CN107079642B - A device and method for swinging and flipping the entire row of seedlings - Google Patents

Abstract

The invention belongs to the field of agricultural machinery and provides a device and method for swinging and flipping a whole row of seedlings, including a swing mechanism, a flip mechanism, a whole row of seedling clamping system and a control system; the swing mechanism is a gantry type, and the flip mechanism Located on the swing mechanism, the entire row of seedling clamping system is located on the mounting plate of the turning mechanism; the whole row of seedling clamping system is driven by the gantry type swing mechanism to approach the seedlings to be transplanted, and the turning mechanism drives the entire row of seedling clamping system The row clamping system pushes aside the seedling plants, and the whole row clamping system clamps out the plug seedlings from the holes of the plug trays. When returning to throwing seedlings, the whole row of seedling clamping systems spreads out and releases the plug seedlings, which can realize the bending of the whole row of plug seedlings. Clamping, one-time release, and orderly distribution of seedlings. It has the characteristics of reserve for seedlings, no damage to seedlings when clamping bowls, smooth seedlings for translation, and high efficiency for automatic seedlings and seedlings. The invention has a simple structure, can effectively avoid damage to seedlings and pots, and can be used in high-speed transplanting of plug seedlings.

Description

A device and method for swinging and flipping the entire row of seedlings

technical field

The invention belongs to the field of agricultural machinery, and in particular relates to a device and method for picking seedlings in a row by swinging and flipping.

Background technique

As the main equipment in the mechanization of vegetable planting, automatic transplanting equipment is a new equipment developed internationally in the past fifteen years. At present, mechanical and robotic transplanting equipment have been developed. For example, Italy's Ferrari fully automatic vegetable transplanting machine adopts hard foam plugs for seedling cultivation. The whole machine is driven by air and liquid, which can automatically detect missing seedlings and replenish seedlings.

Domestic research on mechanized transplanting technology for crop seedlings had begun as early as the early 1950s and early 1960s, and various types of semi-automatic transplanting machines have been successfully developed, which require manual picking and feeding of seedlings to the transplanting machine. At present, the automatic transplanting machine is being actively developed. The seedling picking mechanism is the core working part of the automatic transplanting machine. The seedlings fall into the planter so that the planting mechanism can complete the planting operation. A seedling picking system for a pneumatic pot seedling transplanting machine, application number: 201510222748.0, which uses a seedling jacking mechanism and a seedling picking device to complete the picking and placing operation efficiently and quickly. Seedlings are not suitable for the soft plastic plugs commonly used in China, and they are easy to break the plugs. A pneumatic row-by-row seedling picking device for pot seedling transplanting machine, application number: 201510540077.2, uses the swing of the main frame and the movement of one end of the small door frame along the groove to form the required seedling picking track, combined with the control picking and throwing device to achieve seedling picking and Seedling throwing action, the device uses one end to push the seedlings, which has instability, and the use of chutes increases the friction. When picking seedlings, it is easy to damage the seedlings by directly inserting them into the pot body to take the seedlings, without considering the characteristics of the seedlings. When improving the quality of seedling raising and enhancing the packing ability of seedling pots to improve the success rate of seedling taking, large plant seedlings are often cultivated. If the seedlings are taken and transplanted without considering the characteristics of the plants, the seedlings are often injured. For this reason, it is necessary to further develop the seedling picking mechanism, which can not only replace manual seedling picking and releasing, but also clamp seedlings from multiple plugs to improve efficiency. At the same time, the plant characteristics of the seedlings should be considered, especially the plant seedlings of older seedling age. Reduce seedling injury when picking seedlings.

Contents of the invention

The purpose of the present invention is to provide a device and method for swinging and flipping the entire row of seedlings, using the gantry type swing mechanism to drive the entire row of seedling clamping system to approach the seedlings to be transplanted, and the turning mechanism drives the entire row of seedling clamping system to push the seedlings away Plants, the whole row seedling clamping system clamps out the plug seedlings from the holes of the plug trays, and when returning to throw seedlings, the whole row seedling clipping system disperses and releases the plug seedlings according to the requirements of seedling throwing, so as to realize the bending and clamping of the whole row of plug seedlings, effectively Sequential and separate casting can replace manual work to efficiently complete seedling picking and meet the requirements for high-speed transplanting of plug seedlings.

