Automatic seedling planting mechanism and tree planting machine using same

Abstract

The utility model discloses an automatic seedling planting mechanism and a tree planting machine using the same. The automatic seedling planting mechanism comprises a controller, a hydraulic system, a tree planting machine stroke distance meter counting wheel, a seedling supporting oil cylinder, a seedling inserting oil cylinder, a seedling grabbing oil cylinder and a gripper, the controller drives the seedling supporting oil cylinder, the seedling inserting oil cylinder, the seedling grabbing oil cylinder and the grabbing hand to achieve automatic actions through the hydraulic system and the proximity switches. The tree planting machine using the automatic seedling planting mechanism comprises a rack, a traction frame, a land wheel, a seedling box, a person standing platform, a soil splitting ploughshare, a furrow plough, a hilling wheel, a press wheel and a soil coverer. The automatic seedling planting mechanism replaces manpower to complete seedling transplanting operation, the labor intensity of workers is relieved, the working efficiency is improved, and it is guaranteed that the planting distance of planted saplings is equal.

Description

Technical Field

[0001] The utility model belongs to the technical field of forestry machinery, and particularly relates to an automatic seedling planting mechanism and a tree planting machine using the mechanism. Background Technique

[0002] Chinese patent CN2534782Y discloses a "hydraulic dryland general tree planting machine", which consists of a frame, a seedling box, a traction device, a furrow opener, a soil covering and compaction device, etc. During operation, the furrow opener opens a tree planting furrow on the forest land. Workers take out saplings from the seedling box and put the saplings into the furrow opened by the furrow opener at a certain plant spacing, and then the soil covering and compaction device covers and compacts the soil at the root of the saplings. Its disadvantages are: workers take saplings from the seedling box and then manually insert the saplings into the furrow opened by the furrow opener, resulting in high manual labor intensity and difficult control of the plant spacing of the planted saplings. Content of the Utility Model

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide an automatic seedling planting mechanism. The automatic seedling planting mechanism replaces manual operation to complete the seedling inserting operation, reduces the manual labor intensity, improves the work efficiency, and ensures equal plant spacing of the planted saplings.

[0004] Another purpose of the utility model is to provide a tree planting machine using the mechanism. Applying the automatic seedling planting mechanism to the tree planting machine, it has a reasonable structure and a high degree of automation, and solves the problems of low work efficiency of the tree planting machine and difficult control of the plant spacing of saplings.

[0005] The first purpose of the utility model is realized as follows: an automatic seedling planting mechanism, which includes a controller, a hydraulic system, a tree planting machine travel distance measuring wheel, a seedling supporting oil cylinder, a seedling inserting oil cylinder, a seedling grasping oil cylinder, and a gripper; the seedling supporting oil cylinder includes a seedling supporting cylinder barrel, a seedling supporting piston rod, a seedling supporting piston rod extending in-place switch, and a seedling supporting piston rod retracting in-place switch; the seedling inserting oil cylinder includes a seedling inserting cylinder barrel, a seedling inserting piston rod, a seedling inserting piston rod extending in-place switch, and a seedling inserting piston rod retracting in-place switch; the seedling grasping oil cylinder includes a seedling grasping cylinder barrel, a seedling grasping piston rod, and a gripper induction switch for sensing the arrival of the sapling and starting the action of retracting the seedling grasping piston rod to clamp the sapling; the gripper includes a base and a seedling clamping claw; the rear end of the seedling supporting piston rod is connected to the front end of the seedling grasping cylinder barrel, the rear end of the seedling grasping cylinder barrel is connected to the base, the base is provided with a central through hole, the seedling grasping piston rod passes through the central through hole and is connected to the seedling clamping claw to drive the opening and closing action of the seedling clamping claw; one side or both sides of the seedling supporting cylinder barrel are provided with sliding sleeves, and sliding rods parallel to the seedling supporting piston rod are installed in the sliding sleeves, and the rear ends of the sliding rods are connected to the base; the seedling inserting oil cylinder is installed on the upper part of the seedling supporting oil cylinder, and the rear end of the seedling inserting piston rod is hinged to the middle part of the seedling supporting cylinder barrel.

