing element disposed within the steel housing.

[0012] Furthermore, the height difference between the first fixing plate and the second fixing plate is the sum of the heights of the seedling tray support net and the seedling tray.

[0013] Furthermore, the seedling claws are made of rubber.

[0014] Furthermore, a recognition camera is fixed on the first fixed plate of the clamping mechanism. The shooting direction of the recognition camera is vertically downward and aligned with the clamping area of ​​the seedling claw, for real-time acquisition of images of the seedlings in the plug tray. The seedling taking device also includes an image processing module, which is electrically connected to the recognition camera, for identifying high-quality seedlings and low-quality seedlings based on the images, and controlling the seedling lifting mechanism and clamping mechanism at the corresponding positions to selectively perform the seedling lifting and clamping actions.

[0015] According to the above technical solution, the beneficial effects of the present invention are: 1. This invention, through the innovative collaborative design of a magnetically controlled seedling lifting mechanism and a flexible clamping mechanism, combined with precise synchronous transmission, controls the state of the electromagnetic base and uses magnetic repulsion to accurately lift the seedlings from the bottom drainage hole, avoiding root or substrate damage that may be caused by traditional mechanical lifting rods. This shortens the post-transplant recovery period, significantly improves the survival rate of seedlings, and achieves efficient, precise, and non-destructive automated seedling removal, significantly improving the success rate of seedling removal and seedling quality, while also possessing good reliability and adaptability.

[0016] 2. This invention can realize the seedling removal operation of plug seedlings in various positions and at various ages. There is no reversing impact among the components, the seedling removal is highly uniform and stable, and it can be flexibly adapted to different types of plug trays or transplanters according to actual needs.

[0017] 3. This invention enables automated and precise seedling extraction from seed trays. Compared with traditional seedling extraction methods, this invention has a compact structure, is simple to operate and easy to maintain, and can significantly improve production efficiency and reduce labor costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a side view of the present invention; Figure 4 This is a schematic diagram of the seedling-topping mechanism of the present invention.

[0019] The diagram is labeled as follows: 1. Support frame, 11. First rack, 12. Second rack, 13. First slide rail, 14. Second slide rail, 2. Seedling tray net, 31. Opening and closing cylinder, 32. First fixing plate, 33. Seedling claw, 4. Drive motor, 51. Drive gear, 52. Drive sprocket, 53. Chain, 54. Driven sprocket, 61. Second fixing plate, 62. Base plate, 63. First fixing seat, 64. Telescopic cylinder, 65. Angle connecting rod, 66. Third fixing plate, 67. Second fixing seat, 68. Electromagnetic seat, 69. Permanent magnet block. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0022] Furthermore, it should be noted that, unless otherwise stated, "multiple" means two or more; the terms "upper," "lower," "left," "right," "front end," "rear end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of the present invention. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] The following combination Figure 1-4 The technical solutions provided in the various embodiments of the present invention will be described in detail.

[0024] Example 1 like Figure 1-4 As shown, an adjustable magnetically controlled seedling tray picking device includes a support frame 1, a seedling tray support net 2, a clamping mechanism, a driving mechanism, and a seedling lifting mechanism. The support frame 1 is equipped with a first moving mechanism and a second moving mechanism that slide horizontally along the direction. The first moving mechanism is located above the second moving mechanism. The seedling tray support net 2 is horizontally fixed in the middle position of the support frame 1 and is used to support the seedling tray.

[0025] Specifically, a first rack 11 and a second rack 12 are arranged parallel to each other on one side of the support frame 1, and a first slide rail 13 and a second slide rail 14 are arranged correspondingly on the other side. The first moving mechanism is mounted on the first rack 11 and the first slide rail 13, and the second moving mechanism is mounted on the second rack 12 and the second slide rail 14.