The technical solution of the present invention is: a device for picking seedlings by swinging and flipping the whole row, including a swing mechanism, a turning mechanism, a seedling clamping system for the whole row and a control system;

The swing mechanism is a gantry type, including two mounting supports, two rotating shafts A, two swing rods, two sets of telescopic devices A and a beam plate; the two mounting supports are respectively fixedly connected to the frame, and the beam plate The two ends of the two swing rods are respectively fixedly connected to one end of the two swing rods, and the two swing rods are installed in parallel, and are respectively hinged to the mounting support through the rotating shaft A; the telescopic device A includes a telescopic mechanism A and a connecting plate, the telescopic head of the telescopic mechanism A is connected to The swing rod is hinged, the body tail of the telescopic mechanism A is hinged with the frame through the connecting plate, and the two telescopic mechanisms A push the swing mechanism to swing with the rotating shaft A as the center of rotation;

The turning mechanism is located on the swinging mechanism and includes two turning plates, two rotating shafts C, two sets of telescopic devices B and a mounting plate. The two turning plates are installed in parallel. One end is hinged, the mounting plate is arranged parallel to the beam plate, and the two ends of the mounting plate are respectively fastened to the two flipping plates. The telescopic device B includes a telescopic mechanism B. The tail of the body of B is hinged with the other end of the swing rod, and the two telescopic mechanisms B push the two turning plates to drive the mounting plate to turn over with the rotating shaft C as the center of rotation;

The whole row of seedling clamping system is located on the mounting plate of the turning mechanism, including multiple seedling claws, multiple seedling blocking plates, multiple translation mechanisms, multiple locking plates and two sets of telescopic devices C; The seedling claws are respectively fastened on the translation parts of a plurality of translation mechanisms, and a seedling blocking plate is fixedly installed on the seedling picking side of each seedling claw, and the body parts of multiple translation mechanisms and the installation of the turning mechanism The plates are connected by moving pairs, and are connected in series through multiple locking plates. The telescopic device C includes a rotating shaft F, a telescopic mechanism C and a tailstock. The telescopic head of the telescopic mechanism C is hinged to the body of the outermost translation mechanism through the rotating shaft F On the top, the tail of the telescopic mechanism C is hinged on the mounting plate through the tailstock, and the two telescopic mechanisms C push the translational mechanism to drive the seedling claws to close on the mounting plate to align with the seedling hole and unfold to align with the seedling cup ;

The control system is electrically connected with two telescopic mechanisms A, two telescopic mechanisms B, two telescopic mechanisms C, multiple seedling claws and multiple translational mechanisms respectively.

In the above solution, several slots are arranged in the axial direction on the swing rod;

The telescopic head of the telescopic mechanism A is hinged to the swing rod through the rotating shaft B, and the rotating shaft B is placed in the slot on the swing rod, and the axial position in the slot can be adjusted;

The body tail of the telescopic mechanism B is hinged to the other end of the swing rod through the rotating shaft E, and the rotating shaft E is placed in the slot on the swing rod, and its axial position in the slot can be adjusted.

In the above solution, the quantity of the seedling picking claws, seedling retaining plate, translation mechanism and locking plate of the entire row of seedling clamping system matches the number of the entire row of plug seedlings to be transplanted.

In the above scheme, the locking plate is fixedly connected to the body part of the translation mechanism; except that the two locking plates in the middle are not connected in series, the adjacent locking plates are connected in series through chains, and the two telescopic mechanisms The telescopic head of C pulls the translation mechanisms on both sides to move outwards respectively, and drives the locking plate and the seedling claws to disperse and move to both sides.

In the above solution, the plurality of seedling-picking claws are multi-needle seedling-picking end effectors of the same configuration.

In the above solution, the telescopic mechanism A, telescopic mechanism B and telescopic mechanism C are any one of linear cylinders, hydraulic cylinders or electric telescopic rods.

In the above solution, the translation mechanism is any one of a rodless cylinder, a multi-axis cylinder, and an electric cylinder.

In the above solution, the telescopic head of the telescopic mechanism B is hinged to the other end of the turning plate through the rotating shaft D.

