Automatic seedling transplanting machine

Abstract

The utility model relates to an automatic seedling transplanting machine. A seedling raising basket extends outwards to form a boss; the automatic seedling transplanting machine comprises a movable device and a grabbing device installed on the movable device, the grabbing device comprises clamping arms and a grabbing driving mechanism, the two sides of the clamping arms move oppositely or oppositely, the grabbing driving mechanism drives the clamping arms to move, and the clamping arms are installed on the movable device through the grabbing driving mechanism; a clamping groove is formed in the clamping arm, and the clamping groove is used for being matched with a boss of the seedling raising basket; according to the automatic seedling transplanting machine, manual seedling transplanting work is not needed, and the labor cost is reduced; through cooperation of the movable device and the grabbing device, seedling raising baskets can be rapidly and accurately transferred, manpower and time are effectively saved, compared with manual seedling transplanting, the working speed is higher, and a large number of seedling raising baskets can be treated within a short time.

Description

Technical Field

[0001] The utility model relates to the field of agricultural machinery, in particular to an automatic seedling transplanter. Background Art

[0002] In greenhouse planting, the planting of plant seedlings is usually carried out by workers manually putting the plant seedlings in the seedling raising basket into the pits dug in advance; this process completely depends on manual operation one by one, with a slow speed, which is difficult to meet the needs of large-scale planting, especially in a large greenhouse planting environment; a large number of workers are required, and the planting cost is high; due to different operation habits and strengths of different workers, it is difficult to ensure the consistency of the grasping force on the seedling raising basket, which may cause damage to some seedlings and affect the survival rate and growth quality. Content of the Utility Model

[0003] Based on this, the purpose of the utility model is to provide an automatic seedling transplanter that does not require manual participation in the seedling transplanting work.

[0004] The utility model adopts the following technical scheme:

[0005] An automatic seedling transplanter for transporting a seedling raising basket, the seedling raising basket extending out a boss; the automatic seedling transplanter includes a moving device and a grasping device installed on the moving device, the grasping device including clamping arms moving relatively or towards each other on both sides and a grasping driving mechanism for driving the clamping arms to move, the clamping arms being installed on the moving device through the grasping driving mechanism; a clamping groove is arranged on the clamping arms, and the clamping groove is used for cooperating with the boss of the seedling raising basket.

[0006] Further, the moving device includes a lifting module, a swinging module and a rotating module.

[0007] Further, the swinging module includes a fixed seat and a swinging arm, one end of the swinging arm is connected to the grasping device, and the other end is movably connected to the fixed seat; a control mechanism for driving the swinging arm to swing left and right relative to the moving device is further arranged in the fixed seat.

[0008] Further, the lifting module includes a driving cylinder installed on the swinging arm, and a driving rod of the driving cylinder is connected to the grasping device.

[0009] Further, the automatic seedling transplanter is further provided with a cable storage tube, one end of the cable storage tube is arranged on the fixed seat, and the other end is arranged on the swinging arm.

[0010] Further, a moving assembly is also provided between the driving rod and the grasping device. The moving assembly includes an X-axis support frame connected to the driving rod, a Y-axis sliding seat, a Y-axis driving mechanism for driving the movement of the Y-axis sliding seat, a Z-axis support frame, and a Z-axis driving mechanism for driving the movement of the Z-axis support frame; an X-axis slide rail is provided on the X-axis support frame, the Y-axis sliding seat is slidably disposed on the X-axis slide rail, and the Y-axis driving mechanism is mounted on the X-axis support frame; a Y-axis slide rail is provided on the Y-axis sliding seat, the Z-axis support frame is slidably disposed on the Y-axis slide rail, and the Z-axis driving mechanism is mounted on the Y-axis slide rail.

[0011] Further, the rotation module is disposed between the driving rod and the moving assembly. The rotation module includes a sleeve sleeved on the driving rod. The sleeve is fixed to the moving assembly and is rotatably connected to the driving rod; a rotation driving mechanism for driving the rotation of the sleeve is further provided on the moving assembly on one side of the sleeve.

