Automatic seedling taking device suitable for tobacco hard plug seedlings

Abstract

The invention relates to the technical field of agricultural transplanting machinery, and discloses an automatic seedling taking device suitable for tobacco hard plug seedlings, the automatic seedling taking device comprises a seedling taking mechanism, a seedling conveying mechanism and a rack, the seedling taking mechanism adopts a non-circular gear planetary gear train seedling taking mechanism, and is mounted on the inner side of a rack frame through a supporting plate; the driving motor provides power, and chain transmission driving can rotate around the center of a hole of the supporting plate. The supporting plate and the driving motor are fixedly connected with the rack, the non-circular gear and the connecting shaft are mounted in the shell, and the seedling taking arm realizes non-constant-speed rotation through meshing movement of the non-circular gear in the shell, so that a special seedling taking track is realized at the point of the seedling taking needle to take out plug seedlings and transfer the plug seedlings to a seedling dropping position for seedling dropping; continuous progressive transverse seedling supply and longitudinal seedling supply are realized through driving of a stepping motor; under the combined action of the seedling taking mechanism and the seedling conveying mechanism, the seedling taking test bed can realize automatic and continuous seedling taking operation of the whole hard hole tray tobacco seedlings, and is convenient to operate.

Description

Technical Field

[0001] This invention relates to the field of agricultural transplanting machinery technology, specifically to an automatic seedling picking device suitable for tobacco hard-pack seedlings. Background Technology

[0002] Tobacco seedling trays are mostly soilless floating trays made of polyvinyl chloride (PVC), which are fragile and cannot be bent, and are widely used. Because these trays cannot be bent, they occupy a lot of space during automatic seedling retrieval, easily interfere with the retrieval mechanism, and result in low retrieval efficiency. To overcome these problems, a highly efficient automatic seedling retrieval device suitable for rigid seedling trays needs to be invented.

[0003] Scholars have designed automatic seedling-retrieving mechanisms using non-circular gear planetary gear systems to meet the needs of seedling retrieval in pots. Examples include a seedling-retrieving mechanism using a combination of incompletely deformed eccentric circular and non-circular gears (application number: CN110235573A) and a seedling-retrieving mechanism using an elliptical-combined concave-convex conjugate gear planetary gear system (application number: CN109863865B). These non-circular gear planetary gear systems reduce mechanical vibration and impact to some extent and have high seedling-retrieving efficiency. However, these mechanisms have problems with seedling placement in hard seedling trays, such as the inability to properly place seedlings and interference with the hard seedling tray. The seedling trajectory does not meet requirements, making continuous seedling retrieval of the entire tray impossible. Therefore, further research is needed on the trajectory and method for automatic continuous seedling retrieval of hard seedling trays using non-circular gear planetary gear systems. Summary of the Invention

[0004] To address the aforementioned problems, this invention, taking into account the characteristics of rigid seedling trays and the actual needs of tobacco seedling removal operations, designs an automatic seedling removal test platform suitable for rigid tobacco seedling trays. Through a special seedling removal trajectory achieved by the seedling removal mechanism, and in conjunction with the seedling transport mechanism, continuous seedling removal from rigid seedling trays is realized. This test platform, installed on a transplanter, replaces manual seedling removal and placement. It features a compact structure, small size, and high precision, thereby improving the automation and working efficiency of the transplanter and enabling continuous seedling removal from entire rigid tobacco seedling trays.

