CN115606493A

CN115606493A - Transplanting device and transplanting equipment

Info

Publication number: CN115606493A
Application number: CN202211014765.1A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Suzhou Xinnongyi Technology Co ltd
Current assignee: Suzhou Xinnongyi Technology Co ltd
Priority date: 2022-08-23
Filing date: 2022-08-23
Publication date: 2023-01-17
Also published as: WO2024040675A1

Abstract

The invention provides a transplanting device and transplanting equipment, relates to the technical field of soilless culture, and is designed for solving the problem of low labor efficiency in the existing transplanting process. Transplanting device is arranged in transplanting the seedling to the field planting board, and the field planting board is equipped with the field planting hole that runs through along the thickness direction, and transplanting device includes seedling centre gripping release mechanism and a elevating system, and seedling centre gripping release mechanism installs at an elevating system, and seedling centre gripping release mechanism is used for passing the field planting hole centre gripping and releasing the seedling from the below of seedling. The transplanting device provided by the invention can improve the labor efficiency in the transplanting process.

Description

Transplanting device and transplanting equipment

Technical Field

The invention relates to the technical field of soilless culture, in particular to a transplanting device and transplanting equipment.

Background

Soilless culture, including hydroponic culture and aerosol culture. The water culture is a novel soilless culture mode of plants, namely nutrient solution culture, and the core of the water culture is that the root systems of the plants are directly soaked in nutrient solution, and the nutrient solution can replace soil and provide growth factors such as water, nutrients, oxygen and the like for the plants so that the plants can normally grow. Generally speaking, in the process of water planting, crops need to be fixed on a planting plate, so that root systems and the like of the crops are soaked in a culture solution. However, the manual insertion method is mainly adopted in the prior art, the manual insertion method is low in efficiency, and errors are easy to occur along with long-time labor.

Disclosure of Invention

The invention aims to provide a transplanting device, which solves the technical problem that the labor efficiency is low in the existing transplanting process.

The transplanting device provided by the invention is used for transplanting seedlings into a planting plate, the planting plate is provided with a planting hole penetrating along the thickness direction, the seedlings comprise seedling bodies and a substrate connected to the bottoms of the seedling bodies, the transplanting device comprises a seedling clamping and releasing mechanism and a first lifting mechanism, the seedling clamping and releasing mechanism is installed on the first lifting mechanism, and the seedling clamping and releasing mechanism is used for penetrating through the planting hole from the lower side of the seedlings and clamping and releasing the seedlings.

The transplanting device has the beneficial effects that:

pass field planting hole centre gripping seedling through setting up seedling centre gripping release mechanism from the below of seedling to drive by a elevating system and descend, can remove the seedling to field planting hole department, and release the seedling, can realize automatic operation, need not the manual work and add the seedling one by one to field planting hole, very big improvement labor efficiency, can reduce the error because of artifical long-term work probably produces moreover. In addition, the damage caused by inserting the seedlings into the planting holes from the top by other existing mechanical equipment can be reduced. Because, in general, the position where the seedling gripping and releasing mechanism grips and releases is located very largely on the substrate portion of the seedling, gripping the substrate portion of the seedling does not cause substantial damage to the seedling. Even if a small probability event occurs, the clamping position is not on the substrate part of the seedling, but on the seedling body, the clamping position is just the part of the seedling exposed out of the substrate, and the clamping release mechanism is difficult to completely not contact the substrate of the seedling, so that the acting force can be transmitted through the substrate. Compared with the scheme that seedlings are placed into the planting holes from the top to the bottom in the prior art, the method reduces the damage to the seedlings.

In a preferred technical scheme, the seedling includes seedling body and the matrix of connection in seedling body bottom, seedling centre gripping release mechanism indicates and the clamping jaw indicates drive assembly including the clamping jaw that sets up in groups, sets up in groups the relative angle between the clamping jaw indicates can change, the clamping jaw indicates that drive assembly is used for driving in groups the free end that the clamping jaw indicates is close to each other or is kept away from.

Among the preferred technical scheme, the clamping jaw indicates drive assembly and includes that the clamping jaw indicates mount pad, clamping jaw driving piece and clamping jaw drive power supply, in groups the bottom that the clamping jaw indicates connect in the clamping jaw indicates the mount pad just the surface that the clamping jaw indicates becomes the uncovered form of upwards opening, the clamping jaw indicate the mount pad with clamping jaw drive power supply transmission is connected, the clamping jaw driving piece for the clamping jaw indicates the mount pad activity to set up, the clamping jaw driving piece is used for following the below butt and compresses tightly the lateral surface that the clamping jaw indicates.

In a preferred technical scheme, the clamping jaw fingers are elastic clamping jaw fingers, and the size of the upper opening of each elastic clamping jaw finger in a natural state is larger than that of the upper opening of each elastic clamping jaw finger when the elastic clamping jaw fingers are abutted by the clamping jaw driving piece; and/or the clamping jaw finger mounting seat is rod-shaped, and the elastic clamping jaw finger is mounted at the top of the clamping jaw finger mounting seat; the clamping jaw driving piece is tubular and is sleeved on the outer side of the clamping jaw finger mounting seat; and/or the free ends of the clamping jaw fingers are provided with clamping jaw tips which can be inserted into the substrate.

In the preferred technical scheme, the first lifting mechanism comprises a lifting driving assembly, a lifting transmission assembly and a clamping jaw base, the lifting driving assembly is connected with the clamping jaw base through the lifting transmission assembly, and the seedling clamping and releasing mechanism is installed on the clamping jaw base.

In an optimized technical scheme, the clamping jaw driving piece and the mounting end of the clamping jaw driving power source are fixedly mounted on the clamping jaw base, the power output end of the clamping jaw driving power source is provided with a clamping jaw linkage piece, and the clamping jaw linkage piece is fixedly mounted on the clamping jaw finger mounting base.

Among the preferred technical scheme, transplanting device still includes the seedling support, the seedling support has bottom suspension fagging and collateral branch fagging, the bottom edge of collateral branch fagging with the bottom suspension fagging is connected, the bottom suspension fagging with the position that the plant setting hole corresponds has been seted up first breach of stepping down, the first width of stepping down the breach with the width of seedling suits, the lower part of collateral branch fagging with the second breach of stepping down has still been seted up to the first position that corresponds of the breach of stepping down, the second width more than or equal to of the breach of stepping down is used for a centre gripping seedling the width that the clamping jaw indicates.

