A vegetable pot seedling automatic taking device based on pneumatic and sensor induction control and a transplanting machine thereof

Abstract

The application provides a kind of automatic seedling taking device of vegetable pot seedling based on pneumatic and sensor induction control and its transplanting machine, it is related to agricultural machinery technical field, including vehicle body, the vehicle body has frame, the frame is installed with travelling device, seedling taking device and transplanting device;Seedling taking mechanism includes a plurality of pneumatic seedling taking clamp, the seedling taking mechanism inside is also provided with seedling pushing liquid supplementing mechanism, the seedling pushing liquid supplementing mechanism includes seedling pushing frame, liquid supplementing tank and lifting bottom support frame, lifting bottom support frame is installed on seedling pushing frame in lifting type, lifting bottom support frame moves upwards and passes through plug tray groove, to be placed in plug tray groove plug tray seedling is lifted upwards, the application solves the problem of difficult plug tray seedling taking, easy damage, effectively overcomes the phenomenon of seedling stem breakage or seedling handle soil loss caused by direct clamping, and through the disc body structure arranged above lifting bottom support frame, nutrient solution can be accurately delivered to the bottom of plug tray seedling during lifting, ensuring the integrity of the taking process and the survival rate of subsequent transplanting.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an automatic seedling picking device for vegetable potted seedlings based on pneumatic and sensor-based induction control, and its transplanting machine. Background Technology

[0002] The prior art, disclosed in patent number "CN111149487A", discloses a pneumatic seedling picking device for a fully automatic transplanter of plug seedlings. This pneumatic seedling picking device includes a base plate, a transfer component, a seedling picking component, and a seedling removal component. The base plate is arranged from left to right with the transfer component, seedling picking component, and seedling removal component. The transfer component enables the seedling picking component to move in three dimensions, the seedling picking component grips the plug seedlings, and the seedling removal component removes the plug seedlings from the seedling tray holes. This device is scientifically sound, safe, and convenient to use. The seedling removal component removes the plug seedlings from the seedling tray holes, the transfer component drives the seedling picking component to move in three dimensions, the seedling picking component grips the seedlings detached from the seedling tray holes, and the seedling removal component removes the plug seedlings from the seedling tray holes, facilitating direct gripping of the seedlings by the seedling picking component and improving the efficiency of plug seedling picking.

[0003] However, the above-mentioned device still has some obvious defects in use: 1. The above-mentioned device and the common seedling picking mechanism in the prior art usually use lifting claws to pick up the seedlings from the seedling tray. However, due to the strong bonding strength between the seedling tray and the inner wall of the seedling tray, there is a certain probability that the seedling stem will break and the seedling stalk will fall out of the soil during the actual seedling picking process, which will lead to the failure of subsequent transplanting. Therefore, the above-mentioned device cannot effectively guarantee the normal separation of the seedling tray from the seedling tray; 2. The seedling picking process of the above-mentioned device has a relatively simple function and is difficult to meet the diversified uses of existing agricultural machinery. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic seedling picking device and transplanter for vegetable potted seedlings based on pneumatic and sensor-based induction control, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An automatic seedling picking device for vegetable potted seedlings based on pneumatic and sensor sensing control includes a vehicle body with a frame, on which a traveling device, a seedling picking device, and a transplanting device are mounted. The seedling taking device comprises a frame, a seedling conveying mechanism, a seedling taking mechanism, a seedling separating mechanism, and a control unit; The seedling conveying mechanism includes a seedling conveying frame, a seedling tray, and a seedling tray transmission mechanism. The seedling conveying frame is fixedly installed on the machine frame, and the seedling tray transmission mechanism is located inside the seedling conveying frame to drive the seedling tray placed on the slide rail of the seedling conveying frame to move intermittently to one side of the machine frame. The seedling separating mechanism is located on the side of the frame away from the seedling conveying mechanism, and includes multiple feeding angle steel compartments; The seedling-grabbing mechanism includes multiple pneumatic seedling-grabbing clamps, each equipped with a pressure sensor to control the gripping force. These clamps are slidably mounted on a guide rail frame. Driven by a traction mechanism, the guide rail frame slides horizontally on the machine frame, causing the pneumatic seedling-grabbing clamps to slide horizontally as well. During this sliding motion, the clamps also slide along the length of the guide rail frame, causing them to converge on one side of the seedling conveying mechanism and disperse above the respective feed angle steel compartments on the other side of the seedling separating mechanism, ensuring accurate seedling placement. The inner side of the seedling conveying mechanism is also provided with a seedling pushing and nutrient replenishment mechanism. The seedling pushing and nutrient replenishment mechanism includes a seedling pushing frame, a nutrient replenishment box, and a lifting base frame. The lifting base frame is lifted and installed on the seedling pushing frame. The seedling tray has a rectangular array of multiple vertically penetrating tray slots. The tray slots have a funnel-shaped structure with a large opening at the top and a small opening at the bottom. When the seedling tray moves to the seedling picking position, the lifting base frame moves upward and passes through the tray slots to lift the seedlings placed in the tray slots. The lifting base frame is provided with a tray structure above it to receive the nutrient solution. Thus, during the upward lifting of the seedlings, the nutrient solution is delivered to the bottom of the seedlings. The seedlings lifted upward are picked up by pneumatic seedling picking clips, removed from the seedling tray, and moved to the side of the seedling separating mechanism. The control unit is used to control the coordinated movement of the seedling conveying mechanism, the seedling taking mechanism, and the seedling separating mechanism, thereby ensuring the reliability of the transplanting process.

