Pneumatic stem clamping type whole-row seedling taking and throwing device for plug seedlings

Abstract

The utility model relates to the technical field of intelligent agricultural machinery, and discloses a pneumatic stem clamping type whole-row seedling taking and throwing device for plug seedlings, which comprises a rack and a plug, the seedling tray conveying mechanism is installed on the machine frame and used for conveying hole trays to designated positions, the seedling ejecting mechanism is installed on the machine frame and used for ejecting pot seedlings, and the tray pressing mechanism is installed on the seedling tray conveying mechanism and used for pressing the hole trays when the pot seedlings are ejected by the seedling ejecting mechanism. The seedling clamping mechanism is installed on the machine frame and used for clamping a whole row of pot seedlings in a hole tray, the seedling separating mechanism is installed above the machine frame and used for horizontally moving and stretching the seedling clamping mechanism, and the seedling tray conveying mechanism, the seedling jacking mechanism, the seedling clamping mechanism and the seedling separating mechanism are installed on the machine frame, electrically connected with the seedling tray conveying mechanism and the seedling jacking mechanism and used for controlling the seedling tray conveying mechanism and the seedling jacking mechanism. The control system is used for carrying out sequential movement on the seedling clamping mechanism and the seedling separating mechanism; the full-automatic seedling picking machine has the advantages of high automation degree, low seedling damage rate, high seedling picking efficiency and low matrix loss rate.

Description

Technical Field

[0001] The utility model relates to a pneumatic stem-clamping whole-row seedling taking and planting device for plug tray seedlings, belonging to the technical field of intelligent agricultural machinery. Background Art

[0002] Vegetable seedling raising and transplanting technology is one of the key steps in the vegetable planting process, which directly affects the growth, yield and quality of vegetables. Compared with direct seeding, vegetable seedling raising and transplanting technology has many advantages such as shortening the growth cycle, improving land utilization rate, cold resistance and insect prevention, and is widely promoted. At present, my country mainly relies on manual transplanting or semi-automatic transplanting methods, which have prominent problems such as low seedling retrieval efficiency, high labor intensity, and high time cost. Realizing automated seedling retrieval is a top priority for promoting the development of automated transplanting machines. The seedling retrieval mechanism is an important working component of the fully automatic transplanting machine. The quality of seedling retrieval determines the overall quality of transplanting. The utility model patent with the Chinese patent authorization announcement number CN216234799U discloses a seedling grabbing mechanism for a hole tray, including a clamping mechanism and a mounting frame for supporting the clamping mechanism. The clamping mechanism includes a clamping claw for clamping seedlings, a driving mechanism for driving the clamping claw to rise and fall, and a mounting plate for supporting the driving mechanism. When sorting seedlings, the driving mechanism drives the clamping claw to descend and clamp the seedlings through the clamping claw. Then the driving mechanism drives the clamping claw to rise and the clamping claw moves to the detection mechanism for detection, thereby realizing automatic clamping of seedlings, with a high degree of automation and reduced labor intensity.

[0003] However, the aforementioned gripping device still has the following problems when in use: the clamping claws directly extend into the seedling tray to remove the seedlings, which can easily cause damage to the seedlings. Furthermore, the device does not consider the automation of subsequent seedling placement. Therefore, developing a seedling removal mechanism with a high degree of automation, low seedling injury rate, high seedling removal efficiency, and low substrate loss rate is of great significance for improving the quality of vegetable seedling transplanting in plug trays and promoting the research of automated transplanting equipment in my country. Utility Model Content

[0004] In order to solve the above problems existing in the prior art, the utility model provides a pneumatic stem-clamping whole-row seedling taking and planting device for plug seedlings.

[0005] The technical solution of the utility model is as follows:

[0006] A pneumatic stem clamping device for seedlings in a plug tray for whole row seedling removal includes a frame and a plug tray, wherein seedlings in a pot are placed in the plug tray, and further includes

[0007] The seedling tray conveying mechanism is installed on the frame and is used to convey the seedling tray to the designated position;

[0008] The seedling pushing mechanism is installed on the frame and is correspondingly arranged below the seedling tray conveying mechanism, and is used to push out the seedlings in the hole tray;

[0009] The pressing plate mechanism is installed on the seedling tray conveying mechanism and is used to press the plug tray when the seedling pushing mechanism pushes out the seedlings from the pot;

[0010] The seedling clamping mechanism is installed on the frame and is used to clamp the entire row of seedlings in the plug tray;

[0011] The seedling separation mechanism is installed above the frame and is corresponding to the seedling tray conveying mechanism, and is used to translate and retract the seedling clamping mechanism;

[0012] The control system is installed on the frame and is electrically connected to the seedling tray conveying mechanism, the seedling pushing mechanism, the seedling clamping mechanism and the seedling separating mechanism respectively, and is used to control the seedling tray conveying mechanism, the seedling pushing mechanism, the seedling clamping mechanism and the seedling separating mechanism to perform sequential movement.