In the preferred technical scheme, transplanting device still includes seedling translation mechanism, seedling translation mechanism includes that the seedling stirs subassembly and seedling translation subassembly, seedling translation subassembly includes the translation power supply, the seedling stir the unit mount in the power take off end of seedling translation subassembly, the seedling stir the subassembly include the seedling stir power spare and with the first insert that the power spare is connected is stirred to the seedling, the insertion of first insert the direction of matrix with the power take off direction of seedling translation subassembly becomes the contained angle setting.

Among the preferred technical scheme, transplanting device still includes first seedling stop gear, first seedling stop gear includes the spacing power part of first seedling, the spacing power part of first seedling is connected with the transmission of second insert, the flexible direction of second insert with the seedling quilt the direction that seedling centre gripping release mechanism drove is the contained angle setting.

The second purpose of the invention is to provide a transplanting device, which solves the technical problem of low labor efficiency in the existing transplanting process.

The transplanting equipment provided by the invention comprises the transplanting device.

By arranging the transplanting device in the transplanting equipment, the transplanting equipment has all the advantages of the transplanting device, and the description is omitted.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the background art of the present invention, the drawings used in the description of the embodiments or the background art will be briefly described below, it is obvious that the drawings in the description below are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a transplanting device according to a first embodiment of the present invention;

fig. 2 is a left side view of a transplanting device according to a first embodiment of the present invention;

fig. 3 is a cross-sectional view of a transplanting device at a clamping jaw finger in the embodiment provided by the invention;

fig. 4 is a top view of a transplanting device according to an embodiment of the present invention;

fig. 5 is a schematic structural view of the transplanting device provided by the first embodiment of the present invention, as viewed from the front right bottom.

Description of reference numerals:

100-a seedling clamping release mechanism; 110-jaw fingers; 111-paw tip; 120-gripper finger drive assembly; 121-gripper finger mount; 122-a jaw drive; 123-a jaw drive power source; 124-jaw linkage;

200-a first lifting mechanism; 210-a lift drive assembly; 211-lifting drive motor; 212-a lift motor support; 220-a lifting transmission assembly; 221-lifting coupling; 222-lifting the transmission shaft; 223-lifting gear; 224-lifting rack; 225-linear guide sleeves; 226-lifting guide post; 227-a jaw base; 228-lifting the bearing block;

300-seedling support; 310-a lower support plate; 311-a first yield gap; 320-side support plate; 321-a second abduction gap; 322-a limiting hole; 330-upper supporting plate;

400-seedling translation mechanism; 410-a seedling translation assembly; 420-seedling plucking assembly; 421-a first insert; 422-seedling poking power piece; 423-first toggle connecting plate; 424-a second toggle link plate;

500-a first seedling limiting mechanism; 510-a first seedling limiting power part; 520-a second insert; 530-limit connecting plates; 540-limit guide rod; 550-a limiting slide seat; 560-Limit assistance plate;

601-a frame;

990-seedling; 999-seedling noumenon; 998-a substrate; 980-planting plates; 981-planting holes.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

The first embodiment is as follows:

fig. 1 is a schematic structural diagram of a transplanting device according to a first embodiment of the present invention; fig. 2 is a left side view of a transplanting device according to a first embodiment of the present invention. As shown in fig. 1-fig. 2, the first embodiment provides a transplanting device for transplanting seedlings 990 into a planting plate 980, the planting plate 980 is provided with a planting hole 981 penetrating through the planting plate 980 in the thickness direction, the seedlings 990 comprises a seedling body 999 and a substrate 998 connected to the bottom of the seedling body 999, the transplanting device comprises a seedling clamping release mechanism 100 and a first lifting mechanism 200, the seedling clamping release mechanism 100 is installed on the first lifting mechanism 200, and the seedling clamping release mechanism 100 is used for passing through the planting hole 981 from the lower side of the seedlings 990 and clamping and releasing the seedlings 990.

In this embodiment, the seedlings 990 may be seedlings 990 of any hydroponic crops such as leafy vegetables, flowers, chinese herbal medicines, fruits and vegetables, or seedlings 990 of crops that need to be transplanted into soil through the planting plates 980 when planted in soil. In the drawings of the present application, the upper portion is in the shape of a cup body of a goblet, and the lower portion is a cubic object, namely, a seedling 990. Since the shapes of the seedling bodies 999 are various and difficult to be visually represented, the cup body shape of the goblet is drawn as an indication. Considering the convenience of manufacture, the substrate 998 may be in the shape of a cube, and the material may be sponge or flower mud, etc. The cube may be formed by cross-cutting a large area of substrate 998, such as rectangular, circular, or other irregular shape.

In addition, the field planting plate 980 can be a rigid plate such as a rectangle, and can also be a flexible roll film which is rolled and released, and the flexible roll film is made of pearl cotton. The flexible rolling film is flexible, and can be folded and unfolded smoothly, and the rigidity of the water planting crops can be planted smoothly after the flexible rolling film is unfolded. In further implementations, the flexible roll film may also be a black and white film, a rubber tape, or the like.

The planting holes 981 on the planting plate 980 can be distributed in a matrix. When the seedling 990 is fixed in the planting hole 981, the substrate 998 of the seedling 990 is pressed by the planting hole 981, and the substrate 998 is fixed by the friction force generated by the pressure, so that the size of the planting hole 981 in a certain direction is equal to or slightly smaller than the size of the substrate 998 in the direction. Due to the need to grip and release the seedling 990, the size of the planting hole 981 in a certain direction needs to be significantly larger than the size of the substrate 998 in that direction in order to provide sufficient play for gripping the release mechanism 100 by the seedling 990. The shape of the planting hole 981 can be an elliptical hole, a kidney-shaped hole or a rectangular hole. The direction of the long axis of the oval hole and the waist-shaped hole or the long side of the rectangular hole is the opening direction of the seedling clamping and releasing mechanism 100.