[0006] Preferably, the switch for the seedling-supporting piston rod extending in place includes a proximity switch for the seedling-supporting piston rod extending in place provided at the rear end of the seedling-supporting cylinder barrel and a metal induction block paired with the front end of the left sliding rod; the switch for the seedling-supporting piston rod retracting in place includes a proximity switch for the seedling-supporting piston rod retracting in place provided at the rear end of the seedling-supporting cylinder barrel and a metal induction block paired with the front end of the seedling-gripping cylinder barrel; the switch for the transplanting piston rod extending in place includes a proximity switch for the transplanting piston rod extending in place provided at the front part of the seedling-supporting cylinder barrel, and the metal induction block paired with it is replaced by the transplanting piston rod; the switch for the transplanting piston rod retracting in place includes a proximity switch for the transplanting piston rod retracting in place provided at the rear end of the transplanting cylinder barrel, and the metal induction block paired with it is provided on the support rod connected to the upper side of the seedling-supporting cylinder barrel; the gripper induction switch is a diffuse reflection photoelectric proximity switch for sensing the arrival of the sapling provided on the base.

[0007] Preferably, the seedling-gripping oil cylinder is a spring return oil cylinder, a return spring is arranged in the rodless cavity of the seedling-gripping cylinder barrel, and an oil pipe interface is arranged on the cylinder wall in the rod cavity of the seedling-gripping cylinder barrel.

[0008] Preferably, the base includes a vertical plate, an upper cross plate and a lower cross plate. A central through hole for the seedling-gripping piston rod to pass through is provided at the center of the vertical plate. The left vertical shaft and the right vertical shaft are respectively connected to the left and right sides between the upper cross plate and the lower cross plate; the seedling-gripping claws include a lever-type left seedling-gripping claw hinged on the left vertical shaft and a lever-type right seedling-gripping claw hinged on the right vertical shaft. The driving ends of the lever-type left seedling-gripping claw and the lever-type right seedling-gripping claw are hinged to the rear end of the seedling-gripping piston rod through a pin shaft, and a plurality of auxiliary seedling-gripping claws are respectively arranged on the upper side and the lower side of the lever-type left seedling-gripping claw and the lever-type right seedling-gripping claw.

[0009] Preferably, a left ear plate and a right ear plate are respectively arranged on the left and right sides of the base; sliding sleeves are arranged on the left and right sides of the seedling-supporting cylinder barrel, and sliding rods parallel to the seedling-supporting piston rod are installed in the sliding sleeves and are respectively connected to the left ear plate and the right ear plate.

[0010] As another solution of the automatic seedling transplanting mechanism of the present invention, the hydraulic system is replaced by a pneumatic system, the seedling-supporting oil cylinder is replaced by a seedling-supporting air cylinder, the transplanting oil cylinder is replaced by a transplanting air cylinder, and the seedling-gripping oil cylinder is replaced by a seedling-gripping air cylinder.

[0011] The second object of the present invention is achieved as follows: A tree planting machine using the automatic seedling transplanting mechanism includes a frame. A traction frame is provided at the front part of the frame, ground wheels are provided on the left and right sides of the front part of the frame, a seedling box is provided at the upper front part of the frame, a standing platform is provided on the left and right sides of the upper rear part of the frame, an automatic seedling transplanting mechanism is provided at the middle rear part of the frame, a soil dividing plow is provided at the lower part of the frame, a trench plow is provided under the frame below the gripper, two earth covering wheels, two pressing wheels and two soil covering devices are arranged in parallel in sequence at the rear part of the frame from left to right; the meter wheel of the automatic seedling transplanting mechanism is installed on the left or right side of the rear part of the frame.

[0012] Preferably, a seat is provided on the standing platform.