[0013] Among them, the seedling tray conveying mechanism includes a guard plate, a stepper motor, a transmission mechanism, a connecting rod and a positioning sensor. The guard plate is symmetrically installed on the frame, the stepper motor is installed on the side of the frame and electrically connected to the control system, the transmission mechanism is installed between the guard plates on both sides and connected to the stepper motor for transport transmission, the connecting rod is installed on the transmission mechanism, used to support the hole tray and convey the hole tray forward under the action of the transmission mechanism, and the positioning sensor is installed on one side of the guard plate and is located below the connecting rod.

[0014] Among them, the transmission mechanism includes a sprocket, a chain and an optical axis. The sprockets are arranged on the guard plates on both sides, and two sprockets are arranged on each guard plate. Each sprocket is connected to the corresponding side guard plate by setting a bearing seat. The two sprockets at corresponding positions on the guard plates on both sides are connected by an optical axis. One of the optical axes is also connected to the stepper motor by setting a coupling. The chain is installed on the two sprockets located on the same side guard plate.

[0015] Among them, the seedling pushing mechanism includes a seedling pushing cylinder and a push rod. The seedling pushing cylinder is installed between the two side guard plates and is located in the middle of the seedling tray conveying mechanism. The seedling pushing cylinder is electrically connected to the control system. The push rod is installed on the piston rod of the seedling pushing cylinder. The push rod and the hole tray grid on the hole tray are arranged in a one-to-one correspondence.

[0016] Among them, the pressure plate mechanism includes a pressure plate shaft, a pressure plate rod and a pressure plate plate. The pressure plate rod is installed on the two side guard plates, the pressure plate shaft is arranged between the two side pressure plate rods, the pressure plate plate is installed on the pressure plate shaft, and the bottom of the pressure plate is in contact with the hole plate.

[0017] Among them, the seedling clamping mechanism includes a seedling clamping cylinder, a seedling clamping plate and a right-angle plate. The seedling clamping cylinder is installed on the right-angle plate. The seedling clamping cylinder is also electrically connected to the control system. The seedling clamping plate is installed on the pneumatic end of the seedling clamping cylinder, and the right-angle plate is installed on the seedling separating mechanism.

[0018] Wherein, the seedling separation mechanism includes

[0019] The translation mechanism is installed on the frame, and after the seedlings are clamped, it can drive the seedling clamping mechanism to move translationally along the frame;

[0020] The scissor-fork dispersion mechanism is installed on the translation mechanism, can extend or contract in the horizontal direction, and is connected with the seedling clamping mechanism.

[0021] Among them, the translation mechanism includes a shift cylinder and a lifting cylinder, both of which are electrically connected to the control system. The shift cylinder is installed on the frame, and the lifting cylinder is installed on the shift cylinder. The shift cylinder can drive the lifting cylinder to perform translational movement along the frame.

[0022] Among them, the scissors-fork dispersion mechanism includes a cylinder fixing plate, a slide rail, a slider, a limit block, a scissors-fork plate and a seedling separation cylinder. The cylinder fixing plate is installed on the lifting cylinder, the slide rail is installed on the cylinder fixing plate, the slider is slidably installed on the slide rail, the slider is also connected to the right-angle plate, the limit block is installed at both ends of the slide rail, the seedling separation cylinder is installed on the cylinder fixing plate, the piston rod end of the seedling separation cylinder is connected to the right-angle plate through a connecting piece, the seedling separation cylinder is also electrically connected to the control system, the middle part of the scissors-fork plate is hinged to the right-angle plate, there are multiple scissors-fork plates, and the cross ends of each scissors-fork plate are hinged together in sequence.