[0005] This invention is achieved using the following technical solution: an automatic seedling taking device suitable for tobacco hard-pack seedlings, comprising a frame, a seedling taking mechanism, and a seedling conveying mechanism. A support plate is fixedly connected to the top of the frame. The seedling taking mechanism is installed on one side of the top of the support plate and is located directly in front of the seedling conveying mechanism. The seedling taking mechanism can rotate around the center of a hole in the support plate. The seedling conveying mechanism is fixedly installed on a slanted frame rod of the frame. A tray is fixedly connected to one side of the seedling conveying mechanism. A hard seedling tray is provided on one side of the tray. A drive motor is fixedly installed at one end of the frame. A first sprocket is fixedly connected to one end of the drive motor. A chain is meshed with the outside of the first sprocket. A second sprocket is meshed with one end of the chain. A sun gear drive shaft is fixedly connected to one side of the second sprocket. The hard seedling tray is fixedly installed on the tray with its short side longitudinal and its long side transverse. The seedling-taking mechanism includes a right-side housing and a left-side housing. One end of the sun gear drive shaft is fixedly connected to the right-side housing, and the other end of the sun gear drive shaft is rotatably connected to the inside of the left-side housing. Two first intermediate gears are meshed between the two ends of the sun gear. A second intermediate gear is fixedly connected to the inside of the first intermediate gear via an intermediate shaft. A planetary gear is meshed between one end of the second intermediate gear and the planetary gear. A planetary shaft is fixedly installed inside the planetary gear. A planetary carrier is provided inside the seedling-taking mechanism. The first intermediate gear, the second intermediate gear, and the planetary gear are mounted on the planetary carrier. A seedling-taking arm is fixedly connected to one end of the planetary shaft. A flange is fixedly connected to one side of the support plate. The flange is fixedly connected to the sun gear. One end of the sun gear drive shaft is rotatably connected to the inside of the support plate, the flange, and the sun gear. Secondly, the seedling-taking arm includes a seedling-taking arm housing, a seedling-taking needle, a seedling-pushing rod, a seedling-pushing block, a seedling-taking arm rear cover, a fork, a buffer pad, a spring, and a cam; one end of the fork is hinged to the inner wall of the seedling-taking arm housing, and the fork rotates around the hinge center; one end of the fork is fixedly connected to the other end of the seedling-pushing rod, and two seedling-pushing blocks are attached; the seedling-taking needle is in contact with the cam; the other end of the fork is hinged to one end of the seedling-pushing rod; the seedling-taking needle is hinged to the seedling-taking needle support rod; and the seedling-taking needle is installed in the slot of the seedling-pushing block. Furthermore, the seedling conveying mechanism includes a transverse module, a first longitudinal module, a second longitudinal module, a connecting shaft, a first stepper motor, and a second stepper motor. The first longitudinal module and the second longitudinal module are fixedly installed on the two inclined support rods of the frame. A second stepper motor is fixedly installed at one end of the second longitudinal module. The second longitudinal module is connected to the first longitudinal module through the connecting shaft. The transverse module is fixedly installed above the first longitudinal module and the second longitudinal module. A first stepper motor is installed at one end of the transverse module.

[0006] Preferably, the two ends of the intermediate shaft and the planetary shaft are respectively installed inside the left and right housings, and the planetary carrier is embedded inside the left and right housings. The meshing motion of the sun gear, the first intermediate gear, the second intermediate gear, and the planetary gear enables the tip of the seedling arm to achieve a special motion trajectory, namely the seedling picking trajectory.

[0007] Preferably, the seedling-taking needles are four cylindrical needles with a diameter of 2mm. The seedling-taking needles are symmetrically distributed in pairs on both sides of the seedling-taking arm. The spacing between the seedling-taking needles matches the size of the hole in the rigid seedling tray. One end of the spring is fixedly connected to one end of the seedling-pushing rod, and the other end of the spring is fixedly connected to the back cover of the seedling-taking arm. The buffer pad is located inside the seedling-taking arm, and one end of the seedling-pushing rod is movably connected to the inside of the buffer pad.

[0008] Preferably, the movement trajectory K of the seedling-picking needle tip includes a seedling-picking point, a seedling-removing point, a seedling-planting point, and a seedling-entering point, wherein the seedling-picking point is O4, the seedling-removing point is O9, and the seedling-planting point is O2. 11 The point of entry into the bowl is O. 10 Seedling placement point O 11 The point of intersection with the rigid seedling tray is O5. The closest points of the movement trajectory K and the rigid seedling tray are O6 and O7, respectively. The seedling picking point is the position where the seedling picking needle tip is when it has finished picking the seedling. The seedling leaving point is the position where the seedling picking needle tip leaves the rigid seedling tray. The seedling placing point is the position where the seedling picking needle tip moves to the top of the duckbill planter. The seedling entering point is the position where the seedling picking needle begins to contact the seedling pot when picking the seedling.