Pass field planting hole 981 centre gripping seedling 990 from the below of seedling 990 through setting up seedling centre gripping release mechanism 100 to drive the decline by first elevating system 200, can remove seedling 990 to field planting hole 981 department, and release seedling 990, can realize automatic operation, need not the manual work and add seedling 990 in to the field planting hole one by one, very big improvement labor efficiency, and can reduce the error because of the artifical long-term labor probably produces. In addition, the hazards associated with other existing mechanized equipment for inserting the seedling 990 into the planting hole 981 from above are reduced. Because, in general, the location at which the seedling gripping and releasing mechanism 100 grips and releases is very likely to be located on the substrate 998 portion of the seedling 990 gripping the substrate 998 portion of the seedling 990, there is no substantial damage to the seedling 990. Even if a small probability occurs, the clamping position is not on the substrate 998 part of the seedling 990 but on the seedling body 999, the clamping position is just the part of the seedling exposed out of the substrate 998, and the clamping release mechanism is difficult to completely not contact the substrate 998 of the seedling 990, so the force is still transmitted through the substrate 998. Compared with the prior art, the seedling 990 is prevented from being damaged by the scheme that the seedling 990 is placed into the planting hole 981 from the top downwards.

Fig. 3 is a cross-sectional view of a transplanting apparatus provided in accordance with one embodiment of the present invention at a finger of a grip jaw, wherein a region in the vicinity of the finger of the grip jaw is partially enlarged; fig. 4 is a top view of a transplanting device provided by the first embodiment of the present invention, wherein the area of one jaw finger is partially enlarged; as shown in fig. 1-4, preferably, the seedling gripping and releasing mechanism 100 comprises a set of arranged gripping fingers 110 and a gripping finger driving assembly 120, the relative angle between the set of arranged gripping fingers 110 can be changed, the free ends of the gripping fingers 110 are provided with gripping tips 111 that can be inserted into the substrate 998, and the gripping finger driving assembly 120 is used for driving the gripping tips 111 of the set of gripping fingers 110 to approach each other and to be inserted into the substrate 998.

Specifically, in the present embodiment, the finger 110 is substantially V-shaped and is open upward, and the tip 111 of the finger 110 is bent toward the open area, thereby facilitating insertion of the finger 110 into the substrate 998 when the finger is closed.

With the tips 111 inserted into the substrate 998, the tips 111 can be used to extend into the solid portion of the substrate 998 to provide a greater force to overcome the friction between the implantation hole 981 and the substrate 998, and to move the substrate 998 downward for insertion into the implantation hole 981. And the jaw fingers 110 may be disengaged from the substrate 998 by pulling the jaw tips 111 from the substrate 998. Moreover, the angles between the clamping jaw fingers 110 arranged in groups can be changed, the use of parts such as guide rails and the like can be reduced, and in the occasion of water content of water-cultured crops, the humidity is high, and the translational parts such as the guide rails and the like are easy to rust to cause action failure.

In another implementation, the substrate 998 may be held from both sides of the substrate 998 by non-insertion means, and the substrate 998 may be frictionally driven into the implantation hole 981. The bottoms of the clamping jaws arranged in pairs can be pivoted, the combination of the attraction type electromagnet and the compression spring is arranged at the middle part or the middle lower part, the attraction type electromagnet is arranged on one clamping jaw finger 110, and the two ends of the compression spring can be respectively abutted against the clamping jaw finger 110. The electromagnet is energized to attract the other finger 110, thereby clamping the substrate 998. And the electromagnet is de-energized, the compression spring releases the spring force, and the two jaw fingers 110 open, releasing the substrate 998. Alternatively, a combination of an electromagnet extending out of the piston rod and an extension spring may be used, the electromagnet being energized and the piston rod retracted, the extension spring drawing the two gripper fingers 110 together and the tips 111 of the two gripper fingers 110 gripping the substrate 998. The electromagnet is de-energized and the piston rod is ejected against the spring force of the extension spring, causing the two jaw fingers 110 to open. Of course, the above-described structure may also be applied to the scheme of inserting the substrate 998.

Fig. 5 is a schematic structural view of a transplanting device according to an embodiment of the present invention, as viewed from the front and the right below; as shown in fig. 2, 3 and 5, preferably, the jaw finger driving assembly 120 includes a jaw finger mounting seat 121, a jaw driving member 122 and a jaw driving power source 123, the bottom of the group of jaw fingers is connected to the jaw finger mounting seat 121, the outer surface of the jaw finger 110 is in an open shape that is open upward, the jaw finger mounting seat 121 is in transmission connection with the jaw driving power source 123, the jaw driving member 122 is movably disposed relative to the jaw finger mounting seat 121, and the jaw driving member 122 is configured to abut against and press the outer side surface of the jaw finger 110 from below.

By providing the jaw driving power source 123 to drive the jaw finger mounting seat 121 to move relatively, the jaw driving member 122 can be brought into contact with the outer surface of the jaw finger 110 in an open shape opened upward and abut against the jaw finger 110, so that the jaw fingers 110 are brought close to each other, thereby clamping the substrate 998 or driving the jaw tip 111 of the jaw finger 110 to be inserted into the substrate 998. By adopting the driving mode, the clamping jaw finger mounting seat 121 and the clamping jaw driving piece 122 are driven to move relatively, so that the angle of the clamping jaw finger 110 can be driven to change, the clamping jaw driving power source 123 is convenient to move out of the movable area of the clamping jaw finger 110, each clamping jaw finger 110 is not required to be driven respectively, the complexity of the system is reduced, the manufacturing cost can be reduced, the maintenance is convenient, and the common driving of a plurality of clamping jaw fingers 110 is facilitated.

As shown in fig. 3, the jaw fingers 110 are preferably elastic jaw fingers, and the top opening size of the elastic jaw fingers in a natural state is larger than the top opening size of the elastic jaw fingers when being abutted by the jaw driving member 122; the clamping jaw finger mounting seat 121 is rod-shaped, and the elastic clamping jaw finger is mounted at the top of the clamping jaw finger mounting seat 121; the clamping jaw driving member 122 is tubular and sleeved outside the clamping jaw finger mounting seat 121.