[0023] The utility model has the following beneficial effects:

[0024] The utility model is provided with structures such as a seedling-pushing mechanism, a pressing plate mechanism, a seedling-clamping mechanism, a seedling-separating mechanism, and a control system, and adopts a seedling-taking method of combining whole-row ejection and clamping, so that seedlings can be quickly clamped. The seedling-pushing mechanism can push the seedlings in the hole tray outward, which not only facilitates the seedling-taking work of the seedling-clamping mechanism, but also avoids the situation in the prior art where the clamping claws extend into the hole tray and damage the seedlings in the pot, thereby reducing the seedling injury rate. The seedling-separating mechanism can perform the required seedling-planting work after the seedling-clamping mechanism has clamped the seedlings, thereby improving the degree of automation. The control system can orderly control each mechanism, thereby further improving the degree of automation and the efficiency of seedling taking. Compared with the prior art, the utility model has the advantages of high degree of automation, low seedling injury rate, high seedling taking efficiency, and low substrate loss rate, thereby protecting the seedlings in the pot and being beneficial to the growth and development of crops after transplanting. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural diagram of the utility model;

[0026] Figure 2 This is a front view of the seedling tray conveying mechanism of the utility model;

[0027] Figure 3 This is an axonometric drawing of the seedling tray conveying mechanism of the utility model;

[0028] Figure 4This is a schematic structural diagram of the seedling clamping mechanism in the present invention;

[0029] Figure 5 It is a structural diagram of the seedling separation mechanism in the present invention.

[0030] The reference numerals in the figures are as follows:

[0031] 1. Frame;

[0032] 2. Pressure plate mechanism; 21. Pressure plate shaft; 22. Pressure plate rod; 23. Pressure plate plate;

[0033] 3. Seedling tray conveying mechanism; 31. Guard plate; 32. Stepper motor; 33. Transmission mechanism; 331. Sprocket; 332. Chain; 333. Optical axis; 334. Coupling; 335. Bearing seat; 34. Connecting rod; 35. Positioning sensor;

[0034] 4. Seedling separation mechanism; 41. Translation mechanism; 411. Lifting cylinder; 412. Shifting cylinder; 42. Scissor-fork dispersion mechanism; 421. Cylinder fixing plate; 422. Slide rail; 423. Slider; 424. Limit block; 425. Scissor plate; 426. Seedling separation cylinder; 427. Connector;

[0035] 5. Seedling clamping mechanism; 51. Seedling clamping cylinder; 52. Seedling clamping plate; 53. Right-angle plate;

[0036] 6. Seedling pushing mechanism; 61. Seedling pushing cylinder; 62. Push rod;

[0037] 7. Acupuncture plate;

[0038] 8. Control system. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Example: Please refer to Figures 1 to 5 This embodiment provides a pneumatic stem-clamping whole-row seedling removal and planting device for seedlings in a plug tray 7, comprising a frame 1 and a plug tray 7. The frame 1 is used to support and install the entire seedling removal and planting device, and the plug tray 7 contains potted seedlings. The seedling removal and planting device also includes the following mechanisms:

[0041] Seedling tray conveying mechanism 3; The seedling tray conveying mechanism 3 is installed on the frame 1, and is used to accurately convey the hole tray 7 to the specified position.

[0042] Top seedling mechanism 6; top seedling mechanism 6 is mounted on the frame 1 and correspondingly arranged below the seedling tray conveying mechanism 3, which is used to eject the seedlings in the pot 7 in the hole tray to facilitate subsequent seedling removal.

[0043] the pressure plate mechanism 2 is mounted on the seedling tray conveying mechanism 3, which is used to press the seedling tray 7 when the top seedling mechanism 6 pushes out the seedlings in the pot in the tray 7 to prevent the tray 7 from being lifted up, resulting in inaccurate subsequent top seedling action.

[0044] Seedling clip mechanism 5; the seedling clip mechanism 5 is mounted on the frame 1, which is used to clip the entire row of seedlings in the plug tray 7; the specific number of seedling clip mechanism 5 needs to be determined according to the number of rows of seedlings in the plug tray 7, and one seedling clip mechanism 5 corresponds to a row of seedlings in the plug tray 7.

[0045] The seedling separation mechanism 4 is installed above the frame 1 and corresponds to the seedling tray conveying mechanism 3, and is used to translate the telescopic seedling clamping mechanism 5.