[0013] Preferably, a guardrail is provided on the platform for standing people.

[0014] The advantages of the present utility model compared with the prior art are as follows:

[0015] (1) The automatic seedling planting mechanism of the utility model is automatically controlled by a controller to drive the seedling supporting oil cylinder, seedling inserting oil cylinder, seedling grasping oil cylinder and gripper to work through a hydraulic system. On the basis of manual auxiliary seedling taking, it can continuously complete the operations of clamping seedlings, inserting seedlings and supporting seedlings; the manual work only needs to place the saplings on the gripper, and there is no need for manual insertion of saplings into the tree trenches. The seedling inserting oil cylinder, seedling supporting oil cylinder, seedling grasping oil cylinder and gripper automatically and continuously act to insert the saplings into the tree trenches, and the actions are flexible and rapid, reducing the manual labor intensity.

[0016] (2) After the seedling inserting oil cylinder of the automatic seedling planting mechanism of the utility model inserts the saplings into the tree trenches, the tree planting machine continues to move forward, and the seedling supporting piston rod extends backward to send the seedlings backward, so that the saplings are kept upright and in a relatively static state. The seedling supporting piston rod can send the saplings to the position of the soil covering wheel to complete the soil covering operation, ensuring that the saplings stand upright without falling.

[0017] (4) The tree planting machine using the automatic seedling planting mechanism of the utility model is provided with a meter wheel for measuring the travel distance of the tree planting machine. The sapling spacing can be set on the controller. The complete actions of clamping seedlings, inserting seedlings, supporting seedlings and resetting to wait for clamping seedlings for each tree planted by the automatic seedling planting mechanism are all driven by signals sent by the meter wheel, and it can ensure that the sapling spacing is equal.

[0018] (5) For the tree planting machine using the automatic seedling planting mechanism of the utility model, the controller receives various proximity switch information and completes the extension and retraction actions of the piston rods of each oil cylinder, with flexible, rapid and stable actions.

[0019] (6) The tree planting machine using the automatic seedling planting mechanism of the utility model has a compact structure, reliable operation, simple operation, strong applicability and high production efficiency. Brief Description of the Drawings

[0020] Figure 1 is a three-dimensional structural schematic diagram of the automatic seedling planting mechanism of the present utility model;

[0021] Figure 2 is a three-dimensional structural schematic diagram of the gripper of the present utility model;

[0022] Figure 3 is a three-dimensional structural schematic diagram of the decomposed state of the gripper of the present utility model;

[0023] Figure 4 is a three-dimensional structural schematic diagram of the partial section of the seedling grasping oil cylinder of the present utility model;

[0024] Figure 5 is a structural schematic diagram of the idle state of the automatic seedling planting mechanism of the present utility model;

[0025] Figure 6 It is a schematic structural diagram of the waiting seedling-grabbing state of the automatic seedling-planting mechanism of the present utility model;

[0026] Figure 7 It is a schematic structural diagram of the seedling-planting in-place state of the automatic seedling-planting mechanism of the present utility model;

[0027] Figure 8 It is a schematic structural diagram of the seedling-supporting in-place state of the automatic seedling-planting mechanism of the present utility model;

[0028] Figure 9 It is a schematic structural diagram of the state during the process of the automatic seedling-planting mechanism of the present utility model restoring to wait for seedling-grabbing.

[0029] Figure 10 It is a three-dimensional structural diagram of the tree planter using the automatic seedling-planting mechanism of the present utility model;

[0030] Figure 11 It is a three-dimensional structural diagram of the soil-dividing share, furrow opener, soil covering wheel, press wheel, soil covering device and length measuring wheel of the tree planter using the automatic seedling-planting mechanism of the present utility model.

