CN215011558U - Water planting vegetable seedling transplanting machine - Google Patents

Abstract

The invention provides a water-culture vegetable seedling transplanting machine which comprises a rack, wherein a workbench is arranged below the rack, a seedling tray conveyor belt and a seedling tray conveyor belt are arranged on the workbench, a sensor and a seedling tray extrusion fixing device are arranged on the workbench at the front end of the seedling tray conveyor belt, a seedling grabbing mechanism is arranged on the rack above the seedling tray extrusion fixing device and connected to a moving mechanism, the moving mechanism can move in the vertical, left, right, front and back directions, and the moving mechanism is controlled to drive the seedling grabbing mechanism to take out seedlings in the seedling tray and then move the seedlings into seedling cups on the seedling tray. According to the seedling transplanting machine, the seedlings in the seedling tray are grabbed together with the matrix soil by the seedling grabbing device and then placed in the seedling cups on the seedling tray, so that the seedling transplanting efficiency is high, the automation degree is high, the seedlings are not easy to damage, and the labor intensity of workers is reduced.

Description

Water planting vegetable seedling transplanting machine

Technical Field

The invention relates to agricultural equipment, in particular to a water culture vegetable seedling transplanting machine.

Background

Hydroponic vegetables are different from vegetables cultivated in the traditional soil cultivation mode in that most root systems grow in a nutrient solution layer by layer and only the nutrient solution provides water, nutrients and oxygen for the hydroponic vegetables. The hydroponic vegetable nutrient solution has scientific formula, reasonable proportion of various nutrient elements, comprehensive nutrition of the produced vegetable and rich vitamins and mineral substances necessary for human bodies.

At present, the water planting vegetable planting mode is continuously upgraded and updated, the mechanization degree is gradually improved, in the vegetable planting process, seedlings in a seedling tray are transferred into seedling cups on the seedling tray, the distance between seedling holes on the seedling tray is small, the distance between seedling holes on the seedling tray is large, and the seedling cups are placed in culture solution for planting after the seedling cups are taken out subsequently.

At present, seedling transplanting of seedlings is performed manually, seedlings in a seedling tray are grabbed together with matrix soil by workers and then placed in seedling cups on the seedling tray, the working strength of the workers is high, the overall working efficiency is low, and the seedling transplanting machine is not suitable for large-scale vegetable planting.

Disclosure of Invention

Aiming at the problems, the invention aims to provide a water culture vegetable seedling transplanting machine which is novel in structural design, can grab seedlings in a seedling tray together with matrix soil and then place the seedlings in seedling cups on the seedling tray, is high in seedling transplanting efficiency and automation degree, is not easy to damage the seedlings, and reduces the labor intensity of workers.

The invention provides a water-culture vegetable seedling transplanting machine which comprises a rack, wherein a workbench is arranged below the rack, a seedling tray conveyor belt and a seedling tray conveyor belt are arranged on the workbench, a sensor and a seedling tray extrusion fixing device are arranged on the workbench at the front end of the seedling tray conveyor belt, a seedling grabbing mechanism is arranged on the rack above the seedling tray extrusion fixing device and connected to a moving mechanism, the moving mechanism can move in the vertical, left, right, front and back directions, and the moving mechanism is controlled to drive the seedling grabbing mechanism to take out seedlings in the seedling tray and then move the seedlings into seedling cups on the seedling tray.

Preferably, the moving mechanism comprises an up-down moving mechanism and a front-back left-right four-direction moving mechanism, the up-down moving mechanism comprises first guide rails vertically arranged on the left side and the right side of the frame, a first moving plate arranged on the first guide rails through first sliding blocks, and a first motor arranged at the top of the frame, the first motor is connected with a first belt wheel through a speed reducer and a transmission shaft, a second belt wheel is arranged below the first belt wheel, a first synchronous belt is connected between the second belt wheel and the first belt wheel, the first synchronous belt and the first guide rails are arranged in parallel, the first sliding blocks are connected onto the first synchronous belt, and the first motor drives the first moving plate to move up and down along the first guide rails by controlling the movement of the first synchronous belt through the transmission shaft and the first belt wheel.

Preferably, the lower end of the first moving plate is connected with a first air cylinder, and the first air cylinder synchronously assists the first moving plate to ascend and descend.