[0046] The control system 8 is installed on the frame 1 and is electrically connected to the seedling tray conveying mechanism 3, the seedling pushing mechanism 6, the seedling clamping mechanism 5 and the seedling separating mechanism 4 respectively. It is used to control the seedling tray conveying mechanism 3, the seedling pushing mechanism 6, the seedling clamping mechanism 5 and the seedling separating mechanism 4 to perform timed movements according to the required actions.

[0047] In this embodiment, the seedling tray conveying mechanism 3 includes a guard plate 31, a stepping motor 32, a transmission mechanism 33, a connecting rod 34 and a positioning sensor 35. The guard plate 31 is symmetrically arranged and installed on the frame 1. The stepping motor 32 is installed on the side of the frame 1 and is electrically connected to the control system 8. The transmission mechanism 33 is installed between the guard plates 31 on both sides and is connected to the stepping motor 32. The transmission mechanism 33 is used for transport transmission. The connecting rod 34 is installed on the transmission mechanism 33. The connecting rod 34 is used to support the hole tray 7 and convey the hole tray 7 forward under the action of the transmission mechanism 33. In this embodiment, the number of connecting rods 34 can be set to multiple, and the spacing between adjacent connecting rods 34 is the distance between three hole trays 7 grids on the hole tray 7. When the hole tray 7 is placed on the connecting rod 34, it is arranged across multiple connecting rods 34. The purpose of setting multiple connecting rods 34 is to ensure the stability of the hole tray 7 when it is placed on the connecting rod 34 and follows the connecting rod 34 to move, so as to avoid the hole tray 7 from tipping over. The positioning sensor 35 is mounted on one of the guard plates 31 and is located below the connecting rod 34 . The positioning sensor 35 is used to detect whether the well tray 7 has reached a designated position.

[0048] In this embodiment, the transmission mechanism 33 includes a sprocket 331, a chain 332 and an optical axis 333. The sprocket 331 is provided on both side guard plates 31, and two sprockets 331 are provided on each guard plate 31. Each sprocket 331 is connected to the corresponding side guard plate 31 by providing a bearing seat 335. The two sprockets 331 at corresponding positions on the two side guard plates 31 are connected by an optical axis 333. One of the optical axes 333 is also connected to the stepper motor 32 by a coupling 334 after passing through the corresponding side guard plate 31. The chain 332 is installed on the two sprockets 331 located on the same side guard plate 31. As the sprocket 331 rotates, the tension of the sprocket 331 and the chain 332 can be adjusted by adjusting the left and right distance of the bearing seat 335 to reduce the difficulty of installation.

[0049] The push rod 62 is arranged in a concentric manner with the corresponding plug 7 on the plug tray 7 to ensure that the ejection direction of the push rod 62 is vertically upward, so that the seedlings in the plug tray 7 can be ejected to a certain extent, which is convenient for subsequent seedling removal.

[0050] In this embodiment, the pressure plate mechanism 2 includes a pressure plate shaft 21, a pressure plate rod 22 and a pressure plate plate 23. The pressure plate rod 22 is vertically installed on the two side guard plates 31, and the pressure plate shaft 21 is horizontally arranged between the two side pressure plate rods 22. The two ends of the pressure plate shaft 21 are connected to the corresponding side pressure plate rods 22. The pressure plate plate 23 is installed on the pressure plate shaft 21, and the bottom of the pressure plate plate 23 is in contact with the hole tray 7 so as to press the hole tray 7 to prevent the subsequent seedling pushing action from being inaccurate due to the displacement of the hole tray 7.

[0051] In this embodiment, the seedling clamping mechanism 5 includes a seedling clamping cylinder 51, a seedling clamping plate 52 and a right-angle plate 53. The seedling clamping cylinder 51 is installed on the right-angle plate 53. The seedling clamping cylinder 51 is also electrically connected to the control system 8. The seedling clamping cylinder 51 clamps in a pneumatic form. The pneumatic end of the seedling clamping cylinder 51 is horizontally arranged, and the seedling clamping plates 52 are symmetrically arranged and installed on the pneumatic end of the seedling clamping cylinder 51. When the seedling clamping cylinder 51 starts working, the seedling clamping plates 52 on both sides can perform corresponding clamping or loosening movements. In order to avoid damage to the seedlings in the pot by the seedling clamping plates 52 as much as possible, the seedling clamping plates 52 can be printed with resin material, and the right-angle plate 53 is installed on the seedling separating mechanism 4 to facilitate subsequent telescopic movements.

