CN210726156U

CN210726156U - Automatic seedling screening and separating planter

Info

Publication number: CN210726156U
Application number: CN201921265021.0U
Authority: CN
Inventors: 黄阳印; 饶振文; 陈海滨; 刘甘霖
Original assignee: Fujian Sanan Sino Science Photobiotech Co Ltd
Current assignee: Fujian Sanan Sino Science Photobiotech Co Ltd; Fujian Province Sino Science Biological Co Ltd
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2020-06-12
Anticipated expiration: 2029-08-06

Abstract

The utility model relates to an automatic seeding machine makes the field, concretely relates to automatic sieve seedling machine of transplanting. Including separately planting device, a plurality of conveyor, detection device, reseeding and cutting root device and electrical system, conveyor is located the both sides of separately planting the device, reseeding and cutting root device be located the output of separately planting device one side on and not with conveyor homonymy, electrical system can work in the operation of control separately planting device, conveyor, detection device and reseeding and cutting root device. The utility model discloses device reasonable in design is simple and convenient, adopts the utility model discloses the plant to in the seedling culture cave dish that the device can be intelligent divides and plants and screening work, improves the branch and plant the effect at efficiency and realize neat high uniformity, and the cooperation of each device is used and has also been avoided the plant to divide the damage that the in-process brought to the plant root system of planting simultaneously, and to a great extent has improved work efficiency, has reduced the waste of manpower resources.

Description

Automatic seedling screening and separating planter

Technical Field

The utility model relates to an automatic seeding machine makes the field, concretely relates to automatic sieve seedling machine of transplanting.

Background

In plant factories and water planting factories, after plant seedlings are cultivated in a seedling cultivation room, manual or mechanical operation is needed, the cultivated plants are selected for cultivation and field planting, along with the growth of the seedling plants, the planting density of a planting disc adopted in the seedling cultivation period can not meet the normal needs of plant growth, therefore, the plants in the seedling cultivation period need to be separately planted and moved to a planting disc in the field planting period suitable for cultivation, most of the prior art adopts manual separate planting and field planting, the efficiency is low, the labor cost is high, when the separate planting and field planting are carried out, leaves and seedling root systems of the plants are easily damaged, the normal growth and development in the later period of the plants are influenced, the seedlings are screened when being separately planted, the seedlings with good growth vigor are selected for transplanting, the process obviously wastes manpower and material resources, and the efficiency is low, can not meet the requirement of large-batch planting in plant factories.

Therefore, the technical staff in the field needs to solve the problem how to realize the process of quickly and effectively completing the separate planting of the plants in the separate planting process, not to damage the leaves and the root systems of the plants, and to select the plants with excellent growth vigor for cultivation.

Disclosure of Invention

In order to solve the technical problems, a full-automatic seedling screening and separating and planting machine device capable of automatically selecting and planting plants with excellent growth vigor needs to be provided.

For solving the above-mentioned purpose, the utility model provides an automatic sieve seedling transplanting machine, including being used for the clamp to get the plant from the little seedling tray that educates of density divide plant the device of planting separately on the big seedling tray that educates of density for the conveying is waited to divide and is planted and divide and plant a plurality of conveyor that educate the seedling tray after accomplishing, is used for the detection device that detects to the plant health condition, is used for the plant to replant the replanting of cutting root problem processing and cuts the root device, and control branch plants the device, a plurality of conveyor, detection device, replanting and cuts the electrical system of root device operation. The cooperation through each device realizes can be fast effectual accomplishing this process of planting, does not harm plant leaf and root system, and can select the problem that growing vigor is good plant and cultivate.

Further, the device is planted respectively includes that robot main part, actuating mechanism, module fixed plate and unable adjustment base are planted respectively, robot main part is planted respectively and rotates to be connected on unable adjustment base, the module fixed plate rotates to be connected on robot main part is planted respectively, actuating mechanism sets up in the top of module fixed plate, and the bottom of module fixed plate is provided with a guide rail, be provided with a plurality of sliders on the guide rail, actuating mechanism's output and slider are connected, the below of slider is connected and is equipped with clamping jaw device, clamping jaw device's the back is provided with the connecting rod, and the connecting rod rotates with clamping jaw device to be connected, clamping jaw device passes through two liang of connections of connecting rod. The setting of device is planted separately to the plant of transplanting the robot can be intelligent in the plug tray that grows seedlings and carries out the work of transplanting separately, is favorable to reducing the cost of labor, improves the efficiency of transplanting separately and realizes the effect of transplanting separately of neat highly uniform.