Specifically, in the present embodiment, the set of jaw fingers 110 is a resilient jaw finger as described below. In the natural state, the elastic jaw finger is substantially V-shaped with an upward opening, the tip 111 of the jaw finger is bent toward the opening region, and if the elastic jaw finger is not abutted by the jaw driving member 122 below the elastic jaw finger, the opening angle is large. If the outer side of the resilient jaw fingers are abutted by the jaw driver 122 and pressed against the resilient jaw fingers' own resilience, the opening angle of the V-shape is reduced, thereby facilitating insertion of the jaw fingers 110 into the substrate 998 when they are closed. In another implementation, for a seedling 990 or a substrate 998, two parallel resilient clamping fingers are provided to clamp the substrate 998 from both sides of a substrate 998.

The bottom of each resilient jaw finger is provided with an upwardly open U-shaped portion. The top of the rod-shaped clamping jaw finger installation seat 121 is provided with a horizontal limiting shaft, a gap exists between the limiting shaft and the rest part of the clamping jaw finger installation seat 121, and the U-shaped part of the elastic clamping jaw finger is located in the gap. The middle of the clamping jaw finger mounting seat 121 can be provided with a through hole which is communicated up and down to accommodate the root or stem of the seedling body 999 which extends downwards out of the substrate 998.

In the present embodiment, the jaw driving member 122 is in a rectangular tube shape, or a hollow cylinder shape, and is further provided with a connecting flange at the bottom and fixed to a jaw base 227 to be described later. In fact, in alternative implementations, the jaw drive 122 need only have a rectangular or circular ring, or even a suitably open U, C or door-shaped member, which is secured to the jaw base 227 described below by a post. As long as there are two opposite parts, the middle part of the clamping jaw finger 110 can be abutted, and then the upper parts of the clamping jaw finger 110 are driven to approach each other.

By arranging the elastic clamping jaw fingers, the elastic clamping jaw fingers can move relative to the tubular clamping jaw driving piece 122 sleeved outside the rod-shaped clamping jaw finger mounting seat 121, and when the clamping jaw driving piece 122 is upward relative to the clamping jaw finger mounting seat 121, the elastic clamping jaw fingers can be driven to be closed and clamp the substrate 998. When the jaw driving member 122 moves downward relatively, the elastic jaw fingers can be opened automatically due to the self elasticity of the elastic jaw fingers, and the action is simple and easy to control. Moreover, it is advantageous to control the opening and closing of each elastic jaw finger separately by a plurality of jaw drivers 122, so that the opening and closing of the respective jaw fingers 110 can be controlled collectively.

In another implementation, the jaw fingers 110 may not be elastic, but rather, the jaw fingers 110 may be swingable with the bottoms pivoted to the tops of the jaw finger 110 mounts, and may preferably be provided in pairs, so as to increase the weight of the portions of the jaw fingers 110 located outside the jaw drivers 122, and thus, the lower portions of the jaw fingers 110 may be caught on the upper edges of the jaw drivers 122. The upward the jaw driver 122 is mounted relative to the jaw fingers 110 may be such that the included angle between the two jaw fingers 110 in a pair is smaller to facilitate gripping of the substrate 998.

As shown in fig. 2, 3 and 5, it is preferable that the mounting ends of the jaw driving member 122 and the jaw driving power source 123 are fixedly mounted on the jaw base 227, the power output end of the jaw driving power source 123 is mounted with the jaw link 124, and the jaw link 124 is fixedly mounted with the jaw finger mounting base 121.

Specifically, in this embodiment, the clamping jaw driving power source 123 may be a vertically mounted, output lifting cylinder, and more specifically, a pen-shaped cylinder. Of course, other linear drives, such as a motorized push rod, may be used. In this embodiment, in order to reduce the volume of the related component, the end of the piston rod of the cylinder is connected to a jaw base 227 described later, and for example, a nut may be screwed to a threaded portion of the piston rod of the cylinder, and the nut and a portion of the piston rod of the cylinder to be tightened may be positioned on both sides of the jaw base 227, respectively, to fix the jaw base 227 and the piston rod. Wherein the size of the part for being screwed is larger than that of the threaded part, and a shaft shoulder capable of being supported upwards is formed. As the piston rod of the cylinder extends and retracts relative to the cylinder, the cylinder moves relative to the jaw base 227. In this state, the power output end of the jaw driving power source 123 is not a piston rod in the usual sense of a cylinder driving type, but a cylinder body.

For example, in this embodiment, six planting holes 981 are formed in one row on the planting plate 980, and accordingly, six jaw finger mounting seats 121 can be mounted on the jaw linkage 124 connected to the power output end of the jaw driving power source 123. Specifically, the six jaw finger mounting bases 121 may be disposed at positions of the jaw linkage 124 corresponding to positions of the six implantation holes 981. Wrench flats parallel to the axis and parallel to each other may be provided on the lower portion of the jaw finger mount 121, and the bottom of the jaw finger mount 121 is an external threaded portion which passes through the jaw link 124 in the thickness direction and is fastened by a connecting member (not shown) such as a nut. Furthermore, to improve the ability of the jaw link 124 to carry loads over a longer length, the jaw link 124 may be generally channel-shaped, with the flanges on either side preferably turned down to reduce interference with the wrench gripping flats during threading of the nut with the jaw finger mounts 121.

With the adoption of the arrangement, the power output of the clamping jaw driving power source 123 can be utilized to drive the clamping jaw linkage piece 124 to move, so that the clamping jaw finger mounting seats 121 are driven to move together, the uniformity and the action efficiency of actions are improved, and the time of field planting operation is shortened. And the mounting sections of the jaw drive member 122 and the jaw drive power source 123 are fixedly mounted on the jaw base 227. Therefore, when the clamping jaw finger mounting seat 121 is driven by the clamping jaw linkage 124, the clamping jaw finger mounting seat 121 moves relative to the clamping jaw driving member 122, so that the opening and closing state of the clamping jaw finger 110 can be changed, and the clamping or releasing of the substrate 998 is realized.

Preferably, the first lifting mechanism 200 comprises a lifting driving assembly 210, a lifting transmission assembly 220 and a clamping jaw base 227, the lifting driving assembly 210 is connected with the clamping jaw base 227 through the lifting transmission assembly 220, and the seedling clamping and releasing mechanism 100 is mounted on the clamping jaw base 227.