[0009] Preferably, when the seedling-taking needle is located at the seedling-taking point, the initial installation angle of the planetary frame is 51°, and the angle between the line connecting the center of the planetary wheel to the tip of the seedling-taking needle and the horizontal plane is 15.63°. When the seedling-taking needle is located at the seedling-removal point, the initial installation angle of the planetary frame is 30.54°, and the angle between the line connecting the center of the planetary wheel to the tip of the seedling-taking needle and the horizontal plane is 6.96°. When the seedling-taking needle is located at the seedling-planting point, the initial installation angle of the planetary frame is 221°, the angle between the line connecting the center of the planetary wheel to the tip of the seedling-taking needle and the horizontal plane is -13.5°, and the seedling-planting angle is 68°. When the seedling-taking needle is located at the seedling-entry point, the initial installation angle of the planetary frame is 26°, and the angle between the line connecting the tip of the seedling-taking needle and the center of the planetary wheel and the horizontal direction is 35°.

[0010] Preferably, the minimum distance between the seedling picking trajectory and the rigid seedling tray is 5.2 mm, the minimum distance between the seedling placement point of the seedling picking trajectory and the rigid seedling tray is 8.6 cm, and the inclination angle between the seedling picking trajectory and the rigid seedling tray is 65°-70°.

[0011] Preferably, the center of the sun gear is set to O1, the center of the second intermediate gear is set to O2, the center of the planetary gear is set to O3, the seedling picking point of the seedling picking needle is O4, and the initial installation angle of the planetary frame relative to the horizontal direction is O2, which is counterclockwise. 1- The angle between O2 and the horizontal direction is 47°, and the planetary carrier corner is O. 1- O2 connection and O 2- The acute angle between the lines O3 is -68°, and the angle between the seed-taking arm and the planetary frame is O. 3- O4 connection and O 2- The acute angle between lines O3 and O3 is 39°. The center distance between the second intermediate gear and the planetary gears is L. O2-O3 The center distance L between the sun gear and the first intermediate gear O1-O2 All are 65mm, and the inclined side L of the seedling arm O3-O4 The length is 210mm, and one of the right-angled sides O of the seedling arm is... 3- O8 and hypotenuse O 3- The included angle of O4 is 40-45°.

[0012] Preferably, the first and second longitudinal modules are parallel to each other, and the transverse module, the first longitudinal module, and the second longitudinal module form an I-shaped structure. The second stepper motor controls the longitudinal movement of the first and second longitudinal modules, and the first stepper motor controls the transverse movement of the transverse module. The first and second longitudinal modules have the same stroke, both 340mm, and the transverse module has a stroke of 660mm. One end of the first stepper motor is provided with a first motor mount, and one end of the second stepper motor is provided with a second motor mount. The first and second stepper motors are controlled by a microcontroller to drive the first and second longitudinal modules and the transverse module to feed seedlings step by step. The first stepper motor controls the transverse module to feed seedlings transversely and does not have a brake. The second stepper motor controls the first and second longitudinal modules to feed seedlings longitudinally and has a brake.

[0013] Compared with the prior art, the beneficial effects of the present invention are: The seedling picking mechanism of this invention adopts non-circular gear meshing transmission, which enables the seedling picking arm to achieve non-uniform speed movement. By designing a secondary non-uniform amplitude transmission ratio curve, planetary frame, and seedling picking arm parameters, the seedling picking needle tip of the seedling picking arm forms a seedling picking trajectory that meets the seedling picking requirements.

[0014] This invention arranges the long side of the rigid seedling tray horizontally and the short side vertically, which reduces the longitudinal feed amount of the rigid seedling tray during the seedling supply process. By rationally designing the seedling retrieval trajectory, interference between the rigid seedling tray and the seedling retrieval mechanism can be avoided during the seedling supply process. Under the continuous seedling supply of the seedling supply mechanism, the seedling retrieval mechanism can realize the continuous seedling retrieval operation of the entire rigid seedling tray.

[0015] The seedling picking mechanism of this invention is designed as a non-circular gear planetary gear system. It adopts a double-arm seedling picking method. Every time the planetary frame rotates once, it realizes two automatic seedling picking and seedling throwing movements, which has high seedling picking efficiency and can realize automatic and high-speed seedling picking operation of tobacco seedlings in hard seedling trays. It is small in size and light in weight. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a structural diagram of the seedling-collecting mechanism of the present invention; Figure 3 This is a side view of the seedling-collecting mechanism of the present invention; Figure 4 This is a schematic diagram of the non-circular gear installation position of the seedling-taking mechanism of the present invention; Figure 5 This is a transmission ratio curve diagram of the present invention; Figure 6 This is a schematic diagram of the seedling collection trajectory of the present invention; Figure 7 This is a schematic diagram of the seedling arm structure of the present invention; Figure 8 This is a side view of the seedling-collecting arm of the present invention; Figure 9 This is a structural diagram of the seedling delivery mechanism of the present invention.