Further, conveyor includes 2, and every conveyor all includes conveying cylinder, mounting bracket, divides and plants a sensor, a plurality of location cylinder and a plurality of blocking device, conveying cylinder arranges in proper order on the mounting bracket, the location cylinder is 2 respectively demountable installation on the both sides of mounting bracket at least, and the output of location cylinder is reverse perpendicular with conveying cylinder's output direction, divide and plant a sensor setting on the mounting bracket, blocking device is 1 at least, blocking device is located one side of dividing and planting a sensor and fixes the below that sets up at mounting bracket conveyor. The setting of location cylinder can make the seedling culture hole tray accurately be in the branch position of planting, and difficult emergence is slided, can make the branch plant more accurate completion of device and plant work.

Further, stop device includes backup pad, baffle, jacking cylinder and two guide bars, the backup pad sets up the below at the mounting bracket, guide bar and jacking cylinder parallel arrangement set up in the backup pad, and the jacking cylinder is located between two guide bars, the baffle mounting is on the output of jacking cylinder, and the both ends of baffle are connected with the upper end of guide bar. The arrangement of the blocking mechanism can more accurately help the seedling raising hole tray to be positioned, and the seedling raising hole tray is prevented from shifting.

Further, detection device includes that vegetable leaf detects camera, root hair and detects camera and camera support, conveyor's the outside is equipped with a safety guardrail frame, the fixed top that sets up at safety guardrail frame of camera support, vegetable leaf detects the camera and can dismantle the setting on camera support, and the irradiation end of vegetable leaf detection camera towards conveyor, root hair detects the camera setting on replanting cuts a device. Detection device's setting can distinguish the plant that growing vigour is bad fast, is convenient for screen bad plant and abandons, has reduced the time of artifical screening, has reduced labour cost greatly.

Further, replanting and cutting root device and retrieving frame and mount including root palpus recovery frame, unusual plant, the root palpus is retrieved frame and unusual plant and is retrieved the below of frame, be equipped with the replanting temporary storage mechanism in proper order towards the direction of the device of planting separately on the mount, cut root mechanism, unusual plant and retrieve the funnel and soak the groove, the output that unusual plant retrieved the funnel is equipped with unusual plant stand pipe that drops, and the output that unusual plant dropped the stand pipe is located the top that the frame was retrieved to unusual plant, it is located the below of replanting temporary storage mechanism to cut root mechanism. The arrangement of the plant root hair soaking tank is convenient for clamping plants to be separately planted by the clamping jaw device, and then the plants to be separately planted can be placed into the soaking tank, so that the root hairs of the plants to be separately planted can be tightly gathered together, and the damage to the plant root system in the separate planting process is avoided.

Furthermore, replanting temporary storage mechanism includes telescopic cylinder more than 2 and divides and plants the clamp splice, telescopic cylinder below is equipped with a link and fixes on the mount, divide and plant the clamp splice setting on telescopic cylinder's output, the link is equipped with a shielding plate that is used for preventing the water spot from dropping on cutting a mechanism on the position that is located the branch and plants the clamp splice below. The telescopic cylinder extends out to supplement the position of the thrown plant, so that the planting work can be better completed.

Furthermore, the number of the separate planting clamping blocks on the temporary replanting storage mechanism is consistent with the number of the clamping jaw devices on the separate planting device. The sub-planting clamping blocks are consistent with the clamping jaw devices in quantity, so that errors are avoided in the complementary planting, and the complementary planting can be accurately and quickly performed.

Furthermore, the root hair detection camera is arranged on the side end close to the fixing frame of the separate planting device, and the irradiation end of the root hair detection camera faces the root cutting mechanism. Root must detect whether the root system growth of detection plant that the setting of camera position can be more accurate is normal, detects the double standard detection of camera cooperation rather than the leaf of a vegetable.