[0031] In the figure: 1 seedling-supporting oil cylinder, 2 seedling-inserting oil cylinder, 3 seedling-grabbing oil cylinder, 4 gripper, 5 length measuring wheel, 6 seedling-supporting cylinder barrel, 7 seedling-supporting piston rod, 8 seedling-inserting cylinder barrel, 9 seedling-inserting piston rod, 10 seedling-grabbing cylinder barrel, 11 seedling-grabbing piston rod, 12 vertical plate, 13 upper cross plate, 14 lower cross plate, 15 left ear plate, 16 right ear plate, 17 central through hole, 18 left vertical shaft, 19 right vertical shaft, 20 lever-type left seedling-clamping claw, 21 lever-type right seedling-clamping claw, 22 pin shaft, 23 auxiliary seedling-clamping claw, 24 sliding sleeve, 25 sliding rod, 26 proximity switch for the seedling-supporting piston rod extending in place, 27 proximity switch for the seedling-supporting piston rod retracting in place, 28 proximity switch for the seedling-inserting piston rod extending in place, 29 proximity switch for the seedling-inserting piston rod retracting in place, 30 diffuse reflection photoelectric proximity switch for the sapling in place, 31 return spring, 32 oil pipe interface, 33 frame, 34 towing frame, 35 ground wheel, 36 seedling box, 37 platform for standing people, 38 seat, 39 guardrail, 40 soil-dividing share, 41 furrow opener, 42 soil covering wheel, 43 press wheel, 44 soil covering device, 45 sapling. Specific embodiments

[0032] The embodiments of the technical solutions of the present utility model will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present utility model, so they are only examples and cannot be used to limit the protection scope of the present utility model. In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "front", "middle", "rear", "upper", "lower", "left", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present utility model.

[0033] Such as Figures 1 to 11As shown in the figure, an automatic seedling planting mechanism includes a controller, a hydraulic system, a seedling supporting oil cylinder 1, a seedling inserting oil cylinder 2, a seedling grasping oil cylinder 3, a gripper 4, and a travel distance measuring wheel 5 for the tree planting machine. The seedling supporting oil cylinder 1 includes a seedling supporting cylinder barrel 6, a seedling supporting piston rod 7, a seedling supporting piston rod extending in-place switch, and a seedling supporting piston rod retracting in-place switch; the seedling inserting oil cylinder 2 includes a seedling inserting cylinder barrel 8, a seedling inserting piston rod 9, a seedling inserting piston rod extending in-place switch, and a seedling inserting piston rod retracting in-place switch. The seedling grasping oil cylinder 3 includes a seedling grasping cylinder barrel 10, a seedling grasping piston rod 11, and a gripper induction switch that senses the arrival of the sapling and starts the action of retracting the seedling grasping piston rod to clamp the sapling. The gripper 4 includes a base and a seedling clamping claw; the rear end of the seedling supporting piston rod 7 is connected to the front end of the seedling grasping cylinder barrel 10, and the rear end of the seedling grasping cylinder barrel 10 is connected to the base. The base includes a vertical plate 12, an upper cross plate 13, and a lower cross plate 14. Left and right ear plates 15 and 16 are respectively arranged on the left and right sides of the vertical plate 12; a central through hole 17 through which the seedling grasping piston rod 11 can pass is provided in the center of the vertical plate 12. Left and right vertical shafts 18 and 19 are respectively connected between the upper cross plate 13 and the lower cross plate 14 on the left and right sides; the seedling clamping claw includes a lever-type left seedling clamping claw 20 hinged on the left vertical shaft 18 and a lever-type right seedling clamping claw 21 hinged on the right vertical shaft 19. The driving ends of the lever-type left seedling clamping claw 20 and the lever-type right seedling clamping claw 21 are hinged to the rear end of the seedling grasping piston rod 11 through a pin shaft 22. Two auxiliary seedling clamping claws 23 are respectively arranged on the upper and lower sides of the lever-type left seedling clamping claw 20 and the lever-type right seedling clamping claw 21. The seedling grasping piston rod 11 passes through the central through hole 17 to connect to the seedling clamping claw and drive the opening and closing action of the seedling clamping claw. Slide sleeves 24 are arranged on both sides of the seedling supporting cylinder barrel 6, and slide rods 25 parallel to the seedling supporting piston rod 7 are installed in the slide sleeves 24. The rear ends of the slide rods 25 are respectively connected to the left ear plate 15 and the right ear plate 16 of the base; the seedling inserting oil cylinder 2 is installed on the upper part of the seedling supporting oil cylinder 1, and the rear end of the seedling inserting piston rod 9 is hinged to the middle part of the seedling supporting cylinder barrel 6. The seedling supporting piston rod extending in-place switch includes a seedling supporting piston rod extending in-place proximity switch 26 arranged at the rear end of the seedling supporting cylinder barrel 6 and a metal induction block paired with the front end of the left slide rod; the seedling supporting piston rod retracting in-place switch includes a seedling supporting piston rod retracting in-place proximity switch 27 arranged at the rear end of the seedling supporting cylinder barrel 6 and a metal induction block paired with the front end of the seedling grasping cylinder barrel 10; the seedling inserting piston rod extending in-place switch includes a seedling inserting piston rod 9 extending in-place proximity switch 28 arranged at the front part of the seedling supporting cylinder barrel 6, and the metal induction block paired with it is replaced by the seedling inserting piston rod 9; the seedling inserting piston rod retracting in-place switch includes a seedling inserting piston rod retracting in-place proximity switch 29 arranged at the rear end of the seedling inserting cylinder barrel 8, and the metal induction block paired with it is arranged on the support rod connected to the upper side of the seedling supporting cylinder barrel 6; the gripper induction switch is a diffuse reflection photoelectric proximity switch 30 for sensing the arrival of the sapling arranged on the cross plate 13 of the base. The seedling grasping oil cylinder is a spring return oil cylinder, a return spring 31 is arranged in the rodless cavity of the seedling grasping cylinder barrel, and a tubing interface 32 is arranged on the barrel wall in the rod cavity of the seedling grasping cylinder barrel 10.