[0017] In the diagram: 1. Frame; 2. First longitudinal module; 3. Rigid seedling tray; 4. Seedling picking mechanism; 41. Right side shell; 42. Left side shell; 43. Planetary gears; 44. First intermediate gear; 45. Intermediate shaft; 46. Sun gear; 47. Second intermediate gear; 48. Planetary shaft; 49. Planet carrier; 5. Sun gear drive shaft; 6. Second sprocket; 7. Drive motor; 8. First sprocket; 9. Support plate; 10. Flange; 11. Seedling arm; 111. Spring; 112. Rear cover of seedling arm; 113. Seedling arm housing; 114. Seedling needle support rod; 115. Seedling needle; 116. Seedling pusher block; 117. Seedling pusher rod; 118. Buffer pad; 119. Fork; 1110. Cam; 12. Tray; 13. Lateral module; 14. First motor mount; 15. First stepper motor; 16. Second stepper motor; 17. Second motor mount; 18. Second longitudinal module; 19. Connecting shaft. Detailed Implementation

[0018] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0019] Example 1: Please refer to Figure 1 - Figure 9 This embodiment provides an automatic seedling removal device for tobacco hard-pack seedling trays, consisting of a frame 1, a seedling removal mechanism 4, and a seedling conveying mechanism. The seedling removal mechanism 4 and the seedling conveying mechanism work together to continuously remove seedlings from the hard-pack seedling tray 3. The seedling removal mechanism 4 and the seedling conveying mechanism are synchronously controlled by a microcontroller.

[0020] Furthermore, the seedling-retrieving mechanism 4 mainly includes a planetary frame 49, a sun gear 46, a first intermediate gear 44, a second intermediate gear 47, planetary gears 43, a seedling-retrieving arm 11, a left shell 42, a right shell 41, a support plate 9, a flange 10, a sun gear drive shaft 5, an intermediate shaft 45, and a planetary shaft 48. The sun gear 46 is fixedly connected to the flange 10, the flange 10 is fixedly connected to the support plate 9, the first intermediate gear 44 and the second intermediate gear 47 are coaxially fixedly connected, the planetary shaft 48 and the planetary gears 43 are coaxially fixedly connected, the seedling-retrieving arm 11 is fixedly connected to the planetary shaft 48, and the sun gear 46 is fixedly connected to the flange 10. 0. Fixed connection: The sun gear drive shaft 5 is fixedly connected to the right housing 41 of the seedling taking mechanism 4. The sun gear drive shaft 5 rotates counterclockwise, causing the housing of the seedling taking mechanism 4 to rotate counterclockwise, thereby causing the first intermediate wheel 44 to mesh counterclockwise along the sun gear 46. The first intermediate wheel 44 is fixedly connected to the second intermediate wheel 47. The second intermediate wheel 47 meshes with the planetary wheel 43, causing the planetary wheel 43 to rotate clockwise. The planetary wheel 43 is fixedly connected to the planetary shaft 48. The planetary shaft 48 is fixedly connected to the seedling taking arm 11, causing the seedling taking arm 11 to rotate clockwise, so that the tip of the seedling taking arm 11 achieves the seedling taking trajectory K.