[0012] Further, the automatic seedling transplanter further includes a seedling carrying seat and a seedling planting seat for carrying the seedling basket; a positioning assembly for monitoring the positions of the seedling carrying seat and the seedling planting seat is provided on the X-axis support frame.

[0013] Further, the automatic seedling transplanter further includes a seedling carrying seat and a seedling planting seat for carrying the seedling basket; the automatic seedling transplanter further includes a first linear driving mechanism. The first linear driving mechanism includes a first carrying seat for carrying the seedling planting seat, a first linear slide rail, a first linear slider, a first linear lead screw, and a first driving mechanism for driving the rotation of the first linear lead screw; the first linear slide rail is disposed on one side of the movable device, the first linear slider is slidably disposed on the first linear slide rail, and the first carrying seat is fixedly mounted on the first linear slider; the first linear lead screw is threadedly connected to the bottom of the first carrying seat, the seedling planting seat is disposed on the first carrying seat, and the first driving mechanism is mounted on one side of the first linear lead screw and is in transmission connection with the first linear lead screw.

[0014] Furthermore, the automatic seedling transplanting machine further includes a seedling cultivation carrier seat and a seedling cultivation planting seat for carrying the seedling cultivation basket; the automatic seedling transplanting machine further includes a second linear drive. The second linear drive mechanism includes a second carrier seat for carrying the seedling cultivation carrier seat, a second linear slide rail, a second linear slider, a second linear lead screw, and a second drive mechanism for driving the second linear lead screw to rotate; the second linear slide rail is arranged on one side of the movable device, the second linear slider is slidably arranged on the second linear slide rail, and the second carrier seat is fixedly installed on the second linear slider; the second linear lead screw is in threaded connection with the bottom of the second carrier seat, the seedling cultivation carrier seat is arranged on the second carrier seat, and the second drive mechanism is installed on one side of the second linear lead screw and is in transmission connection with the second linear lead screw.

[0015] The beneficial effects of the present utility model are as follows: It eliminates the need for manual participation in the seedling transplanting work, reducing the expenditure on labor costs; through the cooperation of the movable device and the grasping device, the transfer work of the seedling cultivation basket can be completed quickly and accurately, effectively saving manpower and time. Compared with manual seedling transplanting, its working speed is faster, and a large number of seedling cultivation baskets can be processed in a short time; the operation of the machine has high consistency and accuracy, which can avoid misoperations or damage to the seedlings that may occur during manual seedling transplanting, thus ensuring the survival rate and growth quality of the seedlings; the high-efficient seedling transplanting speed can meet the needs of large-scale seedling cultivation production and help to expand the planting scale. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional schematic diagram of the automatic seedling transplanting machine according to an embodiment of the present utility model;

[0017] Figure 2 is Figure 1 a three-dimensional schematic diagram of the grasping device and the movable device of the automatic seedling transplanting machine;

[0018] Figure 3 is Figure 1 a three-dimensional schematic diagram of the moving component and the grasping device of the automatic seedling transplanting machine;

[0019] Figure 4 is Figure 3 an exploded view of the moving component and the grasping device;

[0020] Figure 5 is Figure 4 an exploded view of the moving component and the grasping device from another angle;

[0021] Figure 6 is Figure 1 a three-dimensional schematic diagram of the first linear drive mechanism and the second linear drive mechanism of the automatic seedling transplanting machine;

[0022] Figure 7 isFigure 1 Schematic three - dimensional view of the second linear drive mechanism of the automatic seedling transplanting machine;

[0023] Figure 8 For Figure 7 Exploded view of the second linear drive mechanism;

[0024] Figure 9 For Figure 8 Exploded view of the second linear drive mechanism from another angle;

[0025] Figure 10 Schematic three - dimensional view of the first linear drive mechanism of the automatic seedling transplanting machine of 1;