Further, cut a mechanism including driving actuating cylinder, moving end scissors and quiet end scissors, it establishes on the mount and is located under the temporary storage mechanism of replanting to drive actuating cylinder, the below of moving end scissors is located and is had the slider to be connected with the mount, and the one end of moving end scissors is connected with the output that drives actuating cylinder, this one side that the immersion tank is close to moving end scissors is located to quiet end scissors, the position between quiet end scissors and the moving end scissors has seted up the root hair groove that falls on the mount, the root hair groove that falls is located the top that the frame was retrieved to the root hair. The setting of moving end scissors and quiet end scissors can make its root system can be more level and more smooth to it when tailorring, and the root hair is retrieved the frame and can is dropped the root hair that cuts the root mechanism and subtract in retrieving the dish simultaneously, has both made things convenient for the arrangement useless root hair, has also avoided causing the pollution to the environment.

Be different from prior art, the utility model discloses following beneficial effect has:

1. the utility model discloses the setting of device is planted in the branch, and the work is planted in the branch to the plant in the seedling culture cave dish that can be intelligent, is favorable to reducing the cost of labor, improves the branch and plants the effect at efficiency and the branch that realizes neat high uniformity.

2. The utility model discloses a set up clamping jaw device, can carry out the field planting separately to the seedling in the different seedling culture hole trays, reduced manpower resources's input.

3. The utility model discloses a set up detection device, detection standard can distinguish the bad plant of growth vigor fast according to height of the plant, blade crown width of cloth, root length and area, stem size, blade and root colour, is convenient for screen bad plant and abandons, has reduced the time of artifical screening, has reduced labour cost greatly.

4. The utility model discloses a set up the location cylinder on for conveyor to make seedling culture hole tray accurately be in the branch and plant the position, the difficult slip that takes place can make the branch plant more accurate completion branch of device and plant work.

5. The utility model discloses a root mechanism is cut in the setting, can prune the root palpus that surpasss outside the settlement scope, cuts root length accuracy, has reduced the damage that brings to the plant roots.

6. The utility model discloses a set up the root palpus and retrieve the frame and can drop the root palpus that cuts root mechanism and subtract in retrieving the dish, also avoided causing the pollution to the environment when convenient arrangement.

7. The utility model discloses a set up plant root palpus immersion tank, get when clamping jaw device clamp and treat the plant of branch planting after, will treat to divide the plant to put into immersion tank, make and treat that branch plant root palpus can be inseparable gathering together, also utilize the gravity of the perpendicular drippage of water droplet can not flutter easily, avoid the root palpus to adsorb on the pore wall when putting into the hole separately, if adsorb can lead to root palpus damage, root on the pore wall can not touch nutrient solution dish growth badly.

8. The separate planting equipment adopts the robot, the operation track is flexible, the separate planting plate rotates 180 degrees to the to-be-separated planting plate, no overlapping area exists on the moving path, and the method can avoid dripping water on the separately planted vegetable seedlings in the separate planting process after the root hairs are soaked in water, so that the vegetable seedlings are prevented from being polluted.

9. The utility model discloses an autofilter replanting mode, rejecting unqualified vegetable seedling, replanting into qualified vegetable seedling, make the branch plant to waiting to divide the vegetable seedling on planting the dish and guarantee that whole is qualified, make full use of cultivation space avoids extravagant, has also guaranteed the high recovery ratio in later stage.

Drawings

FIG. 1 is a schematic structural view of an automatic seedling screening and separating and planting machine of the present invention;

FIG. 2 is a schematic diagram of an explosion structure of the seedling moving and screening and separating and planting machine in the embodiment;

FIG. 3 is a schematic structural diagram of a separate planting device and a reseeding and root cutting device in an embodiment;

FIG. 4 is a schematic diagram showing a partial structure of a transplanting device and a reseeding and root cutting device in an embodiment;

FIG. 5 is a schematic diagram showing a partial structure of a transplanting device and a reseeding and root cutting device in an embodiment;

FIG. 6 is a schematic structural view of a part of a conveying apparatus in the embodiment;

fig. 7 is a schematic structural diagram of the details of the safety barrier frame in the embodiment.