[0021] Furthermore, the planetary carrier 49 of the seedling-taking mechanism 4 is installed at an initial counterclockwise angle relative to the horizontal direction, i.e., O. 1- The angle between O2 and the horizontal direction is 47°, which is the planetary carrier corner, O. 1- O2 connection and O 2- The acute angle between the lines O3 is -68°. The angle O is taken as the corner of the seedling arm relative to the planetary carrier. 3- O4 connection and O 2- The acute angle between the lines O3 and O3 is 39°, and the center distance between the two gears is L.O2-O3 and L O1-O2 All are 65mm, take the hypotenuse of the seedling arm L O3-O4 The diameter is 210mm, O4 is the seedling collection point, O9 is the potting point, and O 10 O is the point for placing the food in the bowl. 11 At the seedling placement point O4: the initial installation angle of the planetary frame is 51°, and the angle between the line connecting the center of the planetary gear to the tip of the seedling picking arm and the horizontal plane is 15.63°; at the seedling removal point O9: the initial installation angle of the planetary frame is 30.54°, and the angle between the line connecting the center of the planetary gear O3 to the tip of the seedling picking arm O4 and the horizontal plane is 6.96°; at the seedling placement point O... 11 Location: The initial installation angle of the planetary frame is 221°, and the angle between the line connecting the center of the planetary gear O3 to the tip of the seedling arm O4 and the horizontal plane is -13.5°; at the potting point O... 10 Location: The initial installation angle of the planetary carrier 49 is 26°, and the angle between the line connecting the center O3 of the planetary gear to the tip O4 of the seedling-picking arm and the horizontal plane is 35°; under the parameters of the seedling-picking arm 11, the planetary carrier 49, and the secondary unequal amplitude transmission ratio curve, the tip O4 of the seedling-picking arm 11 forms a seedling-picking trajectory K, the height of which is 260-280mm, and the minimum distance L between the seedling-picking trajectory K and the rigid seedling tray. O6-O7 The seedling diameter is 5.2 mm, and the seedling placement point O is the seedling trajectory K. 11 Minimum distance L from rigid seedling tray O10-O5 It measures 8.6cm.

[0022] Furthermore, the seedling-retrieving arm 11 includes a seedling-retrieving arm housing 113, a seedling-retrieving needle 115, a seedling-pushing rod 117, a seedling-pushing block 116, a seedling-retrieving arm rear cover 112, a fork 119, a spring 111, and a cam 1110; the cam 1110 is fixedly connected to the right housing 41 of the seedling-retrieving mechanism 4; one end of the fork 119 is hinged to the seedling-retrieving arm housing 113, allowing it to rotate with the hinge center as the rotation center, and the other end is hinged to one end of the seedling-pushing rod 117. The upper fixed connection has two seedling pushing blocks 116; one end of the spring 111 is fixedly connected to the seedling pushing rod 117, and the other end is fixedly connected to the seedling taking arm rear cover 112; the seedling taking needle 115 is hingedly connected to the seedling taking needle support rod 114 and installed in the hole of the seedling pushing block 116; the seedling pushing rod 117 realizes the telescopic movement under the action of the cam 1110, the fork 119, the spring 111, and the seedling pushing block 116, which drives the seedling taking needle 115 to realize the actions of taking seedlings, holding seedlings, and putting seedlings.

[0023] Furthermore, the transmission components of the seedling feeding mechanism adopt an I-shaped slide module. The two longitudinal modules 12 and 18 have the same stroke, both 340mm, and the transverse module has a stroke of 660mm. The seedling feeding method adopts a stepper motor controlled by a microcontroller, which drives the slide module to feed seedlings step by step. The first stepper motor 15 controls the transverse module 12 to feed seedlings laterally and does not have a brake. The second stepper motor 16 controls the longitudinal module 18 to feed seedlings longitudinally and has a brake.

[0024] The seedling collection method includes the following steps: S1. When taking seedlings, the rigid seedling tray 3 is manually placed in the initial position of the seedling conveying mechanism. The short side of the rigid seedling tray 3 is fixed longitudinally and the long side is fixed transversely on the tray 12. The center of the first row of holes of the rigid seedling tray is aligned with the center of the seedling claw of the seedling taking arm 11. After the test platform is powered on, the first stepper motor 15, the second stepper motor 16 and the drive motor 7 are powered on at the same time.

[0025] S2. The drive motor 7 drives the sprocket 8 to rotate. The sprocket 8 drives the sprocket 6 to rotate through the chain drive. The sprocket 6 drives the sun gear drive shaft 5 to rotate counterclockwise, thereby driving the seedling taking mechanism 4 to rotate counterclockwise. Under the meshing motion of the non-circular gears inside the seedling taking mechanism 4, the tip of the seedling taking needle 115 of the seedling taking arm 11 can form the required seedling taking trajectory K.