[0006] Preferably, the seedling tray transmission mechanism is an independent sprocket mechanism disposed on both sides of the seedling rack. Each independent sprocket mechanism includes a driving sprocket, a driven sprocket, a transmission chain, and a transmission motor. The output shaft of the transmission motor is coaxially fixed with the driving sprocket, thereby driving the transmission chain to perform reciprocating rotational motion. The transmission chains on both sides are also connected by a drive rod. When the seedling tray is placed on the slide of the seedling rack, the drive rod is engaged in the concave gap at the bottom of the seedling tray, thereby driving the seedling tray to move synchronously through the reciprocating motion of the transmission chain. The seedling tray is a flexible seedling tray, which follows the movement of the transmission chain to enter from the upper side of the seedling rack and move out from the lower side of the seedling rack.

[0007] Preferably, the number of pneumatic seedling clamps is consistent with and corresponds one-to-one with the number of seedling tray slots in the same row on the seedling tray and the number of compartments of the feeding angle steel compartments.

[0008] Preferably, the seedling pusher is fixedly installed inside the seedling conveying frame, and the seedling pusher has corresponding through slots that are the same number as the seedling tray slots. When the seedling tray slots in the same row are in the seedling taking state, the seedling tray slots in that row are directly above the through slots.

[0009] Preferably, the lifting support frame consists of a support plate and lifting rods. The support plate is fixedly installed on the upper end of the lifting rods, and several lifting rods are fixedly installed on the same lifting plate on the side away from the support plate. The lifting movement of the lifting plate drives several lifting support frames to move synchronously.

[0010] Preferably, the outer side of the lifting rod between the lifting plate and the seedling pusher is connected to a traction spring. The traction spring is used to push the lifting support frame upward to the maximum stroke position without external force. The side of the lifting plate away from the lifting rod is connected to a lifting traction rope. The other end of the lifting traction rope is connected to the guide rail frame through the seedling conveyor and multiple sets of reversing transition rollers set on the frame. When the guide rail moves toward the side closer to the seedling conveying mechanism, the lifting traction rope moves toward the lifting plate. At this time, the lifting plate moves upward under the elastic traction of the traction spring, and then pushes the seedlings in the plug tray upward through the bottom plate to move them out of the plug tray groove. When the guide rail moves toward the side closer to the seedling separating mechanism, the lifting traction rope moves away from the lifting plate. At this time, the lifting traction rope does work by overcoming the elasticity of the traction spring through traction force, thereby pulling the lifting plate down, so that the bottom plate enters the through groove of the seedling pushing frame.