Preferably, the front-rear left-right four-way moving mechanism comprises a main moving frame connected to the first moving plate, the main moving frame is provided with a first longitudinal guide rail and a second longitudinal guide rail which are parallel to each other, belt pulleys are arranged at two ends of the first longitudinal guide rail and the second longitudinal guide rail, the tops of the belt pulleys on one side of the first longitudinal guide rail and the second longitudinal guide rail are respectively and correspondingly connected with a first servo motor and a second servo motor, a cross beam is vertically arranged between the first longitudinal guide rail and the second longitudinal guide rail, a transverse guide rail is arranged on the cross beam, two ends of the transverse guide rail are respectively connected to the first longitudinal guide rail and the second longitudinal guide rail through a first longitudinal slide block and a second longitudinal slide block, the first longitudinal slide block is respectively provided with a first tensioning guide wheel and a second tensioning guide wheel along the longitudinal front end and the longitudinal end, the second longitudinal slide block is respectively provided with a third tensioning guide wheel and a fourth tensioning guide wheel along the longitudinal front end and the longitudinal end, the transverse guide rail is provided with a transverse sliding block, the transverse sliding block is connected with a second moving plate, the transverse sliding block is connected onto a second synchronous belt, and the second synchronous belt is closed after bypassing a belt wheel below the first tensioning guide wheel and the first servo motor, a belt wheel at the other end of the first longitudinal guide rail, a second tensioning guide wheel, a fourth tensioning guide wheel, a belt wheel at the other end of the second longitudinal guide rail, a belt wheel below the second servo motor and a third tensioning guide wheel in sequence.

Preferably, the seedling grabbing mechanism comprises a first longitudinal beam and a second longitudinal beam which are connected to a cross beam and are parallel to each other, the other ends of the first longitudinal beam and the second longitudinal beam are connected with a second cross beam, guide rails are arranged on the first longitudinal beam, the second longitudinal beam and the second cross beam, a guide plate is connected to a second movable plate, the other end of the guide plate is connected to the guide rail of the second cross beam through a sliding block, a plurality of guide long holes which are obliquely dispersed are formed in the guide plate, a seedling grabbing claw is connected to each guide long hole, the left end and the right end of each seedling grabbing claw are connected to the first longitudinal beam and the second longitudinal beam through sliding blocks, the guide plate drives the seedling grabbing claws to synchronously move longitudinally under the driving of a second synchronous belt, and the guide plate realizes the enlargement or the reduction of the distance between the seedling grabbing claws through the guide long holes during the transverse movement under the driving of the second synchronous belt, and each adjacent seedling grabbing claw keeps equal spacing.

Preferably, the seedling grabbing claw comprises a main connecting rod positioned at the middle part, a mounting seat is arranged on the upper part of the main connecting rod, the lower end of the main connecting rod is connected with a guide seat, a strip-shaped guide hole which is arranged along the radial direction and penetrates through the upper surface and the lower surface of the guide seat is arranged on the guide seat, an air bag is arranged on the outer surface of the main connecting rod and is positioned below the mounting seat, at least three hinged seats are arranged on the mounting seat along the circumferential direction at equal angles, each hinged seat is hinged with a movable arm, the movable arm passes through the strip-shaped guide hole and is positioned below the guide seat, a spring mounting groove is arranged on the outer side of the movable arm, a tightening spring is sleeved at the periphery of the spring mounting groove of the plurality of movable arms, the tightening spring keeps all the movable arms in a tightening state, a piston telescopic rod and a seedling grabbing rod which are connected together and can slide along the axial direction are arranged inside the movable arms along the axial direction, the movable arm is provided with an air inlet and an air outlet corresponding to the piston telescopic rod respectively; the expansion or contraction of the air bag is controlled by inflating or deflating the air bag to match with the tightening spring to realize the expansion or grasping of all the movable arms, and the extension and retraction of the seedling grasping rod are realized by pushing the piston telescopic rod to slide along the axial direction through the air inlet direction of the air inlet and the air outlet.