[0026] S3. When the tip of the seedling-grabbing needle 115 of the seedling-grabbing arm 11 reaches the starting position for clamping the seedling, the contour of the cam 1110 contacts the fork 119. Under the relative movement of the planetary frame 49 and the seedling-grabbing arm 11, the fork 119 interacts with the contour of the cam 1110, causing the fork 119 to rotate counterclockwise by a certain angle, driving the push rod 117 to move away from the tip of the seedling-grabbing needle 115. The spring 111 is compressed. At this time, the seedling-grabbing needle 115 rapidly retracts under the action of the push block 116 and moves from both sides. The pot is clamped, and the seedling arm 11 then takes out the seedling along the seedling taking trajectory. When it reaches the seedling placement position, the contour of the cam 1110 contacts the fork 119. Under the relative movement of the planetary frame 49 and the seedling taking arm 11, the fork 119 rotates clockwise by a certain angle, and the spring 111 releases its elastic force, driving the push rod 117 to move towards the seedling taking tip. At this time, the seedling taking needle 115 quickly expands under the action of the push block 116, and the seedling falls under the action of gravity and the push block 117, thus realizing the seedling placement process.

[0027] S4. After the first seedling of the rigid seedling tray 3 is removed by the first arm of the seedling picking arm 11, the first stepper motor 15 rotates clockwise (counterclockwise) and immediately controls the horizontal module 13 to move to the right a certain distance. This distance is the center distance between the two holes in the seedling tray. This causes the rigid seedling tray 3 to move to the right of the frame 1 by the distance between the two holes. The second seedling then moves to the position of the first seedling. The second arm of the seedling picking arm 11 then completes the clamping of the second seedling. This horizontal cycle is repeated several times until the first row of seedlings in the rigid seedling tray 3 is removed. Then the first stepper motor 15 stops rotating, and the second stepper motor 16 starts to rotate counterclockwise (clockwise) to move the two vertical modules vertically downward a certain distance. This distance is the center distance between the two holes in the rigid seedling tray 3. After the rigid seedling tray 3 moves vertically once, the second stepper motor 16 immediately stops rotating. Then the first stepper motor 15 rotates counterclockwise (clockwise), and the horizontal module 13 causes the rigid seedling tray 3 to move horizontally to the left a certain distance. This distance is the center distance between the two holes in the tray. This horizontal movement to the right is repeated several times until the second row of seedlings in the tray is removed.

[0028] S5. Repeat steps S2-S4 in sequence to complete the removal of seedlings from the entire hard seedling tray 3.

[0029] The design of the seedling-picking mechanism in this invention is key to achieving the precise movement trajectory of the seedling-picking needle tip. Through a rationally designed quadratic unequal pair transmission ratio curve, planetary frame, and seedling-picking arm parameters, a seedling-picking trajectory suitable for rigid plug seedlings is innovatively planned. Four cylindrical seedling-picking needles clamp the seedling pot from both sides, ensuring low damage during the seedling-picking process. At the same time, a seedling-picking test platform is designed to realize continuous seedling-picking operations for rigid tobacco plug seedlings, simplifying the system structure and improving reliability.