Description of reference numerals:

1. a separate planting device, 101, a separate planting robot body, 102, a module fixing plate, 103, a driving mechanism, 104, a connecting rod, 105, a clamping jaw device, 106, a guide rail, 2, a conveying device, 201, a mounting rack, 202, a conveying roller, 203, a positioning cylinder, 204, a separate planting tray sensor, 205, a blocking device, 2051, a jacking cylinder, 2052, a baffle, 3, a detection device, 301, a vegetable leaf detection camera, 302, a root hair detection camera, 303, a camera support, 4, a complementary planting root cutting device, 401, a temporary storage mechanism, 402, a root cutting mechanism, 403, a fixing rack, 404, an abnormal plant recovery funnel, 405, an abnormal plant recovery frame, 406, a root hair recovery frame, 407, an abnormal plant falling guide pipe, 408, a water immersion tank, 5, an electric control system, 6, and a safety guardrail frame.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

Referring to the attached drawings 1-7, the embodiment discloses an automatic seedling screening and separating planting machine, which comprises a separating planting device 1 used for clamping a plant and separating the plant from a seedling raising tray with low density to a seedling raising tray with high density, a plurality of conveying devices 2 used for conveying the seedling raising tray to be separated and separated, a detection device 3 used for detecting the health condition of the plant, a root replanting and cutting device 4 used for processing the root replanting and cutting problem of the plant, and an electric control system 5 used for controlling the operation of the separating planting device 1, the plurality of conveying devices 2, the detection device 3 and the root replanting and cutting device 4. Specifically, conveyor 2's the outside is equipped with a safety guardrail frame 6, frame, separately plant device 1, two conveyor 2, detection device 3 and resell and cut root device 4 and all be located safety guardrail frame 6's inside, and separately plant device 1 and be located safety guardrail frame 6's central position, and two conveyor 2 set up respectively in the left and right sides of separately planting device 1, and resell and cut root device 4 and set up at two conveyor 2's intermediate position and be located the place ahead of separately planting device 1, electrical system 5 sets up on safety guardrail frame 6's support, electrical system 5 is used for controlling the operation of separately planting device 1, conveyor 2, detection device 3 and resell and cut root device 4.

In this embodiment, the separate planting device 1 includes a separate planting robot main body 101, a driving mechanism 103, a module fixing plate 102 and a fixing base, the main body 101 of the separate planting robot is rotatably connected to the fixed base, the module fixing plate 102 is rotatably connected to the main body 101 of the separate planting robot, the driving mechanism 103 is disposed above the module fixing plate 102, the driving mechanism 103 includes a mounting plate, a servo motor and an induction plate, the servo motor and the mounting plate are both fixedly mounted on the module fixing plate 102, the bottom of the module fixing plate 102 is provided with a guide rail 106, six sliding blocks are arranged on the guide rail 106, the output end of the servo motor passes through the module fixing plate 102 to be connected with the sliding blocks, the clamping jaw device 105 is connected and arranged below the sliding block, the connecting rod 104 is arranged on the back face of the clamping jaw device 105, the connecting rod 104 is rotatably connected with the clamping jaw device 105, and the clamping jaw devices 105 are connected in pairs through the connecting rods 104. The module fixing plate 102 is provided with a driving mechanism 103, one end of the driving mechanism is provided with a group of sensors, the middle sensor is the original point position of the driving module, the left sensor and the right sensor are the left limit position and the right limit position of the driving module, and the transplanting and equally dividing mechanism carries out transplanting work when the clamping jaw device 105 moves to the equally divided space position set by a program along with the equally divided connecting plate under the driving of the driving mechanism 103.