[0026] The clamping mechanism is fixedly connected to the bottom of the first moving mechanism and is used to clamp the seedlings in the seedling tray after they have been lifted. The clamping mechanism includes an opening and closing cylinder 31, a first fixing plate 32, and seedling claws 33 made of rubber material. The first fixing plate 32 is connected to the first moving mechanism and is provided with a plurality of the opening and closing cylinders 31. One end of the opening and closing cylinder 31 is connected to the first fixing plate 32 and the other end is connected to the seedling claws 33, and is used to control the opening and closing of the seedling claws 33.

[0027] The drive mechanism is mounted on the support frame 1, driving the first and second moving mechanisms to move synchronously along the rack and slide rail towards the seedling tray support net 2, so that the clamping mechanism and the seedling lifting mechanism move to the position of the plug seedlings in the seedling tray support net 2. The drive mechanism includes a drive motor 4, a power output shaft, and a driven shaft. The power output shaft is connected to the first moving mechanism, and a drive gear 51 and a drive sprocket 52 are sequentially arranged on the power output shaft. The driven shaft is connected to the second moving mechanism, and a driven gear and a driven sprocket 54 are sequentially arranged on the driven shaft. A chain is provided between the driven sprocket 54 and the drive sprocket 52. The drive motor 4 is connected to either the power output shaft or the driven shaft. Specifically, the drive motor 4 is mounted on the first moving mechanism. The power output shaft drives the drive gear 51 and drive sprocket 52, which mesh with the first rack 11, to rotate. The drive sprocket 52 drives the driven sprocket 54 to rotate through the chain 53, which in turn causes the driven shaft and the driven gear meshing with the second rack 12 to rotate, thereby driving the clamping mechanism and the seedling lifting mechanism to move horizontally toward the seedling tray net 2 on the support frame 1.

[0028] The seedling lifting mechanism is fixedly connected to the top of the second moving mechanism; it includes a liftable magnetic control component, which includes an electromagnetic base 68 and a permanent magnet block 69. The electromagnetic base 68 has an open state and a closed state. When the electromagnetic base 68 is open, it generates a force that repels the permanent magnet block 69, causing the permanent magnet block 69 to move upward, so as to lift the seedlings in the seedling tray upward through the drainage hole at the bottom of the seedling tray. When the electromagnetic base 68 is closed, the permanent magnet block 69 attracts and abuts against each other.

[0029] Specifically, the permanent magnet 69 is circular, and its diameter matches the diameter of the drain outlet at the bottom of the seedling tray. The electromagnetic base 68 includes a steel outer shell and a magnetizing element disposed within the outer shell, used to lift the seedling in the seedling tray by magnetic force.

[0030] Furthermore, a second fixing plate 61 is fixedly connected to the seedling-topping mechanism; the second fixing plate 61 is provided with multiple base plates 62, each base plate being provided with a first fixing seat 36, a telescopic cylinder 64, a folded connecting rod 65, a third fixing plate 66, and a second fixing seat 67; one end of the telescopic cylinder 64 is fixed to the base plate 62 through the first fixing seat 63, and the other end is connected to the third fixing plate 66 through the folded connecting rod 65; the third fixing plate 66 is rotatably fixed to the base plate 62 through the second fixing seat 67, and the magnetic control component is fixed at the center of the third fixing plate 66.

[0031] Specifically, the height difference between the first fixing plate 32 and the second fixing plate 61 is the sum of the heights of the seedling tray support net 2 and the seedling tray.

[0032] In practice, when the second moving mechanism moves to the position of the seedling tray on the seedling support net, the telescopic cylinder 64 is air-intaken, pulling the angled connecting rod 65, thereby causing the third fixing plate 66 to rotate, from a vertical position to a horizontal position. The electromagnetic base 68 at the center of the third fixing plate 66 is energized and opened. The electromagnetic base 68 generates a force that repels the permanent magnet block 69, causing the permanent magnet block 69 to move upward. The permanent magnet block 69 passes through the drainage hole at the bottom of the seedling tray and pushes the seedling out. At the same time, the opening and closing cylinder 31 is air-intaken, and the seedling claw 33 closes, completing the seedling removal operation.