A kind of method according to described swinging overturning whole row seedling picking device, described method comprises the following steps:

Step S1, the control system controls the telescopic mechanism A to stretch out and push the pendulum to the seedling picking point;

Step S2, the control system controls the telescopic mechanism B to retract and pull the flip plate to drive the mounting plate to tilt and flip, so that the seedling picking claws on the mounting plate rely on the seedling blocking plate to push away the seedlings in the plug tray to perform the action of picking seedlings from the bowl;

Step S3, the control system controls the translational mechanism to lift the seedling claws along the direction away from the plug tray, so that the seedling claws take out the plug seedlings to be transplanted from the entire row of holes in the plug tray;

Step S4, the control system controls the telescopic mechanism B to stretch out and push the flip plate to drive the mounting plate to press down and flip, so that the seedling claws on the mounting plate perform the seedling throwing action;

Step S5, the control system controls the telescopic mechanism A to retract and pull the swing rod of the gantry structure to the seedling throwing point;

Step S6, the control system controls the translational mechanism to lower the seedling claws, controls the two telescopic mechanisms C to push a plurality of seedling claws to expand, and then controls the multiple seedling claws to align with the seedling guide tube and other seedling receiving units to throw seedlings upright;

Step S7, repeating steps S1 to S6, the control system controls a plurality of seedling claws to take out the seedlings to be transplanted from the entire row in the hole of the tray, and then unfolds the seedlings in an upright and orderly manner until the required harvesting is completed. seedling work.

Compared with the prior art, the beneficial effects of the present invention are: the present invention provides a device and method for swinging and flipping the whole row of seedlings, which uses the gantry type swing mechanism to drive the whole row of seedling clamping system to approach the plug seedlings to be transplanted , the overturning mechanism drives the entire row of seedling clamping system to push the seedlings away, and the entire row of seedling clamping system clamps out the plug seedlings from the hole of the plug tray. The entire row of seedlings is bent and clamped, released at one time, and distributed in an orderly manner. It has the characteristics of reserve for seedlings, no damage to seedlings when clamping bowls, smooth seedlings for translation, and high efficiency for automatic seedlings and seedlings. The invention has a simple structure, can effectively avoid damage to seedlings and pots, and can be used in high-speed transplanting of plug seedlings.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.

Fig. 2 is a schematic diagram of a swing mechanism according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of an overturn mechanism according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of an entire row seedling clamping system according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of an initial state of taking seedlings according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of the working state of picking seedlings according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of an initial state of throwing seedlings according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of the working state of seedling throwing according to an embodiment of the present invention.

In the figure: 1, mounting support; 2, rotating shaft A; 3, swing rod; 4, rotating shaft B; 5, telescopic mechanism A; 6, connecting plate; 7, beam plate; Mounting plate; 802, seedling retaining plate; 803, rotating shaft F; 804, telescopic mechanism C; 805, tailstock; 806, locking plate; 807, translation mechanism; 808, getting seedling claw; 9, rotating shaft C; Turning plate; 11, rotating shaft D; 12, telescopic mechanism B; 13, rotating shaft E; 14, plug tray; 15, plug seedling; 16, control system.

Detailed ways

In order to have a clearer understanding of the technical features, purposes and effects of the invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals represent the same or similar parts. The accompanying drawings are only used to illustrate the present invention, and do not represent the actual structure and true scale of the present invention.

Fig. 1 shows an embodiment of the device for picking up seedlings in a row by swinging and flipping. The device for picking up seedlings in a row by swinging and flipping includes a swing mechanism, a turning mechanism, a row of seedling clamping system 8 and a control system 16.

Figure 2 is a schematic diagram of the swing mechanism, which is a gantry-type swing mechanism, consisting of two mounting supports 1, two rotating shafts A2, two swing rods 3, two sets of telescopic devices A, and a beam plate 7 The two mounting supports 1 are fixedly connected to the frame, the two ends of the beam plate 7 are fastened to the two swing rods 3, the two swing rods 3 are installed in parallel, and are respectively hinged on the two mounting rods through the two rotating shafts A2. On the support 1, thereby forming a swing mechanism with a gantry structure, two sets of telescopic devices A are respectively connected to two swing rods 3, which are composed of two rotating shafts B4, two telescopic mechanisms A5, and two connecting plates 6, and two telescopic devices A The telescopic head of the mechanism A5 is respectively hinged on the two swing rods 3 through the connection of the two rotating shafts B4, and the rear part of the body is hinged on the frame through the connection of the two connecting plates 6, thereby forming two telescopic mechanisms A5 to push The swing mechanism of the gantry type structure takes the two rotating shafts A2 as the center of rotation to swing to take seedlings and throw seedlings.