Clamping jaw device 105 includes cylinder fixed plate, air pipe connector, clamping jaw cylinder and clamping jaw, and cylinder fixed plate fixed connection is on the slider, the back one end and the module fixed plate 102 back one end parallel and level of cylinder fixed plate, clamping jaw cylinder fixed mounting is in the below of cylinder fixed plate, air pipe connector is installed to clamping jaw cylinder's side, clamping jaw cylinder's below is equipped with the clamping jaw. The back of each clamping jaw device 105 is connected with a connecting rod 104, one end of each connecting rod 104 is rotatably connected to one side of the back of the air cylinder fixing plate, and the other end of each connecting rod 104 is rotatably connected with the connecting rod 104 on the adjacent air cylinder fixing plate in a shaft matching mode through a bearing, so that the connecting rods 104 can stretch under the driving of the driving mechanism 103, and the functions of separate planting and equal division of the clamping jaw devices 105 are further achieved.

In this embodiment, conveyor 2 includes 2, and 2 conveyor 2 all include a plurality of conveying roller 202, mounting bracket 201, branch plant a set of sensor 204, location cylinder 203 and blocking device 205, and a plurality of conveying roller 202 roll in proper order and install on mounting bracket 201, the mounting bracket 201 top is equipped with 4 location cylinders 203, and each demountable installation in mounting bracket 201 both sides has 2 location cylinders 203 to be used for fixing seedling raising aperture disk to the branch position of planting, and branch plant a set of sensor 204 and include 2, sets up respectively on mounting bracket 201 and is close to branch position front end party of planting, blocking device 205 includes 2, and blocking device 205 is close to the fixed below that sets up in conveyor 2 in branch plant a set of sensor 204 one side, location cylinder 203 is located the mounting bracket 201 between 2 blocking device 205. The blocking device 205 comprises a supporting plate, a baffle plate 2052, a jacking cylinder 2051 and two guide rods, wherein the supporting plate is arranged below the mounting frame 201, the guide rods and the jacking cylinder 2051 are arranged on the supporting plate in parallel, the jacking cylinder 2051 is located between the two guide rods, the baffle plate 2052 is installed at the output end of the jacking cylinder 2051, the two ends of the baffle plate 2052 are connected with the upper ends of the guide rods, and the side edges of the baffle plate 2052 are parallel to the side edges of the conveying roller 202.

In this embodiment, be provided with detection device 3 on conveyor 2, detection device 3 includes 2

leaf detection cameras

301, 2 root hair detection cameras 302 and camera support 303, camera support 303 is fixed to be set up on the top of

safety barrier frame

6, 2 leaf detection cameras 301 can dismantle the top both ends that set up at camera support 303, and leaf detection cameras 301's irradiation end is towards conveyor 2 so that wait to grow seedlings the plant in the cave when the cave dish carries to the branch position of planting to growing seedlings, root hair detection cameras 302 can dismantle the setting and be convenient for detect the root hair to the plant on replanting root cutting device 4.

In this embodiment the replanting and root cutting device 4 includes that the frame 406 is retrieved to the root hair, unusual plant retrieves frame 405 and mount 403, the frame 406 is retrieved to the root hair and the frame 405 is retrieved to unusual plant sets up in the below of mount 403, be equipped with replanting temporary storage mechanism 401, cut root mechanism 402, unusual plant recovery funnel 404 and immersion tank 408 towards the direction of separately planting device 1 on the mount 403 in proper order, the output connection of unusual plant recovery funnel 404 is equipped with unusual plant stand pipe 407 that drops, and the output that unusual plant dropped stand pipe 407 is located the top that the frame 405 was retrieved to unusual plant, it is located the below of replanting temporary storage mechanism 401 to cut root mechanism 402. Specifically, replanting temporary storage mechanism 401 includes 6 telescopic cylinder, unanimous so that better the work of matching of carrying on with the quantity of clamping jaw device 105 in the device 1 of transplanting separately, telescopic cylinder below is equipped with a link and fixes on mount 403, the chuck piece setting of transplanting separately is on telescopic cylinder's output, the link is equipped with one on the position that is located the chuck piece below of transplanting separately and is used for preventing that the water spot from dropping baffle 2052 on cutting root mechanism 402. The 3 root hair detection cameras 302 are arranged on the side ends close to the fixing frame 403 of the separate planting device 1, the 3 root hair detection cameras 302 are located on the same horizontal plane, and the irradiation ends of the root hair detection cameras 302 face the root cutting mechanism 402. Cut root mechanism 402 including driving actuating cylinder, moving end scissors and quiet end scissors, it establishes on mount 403 and is located replanting temporary storage mechanism 401 under to drive actuating cylinder, the below of moving end scissors is located and is had the slider to be connected with mount 403, and the one end of moving end scissors is connected with the output that drives actuating cylinder, this one side that immersion tank 408 is close to moving end scissors is located to quiet end scissors, and the face of cutting of quiet end scissors and moving end scissors is located same horizontal plane, the position between quiet end scissors and the moving end scissors has seted up root hair falling groove on mount 403, the root hair falling groove that drops is located the top that the frame 406 was retrieved to the root hair.

