Seedling selection and replanting machine

Abstract

The present application belongs to the technical field of agricultural machinery, and in particular to a seedling selection and replacement transplanting machine, which comprises first and second conveying modules arranged side by side, the first and second conveying modules being used for conveying raw material seedling plug trays and standby material seedling plug trays respectively, a visual detection module for detecting good seedlings and bad seedlings being arranged above the first conveying module, a plurality of clamping modules for taking seedlings and replacing seedlings being arranged above the first and second conveying modules, and an inverted conical hole fitting type residual soil particle removal assembly being further arranged above the first and second conveying modules. The inverted conical hole fitting type residual soil particle removal assembly can remove the soil particles in which the bad seedlings are left in the hole before the healthy seedlings are transplanted into the hole, thereby cutting off the path through which the soil-borne pathogen carried by the bad seedlings is transmitted to the healthy seedlings through the residual soil particles.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically a seedling selection, replanting and transplanting machine. Background Technology

[0002] The seedling selection, replacement, and transplanting machine is an automated device that integrates machine vision detection, grasping, and path planning. It can automatically identify abnormal seedlings (such as those that have not sprouted, are weak, or are of inconsistent size) in the seedling trays online and remove them. Then, it can precisely grasp healthy seedlings from a dedicated high-quality seedling tray and replace them, ultimately outputting a tray of perfectly sized and qualified commercial seedlings.

[0003] Existing seedling selection, replacement, and transplanting machines use visual recognition technology to distinguish between good and bad seedlings and remove or replace seedlings by picking up the root ball of the seedling. However, whenever a bad seedling is picked out of the hole, a certain amount of soil particles remain in the hole. When a good seedling is picked up and placed in the hole, its root ball will come into contact with the remaining soil particles.

[0004] However, the reason why damaged seedlings become damaged is largely because they carry soil-borne pathogens. During the removal and disposal process, pathogen-laden soil particles from the root ball remain in the planting hole. When a healthy seedling's root ball is placed back in, its roots come into contact with these pathogenic residues, essentially becoming directly inoculated with the pathogen. This "one-hole-one-plant" disease transmission is particularly rapid in the high humidity and temperature environment of a seedling greenhouse, often causing healthy seedlings to relapse within a week, significantly increasing the failure rate of replanting. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art and solve at least one of the technical problems mentioned in the background art, the present invention proposes a seedling selection, replanting and transplanting machine.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a seedling selection and transplanting machine, including a first conveying module and a second conveying module arranged side by side. The first conveying module and the second conveying module are respectively used to convey raw seedling trays and prepared seedling trays. A visual detection module for detecting good seedlings and bad seedlings is provided above the first conveying module. Several clamping modules for picking up and re-picking seedlings are provided above the first conveying module and the second conveying module. An inverted conical hole-adaptive residual soil particle removal component is also provided above the first conveying module and the second conveying module. The inverted conical hole-adaptive residual soil particle removal assembly includes a negative pressure generating unit and a suction cylinder that matches the hole specifications. Multiple main scrapers are evenly distributed circumferentially on the outside of the suction cylinder. Secondary scrapers are slidably inserted into both sides of the main scrapers, and an elastic element is provided between the secondary scrapers and the main scrapers. The main scrapers and secondary scrapers simultaneously extend into the hole and scrape off the soil particles attached to the hole wall. The negative pressure generating unit causes suction at the suction cylinder to suck up the soil particles.

[0007] Preferably, the clamping module includes a lifting block, on which two grippers are symmetrically rotated. The grippers are plate-shaped structures. A first transmission cylinder is fixedly mounted on the lifting block. A connecting block is fixedly connected to the piston end of the first transmission cylinder. Two connecting rods are symmetrically rotated on the connecting block. The end of the connecting rod away from the connecting block is rotatably connected to one end of the gripper.

[0008] Preferably, the first and second conveying modules are covered by a housing, and a linear module is provided inside the housing. The linear module is provided with a horizontally movable sliding seat. Multiple lifting cylinders are fixedly provided on the sliding seat along the horizontal direction. Each lifting block is fixedly connected to the piston end of a lifting cylinder. A mounting plate is fixedly provided on one side of the sliding seat, and a covering cylinder is fixedly provided on the mounting plate. The piston end of the covering cylinder is fixedly connected to one end of the suction cylinder.