[0026] Figure 11 For Figure 10 Exploded view of the first linear drive mechanism;

[0027] Figure 12 For Figure 11 Exploded view of the first linear drive mechanism from another angle;

[0028] Figure 13 For Figure 1 Schematic three - dimensional view of the seedling - raising basket of the automatic seedling transplanting machine;

[0029] Figure 14 For Figure 1 Schematic three - dimensional view of the grasping device of the automatic seedling transplanting machine. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0031] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "vertical direction", "up", "down", "horizontal", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is 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. Therefore, it cannot be understood as a limitation to the present utility model. In addition, "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be a direct connection or a connection through an intermediate medium. It can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0033] Please refer to Figures 1 to 14 , an automatic seedling transplanter according to an embodiment of the present utility model, which is used to transfer a seedling-raising basket 10. The seedling-raising basket 10 extends out a boss 11 (such as Figure 13 ); the automatic seedling transplanter includes a moving device 21 and a grasping device 22 installed on the moving device 21. The grasping device 22 includes clamping arms 220 that move relatively or towards each other on both sides and a grasping driving mechanism (not shown in the figure) for driving the clamping arms 220 to move. The clamping arms 220 are installed on the moving device 21 through the grasping driving mechanism; a clamping groove 220A is provided on the clamping arms 220 (such as Figure 14 ), and the clamping groove 220A is used to cooperate with the boss 11 of the seedling-raising basket.

[0034] The working principle of the automatic seedling transplanter of the present utility model is as follows: Grasping stage: When it is necessary to transfer the seedling-raising basket 10, the grasping driving mechanism is started to drive the two sides of the clamping arms 220 to move relatively; since the clamping groove 220A that cooperates with the boss 11 extending out of the seedling-raising basket 10 is provided on the clamping arms 220, the clamping arms 220 can accurately clamp the seedling-raising basket 10; Transfer stage: After the clamping arms 220 clamp the seedling-raising basket 10, the moving device 21 installed with the grasping device 22 starts to act; the moving device 21 will move the clamped seedling-raising basket 10 to the position where it needs to be placed.

[0035] Compared with the prior art, the automatic seedling transplanter involved in the present utility model does not require manual participation in the seedling transplanting work, reducing the expenditure of labor costs; through the cooperation of the moving device 21 and the grasping device 22, it can quickly and accurately complete the transfer work of the seedling-raising basket 10, effectively saving manpower and time. Compared with manual seedling transplanting, its working speed is faster and it can process a large number of seedling-raising baskets 10 in a short time; the operation of the machine has high consistency and accuracy, which can avoid misoperations or damage to the seedlings that may occur during manual seedling transplanting, thus ensuring the survival rate and growth quality of the seedlings; the high-efficient seedling transplanting speed can meet the needs of large-scale seedling production and help to expand the planting scale.

[0036] Please refer to Figure 1 and Figure 2, the moving device 21 includes a lifting module, a swinging module, and a rotating module. First, the lifting module descends, the swinging module adjusts the angle, and the grasping device 22 clamps the seedling-raising basket 10. Then, the lifting module ascends, the rotating module rotates to the right direction, then the lifting module adjusts the height again, and the swinging module finely adjusts the angle. Finally, the seedling-raising basket 10 is placed on the seedling-raising planting seat 40. Through the cooperation of the three modules, the flexible movement of the grasping device 22 in the three-dimensional space is realized, so that the transfer work of the seedling-raising basket 10 can be completed accurately and efficiently; it can adapt to the layouts of the seedling-raising bearing seats 30 and the seedling-raising planting seats 40 with different heights, angles, and directions, and flexibly cope with various complex working scenarios.