Specifically, the lifting driving assembly 210 includes a lifting driving motor 211 and a lifting motor bracket 212, the lifting motor bracket 212 may be substantially gantry-shaped, the lifting driving motor 211 is transversely installed on the top of the gantry, and the lifting motor bracket 212 is fixed on the bracket through the installation ear plates and the threaded connection members at both ends. The elevating gear assembly 220 includes an elevating gear shaft 222, an elevating gear 223, and an elevating rack 224. An output shaft of the fixed bracket lifting driving motor 211 penetrates through the lifting motor bracket 212 and is connected with the lifting transmission shaft 222 through the lifting coupling 221, and two ends of the lifting transmission shaft 222 are installed on side plates of the frame 601 through lifting bearing seats 228. The lifting transmission shaft 222 is fixedly connected with a lifting gear 223, the lifting gear 223 is meshed with a lifting rack 224, and the lifting rack 224 is fixedly connected with a clamping jaw base 227. The jaw base 227 is rectangular as viewed from the direction of fig. 2. The upper portion of the jaw base 227 mounts the piston rod of the jaw drive power source 123. In addition, the jaw base 227 is slidably connected to the lift guide 226 through a linear guide 225, the lift guide 226 is mounted on the bottom plate of the frame 601, and the linear guide 225 is fixedly mounted on the upper and lower portions of the jaw base 227.

It should be noted that, in order to facilitate the display of the internal structure, one side plate of the rack 601, which is closer to the viewer in fig. 1, is omitted from fig. 1 and the drawings. Therefore, it is not to be confused that the lifting bearing block 228 to which one end of the lifting drive shaft 222 to be described later is connected is suspended, since the side plate for mounting the lifting bearing block 228 is not shown.

By providing the first lifting mechanism 200 as above, the seedling clamping and releasing mechanism 100 can be driven to lift and lower so as to move to a position where the seedling 990 can be clamped and drive the clamped seedling 990 to be inserted into the planting hole 981. After the operation of inserting a row of seedlings 990 is finished, the seedling clamping and releasing mechanism 100 can be driven to descend, so that the seedling clamping and releasing mechanism 100 is prevented from interfering with the operation of the field planting plate 980.

Of course, in addition to the first lifting mechanism 200 of the rack and pinion type described above, the claw base 227 may be driven to lift by using a ball screw, a lead screw nut, an electric push rod, or the like, or may be lifted by using an air cylinder.

As shown in fig. 1 to 5, preferably, the transplanting device further comprises a seedling support 300, the seedling support 300 has a lower support plate 310 and a side support plate 320, the lower edge of the side support plate 320 is connected to the lower support plate 310, a first abdicating notch 311 is provided at a position of the lower support plate 310 corresponding to the planting hole 981, the width of the first abdicating notch 311 is adapted to the width of the seedling 990, a second abdicating notch 321 is further provided at a position of the lower portion of the side support plate 320 corresponding to the first abdicating notch 311, and the width of the second abdicating notch 321 is greater than or equal to the width of the finger grip 110 for gripping a seedling 990.

The number and positions of the first abdicating notches 311 arranged on the seedling support 300 correspond to the planting holes 981. Moreover, the lower supporting plate 310 is a long rectangle, and the first abdicating notch 311 penetrates through the width direction of the lower supporting plate 310 and is connected with the second abdicating notch 321. And the side support plate 320, which may also be a long rectangle, is provided at one side edge of the lower support plate 310. The second abdicating notch 321 is a notch arranged at the downward opening of the side supporting plate 320, and the height of the upper edge of the second abdicating notch 321 can be positioned at the middle part of the side supporting plate 320 in the height direction as long as it is ensured that the interference with the clamping jaw finger 110 is avoided. And the upper portion of the side support plate 320 may be further connected to an upper support plate 330. And an upper support plate 330 and a lower support plate 310 respectively positioned at both sides of the side support plate 320 in the horizontal direction.

Through setting up first notch 311 and the second notch 321 of stepping down, can be for the clamping jaw finger 110 from the side centre gripping matrix 998 to drive matrix 998 downstream after inserting matrix 998 and provide the space, moreover, the lower bolster 310 of first notch 311 both sides of stepping down can also prevent that the seedling 990 of the seedling 990 both sides of being centre gripping from being taken away because of the effort between the matrix 998, has improved the accuracy of action.

As shown in fig. 1-5, preferably, the transplanting device further comprises a seedling translation mechanism 400, the seedling translation mechanism 400 comprises a seedling toggling assembly 420 and a seedling translation assembly 410, the seedling translation assembly 410 comprises a translation power source, the seedling toggling assembly 420 is mounted at a power output end of the seedling translation assembly 410, the seedling toggling assembly 420 comprises a seedling toggling power member 422 and a first insert 421 connected with the seedling toggling power member 422, and a moving direction of the first insert 421 forms an included angle with a power output direction of the seedling translation assembly 410.

Wherein, the translation power supply can select for use sharp module, and the installation end fixed mounting of sharp module is on an installation pole of frame 601, and the direction of motion of sharp module is seedling translation subassembly 410's power take off direction, and the seedling is stirred power component 422 and is driven the direction that the seedling removed promptly. The power take off end of sharp module can the first connecting plate 423 of stirring of fixed mounting, and the first connecting plate 423 of stirring is a vertical board, and the first connecting plate 423 of stirring sets up along the length direction of a line seedling 990. The first toggle connecting plate 423 is fixedly connected with the second toggle connecting plate 424, the second toggle connecting plate 424 is also a vertical plate, and the extending direction of the second fixed connecting plate is the power output direction of the seedling toggle power element 422. The seedling poking power piece 422 is installed on the second fixed connecting plate. The seedling is stirred power piece 422 and can be chooseed for use the cylinder, and is more specific, can choose for use thin cylinder, and first insert 421 is installed through a fishplate bar to the power take off board of thin cylinder. The first insert 421 may be a pin.

Wherein the moving direction of the first insert member 421 may be in line with the direction of the first insert member 421, and may be arranged at right angles to the power output direction of the seedling translation assembly 410. More specifically, the moving direction of the first insert 421 is horizontally disposed. In other implementations, other angles are possible, such as 60 ° or 75 °. In fact, as long as the direction of the first insert 421 forms an angle with the direction of the movement of the seedling 990, the movement of the seedling 990 can be blocked.