[0009] Preferably, the negative pressure generating unit is an industrial vacuum cleaner, which is fixedly mounted on the linear module. The top of the suction cylinder is provided with a rigid pipe, and the air inlet of the industrial vacuum cleaner is connected to the rigid pipe through a flexible hose.

[0010] Preferably, a limiting ring is fixedly connected to the bottom of the mounting plate, and multiple inclined rods are evenly distributed along the circumference and slidably connected along the oblique direction on the limiting ring. The bottom of each inclined rod is fixedly connected to a main scraper.

[0011] Preferably, a second transmission cylinder is fixedly connected to the mounting plate, a transmission ring is fixedly connected to the piston end of the second transmission cylinder, a plurality of first groove rods are evenly distributed and fixedly connected along the circumference of the transmission ring, a second guide post is fixedly connected to the top of the inclined rod, and the second guide post slides through the groove of the first groove rod.

[0012] Preferably, the elastic element is a spring, one end of which is fixedly connected to the auxiliary scraper and the other end is fixedly connected to the main scraper.

[0013] Preferably, the machine housing is provided with a third conveying module, and a rotatable seedling receiving plate is provided on one side of the third conveying module.

[0014] Preferably, the suction cylinder is further provided with a suction auxiliary structure;

[0015] The suction auxiliary structure includes a through hole in the side wall of the suction cylinder. A filling plate for covering the through hole is slidably connected vertically to the outer wall of the suction cylinder. A limiting rod is slidably passed through the filling plate horizontally. A connecting rod is fixedly connected to one end of the limiting rod located in the inner cavity of the suction cylinder. A paddle is fixedly connected to the bottom of the connecting rod. A rectangular groove plate is fixedly connected to the outer wall of the suction cylinder. A rectangular sliding groove is provided on the rectangular groove plate, and a first guide post is slidably passed through the rectangular sliding groove. One end of the first guide post is fixedly connected to the end of the limiting rod located outside the suction cylinder. A second groove rod is rotatably connected to the middle of one side of the rectangular groove plate. The first guide post is slidably passed through the sliding groove of the second groove rod. A motor is fixedly provided on one side of the rectangular groove plate, and the output end of the motor is fixedly connected to the rotating end of the second groove rod.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. The seedling selection and transplanting machine of the present invention utilizes an inverted conical hole-adaptive residual soil particle removal component. Before healthy seedlings are transplanted into the holes, the soil particles remaining in the holes caused by damaged seedlings are removed. This cuts off the path for soil-borne pathogens carried by damaged seedlings to spread to healthy seedlings through residual soil particles. After the root ball of a healthy seedling is placed in a clean hole, it no longer comes into contact with pathogens, effectively avoiding secondary infection under high humidity and high temperature conditions, and significantly reducing the failure rate of transplanting.

[0018] At the same time, the absence of residual soil particles in the planting holes allows the root ball to sink smoothly and adhere tightly to the substrate, ensuring normal water conduction and providing a uniform seedling tray condition for subsequent mechanized planting.

[0019] Furthermore, by employing a combination of active scraping followed by closed-loop suction, multiple main scrapers and elastically extendable secondary scrapers can completely conform to the entire inner wall of the inverted conical cavity, scraping off firmly attached bacteria-laden soil particles and collecting them on the bottom surface. Subsequently, the suction cylinder descends to cover the bottom surface, applying concentrated negative pressure suction within the relatively enclosed small space, thoroughly removing the covered soil particles. This method transforms the dispersed suction of open cavities into concentrated suction within a closed cavity, significantly reducing suction loss caused by airflow overflowing along the cavity wall. This ensures that even small or damp, compacted bacteria-laden soil particles can be reliably removed, avoiding the drawbacks of traditional open nozzles that leave residue after repeated suction due to turbulent airflow within the cavity. Moreover, compared to direct suction, this method can peel off soil particles adhering to the inner wall of the cavity for adsorption, further improving the cleaning efficiency of residual soil particles.