[0037] The swinging module includes a fixed seat 210 and a swinging arm 211. One end of the swinging arm 211 is connected to the grasping device 22, and the other end is movably connected to the fixed seat 210; a control mechanism (not shown in the figure) for driving the swinging arm 211 to swing left and right relative to the moving device 21 is further provided in the fixed seat 210. It can enable the grasping device 22 to flexibly adjust its position in the horizontal direction, adapt to different placement positions and angles of the seedling-raising basket 10, increase the operation flexibility of the seedling transplanter; contribute to more accurately aligning with the seedling-raising basket 10 for grasping, reducing the grasping error, and ensuring the accuracy and stability of seedling transplantation; can quickly adjust the position of the grasping device 22, reduce the repeated operations caused by inaccurate positions, and thus improve the overall efficiency of seedling transplantation.

[0038] The lifting module includes a driving cylinder (not shown in the figure) installed on the swinging arm 211, and the driving rod 212 of the driving cylinder is connected to the grasping device 22. When it is necessary to make the grasping device 22 ascend or descend, the driving rod 212 of the driving cylinder extends outwards, driving the connected grasping device 22 to ascend; on the contrary, the driving rod 212 retracts, driving the grasping device 22 to descend; since the driving cylinder is installed on the swinging arm 211, based on the position of the swinging arm 211. The ascending and descending actions of the grasping device 22 can be quickly realized, improving the efficiency of seedling transplantation. For example, the ascending and descending operations of the grasping device 22 can be completed in a short time, quickly grasping and placing the seedling-raising basket 10; the ascending and descending height of the grasping device 22 can be accurately controlled; during the working process, the movement of the driving cylinder is relatively stable, reducing the shaking of the seedling-raising basket 10 and the damage to the seedlings caused by jitter or instability.

[0039] The automatic seedling transplanting machine is also provided with a cable storage tube 50. One end of the cable storage tube 50 is arranged on the fixed seat 210, and the other end is arranged on the swing arm 211. When the automatic seedling transplanting machine is working, the swing arm 211 will swing relative to the fixed seat 210. At the same time, the grasping device 22 will perform actions such as lifting and lowering, which will cause the position of the cable connecting the grasping device 22 and the control component to change. The cable storage tube 50 is provided to accommodate and manage these cables. When the swing arm 211 swings, the cable will move in the storage tube along the swinging direction. The cable storage tube 50 provides an orderly channel to prevent the cable from being wound, knotted or damaged externally during the swinging process.

[0040] Please refer to Figures 3 to 5 , a moving component 60 is also arranged between the driving rod 212 and the grasping device 22. The moving component 60 includes an X-axis support frame 61 connected to the driving rod 212, a Y-axis sliding seat 62, a Y-axis driving mechanism (not shown in the figure) for driving the movement of the Y-axis sliding seat 62, a Z-axis support frame 63 and a Z-axis driving mechanism (not shown in the figure) for driving the movement of the Z-axis support frame 63. An X-axis slide rail 610 is arranged on the X-axis support frame 61, the Y-axis sliding seat 62 slides on the X-axis slide rail 610, and the Y-axis driving mechanism is installed on the X-axis support frame 61. A Y-axis slide rail 620 is arranged on the Y-axis sliding seat 62, the Z-axis support frame 63 slides on the Y-axis slide rail 620, and the Z-axis driving mechanism is installed on the Y-axis slide rail 620. First, when the driving cylinder installed on the swing arm 211 acts and its driving rod 212 expands and contracts, it directly drives the connected X-axis support frame 61 to move up and down. In the X-axis direction, when the Y-axis driving mechanism works, it will generate a force acting on the Y-axis sliding seat 62, causing the Y-axis sliding seat 62 to slide left and right along the X-axis slide rail 610 on the X-axis support frame 61. In the Y-axis direction, after the Y-axis driving mechanism is started, it pushes or pulls the Z-axis support frame 63 to slide back and forth on the Y-axis slide rail 620 of the Y-axis sliding seat 62. In the Z-axis direction, when the Z-axis driving mechanism operates, it drives the Z-axis support frame 63 to move up and down. Since the grasping device 22 is installed on the Z-axis support frame 63 through the grasping driving mechanism, in this way, the up and down coarse adjustment of the grasping device 22 is realized through the driving cylinder, and combined with the coordinated action of the X, Y, and Z-axis driving mechanisms, the precise fine adjustment of the grasping device 22 in the three-dimensional space is realized. Ensure that the grasping device 22 can accurately position and grasp the seedling-raising basket 10 extremely accurately, improving the accuracy and success rate of seedling transplantation. Quickly and accurately adjust the position of the grasping device 22, reducing the time required for grasping and placing the seedling-raising basket 10, thereby significantly improving the overall efficiency of the seedling transplantation work.