[0011] Preferably, the replenishment tank is fixedly installed inside the seedling rack. A one-way pumping piston cylinder is installed on the side of the replenishment tank near the seedling pusher. The one-way pumping piston cylinder consists of a one-way inlet cylinder, a one-way outlet piston, and a hollow rod. During one lifting stroke of the one-way outlet piston, the liquid in the replenishment tank is pumped out one-way through the hollow rod. The hollow rod is also connected to a storage tank opened inside the seedling pusher through a rubber hose. The storage tank is connected to the inside of the through groove through an overflow hole. When the base plate enters the through groove, nutrient solution is replenished into the base plate through the overflow hole provided above the base plate.

[0012] Preferably, a lifting sleeve is fixedly installed on the lifting plate, and a push rod is telescopically installed inside the lifting sleeve. The upper end of the push rod is fixedly connected to the hollow rod body. During the lifting movement of the lifting plate, the push rod intermittently drives the hollow rod body to move up and down, thereby completing the storage of liquid in the one-way liquid inlet cylinder during the lifting plate's ascent, and replenishing the nutrient solution into the base plate through the overflow hole when the base plate descends into the through groove.

[0013] A transplanter that employs the aforementioned automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-controlled induction.

[0014] Compared with the prior art, the beneficial effects of the present invention are: To address the problems of difficulty and easy damage in removing seedlings from plug trays in existing technologies, this device achieves efficient and non-destructive removal of seedlings from plug trays through a unique design that combines a seedling pushing and liquid replenishment mechanism with a pneumatic seedling clamp. Specifically, when the plug tray is moved to the seedling removal position, the lifting support frame moves upward and passes through the funnel-shaped plug tray groove, lifting the entire plug tray seedling upward. This effectively overcomes the bonding force between the plug tray seedling and the inner wall of the plug tray, avoiding seedling stem breakage or seedling detachment from the soil caused by direct clamping.

[0015] This invention utilizes a tray structure located above a lifting support frame to precisely deliver nutrient solution to the bottom of the seedling tray during the lifting process. This not only provides immediate moisture and nutrient support for the seedlings but also further enhances the bonding strength between the seedling soil and the root system, ensuring the integrity of the seedling collection process and the survival rate of subsequent transplanting, thus realizing diversified functions in the seedling collection process. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic cross-sectional view of the overall structure of the present invention; Figure 3 This is a side view of the installation structure of the seedling-collecting mechanism of the present invention; Figure 4 This is a three-dimensional schematic diagram of the overall structure of the seedling-collecting mechanism of the present invention; Figure 5 This is a cross-sectional view and a partially enlarged structural schematic diagram of the seedling-collecting mechanism of the present invention.

[0017] In the diagram: 1. Frame, 2. Seedling tray, 3. Seedling conveyor, 4. Feeding angle steel compartment, 5. Pneumatic seedling clamp, 6. Guide rail frame, 7. Seedling pusher, 8. Liquid replenishment tank, 9. Lifting support frame, 10. Seedling tray trough, 11. Seedling tray, 12. Drive sprocket, 13. Driven sprocket, 14. Transmission chain, 15. Drive rod, 16. Through groove, 17. Support plate, 18. Lifting rod, 19. Lifting plate, 20. Traction spring, 21. Lifting traction rope, 22. Reversing transition roller, 23. One-way liquid inlet cylinder, 24. One-way liquid outlet piston, 25. Hollow rod, 26. Rubber hose, 27. Liquid storage tank, 28. Lifting sleeve, 29. Push rod. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0019] Please see Figures 1 to 5 The present invention provides a technical solution: Example 1: Complete Seedling Removal and Transplanting Process This embodiment describes in detail the complete seedling taking and transplanting operation process of an automatic seedling taking device for vegetable potted seedlings based on pneumatic and sensor sensing control. The device includes a vehicle body with a frame. The frame is equipped with a traveling device, a seedling taking device, and a transplanting device. The above-mentioned vehicle body structure, traveling device, and transplanting device adopt mature solutions in the prior art or adopt corresponding structures designed and manufactured by our company. Considering that this part is not the technical content to be highlighted in this application, its structure and drawings are not shown in detail in the specification. The core components of the seedling taking device consist of a frame 1, a seedling conveying mechanism, a seedling taking mechanism, a seedling separating mechanism, and a control unit.