[0034] The working steps of the automatic seedling planting mechanism of the present utility model will be described below in conjunction with the accompanying drawings:

[0035] (1) As shown in Figure 5 , at this time, the automatic seedling planting mechanism is in an idle state. The seedling supporting piston rod 7 is in a retracted state, the seedling inserting piston rod 9 is in an extended state, the seedling grasping piston rod 11 is in a reset extended state, and the gripper 4 is open. In this state, the seedling supporting oil cylinder 1 lies flat, which is the state during idling or transportation.

[0036] (2) As shown in Figure 6 , at this time, the automatic seedling planting mechanism is in a state of waiting to grasp the seedling. The seedling supporting piston rod 7 is in a retracted state, the seedling inserting piston rod 9 is in a retracted state, the seedling grasping piston rod 11 is in a reset extended state, and the gripper 4 is open. In this state, the seedling supporting oil cylinder 1 is lifted, waiting for an operator to place the sapling 45 on the gripper 4.

[0037] (3) As shown in Figure 7 , at this time, the automatic seedling planting mechanism is in a state where the seedling planting is in place. After the operator places the sapling 45 on the gripper 4, the sapling in-place diffuse reflection photoelectric proximity switch 30 senses the approach of the sapling. The controller drives the seedling grasping piston rod 11 to retract through the hydraulic system, and the gripper 4 grasps the sapling 45. Then, waiting for the signal that the metering wheel 5 reaches the travel position. After the controller receives the signal that the metering wheel 5 reaches the travel position, the controller drives the seedling inserting piston rod 9 to extend through the hydraulic system. After the seedling inserting piston rod 9 extends in place, at this time, the sapling is inserted into the tree trench opened by the furrowing plow.