[0041] Please refer to Figure 2 and Figure 4, a rotation module is arranged between the driving rod 212 and the moving component 60. The rotation module includes a sleeve 213 sleeved on the driving rod 212. The sleeve 213 is fixed on the moving component 60 and is rotatably connected to the driving rod 212. A rotation driving mechanism (not shown in the figure) for driving the sleeve 213 to rotate is further arranged on the moving component 60 on one side of the sleeve 213. The power generated by the rotation driving mechanism acts on the sleeve 213. Since the sleeve 213 is sleeved on the driving rod 212 and is rotatably connected to the driving rod 212, and at the same time the sleeve 213 is fixed on the moving component 60, the rotation driving mechanism can drive the sleeve 213 to rotate around the driving rod 212. As the sleeve 213 rotates, the moving component 60 fixed on the sleeve 213 also rotates accordingly, so as to realize the rotation of the grasping device 22 in the horizontal direction. The grasping device 22 can rotate freely in the horizontal direction, so that it can cope with the nursery stock bearing seats 30 and nursery stock planting seats 40 placed at different angles, improving the adaptability of the equipment. There is no need to adjust the position of the whole equipment, and only by the rotation module, the orientation of the grasping device 22 can be quickly changed, saving operation time, and thus improving the efficiency of seedling transplanting. The angle of the grasping device 22 can be adjusted more precisely to ensure accurate grasping and placing of the nursery stock basket 10, and reduce operation errors caused by angle deviation.

[0042] The automatic seedling transplanter further includes a nursery stock bearing seat 30 and a nursery stock planting seat 40 for bearing the nursery stock basket 10. A positioning component 70 for monitoring the positions of the nursery stock bearing seat 30 and the nursery stock planting seat 40 is arranged on the X-axis support frame 61. The positioning component 70 in this embodiment is a photoelectric sensor. In other embodiments, the positioning component 70 is a laser rangefinder or a camera combined with image recognition technology. When the nursery stock bearing seat 30 and the nursery stock planting seat 40 are in the working area, the photoelectric sensor in the positioning component 70 will emit a light beam. When the light beam is blocked by the nursery stock bearing seat 30 or the nursery stock planting seat 40, the photoelectric sensor will detect the change of the light signal, so as to determine its position. It can obtain the position information of the nursery stock basket 10 to be grasped in the nursery stock bearing seat 30 and the position where the nursery stock basket 10 needs to be placed in the nursery stock planting seat 40 in real time and accurately, ensuring that the grasping device 22 grasps the nursery stock basket 10 accurately and reducing the probability of grasping errors. Even if the positions of the nursery stock bearing seat 30 and the nursery stock planting seat 40 change slightly for various reasons, the positioning component 70 can detect it in time, so that the equipment makes corresponding adjustments to ensure the smooth progress of the seedling transplanting work.