[0020] At the start of the operation, the seedling tray 2 is placed on the slide rail of the seedling rack 3. The seedling tray 2 has a rectangular array of multiple vertically extending tray slots 10. Each tray slot 10 has a flared shape with a larger opening at the top and a smaller opening at the bottom, and contains a seedling 11. The control unit issues a command to start the tray transmission mechanism, and the independent sprocket mechanisms on both sides of the seedling rack 3 begin to operate. The drive motor drives the drive sprocket 12 to rotate, causing the transmission chain 14 to reciprocate between the drive sprocket 12 and the driven sprocket 13. The two transmission chains 14 are connected by a drive rod 15, which engages with the bottom of the seedling tray 2. At the concave gap, the seedling tray 2 is pulled to move intermittently along the slide rail to one side of the frame 1. When the seedling tray 2 moves to the seedling picking position, the control unit sends a stop working command to the drive motor. At this time, the seedling tray groove 10 of this row is exactly above the through groove 16 of the seedling pusher 7. At this time, the seedling conveying mechanism stops. Since the drive rod 15 is set on the transmission chain 14 and drives the seedling tray 2 to move by being inserted into the concave gap at the bottom of the seedling tray 2, when the seedling tray groove 10 is in the seedling picking position, the lifting support frame 9 is just offset from the drive rod 15, thus ensuring the normal operation of the seedling picking process.

[0021] Meanwhile, the seedling-collecting mechanism begins preparation: multiple pneumatic seedling-collecting clips 5 are slidably mounted on the guide rail frame 6. Driven by the traction mechanism, the guide rail frame 6 slides horizontally along the frame 1 towards the side closest to the seedling delivery mechanism. During this horizontal movement, the multiple pneumatic seedling-collecting clips 5 also slide along the length of the guide rail frame 6, gradually converging towards each other until their spacing matches the spacing of the current row of seedling trays 10. This convergence action is precisely controlled by the control unit based on a preset program or sensor feedback.

[0022] When the guide rail frame 6 moves to the position closest to the seedling conveying mechanism, the seedling pushing and liquid replenishment mechanism is automatically triggered. Since the lifting rod 18 between the lifting plate 19 and the seedling pushing frame 7 is fitted with a traction spring 20, the traction spring 20 pushes the lifting support frame 9 upward to its maximum stroke without external force. At this time, one end of the lifting traction rope 21 is connected to the lifting plate 19, and the other end is connected to the guide rail frame 6 through the seedling conveying frame 3 and multiple sets of reversing transition rollers 22 on the frame 1. When the guide rail frame 6 moves towards the seedling conveying mechanism, the lifting traction rope 21 is in a relaxed state. The elasticity of the traction spring 20 causes the lifting plate 19 to rise, thereby driving several lifting rods 18 and the support plate 17 fixed on its top to move upward synchronously. The support plate 17 passes through the through groove 16 of the seedling pushing frame 7, and then through the seedling tray groove 10 of the seedling tray 2, lifting the seedling tray 11 upward as a whole. The upper part of the support plate 17 is the plate body structure, which delivers nutrient solution to the bottom of the seedling 11 during the lifting process, effectively overcoming the bonding force between the seedling 11 and the inner wall of the seedling tray 10, and avoiding damage caused by direct clamping.