The use principle of the device is as follows: two groups of seedling culture hole trays with different planting densities, wherein seedlings are planted in the seedling culture hole trays with low densities, and the seedling culture hole trays with high densities are empty trays, when the seedling culture hole trays are conveyed to a certain position by the conveying devices 2 at two sides of the device, the seedling culture hole trays are detected by the separate planting tray sensors 204 to send signals to the control system, the four groups of positioning cylinders 203 arranged above the conveying devices 2 and the blocking mechanisms arranged below the conveying devices 2 work, and the seedling culture hole trays are compressed under the synergistic action of the four groups of positioning cylinders 203 and the blocking mechanisms, so that the whole seedling culture hole tray is positioned; after the seedling raising hole tray is fixed, the vegetable leaf detection camera 301 starts to carry out whole tray detection on the seedling raising hole tray with the planted seedlings, then the seedlings are clamped by the transplanting device 1, if defective products appear, the defective products are discarded to the abnormal plant recovery funnel 404, the abnormal plant recovery funnel is made to fall into the abnormal plant recovery frame 405 along the abnormal plant drop guide pipe 407, then the good seedlings are temporarily stored on the replanting temporary storage mechanism 401, the seedlings are clamped from a new position, the number of the defective products on the transplanting mechanism is smaller than that of the defective products on the replanting temporary storage mechanism 401, the vacancy on the transplanting mechanism is replenished by the replanting temporary storage mechanism 401, if the number of the defective products on the transplanting mechanism is larger than that of the defective products on the replanting temporary storage mechanism 401, then the good products on the transplanting mechanism are temporarily stored on the vacancy of the replanting temporary storage mechanism 401, so that the replanting is carried out according to the above standards circularly, when the transplanting mechanism puts the seedlings on the replanting empty tray, the plant needs to be detected through the root palpus, if the root palpus overlength, the cutting mechanism on the abnormal processing and replanting root cutting mechanism 402 will prune the plant root system and reach the settlement standard, later put all plant root palpus into the basin and soak to make the better concentrated seedling growing cave dish of putting into planting of root palpus, when seedling growing cave branch planting in seedling growing cave dish is accomplished, conveyor 2 exports its branch planting position, new seedling growing cave dish is carried and is got into the branch planting position, repeat the above-mentioned branch planting process, thereby realize the function of automatic branch planting.

It is noted that, herein, relational terms such as first and second, and the like may be 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 terminal 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 terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is known, other changes and modifications can be made to the embodiments by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all the modifications of the equivalent structure or equivalent flow path using the contents of the specification and the drawings of the present invention, or directly or indirectly using other related technical fields are also included in the scope of the present invention.

Claims

1. The utility model provides an automatic sieve seedling separate planting machine which characterized in that: including being used for pressing from both sides the plant and growing seedlings the dish branch and planting the branch of growing seedlings on the dish that density is big from the density, be used for the conveying to wait to divide to plant and divide and plant a plurality of conveyor who grows seedlings the dish after accomplishing, be used for the detection device who plants health condition detected, be used for the plant to replant the reseeding of cutting root problem processing and cut the root device to and control to divide and plant device, a plurality of conveyor, the electric control system who replants and cut the operation of root device.