[0020] 2. The seedling selection, replanting, and transplanting machine of the present invention utilizes an auxiliary suction structure. When the suction cylinder sucks up soil particles, the blade moves stably in a rectangular trajectory within the suction cylinder. The blade not only scrapes away impurities from the bottom of the planting hole but also lifts the impurities, which then fall down along the inclined surface of the blade. This cycle repeats, repeatedly breaking up and loosening the originally agglomerated and compacted soil particles and throwing them off the bottom surface, causing them to redistribute into fine particles. This eliminates excessively large clumps formed by mutual compression, making them easier to be drawn away by the negative pressure airflow, further ensuring the soil particle removal effect. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the internal 3D structure of the chassis; Figure 3 This is a schematic diagram of the three-dimensional structure of the linear module; Figure 4 This is a three-dimensional structural diagram of the lifting cylinder. Figure 5 This is a schematic diagram of the three-dimensional structure of the gripper. Figure 6 This is a schematic diagram of the three-dimensional structure at the mounting plate. Figure 7 This is a schematic diagram of the three-dimensional structure of the suction cylinder; Figure 8 yes Figure 7 Enlarged view of a portion of point A in the middle; Figure 9 This is a schematic diagram of a half-section three-dimensional structure of the suction cylinder; Figure 10 This is a schematic diagram of the three-dimensional structure of the third conveying module; Figure 11 This is a schematic diagram of a half-section three-dimensional structure at the connecting rod. Figure 12 This is a planar schematic diagram showing the connection relationship between the main scraper and the auxiliary scraper.

[0023] In the diagram: 1. Chassis; 2. First conveying module; 3. Second conveying module; 4. Vision inspection module; 5. Linear module; 6. Sliding seat; 7. Lifting cylinder; 8. Third conveying module; 9. Spring; 10. Industrial vacuum cleaner; 11. Hose; 12. Mounting plate; 13. Lifting block; 14. First transmission cylinder; 15. Gripper; 16. Connecting block; 17. Connecting rod; 18. Suction cylinder; 19. Second transmission cylinder; 20. Transmission ring; 21. Main scraper; 22. Rigid tube; 23. Limiting ring; 24. Secondary scraper; 25. Angled rod; 26. First groove rod; 27. Rectangular groove plate; 28. Second groove rod; 29. ​​First guide post; 30. Limiting rod; 31. Filling plate; 32. Second guide post; 33. Connecting rod; 34. Paddle; 35. Seedling receiving plate; 36. Motor; 37. Covering cylinder. Detailed Implementation

[0024] The technical solution of the present invention will now be clearly and completely described 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.

[0025] Example 1:

[0026] Please refer to Figures 1-3 , Figure 6 , Figure 7 , Figure 12 The present invention provides a technical solution: a seedling selection and transplanting machine, comprising a first conveying module 2 and a second conveying module 3 arranged side by side. The first conveying module 2 and the second conveying module 3 are respectively used to convey raw seedling trays and prepared seedling trays. A visual detection module 4 for detecting good and bad seedlings is provided above the first conveying module 2. Several clamping modules for picking up and replanting seedlings are provided above the first conveying module 2 and the second conveying module 3. An inverted conical hole-adaptive residual soil particle removal component is also provided above the first conveying module 2 and the second conveying module 3. The inverted conical hole-adaptive residual soil particle removal component includes a negative pressure generating unit and a suction cylinder 18 that matches the hole specifications. Multiple main scraper blades 21 are evenly distributed circumferentially on the outside of the suction cylinder 18. Auxiliary scraper blades 24 are slidably inserted on both sides of the main scraper blades 21, and an elastic element is provided between the auxiliary scraper blades 24 and the main scraper blades 21. The main scraper blades 21 and the auxiliary scraper blades 24 simultaneously extend into the hole and scrape off the soil particles attached to the hole wall. The negative pressure generating unit causes suction at the suction cylinder 18 to suck up the soil particles.

[0027] Specifically, firstly, the raw seedling trays and the prepared seedling trays are placed on the conveyor belts of the first conveyor module 2 and the second conveyor module 3, respectively. The seedlings in the holes of the prepared seedling trays are all healthy seedlings, while some of the seedlings in the holes of the raw seedling trays are damaged seedlings. The attached diagram only shows one row of holes in the raw seedling trays.

[0028] The first conveying module 2 moves the raw seedling tray laterally to below the visual detection module 4. The recognition algorithm software identifies and marks the unqualified seedlings. Then, the raw seedling tray continues to move to below multiple clamping modules. At the same time, the prepared seedling tray also moves to below multiple clamping modules under the action of the second conveying module 3. By driving the clamping modules to move laterally, the clamping modules are aligned with the bad seedlings, inserted into the holes, and clamp the root ball of the bad seedlings. Then, the clamping modules remove the bad seedlings from the holes.