[0043] Please refer to Figure 6 , Figures 10 to 12The automatic seedling transplanter also includes a seedling bearing seat 30 and a seedling planting seat 40 for bearing the seedling basket 10; the automatic seedling transplanter also includes a first linear drive mechanism 80, the first linear drive mechanism 80 includes a first bearing seat 81 for bearing the seedling planting seat 40, a first linear slide rail 82, a first linear slider 83, a first linear screw 84 and a first drive mechanism (not shown in the figure) for driving the first linear screw 84 to rotate; the first linear slide rail 82 is arranged on one side of the movable device 21, the first linear slider 83 is slidably arranged on the first linear slide rail 82, and the first bearing seat 81 is fixedly installed on the first linear slider 83; the first linear screw 84 is threadedly connected to the bottom of the first bearing seat 81, the seedling planting seat 40 is arranged on the first bearing seat 81, and the first drive mechanism is installed on one side of the first linear screw 84 and is transmission connected to the first linear screw 84. When the position of the seedling planting seat 40 needs to be adjusted, the first driving mechanism is started; the first driving mechanism drives the first linear screw rod 84 to rotate; since the first linear screw rod 84 is threadedly connected to the bottom of the first supporting seat 81, the rotation of the screw rod will be converted into the movement of the first supporting seat 81 along the linear direction; the first supporting seat 81 is fixedly mounted on the first linear slider 83, and the first linear slider 83 is slidably arranged on the first linear slide rail 82, which enables the first supporting seat 81 to move along the direction of the linear slide rail, ensuring the linearity and stability of the movement; the seedling planting seat 40 can be moved quickly, reducing the waiting and adjustment time, thereby improving the efficiency of the entire seedling transplanting process; through the cooperation of the linear slide rail and the slider, as well as the transmission of the screw rod, the stability of the moving process is guaranteed, and the impact of vibration and shaking on the seedling basket 10 and the seedlings is reduced.

[0044] See also Figures 6 to 9, the automatic seedling transplanter further includes a seedling carrying seat 30 and a seedling planting seat 40 for carrying the seedling raising basket 10; the automatic seedling transplanter further includes a second linear drive 90, and the second linear drive 90 mechanism includes a second carrying seat 91 for carrying the seedling carrying seat 30, a second linear slide rail 92, a second linear slider 93, a second linear lead screw 94, and a second drive mechanism (not shown in the figure) for driving the second linear lead screw 94 to rotate; the second linear slide rail 92 is arranged on one side of the movable device 21, the second linear slider 93 is slidably arranged on the second linear slide rail 92, and the second carrying seat 91 is fixedly installed on the second linear slider 93; the second linear lead screw 94 is threadedly connected to the bottom of the second carrying seat 91, the seedling carrying seat 30 is arranged on the second carrying seat 91, and the second drive mechanism is installed on one side of the second linear lead screw 94 and is in transmission connection with the second linear lead screw 94. When the position of the seedling carrying seat 30 needs to be adjusted, the second drive mechanism starts to operate; the second drive mechanism drives the second linear lead screw 94 to rotate; since the second linear lead screw 94 is threadedly connected to the bottom of the second carrying seat 91, the rotation of the lead screw will cause the second carrying seat 91 to perform a linear motion; the second carrying seat 91 is fixed on the second linear slider 93, and the second linear slider 93 can slide smoothly on the second linear slide rail 92, so as to ensure that the second carrying seat 91 moves along the established direction of the linear slide rail; quickly and accurately adjust the position, reduce the time for the grasping device 22 to find the seedling raising basket 10, and thus improve the overall efficiency of the seedling transplanting operation.

[0045] The above only expresses the preferred technical solutions of the present invention, and its description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and the present invention also intends to include these changes and modifications.

Claims

1. An automatic seedling transplanting machine for transferring a seedling-raising basket, the seedling-raising basket extending out a boss; characterized in that, The automatic seedling transplanting machine includes a moving device and a grasping device mounted on the moving device. The grasping device includes clamping arms that move relatively or towards each other on both sides, and a grasping drive mechanism for driving the movement of the clamping arms. The clamping arms are mounted on the moving device through the grasping drive mechanism; clamping grooves are provided on the clamping arms, and the clamping grooves are used to cooperate with the convex platforms of the seedling-raising baskets.

2. The automatic seedling transplanter according to claim 1, characterized in that, The moving device includes a lifting module, a swinging module, and a rotating module.