[0033] After the seedling placement operation is completed, the electromagnetic base 68 is de-energized and in a closed state. The electromagnetic base 68 generates a force that attracts the permanent magnet block 69, causing the permanent magnet block 69 to be attracted to the electromagnetic base. At the same time, the telescopic cylinder 64 exhausts air, the third fixed plate returns to the vertical state, and after the first and second moving mechanisms return to their initial positions, the opening and closing cylinder 31 exhausts air, and the seedling claw 33 opens, realizing the seedling placement operation.

[0034] Example 2 like Figure 1 , 2 As shown in Figure 4, an adjustable magnetically controlled seedling tray taking device is basically the same as that in Embodiment 1, except that the drive motor 4 is connected to the driven shaft.

[0035] Specifically, when the drive motor 4 starts, it drives the driven shaft to rotate. The rotating driven shaft simultaneously drives the driven gear and driven sprocket 54 on it. The driven gear meshes with the second rack 12 fixed on the other side of the support frame 1, thereby driving the second moving mechanism (together with the seedling lifting mechanism) mounted on the driven shaft to move horizontally towards the seedling tray support 2 along the second slide rail 14. At the same time, the rotating driven sprocket 54 drives the driving sprocket 52 mounted on the power output shaft to rotate via the chain 53. The rotation of the driving sprocket 52 drives the power output shaft coaxial with it to rotate, thereby driving the driving gear 51 fixed on the shaft to rotate. The driving gear 51 meshes with the first rack 11 fixed on one side of the support frame 1, thereby driving the first moving mechanism (together with the clamping mechanism) mounted on the power output shaft to move horizontally towards the seedling tray support 2 along the first slide rail 13.

[0036] The rigid transmission connection of chain 53 ensures the synchronous rotation of driven sprocket 54 and driving sprocket 52, thereby realizing the synchronous horizontal movement of the first and second moving mechanisms, and ultimately enabling the clamping mechanism and the seedling lifting mechanism to reach the seedling position on the seedling tray support net 2 simultaneously. The subsequent seedling lifting and retrieval operation process is the same as in Example 1, that is, after the second moving mechanism is in place, the telescopic cylinder 64 is air-intaken to pull the angled connecting rod 65, which drives the third fixed plate 66 to rotate to the horizontal. The electromagnetic base 68 is energized to generate a force that repels the permanent magnet block 69, causing the permanent magnet block 69 to move upward and pass through the drainage hole at the bottom of the seedling tray to lift the seedling; at the same time, the opening and closing cylinder 31 is air-intaken to control the seedling claw 33 to close and retrieve the seedling.

[0037] Example 3 like Figure 1 , 2 As shown in Figure 4, an adjustable magnetically controlled seedling tray taking device is basically the same as that in Embodiment 1. Furthermore, the driving device is equipped with two drive motors 4, which are respectively connected to the first moving mechanism and the second moving mechanism, that is, respectively connected to the power output shaft and the driven shaft.

[0038] One drive motor (referred to as the first drive motor) is mounted on the first moving mechanism, and its output end is connected to the power output shaft; the other drive motor (referred to as the second drive motor) is mounted on the second moving mechanism, and its output end is connected to the driven shaft. In this embodiment, the transmission connection between the driving sprocket 52, the driven sprocket 54, and the chain 53 is eliminated. When the device needs to move, the first drive motor and the second drive motor are started synchronously through a linkage controller.

[0039] The first drive motor drives the power output shaft to rotate, which in turn drives the drive gear 51 on it to rotate. The drive gear 51 meshes with the first rack 11 on the support frame 1, driving the first moving mechanism (along with its clamping mechanism) to move horizontally along the first slide rail 13 toward the seedling tray support net 2. The second drive motor, which starts simultaneously, drives the driven shaft to rotate, which in turn drives the driven gear on it to rotate. The driven gear meshes with the second rack 12 on the support frame 1, driving the second moving mechanism (along with its seedling lifting mechanism) to move horizontally along the second slide rail 14 toward the seedling tray support net 2.