2. The automatic seedling screening and separating planter according to claim 1 wherein: the device is planted including transplanting robot main part, actuating mechanism, module fixed plate and unable adjustment base separately, transplanting robot main part rotates and connects on unable adjustment base separately, the module fixed plate rotates and connects on transplanting robot main part, actuating mechanism sets up in the top of module fixed plate, and the bottom of module fixed plate is provided with a guide rail, be provided with a plurality of sliders on the guide rail, actuating mechanism's output and slider are connected, the below of slider is connected and is equipped with clamping jaw device, clamping jaw device's the back is provided with the connecting rod, and the connecting rod rotates with clamping jaw device to be connected, clamping jaw device passes through two liang of connections of connecting rod.

3. The automatic seedling screening and separating planter according to claim 1 wherein: conveyor includes 2, and every conveyor all includes conveying cylinder, mounting bracket, divides and plants a set sensor, a plurality of location cylinder and a plurality of blocking device, conveying cylinder arranges in proper order on the mounting bracket, the location cylinder is 2 respectively demountable installation at least on the both sides of mounting bracket, and the output of location cylinder is reverse perpendicular with conveying cylinder's output direction, divide and plant a set sensor setting on the mounting bracket, blocking device is 1 at least, blocking device is located one side fixed setting in mounting bracket conveyor's below of dividing and planting a set sensor.

4. The automatic seedling screening and separating planter according to claim 3 wherein: the stop device comprises a support plate, a baffle, a jacking cylinder and two guide rods, wherein the support plate is arranged below the mounting frame, the guide rods and the jacking cylinder are arranged on the support plate in parallel, the jacking cylinder is located between the two guide rods, the baffle is arranged at the output end of the jacking cylinder, and the two ends of the baffle are connected with the upper ends of the guide rods.

5. The automatic seedling screening and separating planter according to claim 1 wherein: detection device includes that vegetable leaf detects camera, root palpus and detects camera and camera support, conveyor's the outside is equipped with a safety guardrail frame, the fixed top that sets up at safety guardrail frame of camera support, vegetable leaf detects the camera and can dismantle the setting on camera support, and vegetable leaf detects the exposure end of camera and towards conveyor, root palpus detects the camera setting on replanting cuts the root device.

6. The automatic seedling screening and separating planter according to claim 1 wherein: replanting and cutting the root device and retrieving frame and mount including the root palpus, unusual plant, the root palpus is retrieved the frame and is retrieved the below of frame with unusual plant and set up at the mount, be equipped with the replanting temporary storage mechanism in proper order, cut root mechanism, unusual plant and retrieve funnel and immersion tank towards the direction of separately planting the device on the mount, the output that unusual plant retrieved the funnel is equipped with unusual plant stand pipe, and the output that unusual plant dropped the stand pipe is located the top that unusual plant retrieved the frame, it is located the below of replanting temporary storage mechanism to cut root mechanism.

7. The automatic seedling screening and separating planter according to claim 6 wherein: replanting temporary storage mechanism includes telescopic cylinder more than 2 and divides and plants the clamp splice, telescopic cylinder below is equipped with a link and fixes on the mount, divide and plant the clamp splice setting on telescopic cylinder's output, the link is equipped with a shielding plate that is used for preventing the water spot from dropping on cutting a mechanism on the position that is located the branch and plants the clamp splice below.

8. The automatic seedling screening and separating planter according to claim 6 wherein: the number of the separate planting clamping blocks on the temporary storage mechanism for replanting is consistent with the number of the clamping jaw devices on the separate planting device.

9. The automatic seedling screening and separating planter according to claim 5 wherein: the root hair detection camera is arranged on the side end close to the branch planting device fixing frame, and the irradiation end of the root hair detection camera faces the root cutting mechanism.

10. The automatic seedling screening and separating planter according to claim 6 wherein: cut root mechanism including driving actuating cylinder, moving end scissors and quiet end scissors, it establishes on the mount and is located under the reseeding temporary storage mechanism to drive actuating cylinder, the below of moving end scissors is located and is had the slider to be connected with the mount, and the one end of moving end scissors is connected with the output that drives actuating cylinder, this one side that the immersion tank is close to moving end scissors is located to quiet end scissors, the position between quiet end scissors and the moving end scissors has seted up the root hair groove that falls on the mount, the root hair falls the top that the groove is located the root hair and retrieves the frame.