Figure 3 is a schematic diagram of the turning mechanism. The turning mechanism is located on the swing mechanism and consists of two turning plates 10, two rotating shafts C9, two sets of telescopic devices B, and a mounting plate 801. The two turning plates 10 Installed in parallel, respectively hinged on the two swing rods 3 of the swing mechanism through the two rotating shafts C9, the mounting plate 801 is arranged in parallel with the beam plate 7 of the swing mechanism, and its two ends are fastened on the two turning plates 10 , two sets of telescopic devices B are respectively connected to two turnover plates 10, and are composed of two rotating shafts D11, two telescopic mechanisms B12, and two rotating shafts E13, and the telescopic heads of the two telescopic mechanisms B12 are respectively Hinged on the two turnover plates 10, the tail of the body is respectively hinged on the two swing rods 3 of the swing mechanism through the connection of the two rotating shafts E13, thereby forming two telescopic mechanisms B12 to push the two turnover plates 10 to drive and install The plate 801 takes the two rotating shafts C9 as the center of rotation to turn over to take seedlings and throw seedlings.

Fig. 4 shows the schematic diagram of the whole row seedling clamping system, the whole row seedling clamping system 8 is located on the mounting plate 801 of the turning mechanism, and consists of a plurality of seedling picking claws 808, a plurality of seedling retaining plates 802, a plurality of The translation mechanism 807, a plurality of locking plates 806, and two sets of telescopic devices C are composed, and the plurality of seedling-taking claws 808 are seedling-taking end effectors of the same configuration, which are respectively fastened to the translation mechanisms of the plurality of translation mechanisms 807. On the parts, a seedling blocking plate 802 is fixedly installed on the seedling picking side of each seedling claw 808, and the body parts of multiple translation mechanisms 807 are connected with the mounting plate 801 of the turning mechanism in the form of a mobile pair, and through multiple The series connection of the locking plates 806 is connected in rows, and the two sets of telescopic devices C are connected in half to the outermost translation mechanism 807, which is composed of two rotating shafts F803, two telescopic mechanisms C804, and two tailstocks 805. The telescopic head of the mechanism C804 is respectively hinged on the body of the outermost translation mechanism 807 through the connection of two rotating shafts F803, and the tail of the body is hinged on the mounting plate 801 of the turning mechanism through the connection of two tailstocks 805 , so as to form two telescopic mechanisms C804 to push multiple translational mechanisms 807 to drive multiple seedling claws 808 to close up on the mounting plate 801 of the turning mechanism to align with the seedling holes for seedling retrieval and unfold to align with the seedling mouth cup for throwing. Seedling.

Described control system 16 controls link with two telescopic mechanisms A5, two telescopic mechanisms B12, two telescopic mechanisms C804, a plurality of seedling claws 808, and a plurality of translation mechanisms 807 respectively; The work of rowing and picking seedlings requires controlling the two telescopic mechanisms A5 to push the swinging mechanism to swing with the rotating shaft A2 as the center of rotation, and controlling the two telescopic mechanisms B12 to push the two flipping plates 10 to drive the mounting plate 801 to turn over with the rotating shaft C9 as the center of rotation. The telescopic mechanism C804 pushes the translational mechanism 807 to drive the seedling claws 808 to close up on the mounting plate 801 to align with the seedling hole holes and expand to align with the seedling mouth cups to control multiple seedling claws 808 to take seedlings from the holes and bowls, and to control multiple seedlings. A translation mechanism 807 drives a plurality of seedling-taking claws 808 to extract the seedlings 15 of the plugs in a row from the holes of the plugs 14.