[0052] In this embodiment, the seedling separation mechanism 4 includes a translation mechanism 41 and a scissors-fork dispersion mechanism 42. The translation mechanism 41 is installed above the frame 1. After the seedling clamping mechanism 5 finishes clamping the seedlings, the translation mechanism 41 can drive the seedling clamping mechanism 5 to perform translational movement along the frame 1 to move it to the seedling planting position. The scissors-fork dispersion mechanism 42 is installed on the translation mechanism 41, which can extend or contract in the horizontal direction. The scissors-fork dispersion mechanism 42 is also interconnected with each seedling clamping mechanism 5.

[0053] In this embodiment, the translation mechanism 41 includes a shift cylinder 412 and a lifting cylinder 411. The shift cylinder 412 and the lifting cylinder 411 are both electrically connected to the control system 8. The shift cylinder 412 is installed on the frame 1, and the piston rod end of the shift cylinder 412 is horizontally set. The lifting cylinder 411 is installed on the piston rod end of the shift cylinder 412. The shift cylinder 412 can drive the lifting cylinder 411 to perform translational movement along the frame 1, and the piston rod end of the lifting cylinder 411 is vertically set downward.

[0054] The scissor fork dispersion mechanism 42 in this embodiment includes a cylinder fixing plate 421, a slide rail 422, a slider 423, a limit block 424, a scissor fork plate 425 and a seedling separating cylinder 426. The cylinder fixing plate 421 is connected to the translation mechanism 41. Specifically, the cylinder fixing plate 421 is installed on the piston rod end of the lifting cylinder 411, and the slide rail 422 is installed on the cylinder fixing plate 421. The layout direction of the slide rail 422 is parallel to the length direction of the cylinder fixing plate 421. The slide rail 422 is arranged to be longer than the cylinder fixing plate 421. The specific length of the slide rail 422 needs to be determined according to the interval of the subsequent seedling placement position. The slider 423 is slidably installed on the slide rail 422. The slider 423 is also connected to the right-angle plate 53, so that when the slider 423 moves along the slide rail 422, it can drive the right-angle plate 53 to move, thereby driving the seedling clamping cylinder 51 to move. The limit blocks 424 are installed at both ends of the slide rail 422 to prevent the slider The derailment phenomenon of 423 can also play a role in determining and limiting the stroke of the subsequent slider 423. The seedling separation cylinder 426 is installed on the cylinder fixing plate 421, and the piston rod end of the seedling separation cylinder 426 is connected to the right-angle plate 53 by a connecting piece 427. The connecting piece 427 can be a common connecting screw, etc. The seedling separation cylinder 426 is also electrically connected to the control system 8. The shearing fork plate 425 is arranged in an X-shaped structure, and the middle part of the shearing fork plate 425 is hinged to the right-angle plate 53 by setting a parent-child nail. The number of shearing fork plates 425 is multiple, and the specific number is set corresponding to the number of seedling clamping mechanisms 5. One shearing fork plate 425 corresponds to one seedling clamping mechanism 5, and the right-angle plate 53 in the seedling clamping mechanism 5 is installed in the seedling separation mechanism 4, specifically the right-angle plate 53 and the shearing fork plate 425. The cross ends of each shearing fork plate 425 are hinged together in sequence to control the spacing between each seedling clamping mechanism 5 to ensure that the spacing is consistent.