By arranging the seedling translation mechanism 400, the first insert 421 is inserted into the substrate 998 of the seedling 990, and the seedling 990 is stirred to move along the length direction of one row of seedlings 990 under the driving of the seedling translation component 410. Thus, an immediately adjacent row of seedlings 990 may be placed in the seedling support 300, one seedling 990 being grabbed into the planting hole 981, the row of seedlings 990 being moved so that the adjacent seedling 990 is aligned with the planting hole 981 so that the adjacent seedling 990 may also be grabbed into the planting hole 981 the next time. In this way, the number of seedlings placed on the seedling support 300 at a time can be increased without having to be placed in a relative position spaced corresponding to the planting holes 981. So that the transplanting device can be applied to the occasion with closely arranged seedlings 990.

As shown in fig. 1-5, preferably, the transplanting device further comprises a first seedling limiting mechanism 500, the first seedling limiting mechanism 500 comprises a first seedling limiting power element 510, the first seedling limiting power element 510 is in transmission connection with a second insertion element 520, and the extension direction of the second insertion element 520 forms an included angle with the direction of the seedling 990 driven by the seedling clamping and releasing mechanism 100.

Wherein, the spacing power part 510 of first seedling can choose for use linear drive device, for example can choose for use cylinder, sharp module etc. what chooseed for use in this application is electric putter. The mounting end of the first seedling limiting power piece 510 is fixedly arranged, the power output end of the first seedling limiting power piece 510 is provided with a limiting connecting plate 530, and the lower part of the limiting connecting plate 530 is fixedly provided with a second inserting piece 520. In this embodiment, the second insert 520 is horizontally disposed and perpendicular to the length of the row of seedlings 990.

Taking 6 planting holes 981 in one row on the planting plate 980 as an example, in the embodiment, two first seedling limiting power parts 510 are provided, the limiting connection plate 530 connected with each first seedling limiting power part 510 can be in an E-shaped shape rotating 90 degrees clockwise, the bottom of each limiting connection plate 530 is connected with a second insert 520, and the second insert 520 at the bottom of each limiting connection plate 530 can control the substrates 998 beside the three planting holes in total. Specifically, every fourth second insert 520 is provided in a group at the free end of a cross of the E-shape. In addition, the limit connecting plate 530 is further fixedly connected with a limit guide rod 540, the limit guide rod 540 is slidably connected with a limit sliding seat 550, and the limit sliding seat 550 is fixedly arranged.

Correspondingly, the side supporting plate 320 can be provided with a limiting hole 322, when the first seedling limiting power part 510 extends out to drive the second insert 520 to be inserted into the substrate 998 of the seedling 990, the limiting hole 322 can be inserted into the second insert 520, so that when the second insert 520 bears a load, the limiting hole 322 can help the second insert 520 bear the load, and the defect of excessive deformation caused by the fact that the second insert 520 is positioned at the tail end of the cantilever beam structure is avoided.

The operation principle of the embodiment is as follows:

as shown in fig. 1-5, in this embodiment, a row of planting holes 981 of the planting plate 980 includes six planting holes a, B, C \ 8230, 8230and F. And a row of seedlings 990 is provided having 36 seedlings 990. In the figure 1, from near to far, namely from bottom to top as shown in figure 4, the seedlings 990 are No. 1, no. 2 and No. 3 seedlings \8230; no. 36 seedlings in sequence.

When a row of seedlings 990 is placed on the seedling support 300, of which No. 6, no. 12, no. 18 \8230; no. 36 seedlings correspond to the first abduction notch 311 of the seedling support 300. The field planting plate 980 is positioned below the seedling support 300, each first abdicating notch 311 corresponds to a field planting hole 981 of the field planting plate 980 respectively, namely the first abdicating notch A corresponds to the field planting hole A, the first abdicating notch B corresponds to the field planting hole B \8230, and the first abdicating notch F corresponds to the field planting hole F. At this time, the jaw base 227 of the elevating mechanism is in a lower position. And the seedling translation mechanism 400 has 6 first inserts 421, where the 6 first inserts 421 correspond to the substrates 998 of seedlings No. 1, 7, 13 \8230, 31, and the second inserts 520 correspond to the substrates 998 of seedlings No. 5, 11, 17 \8230, 35.

When needs plant seedling 990 to planting hole 981, the slim cylinder that stirs power piece 422 as the seedling stretches out to drive each first plug-in 421 and insert the seedling that each first breach of stepping down corresponds in the seedling of the top that figure 4 shows, when No. 6 seedlings correspond with first breach of stepping down A promptly, insert in the matrix of No. 7 seedlings, when No. 12 seedlings correspond with first breach of stepping down B, insert No. 13 seedlings, so on. And the electric putter who is first spacing power part 510 of seedling drives second plug-in component 520 and inserts the seedling that each first breach of stepping down corresponds in the seedling of the below that is shown in figure 4, and when No. 6 seedlings corresponded with first breach of stepping down A promptly, insert in the matrix 998 of No. 5 seedlings, and when No. 12 seedlings corresponded with first breach of stepping down B, insert No. 11 seedlings, and so on. Due to the fixedly arranged auxiliary limiting plate 560 shown in fig. 3, the second insert 520 will not push the seedling off the lower support plate 310, since the substrate 998 will be pressed against the auxiliary limiting plate 560 when subjected to the force of the second insert 520.

An output shaft of the lifting driving motor 211 drives a lifting transmission shaft 222 to rotate through a lifting coupler 221, and a lifting gear 223 on the lifting transmission shaft 222 rotates to drive a lifting rack 224 and a clamping jaw base 227 to ascend. In this process, the piston rod of the pen-shaped cylinder serving as the jaw driving power source 123 is in a retracted state, and accordingly, the jaw link 124 fixedly connected to the cylinder body is in a higher position. Then, the jaw driver 122 is now in a lower position relative to the jaw finger mount 121. Under the action of the elastic force of the fingers 110, the fingers 110 are in an open state, and the two tips 111 are far away from each other and are not in contact with the substrate 998. Then during the raising of the jaw base 227, the two jaw tips 111 may pass upwardly out of the implantation holes 981 and move to either side of the substrate 998.