[0038] (4) As shown in Figure 8 , at this time, the automatic seedling planting mechanism is in a state where the seedling supporting is in place. After the seedling inserting piston rod 9 extends in place, immediately, the controller drives the seedling supporting piston rod 7 to extend through the hydraulic system. At this time, the tree planter moves forward, the seedling supporting piston rod 7 extends backward, the sapling 45 grasped by the gripper 4 is relatively stationary, and after the soil covering wheel 42 of the tree planter passes by, soil is covered on the sapling, and the sapling 45 is fixed. At this time, the seedling supporting piston rod 7 extends in place. After the seedling supporting piston rod 7 extends in place, the controller drives the seedling grasping piston rod 11 to extend through the hydraulic system, (the hydraulic oil loses pressure, the hydraulic oil flows back, and the return spring 31 makes the seedling grasping piston rod 11 extend), and the gripper 4 releases the sapling 45.

[0039] (5) As shown in Figure 9 , at this time, during the process of the automatic seedling planting mechanism resetting to the Figure 6 state, the gripper 4 releases the sapling 45, and the controller drives the seedling supporting piston rod 7 and the seedling inserting piston rod 9 to retract simultaneously through the hydraulic system. After the seedling supporting piston rod 7 and the seedling inserting piston rod 9 retract in place, it enters the Figure 6 state where the automatic seedling planting mechanism is in a state of waiting to grasp the seedling as shown in

[0040] As shown in Figure 10 and Figure 11As shown in the figure, a tree planting machine using an automatic seedling planting mechanism includes a frame 33. A towing frame 34 is provided at the front of the frame 33. Ground wheels 35 are provided on the left and right sides of the front part of the frame 33. A seedling box 36 is provided at the upper front part of the frame 33. Standing platforms 37 are provided on the left and right sides of the upper rear part of the frame 33. A seat 38 is provided on the standing platform 37, and a guardrail 39 is provided on the standing platform 37. An automatic seedling planting mechanism is provided in the middle of the rear part of the frame 33. A soil dividing share 40 is provided at the lower part of the frame 33. A furrow opener 41 is provided under the frame 33 below the gripper 4. Two earth covering wheels 42, two pressing wheels 43 and two soil covering devices 44 are arranged in parallel in sequence on the left and right sides of the rear part of the frame 33. The meter wheel 5 of the automatic seedling planting mechanism is installed on the left side of the rear part of the frame 33.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. An automatic seedling planting mechanism, comprising a controller and a hydraulic system, characterized in that: It also includes a meter wheel for measuring the travel distance of the tree transplanter, a seedling supporting cylinder, a seedling planting cylinder, a seedling grabbing cylinder, and a gripper; the seedling supporting cylinder includes a seedling supporting cylinder barrel, a seedling supporting piston rod, a switch for extending the seedling supporting piston rod to the full extent, and a switch for retracting the seedling supporting piston rod to the full extent; the seedling planting cylinder includes a seedling planting cylinder barrel, a seedling planting piston rod, a switch for extending the seedling planting piston rod to the full extent, and a switch for retracting the seedling planting piston rod to the full extent; the seedling grabbing cylinder includes a seedling grabbing cylinder barrel, a seedling grabbing piston rod, and a gripper sensing device for sensing when the seedling is in place and starting the seedling grabbing piston rod to retract and clamp the seedling. The switch comprises a base and a seedling clamping claw; the rear end of the seedling supporting piston rod is connected to the front end of the seedling clamping cylinder, the rear end of the seedling clamping cylinder is connected to the base, the base is provided with a central through hole, the seedling clamping piston rod passes through the central through hole to connect to the seedling clamping claw and drive the seedling clamping claw to open and close; a sliding sleeve is provided on one side or both sides of the seedling supporting cylinder, a sliding rod parallel to the seedling supporting piston rod is installed in the sliding sleeve, and the rear end of the sliding rod is connected to the base; the seedling planting cylinder is installed on the upper part of the seedling supporting cylinder, and the rear end of the seedling planting piston rod is hinged to the middle part of the seedling supporting cylinder.