Preferably, the seedling snatchs the claw and has two rows along transverse arrangement, along horizontal front and back two between inform the connecting rod to connect and realize synchronous motion, main connecting rod is connected on this connecting rod, and the connecting rod top is passed through the guide bar setting and is in the direction slotted hole and receive the drive of deflector.

Preferably, seedling dish extrusion fixing device is including setting up installation pole and the drive installation pole pivoted extrusion cylinder on the workstation, be connected with the depression bar on the installation pole, control extrusion cylinder piston rod stretches out to promote the installation pole rotatory and then drive the depression bar and push down fixedly with the seedling dish, and the seedling of being convenient for snatchs the mechanism and takes out the seedling.

Preferably, the bottom of the frame is connected with a roller.

According to the seedling transplanting machine, the seedlings in the seedling tray are grabbed together with the matrix soil by the seedling grabbing device and then placed in the seedling cups on the seedling tray, so that the seedling transplanting efficiency is high, the automation degree is high, the seedlings are not easy to damage, and the labor intensity of workers is reduced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic structural view of a moving mechanism according to the present invention;

FIG. 4 is a schematic view of the structure of FIG. 3 from another perspective;

FIG. 5 is a schematic view showing the structure of the up-down moving mechanism according to the present invention;

FIG. 6 is a schematic structural view of a front-back, left-right, and four-way moving mechanism according to the present invention;

FIG. 7 is a schematic structural view of a seedling gripping mechanism according to the present invention;

FIG. 8 is a schematic view of the structure of FIG. 7 from another perspective;

FIG. 9 is a schematic structural view of the movable arm of the seedling gripping claw of the present invention when it is opened;

FIG. 10 is a schematic view showing the structure of FIG. 9 with the seedling-grasping rod extended;

FIG. 11 is a schematic view of the movable arm of FIG. 9 in a grasping configuration;

FIG. 12 is a schematic view showing the structure of the seedling-grasping rod of FIG. 9 when it is retracted;

FIG. 13 is a cross-sectional view of the moveable arm of the present invention;

wherein: 1, a frame; 2, a workbench; 3-seedling tray conveyer belt; 4-seedling tray conveyor belt; 5, extruding and fixing the seedling tray; 51-a mounting bar; 52-extrusion cylinder; 53-a compression bar; 6-seedling grabbing mechanism; 601 — a first stringer; 602 — a second stringer; 603 — a second beam; 604-a guide plate; 605-guiding long hole; 606-seedling gripping claws; 607 — main connecting rod; 608-mount pad; 609-a guide seat; 610-elongated guide holes; 611, an air bag; 612 — a hinged seat; 613-movable arm; 614-spring mounting groove; 615 — tightening the spring; 616-piston telescoping rod; 617-grabbing seedling rods; 618-air inlet; 619-air outlet; 7-a moving mechanism; 8, an up-down moving mechanism; 801 — a first rail; 802 — a first slider; 803 — first moving plate; 804 — a first motor; 805-a drive shaft; 806 — a first pulley; 807 — a second pulley; 808 — a first synchronization belt; 809-a first cylinder; 9-a front-back left-right four-way moving mechanism; 901-main moving frame; 902 — a first longitudinal rail; 903 — a second longitudinal rail; 904-pulley; 905-a first servo motor; 906 — a second servomotor; 907 a cross beam; 908-transverse guide rails; 909 first longitudinal slide; 910 — a second longitudinal slide; 911-first tensioning guide wheel; 912 — a second tensioning guide wheel; 913 — a third tensioning guide wheel; 914-fourth tensioning guide wheel; 915-transverse sliding block; 916 — a second moving plate; 917-second synchronous belt; 10-roller.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 13, the invention provides a water-cultured vegetable seedling transplanting machine, which comprises a frame 1, wherein a workbench 2 is arranged below the frame 1, a seedling tray conveyor belt 3 and a seedling tray conveyor belt 4 are arranged on the workbench 2, a sensor and a seedling tray extrusion fixing device 5 are arranged on the workbench 2 at the front end of the seedling tray conveyor belt 3, a seedling grabbing mechanism 6 is arranged on the frame 1 above the seedling tray extrusion fixing device 5, the seedling grabbing mechanism 6 is connected to a moving mechanism 7, the moving mechanism 7 can move in six directions, up, down, left, right, front and back, and the moving mechanism 7 is controlled to drive the seedling grabbing mechanism 6 to take out seedlings in the seedling tray and then move the seedlings into seedling cups on the seedling tray.