Then, the piston rod of the jaw driving power source 123 extends out, and since the piston rod is fixedly connected to the jaw base 227, the cylinder body of the jaw driving power source 123 moves downward at this time, and further the jaw linkage 124 fixedly connected to the cylinder body is driven to move downward, so that the jaw finger mounting base 121 also moves downward. At this time, the jaw driver 122 is mounted on the jaw base 227 and does not move, in other words, the jaw driver 122 moves upward relative to the jaw finger mount 121. Thus, the elastic claw fingers are made to overcome their own elasticity, the opening angle thereof becomes small, and the two claw tips 111 approach each other and are inserted into the substrate 998. One of the claw tips 111 passes through the side support plate 320 from the second abduction notch 321 and penetrates into the substrate 998.

Then, the output shaft of the lifting drive motor 211 rotates in the reverse direction, and drives the lifting gear 223 to rotate in the reverse direction, and drives the lifting rack 224 and the jaw base 227 to descend. Since the second insert 520 and the first insert 421 are inserted into the substrates 998 adjacent to the substrate 998 gripped by the jaw fingers 110, respectively, and the lower support plates 310 on both sides of the first relief notch 311 are supported upward. Two substrates 998 adjacent to the substrate 998 being held are not carried away by a frictional force possibly generated between the substrates 998 and remain in place.

The jaw base 227 continues to descend until the jaw fingers 110 move the substrate 998 into the implantation hole 981. Since at least one of the substrate 998 and the field planting plate 980 is made of a soft material, even if the size of the substrate 998 is larger than the width of the field planting hole 981, the substrate 998 can still enter the field planting hole 981. Generally, the substrate 998 is in a largely deformed state, and the substrate 998 is fixed in the implantation hole 981 by the friction force generated by the elastic force.

The piston of the jaw driving power source 123 retracts, the cylinder body of the jaw driving power source 123 rises, the jaw linkage 124 is driven to move upwards, and the jaw finger mounting seat 121 moves upwards. The jaw actuator 122 now moves downwardly relative to the jaw finger mount 121. Under the action of the elastic force of the claw fingers 110, the opening angle is increased, and the two claw tips 111 are pulled out from the substrate 998. On both sides of the substrate 998 in the longitudinal direction of the implantation hole 981. The jaw base 227 then continues to descend and the jaw fingers 110 are fully withdrawn downwardly from the implantation apertures 981.

At this time, the position of the planting plate 980 can be changed to align the next row of planting holes 981 with the first relief notch 311. At the same time, the first seedling limiting power member 510 first pulls the second insert member 520 out of the substrate 998. Then, the translational power source outputs power, the first insert 421 is used to drive the substrate 998 of the seedling 990 on one side (lower side shown in fig. 4) of each first abdicating notch to move upwards (upward direction shown in fig. 4) by the width of the substrate 998 of one seedling 990, so that the substrate 998 of the seedling adjacent to the seedling below the first abdicating notch 232 shown in fig. 4 corresponds to the first abdicating notch 311 and the planting hole 981, respectively. Then, the first seedling limiting power element 510 drives the second insertion element 520 to insert into the substrate 998 of the adjacent seedling 990 located at one side (lower side in fig. 4) of the first abdicating notch 232 at the time.

That is, in the case where the No. 6 seedling corresponds to the first abduction gap A and the No. 12 seedling corresponds to the first abduction gap B, after the No. 6, no. 12 No. 8230, no. 36 seedlings are grabbed by the claw fingers 510, the six first inserts 421 are respectively moved in the matrix 998 of the No. 1, no. 7 No. 8230, no. 31 seedlings by the widths of the matrix 998 toward the upper side shown in FIG. 4, so that the No. 5, no. 11 No. 8230, no. 823035 seedlings correspond to the first abduction gaps A, B No. 8230, no. 12 seedlings correspond to the first abduction gaps B.

Then, the next process of ascending the clamping jaw base 227, clamping the substrate 998 by the clamping jaw fingers 110, driving the substrate 998 to descend and insert into the planting holes 981, releasing the substrate 998, descending the clamping jaw base 227 again and driving the seedlings 990 to translate is started, and the process is repeated, so that all the seedlings 990 in a row are transplanted into the planting holes 981. That is, the No. 1-No. 6 seedlings are sent into the planting holes A of each row of the planting plate 980 from the first abdicating notch A by the clamping claw fingers 110 in the sequence of No. 6, no. 5, no. 4 \8230; (No. 1): no. 7-No. 12 seedlings are conveyed into the planting holes B of each row of the planting plate 980 from the first abdicating notch B by the clamping claw fingers 110 in turn according to the sequence of No. 12, no. 11 and No. 10 \8230 \ 8230and No. 7, and so on.

Specifically, after the No. 5, no. 11 and No. 17 \8230: \8230, no. 35 seedlings are grabbed away, no. 1-4, no. 7-10 and No. 13-16 \8230 \ 8230, no. 31-34 seedlings are moved to the upper side shown in FIG. 4, and at the moment, no. 4, no. 10 and No. 16 \8230, no. 34 seedlings correspond to the first abdicating gaps A and B \8230, 8230, F corresponds to the first abdicating gaps A and B \8230, and the second insertion piece 820 is inserted into No. 3 and No. 9 \8230, and No. 823033 seedlings are inserted. The clamping jaw fingers 110 are used for clamping No. 4, no. 10 and No. 16 \8230; no. 34 seedlings. And so on.

Note that after seedlings No. 1 and No. 7, no. 8230 \8230; no. 31 correspond to the first abduction notches a, B, no. 8230; \8230; F, respectively, the first insert 421 needs to be pulled out of the matrix 998 after the paw tip is inserted into the matrix 998. So as not to interfere with the first insert 421 as the gripper fingers 110 move the substrate 998 downward.