The swing rod 3 is provided with several slots in the axial direction; the telescopic head of the telescopic mechanism A5 is hinged with the swing rod 3 through the rotating shaft B4, and the rotating shaft B4 is placed in the slot on the swing rod 3 and can be adjusted in The axial position in the slot; the body tail of the telescopic mechanism B12 is hinged with the other end of the swing rod 3 through the rotating shaft E13, and the rotating shaft E13 is placed in the slot on the swing rod 3 and can be adjusted in the axial direction in the slot. Location. By adjusting the telescopic mechanism A5 of the swing mechanism, the hinged position and the telescopic stroke of the telescopic mechanism B12 of the turning mechanism on the fork 3, different swings can be formed to turn over and take seedlings and throw seedling tracks, thereby adapting to different postures for taking seedlings and Seedling requirements.

The multiple seedling claws 808, multiple seedling retaining plates 802, multiple translation mechanisms 807, and multiple locking plates 806 of the entire row seedling clamping system 8 match the entire row of 15 plug seedlings to be transplanted in quantity. Seedling needs.

By combining the movement of the two mechanisms of the swing mechanism and the overturn mechanism, the whole row of seedling clamping system 8 can be used to take seedlings perpendicular to the tray 14 and throw seedlings upright.

The two telescopic mechanisms C804 of the entire row of seedling clamping system 8 promote a plurality of translational mechanisms 807 to drive a plurality of seedling claws 808 to realize closing and erecting seedlings from the hole tray 14, so as to Make up for the difference between the seedling picking interval and the seedling throwing interval.

When taking seedlings, the seedling blocking plate 802 can be bent to bend the plug seedlings 15 to be transplanted by adjusting the movement sequence of the two mechanisms of the swing mechanism and the turning mechanism, so as to avoid injury to the seedlings when taking seedlings.

The locking plate 806 is fixedly connected to the body part of the translation mechanism 807; except that the two locking plates 806 in the middle are not connected in series, the adjacent locking plates 806 are connected in series through a chain, and the two telescopic mechanisms The telescopic head of C804 pulls the translation mechanism 807 on both sides to move outwards respectively, and drives the locking plate 806 and the seedling claw 808 to move to both sides. The series effect of a plurality of locking plates 806 on a plurality of seedling-taking claws 808 is to make a plurality of seedling-taking claws 808 aim at holes when getting seedlings, and align seedling receiving units such as seedling guide tubes when throwing seedlings.

The seedling claws 808 of the entire row of seedling clamping system 8 have the function of picking seedlings from the bowl, and are driven by the translation mechanism 807 to take out the seedlings 15 to be transplanted from the holes of the tray 14 .

The telescopic mechanism A5 of the swing mechanism, the telescopic mechanism B12 of the overturning mechanism, and the telescopic mechanism C804 of the entire row seedling clamping system 8 are any one of linear cylinders, hydraulic cylinders, and electric telescopic rods, and can also be other linear cylinders. The telescopic movement unit, the translation mechanism 807 of the entire row seedling clamping system 8 is any one of a rodless cylinder, a multi-axis cylinder, and an electric cylinder, and can also be other linear translation movement units.

The present invention also provides a method for taking seedlings in a row by swinging and flipping, and Fig. 5 to Fig. 8 are schematic diagrams of taking seedlings in a row by swinging and flipping; Take the seedlings and move the seedlings as an example to illustrate. According to the 128-hole hole plate seedling 8×16 cultivation pattern, arrange 8 seedling claws 808 to take seedlings at equal intervals, and take a complete row of 16 seedlings in two times, and configure corresponding seedling blocking boards 802, translational mechanism 807, locking plate 806, so a method of swinging and flipping the entire row of seedlings to take seedlings and translate to throw seedlings, comprising the following steps:

Step S1, as shown in Figure 5, the control system 16 controls the telescopic mechanism A5 to stretch out the swing rod 3 of the gantry-type structure to the seedling picking point;

Step S2, as shown in Figure 6, the control system 16 controls the telescopic mechanism B12 to retract and pull the turning plate 10 to drive the mounting plate 801 to tilt and flip, so that the seedling picking claws 808 on the mounting plate 801 rely on the seedling blocking plate 802 to push the hole Pan seedling 15 performs the action of clamping the bowl to get the seedlings;

Step S3, the control system 16 controls the translation mechanism 807 to lift the seedling picking claw 808 along the direction away from the plug tray 14, so that the seedling picking claw 808 clamps and takes out the plug seedling 15 to be transplanted from the hole of the plug tray 14;