[0023] After the seedlings 11 in the plug tray are lifted to an appropriate height, the pneumatic seedling clamps 5 close and clamp the seedling stems or substrate under the command of the control unit. The pneumatic seedling clamps 5 are equipped with pressure sensors to monitor the clamping force in real time. When the clamping force reaches the preset threshold, the control unit stops applying pressure to ensure that the seedlings are not damaged. After successful clamping, the guide rail frame 6 slides horizontally to one side of the seedling separation mechanism under the drive of the traction mechanism. At the same time, multiple pneumatic seedling clamps 5 slide along the length of the guide rail frame 6 again, gradually dispersing so that their positions correspond one-to-one with each of the feed angle steel compartments 4. During the movement of the guide rail frame 6, the lifting traction rope 21 is tightened, overcoming the elasticity of the traction spring 20 and pulling the lifting plate 19 downward, so that the bottom plate 17 returns to the through groove 16, ready for the next cycle.

[0024] When the guide rail frame 6 moves to the seedling separation mechanism side, the pneumatic seedling clamp 5 is positioned above the feeding angle steel compartment 4. The control unit instructs the pneumatic seedling clamp 5 to release, and the seedlings 11 in the plug trays accurately fall into the corresponding feeding angle steel compartments 4, completing the seedling placement. Subsequently, the transplanting device plants the seedlings in the field. The control unit continues to coordinate and control the seedling conveying mechanism to feed the next row of plug tray slots 10, repeating the above process until all the seedlings in the plug tray 2 have been removed. The plug tray 2 is a flexible plug tray. Under the continuous push of the drive rod 15, it enters from the top of the seedling conveying frame 3 and finally moves out from the bottom of the seedling conveying frame 3, realizing the automatic retrieval of the plug tray 2.

[0025] Example 2: Automatic Liquid Replenishment Linkage Control This embodiment focuses on how the control unit adjusts the actions of each mechanism in real time based on sensor signals during the seedling collection process, and realizes the automatic liquid replenishment function to improve the reliability of the operation and the survival rate of seedlings.

[0026] Based on Embodiment 1, the control unit incorporates a more refined coordination program. When the seedling tray 2 moves to the seedling position, the control unit first confirms the alignment of the seedling tray groove 10 and the through groove 16 using a position sensor. Subsequently, the guide rail 6 moves towards the seedling conveying mechanism, triggering the lifting support frame 9 to rise. During this process, the rising movement of the lifting plate 19 not only drives the support plate 17 to lift the seedlings 11 in the seedling tray, but also drives the one-way pumping piston cylinder through the lifting sleeve 28 fixed on the lifting plate 19 and its internally telescopically installed push rod 29. Specifically, the upper end of the push rod 29 is fixedly connected to the hollow rod body 25. When the lifting plate 19 rises to the set position, the push rod 29 rises synchronously under the push of the lifting sleeve 28, causing the one-way liquid outlet piston 24 to generate a suction action in the one-way liquid inlet cylinder 23, drawing the nutrient solution in the replenishment tank 8 into the one-way liquid inlet cylinder 23. When the lifting plate 19 descends to the set position, the lifting sleeve 28 pulls the push rod 29 synchronously upwards. During the downward movement, the push rod 29 presses down on the hollow rod 25, and the one-way liquid outlet piston 24 pushes the nutrient solution in the cylinder out through the hollow rod 25. It is then transported through the rubber hose 26 to the storage tank 27 in the seedling pusher 7. The storage tank 27 is connected to the inside of the through groove 16 through the overflow hole. The nutrient solution flows into the tray structure of the bottom plate 17, which is located in the through groove 16, through the overflow hole, thus completing the replenishment of the bottom plate 17. This ensures that there is sufficient nutrient solution to moisten the bottom of the seedling 11 in the tray each time it is lifted. Therefore, the extension and retraction structure of the lifting sleeve 28 and the push rod 29 can delay the liquid flow time of the overflow hole, so that the overflow hole can overflow and replenish after the bottom plate 17 enters the through groove 16, ensuring the normal progress of the replenishment process.