[0030] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An automatic seedling-retrieving device suitable for tobacco hard-pack seedling trays, characterized in that, The machine includes a frame (1), a seedling taking mechanism (4), and a seedling conveying mechanism. A support plate (9) is fixedly connected to the top of the frame (1). The seedling taking mechanism (4) is installed on one side of the top of the support plate (9). The seedling taking mechanism (4) is located directly in front of the seedling conveying mechanism. The seedling taking mechanism (4) can rotate around the center of the hole in the support plate (9). The seedling conveying mechanism is fixedly installed on the inclined frame rod of the frame (1). A tray (12) is fixedly connected to one side of the seedling conveying mechanism. A hard seedling tray (3) is provided on one side of the tray (12). A drive motor (7) is fixedly installed at one end of the frame (1). A first sprocket (8) is fixedly connected to one end of the drive motor (7). A chain is meshed with the outside of the first sprocket (8). A second sprocket (6) is meshed with one end of the chain. A sun gear drive shaft (5) is fixedly connected to one side of the second sprocket (6). The seedling-collecting mechanism (4) includes a right housing (41) and a left housing (42). One end of the sun gear drive shaft (5) is fixedly connected to the right housing (41), and the other end of the sun gear drive shaft (5) is rotatably connected to the inside of the left housing (42). The two ends of the sun gear (46) are meshed with two first intermediate gears (44). The inside of the first intermediate gear (44) is fixedly connected to a second intermediate gear (47) via an intermediate shaft (45). One end of the second intermediate gear (47) is meshed with a planetary gear (43). The internal fixed installation of the planetary shaft (48) and the internal planetary frame (49) of the seedling taking mechanism (4) are provided. The first intermediate wheel (44), the second intermediate wheel (47) and the planetary wheel (43) are installed on the planetary frame (49). One end of the planetary shaft (48) is fixedly connected to the seedling taking arm (11). One side of the support plate (9) is fixedly connected to the flange (10). The flange (10) is fixedly connected to the sun wheel (46). One end of the sun wheel drive shaft (5) is rotatably connected to the inside of the support plate (9), the flange (10) and the sun wheel (46). Secondly, the seedling arm (11) includes a seedling arm housing (113), a seedling needle (115), a seedling pusher (117), a seedling pusher block (116), a seedling arm rear cover (112), a fork (119), a buffer pad (118), a spring (111), and a cam (1110); one end of the fork (119) is hinged to the inner wall of the seedling arm housing (113), and the fork (119) rotates around the hinge center. One end of the fork (119) is fixedly connected to the other end of the seedling pusher (117) to two seedling pushers (116). The seedling needle (115) is in contact with the cam (1110). The other end of the fork (119) is hinged to one end of the seedling pusher (117). The seedling needle (115) is hinged to the seedling needle support rod (114). The seedling needle (115) is installed in the slot of the seedling pusher (116). Furthermore, the seedling conveying mechanism includes a transverse module (13), a first longitudinal module (2), a second longitudinal module (18), a connecting shaft (19), a first stepper motor (15), and a second stepper motor (16). The first longitudinal module (2) and the second longitudinal module (18) are fixedly installed on the two inclined support rods of the frame (1). The second longitudinal module (18) is fixedly installed with the second stepper motor (16) at one end. The second longitudinal module (18) is connected to the first longitudinal module (2) through the connecting shaft (19). The transverse module (13) is fixedly installed above the first longitudinal module (2) and the second longitudinal module (18). The first stepper motor (15) is installed at one end of the transverse module (13).

2. The automatic seedling-retrieving device for tobacco hard-pack seedlings according to claim 1, characterized in that, The rigid seedling tray (3) is fixedly installed on the tray (12) with its short side longitudinal and its long side transverse.

3. The automatic seedling receiving device for hard-pack tobacco seedlings according to claim 1, characterized in that, The two ends of the intermediate shaft (45) and the planetary shaft (48) are respectively installed inside the left shell (42) and the right shell (41). The planetary carrier (49) is embedded inside the left shell (42) and the right shell (41). Through the meshing motion of the sun gear (46), the first intermediate gear (44), the second intermediate gear (47), and the planetary gear (43), the tip of the seedling arm (11) can achieve a special motion trajectory, namely the seedling picking trajectory.

4. An automatic seedling-retrieving device for tobacco hard-pack seedlings according to claim 1, characterized in that, The seedling needles (115) are four cylindrical needles with a diameter of 2 mm. The seedling needles (115) are symmetrically distributed on both sides of the seedling arm (11). The spacing of the seedling needles (115) matches the size of the hole in the hard seedling tray (3). One end of the spring (111) is fixedly connected to one end of the seedling pusher (117). The other end of the spring (111) is fixedly connected to the back cover (112) of the seedling arm. The buffer pad (118) is located inside the seedling arm (11). One end of the seedling pusher (117) is movably connected to the inside of the buffer pad (118).

5. An automatic seedling-retrieving device for tobacco hard-pack seedlings according to claim 1, characterized in that, The trajectory K of the tip of the seedling-taking needle (115) includes a seedling-taking point, a seedling-removing point, a seedling-planting point, and a seedling-entering point. The seedling-taking point is O4, the seedling-removing point is O9, and the seedling-planting point is O2. 11 The point of entry into the bowl is O. 10 Seedling placement point O 11 The point of intersection with the rigid seedling tray (3) is O5. The closest points of the movement trajectory K and the rigid seedling tray (3) are O6 and O7, respectively. The seedling picking point is the position where the tip of the seedling picking needle (115) is when it has finished picking the seedling. The pot leaving point is the position where the tip of the seedling picking needle (115) leaves the rigid seedling tray (3). The seedling placement point is the position where the tip of the seedling picking needle (115) moves to the top of the duckbill planter. The pot entry point is the position where the seedling picking needle (115) begins to contact the pot body when picking the seedling.