[0029] Next, the clamping module moves horizontally above the seedling tray, aligns with the healthy seedling, clamps it out, and finally places it into the empty hole of the raw seedling tray. By repeating the above operation, continuous seedling selection and replanting can be achieved.

[0030] Furthermore, whenever a damaged seedling is removed and a healthy seedling is transplanted into the planting hole, the suction tube 18 will first move above the hole. In addition, the planting hole is inverted conical in shape; this pointed angle effectively guides the roots downwards, preventing root rot—a standard design for planting holes. Therefore, four main scraper blades 21 are correspondingly provided, each corresponding to one face of the planting hole, with the main scraper blades 21 parallel to their respective faces.

[0031] Multiple main scraper blades 21 are driven to slide simultaneously along an oblique direction, allowing them to extend into the hole. Each main scraper blade 21 is in contact with one side of the hole, thus scraping away soil particles adhering to the hole wall. Furthermore, since the hole is inverted conical, as the main scraper blades 21 slide along the hole wall, the ends of the auxiliary scraper blades 24, under the action of an elastic element, will adhere tightly to the edge of the hole wall and retract into the main scraper blades 21. This adapts to the shape changes of the hole, improving the uniformity of scraping. When the main scraper blades 21 and auxiliary scraper blades 24 reach the bottom of the hole, the scraped soil particles are concentrated on the bottom surface of the hole, which is rectangular. At this point, the suction cylinder 18 descends to cover the bottom of the hole, and the scraped-off soil particles are placed inside the suction cylinder 18. Then, the negative pressure generating unit creates negative pressure at the suction cylinder 18, and the suction force is concentrated on the covered soil particles, thus removing the soil particles remaining in the hole. Then, the healthy seedling is transplanted into the cleaned hole, cutting off the path of soil-borne pathogens carried by the bad seedlings to spread to the healthy seedlings through the residual soil particles. After the root ball of the healthy seedling is placed in the clean hole, it no longer comes into contact with pathogens, effectively avoiding secondary infection under high humidity and high temperature conditions, and significantly reducing the failure rate of replanting.

[0032] At the same time, the absence of residual soil particles in the planting holes allows the root ball to sink smoothly and adhere tightly to the substrate, ensuring normal water conduction and providing a uniform seedling tray condition for subsequent mechanized planting.

[0033] Furthermore, by employing a combination of active scraping followed by closed-loop suction, multiple main scraper blades 21 and elastically extendable secondary scraper blades 24 can completely conform to the entire inner wall of the inverted conical cavity, scraping off the firmly attached bacteria-laden soil particles and collecting them on the bottom surface. Subsequently, the suction cylinder 18 descends to cover the bottom surface, applying concentrated negative pressure suction in a relatively enclosed small space, thus thoroughly removing the covered soil particles. This method transforms the dispersed suction of open cavities into concentrated suction within a closed cavity, significantly reducing suction loss caused by airflow overflowing along the cavity wall. This ensures that even small or damp and compacted bacteria-laden soil particles can be reliably removed, avoiding the drawback of traditional open-type suction nozzles that leave residue after repeated suction due to turbulent airflow within the cavity. Moreover, compared to direct suction, this method can peel off soil particles adhering to the inner wall of the cavity for adsorption, thereby further improving the cleaning efficiency of residual soil particles.

[0034] In addition, since there are multiple clamping modules, some clamping modules can be used to clamp damaged seedlings, while others can be used to clamp healthy seedlings. The soil particles remaining on the clamping modules will not come into contact with healthy seedlings, which also avoids the spread of pathogens to a certain extent.

[0035] like Figure 5 As shown, the gripping module includes a lifting block 13, on which two grippers 15 are symmetrically rotated. The grippers 15 are plate-shaped structures. A first transmission cylinder 14 is fixedly mounted on the lifting block 13. A connecting block 16 is fixedly connected to the piston end of the first transmission cylinder 14. Two connecting rods 17 are symmetrically rotated on the connecting block 16. The end of the connecting rod 17 away from the connecting block 16 is rotatably connected to one end of the gripper 15.