Preferably, the moving mechanism 7 includes a vertical moving mechanism 8 and a front-rear left-right four-way moving mechanism 9.

Wherein, the up-down moving mechanism 8 comprises a first guide rail 801 vertically arranged at the left and right sides of the frame 1, a first moving plate 803 arranged on the first guide rail 801 through a first slider 802, a first motor 804 arranged at the top of the frame 1, the first motor 804 is connected with a first belt pulley 806 through a speed reducer and a transmission shaft 805, a second belt pulley 807 is arranged below the first belt pulley 806, a first synchronous belt 808 is connected between the first belt pulley and the second belt pulley, the first timing belt 808 and the first guide rail 801 are arranged in parallel, the first slider 802 is attached to the first timing belt 808, the first motor 804 controls the movement of the first synchronous belt 808 through the transmission shaft 805 and the first pulley 806 to move the first moving plate 803 up and down along the first guide 801, a first cylinder 809 is connected to the lower end of the first moving plate 803, and the first cylinder 809 assists the ascending and descending of the first moving plate 803 in a synchronous manner. The first motor 804 drives the first moving plate 803 to move up and down through the first synchronous belt 808, and the first cylinder 809 assists in pushing the first moving plate 803 to move under the first moving plate 803, so as to reduce the load of the first motor 804.

Wherein, the front-back left-right four-way moving mechanism 9 comprises a main moving frame 901 connected to a first moving plate 803, the main moving frame 901 is provided with a first longitudinal guide rail 902 and a second longitudinal guide rail 903 which are parallel to each other, two end parts of the first longitudinal guide rail 902 and the second longitudinal guide rail 903 are both provided with belt pulleys 904, the tops of the belt pulleys 904 on one side of the first longitudinal guide rail 902 and the second longitudinal guide rail 903 are respectively and correspondingly connected with a first servo motor 905 and a second servo motor 906, a beam 907 is vertically arranged between the first longitudinal guide rail 902 and the second longitudinal guide rail 903, the beam 907 is provided with a transverse guide rail 908, two ends of the beam 907 are respectively connected to the first longitudinal guide rail 902 and the second longitudinal guide rail 903 through a first longitudinal slide block 909 and a second longitudinal slide block 910, the first longitudinal slide block 909 is respectively provided with a first tensioning guide wheel 911 and a second tensioning guide wheel 912 along the longitudinal front-back two ends, the second longitudinal sliding block 910 is provided with a third tensioning guide wheel 913 and a fourth tensioning guide wheel 914 respectively along the longitudinal front end and the longitudinal back end, the transverse guide rail 908 is provided with a transverse sliding block 915, the transverse sliding block 915 is connected with a second moving plate 916, the transverse sliding block 915 is connected to a second synchronous belt 917, and the second synchronous belt 917 sequentially bypasses the first tensioning guide wheel 911, the belt pulley 904 below the first servo motor 905, the belt pulley 904 at the other end of the first longitudinal guide rail 902, the second tensioning guide wheel 912, the fourth tensioning guide wheel 914, the belt pulley 904 at the other end of the second longitudinal guide rail 903, the belt pulley 904 below the second servo motor 906 and the third tensioning guide wheel 913 to be closed. By the cooperation of the first servomotor 905 and the second servomotor 906,

when the second moving plate 916 needs to move forward along the longitudinal direction, the first servo motor 905 rotates counterclockwise, the second servo motor 906 rotates clockwise, the rotation speeds of the two are kept consistent, the transverse slider 915 does not move in the transverse direction, the second synchronous belt 917 pulls the cross beam 907, and the cross beam 907 slides forward along the first longitudinal guide rail 902 and the second longitudinal guide rail 903 through the first longitudinal slider 909 and the second longitudinal slider 910, so that the transverse slider 915 and the second moving plate 916 connected with the transverse slider 915 are driven to move forward along the longitudinal direction.