The transplanting device provided by the first embodiment can be applied to transplanting equipment described below, and can also be used for directly transplanting seedlings 990 into the planting plate 980. For example, on the basis of the transplanting device of this embodiment, a support may be provided to store the rigid planting plate 980, or the seedlings 990 may be transplanted into the planting holes 981 of such a planting plate 980, and after the transplanting of one row of the planting holes 981 is completed, the planting plate 980 may be pushed or moved manually, and the next row of the planting holes 981 is aligned with the first abdicating notch 311.

Example two:

the second embodiment also provides transplanting equipment comprising the transplanting device.

By arranging the transplanting device in the transplanting equipment, the transplanting equipment has all the advantages of the transplanting device, and the detailed description is omitted.

Besides the transplanting device, the transplanting equipment further comprises a seedling supply device adopting belt type conveying, a seedling lifting device for lifting seedlings and enabling one row of seedlings to be located at the initial position, a film rolling driving device for driving the flexible film rolling serving as the planting plate to move and an unwinding device for releasing the flexible film rolling, and the details are omitted.

The second embodiment introduces a transplanting device with the transplanting device, and the transplanting device performs transplanting on the flexible rolled film released by the unwinding device. Indeed, in further implementations, the transplanting device may also transplant seedlings to planting frames having multiple layers of more rigid planting plates. Specifically, the transplanting device can be arranged on a base which can move up and down, left and right, and can be matched with each layer of planting plates on the planting frame by moving up and down, and seedlings can be transplanted to the planting holes in different rows on the planting plates by moving left and right.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

In the above embodiments, the descriptions of the orientations such as "up", "down", and the like are based on the drawings.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention.

Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a transplanting device for transplant seedling (990) in to field planting board (980), field planting board (980) are equipped with along the field planting hole (981) that thickness direction runs through, a serial communication port, transplanting device includes seedling centre gripping release mechanism (100) and first elevating system (200), seedling centre gripping release mechanism (100) are installed first elevating system (200), seedling centre gripping release mechanism (100) are used for following the below of seedling (990) is passed field planting hole (981) and centre gripping and release seedling (990).

2. A transplanting apparatus according to claim 1, wherein the seedling gripping and releasing mechanism (100) comprises a set of arranged gripping fingers (110) and a gripping finger driving assembly (120), the relative angle between the set of arranged gripping fingers (110) being changeable, the gripping finger driving assembly (120) being adapted to drive the free ends of the set of gripping fingers (110) towards or away from each other.

3. The transplanting apparatus according to claim 2, wherein the clamping jaw finger driving assembly (120) comprises a clamping jaw finger mounting seat (121), a clamping jaw driving member (122) and a clamping jaw driving power source (123), the bottoms of the grouped clamping jaw fingers (110) are connected to the clamping jaw finger mounting seat (121), the outer surface of each clamping jaw finger (110) is in an open shape with an upward opening, the clamping jaw finger mounting seat (121) is in transmission connection with the clamping jaw driving power source (123), the clamping jaw driving member (122) is movably arranged relative to the clamping jaw finger mounting seat (121), and the clamping jaw driving member (122) is used for abutting against the outer side surface of the clamping jaw finger (110) from below.

4. A transplanting apparatus according to claim 3, wherein said jaw finger (110) is an elastic jaw finger having a top opening size in a natural state larger than a top opening size of said elastic jaw finger when abutted by said jaw driving member (122); and/or the presence of a gas in the atmosphere,

the clamping jaw finger mounting seat (121) is rod-shaped, the elastic clamping jaw finger is mounted at the top of the clamping jaw finger mounting seat (121), and the clamping jaw driving piece (122) is tubular and is sleeved on the outer side of the clamping jaw finger mounting seat (121); and/or the presence of a gas in the gas,

the free end of the clamping jaw finger (110) is provided with a claw tip (111) which can be inserted into the substrate (998).

5. A transplanting apparatus according to any one of claims 1-4, wherein the first lifting mechanism (200) comprises a lifting drive assembly (210), a lifting transmission assembly (220) and a jaw base (227), the lifting drive assembly (210) is connected with the jaw base (227) through the lifting transmission assembly (220), and the seedling clamping release mechanism (100) is mounted to the jaw base (227).

6. The transplanting apparatus according to claim 2, 3 or 4, wherein the mounting ends of the jaw driving member (122) and the jaw driving power source (123) are both fixedly mounted on a jaw base (227), the power output end of the jaw driving power source (123) is mounted with a jaw linkage member (124), and the jaw linkage member (124) is fixedly mounted with the jaw finger mounting seat (121).

7. The transplanting device according to claim 1, further comprising a seedling support (300), wherein the seedling support (300) has a lower support plate (310) and a side support plate (320), the lower edge of the side support plate (320) is connected with the lower support plate (310), a first abdicating notch (311) is opened at a position corresponding to the planting hole (981) of the lower support plate (310), the width of the first abdicating notch (311) is adapted to the width of the seedling (990), a second abdicating notch (321) is also opened at a position corresponding to the first abdicating notch (311) of the lower portion of the side support plate (320), and the width of the second abdicating notch (321) is greater than or equal to the width of the clamping jaw (990) for clamping a seedling (990).

8. A transplanting device according to any one of claims 2-7, wherein said seedling (990) comprises a seedling body (999) and a substrate (998) connected to the bottom of said seedling body (999), said transplanting device further comprising a seedling translation mechanism (400), said seedling translation mechanism (400) comprising a seedling shifting assembly (420) and a seedling shifting assembly (410), said seedling shifting assembly (410) comprising a translational power source, said seedling shifting assembly (420) being mounted at a power take-off of said seedling translation assembly (410), said seedling shifting assembly (420) comprising a seedling shifting power member (422) and a first insert (421) connected to said seedling shifting power member (422), the direction of insertion of said first insert (421) into said substrate (998) being disposed at an angle to the power take-off direction of said seedling translation assembly (410).

9. A transplanting device according to any one of claims 2-7, further comprising a first seedling limiting mechanism (500), wherein the first seedling limiting mechanism (500) comprises a first seedling limiting power member (510), the first seedling limiting power member (510) is in transmission connection with a second insert member (520), and the extension and retraction direction of the second insert member (520) is arranged at an angle to the direction in which the seedling (990) is driven by the seedling clamping and releasing mechanism (100).

10. A transplanting apparatus, characterized in that it comprises a transplanting device according to any one of claims 1 to 9.