6. An automatic seedling-retrieving device for hard-pack tobacco seedlings according to claim 5, characterized in that, When the seedling-taking needle (115) is located at the seedling-taking point, the initial installation angle of the planetary frame (49) is 51°, and the angle between the line connecting the center of the planetary wheel (43) to the tip of the seedling-taking needle (115) and the horizontal plane is 15.63°. When the seedling-taking needle (115) is located at the potting point, the initial installation angle of the planetary frame (49) is 30.54°, and the angle between the line connecting the center of the planetary wheel (43) to the tip of the seedling-taking needle (115) and the horizontal plane is 6.96°. When the needle (115) is located at the seedling placement point, the initial installation angle of the planetary frame (49) is 221°, the angle between the line connecting the center of the planetary wheel (43) to the tip of the seedling needle (115) and the horizontal plane is -13.5°, and the seedling placement angle is 68°. When the seedling needle (115) is located at the potting point: the initial installation angle of the planetary frame (49) is 26°, and the angle between the line connecting the tip of the seedling needle (115) and the center of the planetary wheel (43) and the horizontal direction is 35°.

7. An automatic seedling-retrieving device for tobacco hard-pack seedlings according to claim 6, characterized in that, The minimum distance between the seedling taking trajectory and the hard seedling tray (3) is 5.2 mm, the minimum distance between the seedling placement point of the seedling taking trajectory and the hard seedling tray (3) is 8.6 cm, and the inclination angle between the seedling taking trajectory and the hard seedling tray (3) is 65°-70°.

8. An automatic seedling-retrieving device for tobacco hard-pack seedlings according to claim 1, characterized in that, The center of the sun gear (46) is set to O1, the center of the second intermediate gear (47) is set to O2, the center of the planet gear (43) is set to O3, the seedling picking point of the seedling needle (115) is O4, and the initial installation angle of the planetary frame (49) relative to the horizontal direction is O2. 1- The angle between O2 and the horizontal direction is 47°, and the corner of the planetary carrier (49) is O. 1- O2 connection and O 2- The acute angle between the O3 lines is -68°, and the angle between the seed-taking arm (11) and the planetary frame (49) is O. 3- O4 connection and O 2- The acute angle between the lines O3 and O3 is 39°. The center distance between the second intermediate wheel (47) and the planetary wheel (43) is L. O2-O3 The center distance L between the sun gear (46) and the first intermediate gear (44) O1-O2 All are 65mm, and the hypotenuse L of the seedling arm (11) O3-O4 The length is 210mm, and one of the right-angled sides O of the seedling arm (11) is... 3- O8 and hypotenuse O 3- The included angle of O4 is 40-45°.

9. An automatic seedling-retrieving device for tobacco hard-pack seedlings according to claim 1, characterized in that, The first longitudinal module (2) and the second longitudinal module (18) are parallel to each other. The transverse module (13), the first longitudinal module (2), and the second longitudinal module (18) form an I-shaped structure. The second stepper motor (16) controls the longitudinal movement of the first longitudinal module (2) and the second longitudinal module (18), and the first stepper motor (15) controls the transverse movement of the transverse module (13). The first longitudinal module (2) and the second longitudinal module (18) have the same stroke, both 340mm, and the transverse module (13) has a stroke of 660mm. One end of the first stepper motor (15) is provided with a first electric motor. The base (14) has a second motor mount (17) at one end of the second stepper motor (16). The first stepper motor (15) and the second stepper motor (16) are controlled by a microcontroller to drive the first longitudinal module (2), the second longitudinal module (18), and the transverse module (13) to feed seedlings step by step. The first stepper motor (15) controls the transverse module (13) to feed seedlings transversely. The first stepper motor (15) does not have a brake. The second stepper motor (16) controls the first longitudinal module (2) and the second longitudinal module (18) to feed seedlings longitudinally. The second stepper motor (16) has a brake.

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