[0027] During the process of the pneumatic seedling clamp 5 clamping the seedlings 11 in the plug tray, the pressure sensor feeds back the clamping force signal to the control unit in real time. If the clamping force exceeds the set upper limit, the process may be caused by the seedling diameter being too thick or the substrate being too hard. The control unit immediately reduces the pneumatic pressure and may fine-tune the opening of the clamps. If the clamping force is insufficient, the pressure is increased to ensure reliable clamping without slippage. At the same time, by arranging the installation positions of the seedling conveying mechanism, seedling picking mechanism and seedling separating mechanism on the frame 1, the lifting base frame 9 can complete an effective seedling lifting operation when the guide rail frame 6 completes a reciprocating translational sliding stroke and can be effectively retracted into the through groove 16 of the seedling pushing frame 7.

[0028] Through the aforementioned sensor feedback and linkage control, this device not only achieves efficient and non-destructive seedling extraction, but also integrates precise hydration and fault self-diagnosis functions, significantly improving the intelligence level of transplanting operations and the growth vigor of seedlings after transplanting.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic seedling picking device for vegetable potted seedlings based on pneumatic and sensor-based induction control, comprising a vehicle body, the vehicle body having a frame, and a traveling device, a seedling picking device, and a transplanting device mounted on the frame; characterized in that: The seedling taking device comprises a frame, a seedling conveying mechanism, a seedling taking mechanism, a seedling separating mechanism, and a control unit; The seedling conveying mechanism includes a seedling conveying frame, a seedling tray, and a seedling tray transmission mechanism. The seedling conveying frame is fixedly installed on the machine frame, and the seedling tray transmission mechanism is located inside the seedling conveying frame to drive the seedling tray placed on the slide rail of the seedling conveying frame to move intermittently to one side of the machine frame. The seedling separating mechanism is located on the side of the frame away from the seedling conveying mechanism, and includes multiple feeding angle steel compartments; The seedling-grabbing mechanism includes multiple pneumatic seedling-grabbing clamps, each equipped with a pressure sensor to control the gripping force. These clamps are slidably mounted on a guide rail frame. Driven by a traction mechanism, the guide rail frame slides horizontally on the machine frame, causing the pneumatic seedling-grabbing clamps to slide horizontally as well. During this sliding motion, the clamps also slide along the length of the guide rail frame, causing them to converge on one side of the seedling conveying mechanism and disperse above the respective feed angle steel compartments on the other side of the seedling separating mechanism, ensuring accurate seedling placement. The inner side of the seedling conveying mechanism is also provided with a seedling pushing and nutrient replenishment mechanism. The seedling pushing and nutrient replenishment mechanism includes a seedling pushing frame, a nutrient replenishment box, and a lifting base frame. The lifting base frame is lifted and installed on the seedling pushing frame. The seedling tray has a rectangular array of multiple vertically penetrating tray slots. The tray slots have a funnel-shaped structure with a large opening at the top and a small opening at the bottom. When the seedling tray moves to the seedling picking position, the lifting base frame moves upward and passes through the tray slots to lift the seedlings placed in the tray slots. The lifting base frame is provided with a tray structure above it to receive the nutrient solution. Thus, during the upward lifting of the seedlings, the nutrient solution is delivered to the bottom of the seedlings. The seedlings lifted upward are picked up by pneumatic seedling picking clips, removed from the seedling tray, and moved to the side of the seedling separating mechanism. The lifting support frame is connected to the guide rail frame via a lifting traction rope and a reversing transition roller. When the guide rail frame moves towards the seedling conveying mechanism, the lifting support frame moves upward via a traction spring. When the guide rail frame moves towards the seedling separating mechanism, the traction spring force is overcome, and the lifting support frame moves downward to reset. The lifting movement of the lifting support frame drives the hollow rod body to move via a push rod, thereby driving the replenishment tank to replenish nutrient solution to the disc structure above the lifting support frame. The control unit is used to control the coordinated movement of the seedling conveying mechanism, the seedling taking mechanism, and the seedling separating mechanism, thereby ensuring the reliability of the transplanting process.