[0036] Specifically, since the clamp 15 has a plate-like structure, it can be inserted into the soil along the edge of the planting hole. After the clamp 15 is inserted into the soil, the first transmission cylinder 14 drives the connecting block 16 to rise, which in turn causes the clamp 15 to rotate under the action of the connecting rod 17. The two clamps 15 cooperate with each other to firmly clamp the root ball of the seedling, thereby ensuring the stability of the seedling during transplanting.

[0037] like Figure 4 and Figure 6As shown, the first conveying module 2 and the second conveying module 3 are covered by a housing 1. Inside the housing 1, there is a linear module 5. The linear module 5 is equipped with a horizontally movable sliding seat 6. Multiple lifting cylinders 7 are fixedly mounted on the sliding seat 6 along the horizontal direction. Each lifting block 13 is fixedly connected to the piston end of a lifting cylinder 7. A mounting plate 12 is fixedly mounted on one side of the sliding seat 6. A covering cylinder 37 is fixedly mounted on the mounting plate 12. The piston end of the covering cylinder 37 is fixedly connected to one end of the suction cylinder 18.

[0038] Specifically, the linear module 5 drives the sliding seat 6 to move laterally, allowing multiple grippers 15 to move between the raw seedling tray and the prepared seedling tray. This aligns the grippers 15 with the seedlings to be picked up. The lifting cylinder 7 then lowers the grippers 15 to pick up the seedlings, ensuring flexibility in the transplanting process. Furthermore, as the sliding seat 6 moves, the position of the suction cylinder 18 also changes, allowing it to be aligned with different planting holes.

[0039] like Figure 3 , Figure 6 , Figure 7 As shown, the negative pressure generating unit is an industrial vacuum cleaner 10, which is fixed on the linear module 5. The top of the suction cylinder 18 is provided with a rigid pipe 22, and the air inlet of the industrial vacuum cleaner 10 is connected to the rigid pipe 22 through a flexible hose 11.

[0040] Specifically, the industrial vacuum cleaner 10 is started, and suction is generated at the suction cylinder 18 through the connection of the hose 11 and the rigid tube 22, thereby sucking the soil particles into the storage chamber of the industrial vacuum cleaner 10 for storage.

[0041] like Figure 7 As shown, a limiting ring 23 is fixedly connected to the bottom of the mounting plate 12. Multiple inclined rods 25 are evenly distributed along the circumference and slidably connected along the oblique direction on the limiting ring 23. The bottom of each inclined rod 25 is fixedly connected to a main scraper 21.

[0042] Specifically, the inclined rod 25 can slide stably along the inclined direction under the limit of the limiting ring 23, thereby accurately scraping the inner wall of the hole.

[0043] like Figure 6 and Figure 8 As shown, a second transmission cylinder 19 is fixedly connected to the mounting plate 12. A transmission ring 20 is fixedly connected to the piston end of the second transmission cylinder 19. Multiple first groove rods 26 are evenly distributed and fixedly connected along the circumference of the transmission ring 20. A second guide post 32 is fixedly connected to the top of the inclined rod 25. The second guide post 32 slides through the groove of the first groove rod 26.

[0044] Specifically, by driving the transmission ring 20 to rise and fall through the second transmission cylinder 19, the first groove rod 26 on the transmission ring 20 can drive the second guide post 32 to move, and the inclined rod 25 will also move accordingly, so that the main scraper 21 extends into the hole. Thus, the synchronous movement of multiple main scrapers 21 can be achieved with only a single power source, which is quite convenient.

[0045] like Figure 12 As shown, the elastic element is spring 9. One end of spring 9 is fixedly connected to the auxiliary scraper 24, and the other end is fixedly connected to the main scraper 21.

[0046] Specifically, when the main scraper 21 is inserted into the cavity, one end of the auxiliary scraper 24 will retract due to the pressure of the cavity, and the end of the auxiliary scraper 24 will remain in close contact with the inner wall of the cavity under the action of the spring 9, so as to adapt to the change in the shape of the cavity.

[0047] like Figure 10 As shown, the machine casing 1 is equipped with a third conveying module 8, and a rotatable seedling receiving plate 35 is provided on one side of the third conveying module 8.

[0048] Specifically, whenever a damaged seedling is removed, the seedling receiving plate 35 on the third conveying module 8 will rotate at a certain angle under the action of the driving element, so that the seedling receiving plate 35 is located below the damaged seedling. Then the gripper 15 releases the damaged seedling, and the damaged seedling will fall onto the seedling receiving plate 35 and slide along the seedling receiving plate 35 onto the conveyor belt of the third conveying module 8. It will then follow the conveyor belt out of the machine box 1 and finally fall into the container, thus realizing the collection of damaged seedlings.