[0055] Through the above-mentioned configuration, when the seedling taking and dropping device provided in this embodiment is in operation, due to the electrical connection between the control system 8 and the stepping motor 32, the seedling pushing cylinder 61, the seedling clamping cylinder 51, the shift cylinder 412, the lifting cylinder 411 and the seedling separating cylinder 426, the control system 8 can control the stepping motor 32, the seedling pushing cylinder 61, the seedling clamping cylinder 51, the shift cylinder 412, the lifting cylinder 411 and the seedling separating cylinder 426 to perform the required work. When working, the control system 8 controls the stepping motor 32 to rotate. After the stepping motor 32 rotates, it drives the optical axis 333 to rotate, that is, it can drive the sprocket 331 and the chain 332 to move accordingly, so that the hole tray 7 placed on the connecting rod 34 can move under the drive of the connecting rod 34 until the control system 8 receives a signal from the positioning sensor 35 and this action stops. At this time, the hole tray 7 can just move to the top of the seedling pushing mechanism 6. Afterwards, the control system 8 controls the seedling-pushing cylinder 61 to start working, extending its piston rod to drive the push rod 62 to move. The push rod 62 can push the seedlings in the hole tray 7 out of a certain displacement. After that, the control system 8 controls the seedling-clamping cylinder 51 to start working, and the seedling-clamping cylinder 51 controls the seedling-clamping plates 52 on both sides to perform a clamping action to clamp the lifted seedling stems. After clamping is completed, the control system 8 controls the lifting cylinder 411 to start working, and the lifting cylinder 411 drives the cylinder fixing plate 421 to move upward, thereby driving the seedling-clamping mechanism 5 connected to the cylinder fixing plate 421 to move The seedlings are then moved upward, thereby successfully separating the seedlings from the hole tray 7. Subsequently, the control system 8 controls the shift cylinder 412 to start working, so that the shift cylinder 412 drives the lifting cylinder 411 to move, so as to be able to drive the cylinder fixing plate 421 and the seedling clamping mechanism 5 to move, so that the seedling clamping mechanism 5 can be translated to the desired seedling planting position. During this process, the control system 8 controls the seedling separation cylinder 426 to start working, so that it pushes the right-angle plate 53 to move, thereby driving the right-angle plate 53 on the slider 423 to move on the slide rail 422, and making the scissor plate 425 swing accordingly, so as to achieve equidistant dispersion of the seedling clamping mechanism 5. After the seedling clamping mechanism 5 has been evenly dispersed and moved to the corresponding seedling throwing position, the control system 8 controls the seedling clamping cylinder 51, so that the seedling clamping cylinder 51 controls the seedling clamping plates 52 on both sides to loosen, so that the seedlings in the pot can fall under the action of gravity, realizing a complete seedling taking and throwing cycle. After completion, the shift cylinder 412, the lifting cylinder 411, and the seedling separating cylinder 426 return to their initial state, realizing automatic seedling taking. The seedling taking and throwing device can reduce the damage rate of the seedlings in the pot and improve the efficiency of seedling taking.

[0056] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A pneumatic stem clamping device for seedlings in a tray for whole-row seedling removal, comprising a frame (1) and a tray (7), wherein seedlings are placed in a pot in the tray (7), and characterized in that: The invention also includes a seedling tray conveying mechanism (3), which is mounted on the frame (1) and is used to convey the hole tray (7) to a designated position; a seedling pushing mechanism (6), which is mounted on the frame (1) and is correspondingly arranged below the seedling tray conveying mechanism (3) and is used to push out the seedlings in the hole tray (7); a plate pressing mechanism (2), which is mounted on the seedling tray conveying mechanism (3) and is used to press the hole tray (7) when the seedling pushing mechanism (6) pushes out the seedlings; a seedling clamping mechanism (5), which is mounted on the frame (1) and is used to clamp a whole row of seedlings in the hole tray (7); a seedling separating mechanism (4), which is mounted above the frame (1) and is correspondingly arranged with the seedling tray conveying mechanism (3) and is used to translate and retract the seedling clamping mechanism (5); and a control system (8), which is mounted on the frame (1) and is electrically connected to the seedling tray conveying mechanism (3), the seedling pushing mechanism (6), the seedling clamping mechanism (5) and the seedling separating mechanism (4) respectively, and is used to control the seedling tray conveying mechanism (3), the seedling pushing mechanism (6), the clamping mechanism and the seedling separating mechanism (4) to perform sequential movement.

2. The device for removing and planting seedlings from a tray using pneumatic stem clamping according to claim 1, characterized in that: The seedling tray conveying mechanism (3) includes a guard plate (31), a stepper motor (32), a transmission mechanism (33), a connecting rod (34) and a positioning sensor (35). The guard plate (31) is symmetrically arranged and mounted on the frame (1). The stepper motor (32) is mounted on the side of the frame (1) and is electrically connected to the control system (8). The transmission mechanism (33) is mounted between the guard plates (31) on both sides and is connected to the stepper motor (32) for transport transmission. The connecting rod (34) is mounted on the transmission mechanism (33) for supporting the hole tray (7) and transporting the hole tray (7) forward under the action of the transmission mechanism (33). The positioning sensor (35) is mounted on one side of the guard plate (31) and is located below the connecting rod (34).