3. The automatic seedling transplanter according to claim 2, characterized in that, The swinging module includes a fixed seat and a swinging arm. One end of the swinging arm is connected to the grasping device, and the other end is movably connected to the fixed seat; a control mechanism for driving the swinging arm to swing left and right relative to the moving device is further provided in the fixed seat.

4. The automatic seedling transplanter according to claim 3, characterized in that, The lifting module includes a driving cylinder mounted on the swinging arm, and the driving rod of the driving cylinder is connected to the grasping device.

5. The automatic seedling transplanter according to claim 3, characterized in that, The automatic seedling transplanting machine is further provided with a cable storage tube. One end of the cable storage tube is provided on the fixed seat, and the other end is provided on the swinging arm.

6. The automatic seedling transplanter according to claim 4, wherein, A moving component is further provided between the driving rod and the grasping device. The moving component includes an X-axis support frame connected to the driving rod, a Y-axis sliding seat, a Y-axis driving mechanism for driving the movement of the Y-axis sliding seat, a Z-axis support frame, and a Z-axis driving mechanism for driving the movement of the Z-axis support frame; An X-axis slide rail is provided on the X-axis support frame, the Y-axis sliding seat slides on the X-axis slide rail, and the Y-axis driving mechanism is mounted on the X-axis support frame; a Y-axis slide rail is provided on the Y-axis sliding seat, the Z-axis support frame slides on the Y-axis slide rail, and the Z-axis driving mechanism is mounted on the Y-axis slide rail.

7. The automatic seedling transplanter according to claim 6, characterized in that The rotating module is provided between the driving rod and the moving component. The rotating module includes a sleeve sleeved on the driving rod. The sleeve is fixed to the moving component and is rotatably connected to the driving rod; a rotating driving mechanism for driving the rotation of the sleeve is further provided on the moving component on one side of the sleeve.

8. The automatic seedling transplanting machine according to claim 6, characterized in that, The automatic seedling transplanting machine further includes a seedling-raising bearing seat and a seedling-planting seat for carrying the seedling-raising baskets; a positioning component for monitoring the positions of the seedling-raising bearing seat and the seedling-planting seat is provided on the X-axis support frame.

9. The automatic seedling transplanter according to claim 1, characterized in that, The automatic seedling transplanting machine further includes a seedling-raising bearing seat and a seedling-planting seat for carrying the seedling-raising baskets; the automatic seedling transplanting machine further includes a first linear driving mechanism. The first linear driving mechanism includes a first bearing seat for carrying the seedling-planting seat, a first linear slide rail, a first linear slider, a first linear lead screw, and a first driving mechanism for driving the rotation of the first linear lead screw; the first linear slide rail is provided on one side of the moving device, the first linear slider slides on the first linear slide rail, and the first bearing seat is fixedly mounted on the first linear slider; the first linear lead screw is threadedly connected to the bottom of the first bearing seat, the seedling-planting seat is provided on the first bearing seat, and the first driving mechanism is mounted on one side of the first linear lead screw and is in transmission connection with the first linear lead screw.

10. The automatic seedling transplanter according to claim 1, characterized in that, The automatic seedling transplanting machine further includes a seedling carrying seat and a seedling planting seat for carrying the seedling raising basket; the automatic seedling transplanting machine further includes a second linear driving mechanism, and the second linear driving mechanism includes a second carrying seat for carrying the seedling carrying seat, a second linear slide rail, a second linear slider, a second linear lead screw, and a second driving mechanism for driving the second linear lead screw to rotate; the second linear slide rail is arranged on one side of the movable device, the second linear slider is slidably arranged on the second linear slide rail, and the second carrying seat is fixedly installed on the second linear slider; the second linear lead screw is in threaded connection with the bottom of the second carrying seat, the seedling carrying seat is arranged on the second carrying seat, and the second driving mechanism is installed on one side of the second linear lead screw and is in transmission connection with the second linear lead screw.

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