[0049] Example 2:

[0050] like Figures 7-9 , Figure 11 As shown, the suction cylinder 18 is also provided with a suction auxiliary structure; The suction auxiliary structure includes a through hole in the side wall of the suction cylinder 18. A filling plate 31 for covering the through hole is slidably connected to the outer side wall of the suction cylinder 18 vertically. A limiting rod 30 is slidably passed through the filling plate 31 horizontally. A connecting rod 33 is fixedly connected to one end of the limiting rod 30 located in the inner cavity of the suction cylinder 18. A paddle 34 is fixedly connected to the bottom of the connecting rod 33. A rectangular groove plate 27 is fixedly connected to the outer side wall of the suction cylinder 18. A rectangular groove is provided on the rectangular groove plate 27, and a first guide post 29 is slidably passed through the rectangular groove. One end of the first guide post 29 is fixedly connected to the end of the limiting rod 30 located outside the suction cylinder 18. A second groove rod 28 is rotatably connected to the middle of one side of the rectangular groove plate 27. The first guide post 29 is slidably passed through the groove of the second groove rod 28. A motor 36 is fixedly provided on one side of the rectangular groove plate 27. The output end of the motor 36 is fixedly connected to the rotating end of the second groove rod 28.

[0051] Specifically, in the above embodiments, although the soil particles attached to the inner wall of the hole can be scraped off by multiple main scraper blades 21 and auxiliary scraper blades 24, when the soil particles on all four sides of the hole wall fall to the bottom of the hole, the soil particles are prone to agglomerate due to mutual compression. When the suction cylinder 18 sucks up the soil particles, the overall mass of the agglomerated soil particles increases, which affects the adsorption effect. As a result, the soil clumps cannot be properly removed and remain on the bottom of the hole, thus affecting the cleaning effect.

[0052] Therefore, in order to solve the above problems, the working principle of this embodiment is as follows: When the suction cylinder 18 is used to suck up soil particles, the motor 36 drives the second groove rod 28 to rotate, and the first guide post 29 slides in the rectangular groove of the rectangular groove plate 27. At the same time, since the limiting rod 30 is slidably mounted on the filling plate 31 in the horizontal direction and the filling plate 31 is slidably mounted on the suction cylinder 18 in the vertical direction, the limiting rod 30 will remain in a straight state. Therefore, the paddle 34 will stably move in a rectangular trajectory in the inner cavity of the suction cylinder 18. The filling plate 31 is used to fill the through hole opened so that the limiting rod 30 can move, so as to avoid air leakage and affect the adsorption of soil particles.

[0053] When the blade 34 moves in a rectangular trajectory, it can not only scrape off the impurities on the bottom of the hole, but also lift the impurities. Then the impurities fall down along the inclined surface of the blade 34. This cycle can repeatedly break up, loosen and throw the originally agglomerated and compacted soil particles off the bottom surface, so that they are redistributed into fine particles. This eliminates the excessively large clumps formed by mutual compression, making them easier to be drawn away by the negative pressure airflow, further ensuring the removal effect of soil particles.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A seedling selection, replanting, and transplanting machine, comprising a first conveying module (2) and a second conveying module (3) arranged side by side, the first conveying module (2) and the second conveying module (3) being used to convey raw seedling trays and prepared seedling trays respectively, a visual detection module (4) for detecting good and bad seedlings being provided above the first conveying module (2), and a plurality of clamping modules for picking up and replanting seedlings being provided above the first conveying module (2) and the second conveying module (3), characterized in that: The first conveying module (2) and the second conveying module (3) are also provided with an inverted cone-shaped hole-adaptive residual soil particle removal component; The inverted conical hole-adaptive residual soil particle removal assembly includes a negative pressure generating unit and a suction cylinder (18) that matches the hole specifications. Multiple main scrapers (21) are evenly distributed around the outside of the suction cylinder (18). Auxiliary scrapers (24) are slidably inserted on both sides of the main scrapers (21), and an elastic element is provided between the auxiliary scrapers (24) and the main scrapers (21). The main scrapers (21) and auxiliary scrapers (24) simultaneously extend into the hole and scrape off the soil particles attached to the hole wall. The negative pressure generating unit causes suction to be generated at the suction cylinder (18) to suck up the soil particles.