3. The device for removing and planting seedlings from a tray using pneumatic stem clamping according to claim 2, characterized in that: The transmission mechanism (33) includes a sprocket (331), a chain (332) and an optical axis (333). The sprocket (331) is provided on both side guard plates (31), and two sprockets (331) are provided on each guard plate (31). Each sprocket (331) is connected to the corresponding side guard plate (31) by providing a bearing seat (335). The two sprockets (331) at corresponding positions on the two side guard plates (31) are connected by an optical axis (333). One of the optical axes (333) is also connected to the stepping motor (32) by providing a coupling (334). The chain (332) is installed on the two sprockets (331) located on the same side guard plate (31).

4. The device for pneumatically clamping the stems of seedlings in a whole row according to claim 2, characterized in that: The seedling pushing mechanism (6) includes a seedling pushing cylinder (61) and a push rod (62). The seedling pushing cylinder (61) is installed between the two side guard plates (31) and is located in the middle of the seedling tray conveying mechanism (3). The seedling pushing cylinder (61) is electrically connected to the control system (8). The push rod (62) is installed on the piston rod of the seedling pushing cylinder (61). The push rod (62) and the cell (7) grids on the cell tray (7) are arranged in a one-to-one correspondence.

5. The device for pneumatically clamping the stems of seedlings in a row according to claim 2, characterized in that: The pressure plate mechanism (2) comprises a pressure plate shaft (21), a pressure plate rod (22) and a pressure plate plate (23); the pressure plate rod (22) is mounted on the two side guard plates (31); the pressure plate shaft (21) is arranged between the two side pressure plate rods (22); the pressure plate plate (23) is mounted on the pressure plate shaft (21), and the bottom of the pressure plate plate (23) abuts against the hole plate (7).

6. The device for pneumatically clamping the stems of seedlings in a whole row according to claim 1, characterized in that: The seedling clamping mechanism (5) comprises a seedling clamping cylinder (51), a seedling clamping plate (52) and a right-angle plate (53). The seedling clamping cylinder (51) is mounted on the right-angle plate (53). The seedling clamping cylinder (51) is also electrically connected to the control system (8). The seedling clamping plate (52) is mounted on the pneumatic end of the seedling clamping cylinder (51). The right-angle plate (53) is mounted on the seedling separating mechanism (4).

7. The device for pneumatically clamping the stems of seedlings in a whole row according to claim 6, characterized in that: The seedling separation mechanism (4) includes A translation mechanism (41) is mounted on the frame (1) and can drive the seedling clamping mechanism (5) to perform translational movement along the frame (1) after the seedling clamping is completed; The scissor-fork dispersion mechanism (42) is installed on the translation mechanism (41), can be extended or contracted in the horizontal direction, and is connected to the seedling clamping mechanism (5).

8. The device for pneumatically clamping the stems of seedlings in a whole row for removing and planting seedlings from a tray according to claim 7, characterized in that: The translation mechanism (41) includes a shift cylinder (412) and a lifting cylinder (411). The shift cylinder (412) and the lifting cylinder (411) are both electrically connected to the control system (8). The shift cylinder (412) is mounted on the frame (1), and the lifting cylinder (411) is mounted on the shift cylinder (412). The shift cylinder (412) can drive the lifting cylinder (411) to perform translational movement along the frame (1).

9. The device for pneumatically clamping the stems of seedlings in a row according to claim 8, characterized in that: The scissor-fork dispersing mechanism (42) comprises a cylinder fixing plate (421), a slide rail (422), a slider (423), a limit block (424), a scissor-fork plate (425) and a seedling separation cylinder (426), wherein the cylinder fixing plate (421) is mounted on the lifting cylinder (411), the slide rail (422) is mounted on the cylinder fixing plate (421), the slider (423) is slidably mounted on the slide rail (422), the slider (423) is also connected to the right-angle plate (53), the limit block ( 424) are installed at both ends of the slide rail (422), the seedling separation cylinder (426) is installed on the cylinder fixing plate (421), the piston rod end of the seedling separation cylinder (426) is connected to the right-angle plate (53) through the connecting piece (427), and the seedling separation cylinder (426) is also electrically connected to the control system (8). The middle part of the shearing fork plate (425) is hinged on the right-angle plate (53), and the number of the shearing fork plates (425) is multiple, and the cross ends of each shearing fork plate (425) are hinged together in sequence.

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