2. The automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-based induction control according to claim 1, characterized in that: The seedling tray transmission mechanism is an independent sprocket mechanism located on both sides of the seedling rack. Each independent sprocket mechanism includes a driving sprocket, a driven sprocket, a transmission chain, and a transmission motor. The output shaft of the transmission motor is coaxially fixed with the driving sprocket, thereby driving the transmission chain to perform reciprocating rotational motion. The transmission chains on both sides are also connected by a drive rod. When the seedling tray is placed on the slide of the seedling rack, the drive rod is engaged in the concave gap at the bottom of the seedling tray, thereby driving the seedling tray to move synchronously through the reciprocating motion of the transmission chain. The seedling tray is a flexible seedling tray, which follows the movement of the transmission chain to enter from the upper side of the seedling rack and move out from the lower side of the seedling rack.

3. The automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-based induction control according to claim 1 or 2, characterized in that: The number of pneumatic seedling clamps corresponds one-to-one with the number of seedling tray slots in the same row on the seedling tray and the number of compartments in the material feeding angle steel compartments.

4. The automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-based induction control according to claim 3, characterized in that: The seedling pusher is fixedly installed inside the seedling conveying frame. The seedling pusher has corresponding through slots that are the same number as the seedling tray slots. When the seedling tray slots in the same row are in the seedling taking state, the seedling tray slots in that row are directly above the through slots.

5. The automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-based induction control according to claim 4, characterized in that: The lifting support frame consists of a support plate and lifting rods. The support plate is fixedly installed on the upper end of the lifting rods. Several lifting rods are fixedly installed on the same lifting plate on the side away from the support plate. The lifting movement of the lifting plate drives the several lifting support frames to move synchronously.

6. The automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-based induction control according to claim 5, characterized in that: The lifting rod between the lifting plate and the seedling pusher is connected to a traction spring on the outside. The traction spring is used to push the lifting support frame upward to the maximum stroke position without external force. The lifting plate is connected to a lifting traction rope on the side away from the lifting rod. The other end of the lifting traction rope is connected to the guide rail frame through the seedling conveyor and multiple sets of reversing transition rollers set on the frame. When the guide rail moves toward the side closer to the seedling conveying mechanism, the lifting traction rope moves toward the lifting plate. At this time, the lifting plate moves upward under the elastic traction of the traction spring, and then pushes the seedlings in the plug tray upward through the bottom plate to move them out of the plug tray groove. When the guide rail moves toward the side closer to the seedling separating mechanism, the lifting traction rope moves away from the lifting plate. At this time, the lifting traction rope does work by overcoming the elasticity of the traction spring through traction force, thereby pulling the lifting plate down, so that the bottom plate enters the through groove of the seedling pushing frame.

7. The automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-based induction control according to claim 6, characterized in that: The replenishment tank is fixedly installed inside the seedling rack. A one-way pumping piston cylinder is installed on the side of the replenishment tank near the seedling pusher. The one-way pumping piston cylinder consists of a one-way inlet cylinder, a one-way outlet piston, and a hollow rod. During one lifting stroke of the one-way outlet piston, the liquid in the replenishment tank is pumped out one-way through the hollow rod. The hollow rod is also connected to the liquid storage chamber opened in the seedling pusher through a rubber hose. The liquid storage chamber is connected to the inside of the through groove through an overflow hole. When the base plate enters the through groove, nutrient solution is replenished into the base plate through the overflow hole set above the base plate.

8. The automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-based induction control according to claim 7, characterized in that: A lifting sleeve is fixedly installed on the lifting plate, and a push rod is telescopically installed inside the lifting sleeve. The upper end of the push rod is fixedly connected to the hollow rod body. During the lifting and lowering movement of the lifting plate, the push rod intermittently drives the hollow rod body to move up and down, thereby completing the storage of liquid in the one-way liquid inlet cylinder during the lifting plate's ascent. When the base plate descends into the through groove, nutrient solution is added to the base plate through the overflow hole.

9. A transplanter, characterized in that: The transplanter uses the automatic seedling removal device for vegetable potted seedlings based on pneumatic and sensor-controlled operation as described in any one of claims 1-8.

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