2. The seedling selection, replanting, and transplanting machine according to claim 1, characterized in that: The clamping module includes a lifting block (13), on which two grippers (15) are symmetrically rotated. The grippers (15) are plate-shaped structures. A first transmission cylinder (14) is fixedly mounted on the lifting block (13). A connecting block (16) is fixedly connected to the piston end of the first transmission cylinder (14). Two connecting rods (17) are symmetrically rotated on the connecting block (16). The end of the connecting rod (17) away from the connecting block (16) is rotatably connected to one end of the gripper (15).

3. The seedling selection, replanting, and transplanting machine according to claim 2, characterized in that: The first conveying module (2) and the second conveying module (3) are covered by a housing (1). The housing (1) is equipped with a linear module (5). The linear module (5) is equipped with a sliding seat (6) that can move laterally. Multiple lifting cylinders (7) are fixedly arranged on the sliding seat (6) along the lateral direction. Each lifting block (13) is fixedly connected to the piston end of a lifting cylinder (7). A mounting plate (12) is fixedly arranged on one side of the sliding seat (6). A covering cylinder (37) is fixedly arranged on the mounting plate (12). The piston end of the covering cylinder (37) is fixedly connected to one end of the suction cylinder (18).

4. A seedling selection, replanting, and transplanting machine according to claim 3, characterized in that: The negative pressure generating unit is an industrial vacuum cleaner (10). The industrial vacuum cleaner is fixed on the linear module (5). The top of the suction cylinder (18) is provided with a rigid pipe (22). The air inlet of the industrial vacuum cleaner (10) is connected to the rigid pipe (22) through a flexible hose (11).

5. A seedling selection, replanting, and transplanting machine according to claim 3, characterized in that: The bottom of the mounting plate (12) is fixedly connected to a limiting ring (23). Multiple inclined rods (25) are evenly distributed along the circumference and slidably connected along the oblique direction on the limiting ring (23). The bottom of each inclined rod (25) is fixedly connected to a main scraper (21).

6. A seedling selection, replanting, and transplanting machine according to claim 5, characterized in that: A second transmission cylinder (19) is fixedly connected to the mounting plate (12). A transmission ring (20) is fixedly connected to the piston end of the second transmission cylinder (19). Multiple first groove rods (26) are evenly distributed and fixedly connected on the transmission ring (20) along the circumference. A second guide post (32) is fixedly connected to the top of the inclined rod (25). The second guide post (32) slides through the groove of the first groove rod (26).

7. A seedling selection, replanting, and transplanting machine according to claim 1, characterized in that: The elastic element is a spring (9), one end of which is fixedly connected to the auxiliary scraper (24), and the other end is fixedly connected to the main scraper (21).

8. A seedling selection, replanting, and transplanting machine according to claim 3, characterized in that: The machine box (1) is equipped with a third conveying module (8), and a rotatable seedling receiving plate (35) is provided on one side of the third conveying module (8).

9. A seedling selection, replanting, and transplanting machine according to claim 1, characterized in that: The suction cylinder (18) is also provided with a suction auxiliary structure; The suction auxiliary structure includes a through hole in the side wall of the suction cylinder (18). A filling plate (31) for covering the through hole is slidably connected to the outer side wall of the suction cylinder (18) along the vertical direction. A limiting rod (30) is slidably passed through the filling plate (31) along the horizontal direction. A connecting rod (33) is fixedly connected to one end of the limiting rod (30) located in the inner cavity of the suction cylinder (18). A paddle (34) is fixedly connected to the bottom of the connecting rod (33). A rectangular groove plate (27) is fixedly connected to the outer side wall of the suction cylinder (18). 7) A rectangular groove is provided on the upper part, and a first guide post (29) is slidably passed through the rectangular groove. One end of the first guide post (29) is fixedly connected to the end of the limiting rod (30) located outside the suction cylinder (18). A second groove rod (28) is rotatably connected to the middle of one side of the rectangular groove plate (27). The first guide post (29) is slidably passed through the groove of the second groove rod (28). A motor (36) is fixedly provided on one side of the rectangular groove plate (27). The output end of the motor (36) is fixedly connected to the rotating end of the second groove rod (28).

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