[0040] By precisely controlling the speed and direction of the two drive motors to be consistent, the first and second moving mechanisms are ensured to move horizontally synchronously at the same speed, ultimately enabling the clamping mechanism and the seedling-lifting mechanism to simultaneously and accurately reach the position of the seedlings in the seedling tray support net 2. The subsequent seedling-lifting and seedling-removing operations are consistent with those in Example 1.

[0041] Example 4 like Figure 1-4 As shown, an adjustable magnetically controlled seedling tray retrieval device, based on embodiments 1-3, further includes a recognition camera fixedly installed on the first fixed plate 32 of the clamping mechanism. The recognition camera is located directly above the seedling claw 33, with the shooting direction vertically downward and aimed at the clamping area of ​​the seedling claw 33. It is used to collect image information of seedlings in the seedling trays on the seedling tray support net 2 in real time, and to identify and analyze the seedlings in the seedling trays through a built-in or external image processing system to distinguish between high-quality seedlings and low-quality seedlings in the seedling trays.

[0042] In practice, after the drive mechanism moves the first and second moving mechanisms horizontally to above the target seedling tray position, the recognition camera first identifies the seedlings in the tray below. Based on the recognition results, the image processing system selects only the positions corresponding to the seedlings determined to be of high quality for subsequent operations.

[0043] For the selected high-quality seedling location, the corresponding telescopic cylinder 64 is individually air-intaken. This cylinder pulls the connected angled connecting rod 65, thereby rotating the corresponding third fixing plate 66 from a vertical to a horizontal position. Subsequently, the electromagnetic base 68 at the center of the third fixing plate 66 is energized and opened. The electromagnetic base 68 generates a repulsive force with the permanent magnet block 69, causing the permanent magnet block 69 to move upward. The permanent magnet block 69 passes through the drainage hole at the bottom of the seedling tray, pushing the seedling out and lifting the selected high-quality seedling.

[0044] At the same time, for the high-quality seedlings in the plug tray that have been lifted, the corresponding opening and closing cylinder 31 is controlled to receive air separately, driving the connected seedling claw 33 to close and clamp the high-quality seedlings in the plug tray.

[0045] The telescopic cylinder 64 and the opening and closing cylinder 31 corresponding to the positions of seedlings not identified as high-quality plug trays remain stationary, the third fixing plate 66 below them remains vertical, the electromagnetic base 68 is not energized, and generates a force that attracts the permanent magnet block 69, causing the permanent magnet block 69 to adhere to and abut against the electromagnetic base 68, and the seedling claw 33 also remains open, thereby avoiding operation on inferior seedlings.

[0046] In this way, selective and precise ejection and retrieval of high-quality seedlings from the plug trays are achieved. The ejection and retrieval mechanisms for the remaining untouched seedling positions remain in their initial states. Subsequent movements, ejection (only for high-quality seedlings), and retrieval (only for high-quality seedlings) follow the same procedure. The remaining structure is the same as in Examples 1-3.