Step S4, as shown in Figure 7, the control system 16 controls the telescopic mechanism B12 to stretch out and push the flip plate 10 to drive the mounting plate 801 to press down and flip, so that the seedling picking claw 808 on the mounting plate 801 performs the seedling throwing action;

Step S5, the control system 16 controls the telescopic mechanism A5 to retract and pull the pendulum 3 of the gantry structure to the seedling throwing point;

Step S6, as shown in Figure 8, the control system 16 controls the translation mechanism 807 to lower the seedling claws 808, controls the two telescopic mechanisms C804 to push a plurality of seedling claws 808 to expand, and then controls the multiple seedling claws 808 to align The seedling receiving unit such as the seedling guide tube is upright and orderly throwing seedlings;

Step S7, repeating steps S1 to S6, the control system 16 controls a plurality of seedling claws 808 to clamp and remove the seedlings 15 to be transplanted from the holes of the hole tray 14, and then unfold the seedlings in an upright and orderly manner until Complete the required seedling work.

It should be understood that although this description is described according to various embodiments, not each embodiment only includes an independent technical solution, and this description of the description is only for clarity, and those skilled in the art should take the description as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions for feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiment or All changes should be included within the protection scope of the present invention.

Claims (9)

1. The swing overturning whole row seedling taking device is characterized by comprising a swing mechanism, an overturning mechanism, a whole row seedling clamping system (8) and a control system (16);

the swing mechanism is a portal frame and comprises two mounting supports (1), two rotating shafts A (2), two swing rods (3), two sets of telescopic devices A and a beam plate (7); the two mounting supports (1) are respectively and fixedly connected to the frame, two ends of the beam plate (7) are respectively and fixedly connected with one ends of the two swing rods (3), the two swing rods (3) are arranged in parallel, and are respectively hinged with the mounting supports (1) through the rotating shaft A (2); the telescopic device A comprises a telescopic mechanism A (5) and a connecting plate (6), the telescopic head of the telescopic mechanism A (5) is hinged with the swing rod (3), the tail of the machine body of the telescopic mechanism A (5) is hinged with the machine frame through the connecting plate (6), and the two telescopic mechanisms A (5) push the swing mechanism to swing by taking the rotating shaft A (2) as a rotation center;

the turnover mechanism is positioned on the swing mechanism and comprises two turnover plates (10), two rotating shafts C (9), two sets of telescopic devices B and a mounting plate (801), wherein the two turnover plates (10) are installed in parallel, one end of each turnover plate (10) is hinged with one end of each swing rod (3) through each rotating shaft C (9), the mounting plate (801) is arranged in parallel with the cross beam plate (7), two ends of each mounting plate (801) are respectively fastened on the two turnover plates (10), each telescopic device B comprises a telescopic mechanism B (12), the telescopic head of each telescopic mechanism B (12) is hinged with the other end of the corresponding turnover plate (10), the tail of a machine body of each telescopic mechanism B (12) is hinged with the other end of each swing rod (3), and the two telescopic mechanisms B (12) push the two turnover plates (10) to drive the mounting plate (801) to overturn by taking the corresponding rotating shafts C (9) as rotation centers;

the whole row of seedling clamping systems (8) are positioned on a mounting plate (801) of the turnover mechanism and comprise a plurality of seedling taking claws (808), a plurality of seedling blocking plates (802), a plurality of translation mechanisms (807), a plurality of locking plates (806) and two sets of telescopic devices C; the seedling taking claws (808) are respectively fastened on the translation parts of the plurality of translation mechanisms (807), a seedling blocking plate (802) is fixedly arranged on the seedling taking side surface of each seedling taking claw (808), the machine body parts of the plurality of translation mechanisms (807) are connected with the mounting plate (801) of the turnover mechanism in a moving pair, the seedling taking claws are connected in series by the plurality of locking plates (806) in a row, the telescopic device C comprises a rotating shaft F (803), a telescopic mechanism C (804) and a tail seat (805), the telescopic head part of the telescopic mechanism C (804) is hinged on the machine body of the outermost translation mechanism (807) through the rotating shaft F (803), the machine body tail part of the telescopic mechanism C (804) is hinged on the mounting plate (801) through the tail seat (805), and the two telescopic mechanisms C (804) push the translation mechanisms (807) to drive the seedling taking claws (808) to fold on the mounting plate (801) to align with seedling taking holes and spread to align with seedling receiving cups;

the control system (16) is electrically connected with the two telescopic mechanisms A (5), the two telescopic mechanisms B (12), the two telescopic mechanisms C (804), the plurality of seedling taking claws (808) and the plurality of translation mechanisms (807) respectively.