2. The automatic seedling planting mechanism according to claim 1, characterized in that: The seedling supporting piston rod extended into position switch includes a seedling supporting piston rod extended into position proximity switch arranged at the rear end of the seedling supporting cylinder and a metal sensing block matched at the front end of the left slide rod; the seedling supporting piston rod retracted into position switch includes a seedling supporting piston rod retracted into position proximity switch arranged at the rear end of the seedling supporting cylinder and a metal sensing block matched at the front end of the seedling grabbing cylinder; the seedling transplanting piston rod extended into position switch includes a seedling transplanting piston rod extended into position proximity switch arranged at the front part of the seedling supporting cylinder, and the metal sensing block matched with it is replaced by the seedling transplanting piston rod; the seedling transplanting piston rod retracted into position switch includes a seedling transplanting piston rod retracted into position proximity switch arranged at the rear end of the seedling transplanting cylinder, and the metal sensing block matched with it is arranged on the support rod connected to the upper side of the seedling supporting cylinder; the grabber sensing switch is a diffuse reflection photoelectric proximity switch arranged on the base for sensing that the seedling is in position.

3. The automatic seedling planting mechanism according to claim 2, characterized in that: The seedling grabbing oil cylinder is a spring reset oil cylinder, a reset spring is arranged in the rodless cavity of the seedling grabbing cylinder, and an oil pipe interface is arranged on the cylinder wall in the rod cavity of the seedling grabbing cylinder.

4. The automatic seedling planting mechanism according to claim 3, characterized in that: The base comprises a vertical plate, an upper horizontal plate and a lower horizontal plate, a central through hole for the seedling grabbing piston rod to pass through is provided in the center of the vertical plate, a left vertical axis and a right vertical axis are respectively connected to the left and right sides between the upper horizontal plate and the lower horizontal plate; the seedling clamping claw comprises a lever-type left seedling clamping claw hinged on the left vertical axis, a lever-type right seedling clamping claw hinged on the right vertical axis, the driving ends of the lever-type left seedling clamping claw and the lever-type right seedling clamping claw are hinged to the rear end of the seedling grabbing piston rod through a pin shaft, and a plurality of auxiliary seedling clamping claws are respectively arranged on the upper and lower sides of the lever-type left seedling clamping claw and the lever-type right seedling clamping claw.

5. The automatic seedling planting mechanism according to claim 4, characterized in that: A left ear plate and a right ear plate are respectively arranged on the left and right sides of the base; a sliding sleeve is arranged on the left and right sides of the seedling supporting cylinder, and a sliding rod parallel to the seedling supporting piston rod is installed in the sliding sleeve and is respectively connected with the left ear plate and the right ear plate.

6. The automatic seedling planting mechanism according to claim 1, characterized in that: The hydraulic system is replaced by a pneumatic system, the seedling-supporting oil cylinder is replaced by a seedling-supporting air cylinder, the seedling-transplanting oil cylinder is replaced by a seedling-transplanting air cylinder, and the seedling-grasping oil cylinder is replaced by a seedling-grasping air cylinder.

7. A tree planting machine using the automatic seedling planting mechanism according to any one of claims 1 to 6, characterized in that: It includes a frame, a traction frame is provided at the front of the frame, ground wheels are provided on the left and right sides of the front of the frame, a seedling box is provided at the front upper part of the frame, standing platforms are provided on the left and right sides of the rear upper part of the frame, an automatic seedling planting mechanism is provided at the rear middle part of the frame, a soil dividing plow is provided at the lower part of the frame, a furrowing plow is provided under the frame below the gripper, two soil-raising wheels, two pressing wheels and two soil covering devices are arranged in parallel on the left and right sides of the rear of the frame; the meter wheel of the automatic seedling planting mechanism is installed on the left or right side of the rear of the frame.

8. The tree planting machine according to claim 7, characterized in that: There are seats on the standing platform.

9. The tree planting machine according to claim 8, characterized in that: There are guardrails on the standing platform.

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