[0047] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An adjustable magnetically controlled seedling tray picking device, comprising a support frame (1), a seedling tray support net (2), a clamping mechanism, a driving mechanism, and a seedling lifting mechanism; characterized in that: The support frame (1) is provided with a first moving mechanism and a second moving mechanism that slide horizontally, with the first moving mechanism located above the second moving mechanism; the clamping mechanism is fixedly connected to the bottom of the first moving mechanism, and the seedling lifting mechanism is fixedly connected to the top of the second moving mechanism; The seedling tray support net (2) is horizontally fixed in the middle position of the support frame (1) and is used to support the seedling tray; The drive mechanism is mounted on the support frame (1), and its power output end is connected to the first moving mechanism and / or the second moving mechanism to drive the first moving mechanism and the second moving mechanism to move synchronously along the horizontal track to the seedling tray support net (2), so that the clamping mechanism and the seedling lifting mechanism move to the seedling position of the seedling tray support net (2); The seedling lifting mechanism includes a liftable magnetic control component, which includes an electromagnetic base (68) and a permanent magnet (69). The electromagnetic base (68) has an open state and a closed state. When the electromagnetic base (68) is open, it generates a force that repels the permanent magnet (69), causing the permanent magnet (69) to move upward, thereby lifting the seedlings in the seedling tray through the drainage holes at the bottom of the tray. When the electromagnetic base (68) is closed, it attracts and abuts against the permanent magnet (69). The clamping mechanism is used to clamp the seedlings in the seedling tray after they have been lifted. A second fixing plate (61) is fixedly connected to the seedling top mechanism; the second fixing plate (61) is provided with multiple base plates (62), each base plate is provided with a first fixing seat (63), a telescopic cylinder (64), a folded connecting rod (65), a third fixing plate (66), and a second fixing seat (67); one end of the telescopic cylinder (64) is fixed to the base plate (62) through the first fixing seat (63), and the other end is connected to the third fixing plate (66) through the folded connecting rod (65). The third fixing plate (66) is rotatably fixed to the base plate (62) through the second fixing seat (67), and the magnetic control component is fixed at the center of the third fixing plate (66).

2. The adjustable magnetically controlled seedling tray retrieving device according to claim 1, characterized in that: The clamping mechanism includes an opening and closing cylinder (31), a first fixing plate (32), and a seedling claw (33). The first fixing plate (32) is connected to the first moving mechanism. The first fixing plate (32) is provided with a plurality of opening and closing cylinders (31). One end of the opening and closing cylinder (31) is connected to the first fixing plate (32), and the other end is connected to the seedling claw (33) for controlling the opening and closing of the seedling claw (33).

3. The adjustable magnetically controlled seedling tray retrieving device according to claim 1, characterized in that: The drive mechanism includes a drive motor (4), a power output shaft, and a driven shaft. The power output shaft is connected to the first moving mechanism, and a drive gear (51) and a drive sprocket (52) are sequentially arranged on the power output shaft. The driven shaft is connected to the second moving mechanism, and a driven gear and a driven sprocket (54) are sequentially arranged on the driven shaft. A chain is provided between the driven sprocket (54) and the drive sprocket (52). The drive motor (4) is connected to the power output shaft or the driven shaft and is used to provide torque to the drive mechanism.

4. The adjustable magnetically controlled seedling tray retrieving device according to claim 1, characterized in that: The permanent magnet block (69) is circular, and its diameter matches the diameter of the drainage outlet at the bottom of the pit plate.

5. The adjustable magnetically controlled seedling tray retrieving device according to claim 1, characterized in that: The electromagnetic base (68) includes a steel housing and a magnetizing element disposed within the steel housing.

6. The adjustable magnetically controlled seedling tray retrieving device according to claim 2, characterized in that: The height difference between the first fixing plate (32) and the second fixing plate (61) is the sum of the heights of the seedling tray support net (2) and the seedling tray.

7. The adjustable magnetically controlled seedling tray retrieving device according to claim 2, characterized in that: The seedling claw (33) is made of rubber material.

8. An adjustable magnetically controlled seedling tray retrieving device according to any one of claims 1-7, characterized in that: A recognition camera is fixed on the first fixed plate of the clamping mechanism. The camera's shooting direction is vertically downward and aligned with the clamping area of ​​the seedling claw, for real-time acquisition of images of the seedlings in the plug tray. The seedling taking device also includes an image processing module, which is electrically connected to the recognition camera, for identifying high-quality seedlings and low-quality seedlings based on the images, and controlling the seedling lifting mechanism and clamping mechanism at the corresponding positions to selectively perform the seedling lifting and clamping actions.

Images