2. The swing overturning whole row seedling taking device according to claim 1, wherein a plurality of grooves are formed in the swing rod (3) along the axial direction;

the telescopic head of the telescopic mechanism A (5) is hinged with the swing rod (3) through a rotating shaft B (4), and the rotating shaft B (4) is placed in a groove on the swing rod (3) and can adjust the axial position in the groove;

the tail of the telescopic mechanism B (12) is hinged with the other end of the swinging rod (3) through a rotating shaft E (13), and the rotating shaft E (13) is placed in a groove on the swinging rod (3) and can adjust the axial position in the groove.

3. The swing and turnover whole row seedling taking device according to claim 1, wherein the seedling taking claws (808), the stoppers Miao Ban (802), the translation mechanisms (807) and the locking plates (806) of the whole row seedling clamping system (8) are matched with the whole row of plug seedlings (15) to be transplanted in number.

4. The swing overturning whole row seedling taking device according to claim 1, wherein the locking plate (806) is fixedly connected with a body part of the translation mechanism (807); except that the two locking plates (806) in the middle are not connected in series, the adjacent locking plates (806) are connected in series through a chain, and the telescopic heads of the two telescopic mechanisms C (804) respectively pull the translation mechanisms (807) on two sides to move outwards so as to drive the locking plates (806) and the seedling taking claws (808) to move towards two sides in a dispersed manner.

5. The swing-over entire row seedling taking device according to claim 1, wherein a plurality of the seedling taking claws (808) are multi-needle clamping-pot seedling taking end effectors of the same configuration.

6. The swing overturning whole row seedling taking device according to claim 1, wherein the telescopic mechanism A (5), the telescopic mechanism B (12) and the telescopic mechanism C (804) are any one of a linear cylinder, a hydraulic cylinder or an electric telescopic rod.

7. The swing overturning whole row seedling taking device according to claim 1, wherein the translation mechanism (807) is any one of a rodless cylinder, a multi-shaft cylinder and an electric cylinder.

8. The swing overturning whole row seedling taking device according to claim 1, wherein the telescopic head of the telescopic mechanism B (12) is hinged with the other end of the overturning plate (10) through a rotating shaft D (11).

9. A method of swinging and turning a whole row of seedling picking devices as claimed in claim 1, characterized in that the method comprises the steps of:

s1, the control system (16) controls the telescopic mechanism A (5) to extend out to push the swing rod (3) to a seedling taking point;

s2, the control system (16) controls the telescopic mechanism B (12) to retract and pull the turnover plate (10) to drive the mounting plate (801) to tilt and turn over, so that the seedling taking claw (808) on the mounting plate (801) pushes away the plug seedlings (15) by means of the baffle Miao Ban (802) to perform the bowl clamping and seedling taking action;

s3, the control system (16) controls the translation mechanism (807) to lift the seedling taking claw (808) along the direction deviating from the plug (14), so that the seedling taking claw (808) takes out plug seedlings (15) to be transplanted from the whole row of clamps in the holes of the plug (14);

s4, the control system (16) controls the telescopic mechanism B (12) to extend out to push the turnover plate (10) to drive the mounting plate (801) to press down and turn over, so that the seedling picking claw (808) on the mounting plate (801) executes seedling throwing action;

s5, the control system (16) controls the telescopic mechanism A (5) to retract and pull the swing rod (3) with the portal structure to the seedling throwing point;

s6, the control system (16) controls the translation mechanism (807) to lower the seedling taking claws (808), controls the two telescopic mechanisms C (804) to push the plurality of seedling taking claws (808) to spread, and then controls the plurality of seedling taking claws (808) to vertically and orderly throw seedlings to the seedling receiving units such as the seedling guiding barrel;

and S7, repeating the steps S1 to S6, wherein the control system (16) controls the plurality of seedling taking claws (808) to take out the plug seedlings (15) to be transplanted from the whole row of clips in the holes of the plug (14), and then expanding the seedlings to be thrown vertically and orderly until the seedling taking work is completed.

Images