When the second moving plate 916 needs to move backwards along the longitudinal direction, the first servo motor 905 rotates clockwise, the second servo motor 906 rotates counterclockwise, the rotation speeds of the two are kept consistent, the transverse slider 915 does not move in the transverse direction, the second synchronous belt 917 pulls the cross beam 907, and the cross beam 907 slides backwards along the first longitudinal guide rail 902 and the second longitudinal guide rail 903 through the first longitudinal slider 909 and the second longitudinal slider 910, so that the transverse slider 915 and the second moving plate 916 connected with the transverse slider 915 are driven to move backwards along the longitudinal direction.

When the second moving plate 916 needs to move leftward along the transverse direction, the first servo motor 905 and the second servo motor 906 both rotate counterclockwise, the rotation speeds of the two keep the same, the cross beam 907 keeps stationary, and the second synchronous belt 917 pulls the transverse slider 915 to move leftward along the transverse direction, so as to drive the second moving plate 916 to move leftward along the transverse direction.

When the moving component needs to move to the right along the transverse direction, the first servo motor 905 and the second servo motor 906 both rotate clockwise, the rotating speeds of the two are kept consistent, the cross beam 907 is kept still, and the second synchronous belt 917 pulls the transverse sliding block 915 to move to the right along the transverse direction, so that the second moving plate 916 is driven to move to the right along the transverse direction.

Preferably, the seedling grabbing mechanism 6 comprises a first longitudinal beam 601 and a second longitudinal beam 602 which are parallel to each other and connected to a cross beam 907, the other ends of the first longitudinal beam 601 and the second longitudinal beam 602 are connected to a second cross beam 603, guide rails are arranged on the first longitudinal beam 601, the second longitudinal beam 602 and the second cross beam 602, a guide plate 604 is connected to the second moving plate 916, the other end of the guide plate 604 is connected to the guide rail of the second cross beam 603 through a slide block, a plurality of obliquely diverging guide long holes 605 are arranged on the guide plate 604, a seedling grabbing claw 606 is connected to each guide long hole 605, the left end and the right end of the seedling grabbing claw 606 are connected to the first longitudinal beam 601 and the second longitudinal beam 602 through slide blocks, the guide plate 604 drives the seedling grabbing claw 606 to move longitudinally under the driving of a second synchronous belt 917, and drives the seedling grabbing claw 606 to move longitudinally under the driving of the second synchronous belt 917, the guide plate 604, when moving in the transverse direction by the second timing belt 917, makes the distance between the seedling gripping claws 606 larger or smaller by the long guide holes 605, and keeps the distance between each adjacent seedling gripping claws 606 equal.

Preferably, the seedling grabbing claw 606 comprises a main connecting rod 607 located in the middle, a mounting seat 608 is arranged on the upper portion of the main connecting rod 607, a guide seat 609 is connected to the lower end of the main connecting rod 607, a radially arranged elongated guide hole 610 penetrating through the upper and lower surfaces of the guide seat 609 is arranged on the guide seat 609, an air bag 611 is arranged on the outer surface of the main connecting rod 607 below the mounting seat 608, at least three hinge seats 612 are arranged on the mounting seat 608 at equal angles along the circumferential direction, each hinge seat 612 is hinged with a movable arm 613, the movable arm 613 passes through the elongated guide hole 610 and then is located below the guide seat 609, a spring mounting groove 614 is arranged on the outer side of the movable arm 613, a tightening spring 615 is sleeved on the periphery of the spring mounting groove 614 of the plurality of movable arms 613, the tightening spring 615 keeps all the movable arms 613 in a tightened state, and a piston telescopic rod 616 connected together and capable of axially sliding is arranged inside the movable arm 613 The movable arm 613 is provided with an air inlet 618 and an air outlet 619 corresponding to the piston telescopic rod 616 respectively; the expansion or contraction of the air bag 611 is controlled by inflating or deflating the air bag 611, and the expansion or contraction of the air bag 611 is matched with the tightening spring 615 to realize the expansion or grasping of all the movable arms 613, and the extension and retraction of the seedling grasping rod 617 are realized by pushing the piston telescopic rod 616 to slide along the axial direction through the air inlet direction of the air inlet 618 and the air outlet 619. The seedling grabbing action of the seedling grabbing rod 617 can be realized by the expansion and contraction of the air bag 611 in cooperation with the extension and retraction of the piston telescopic rod 616. The specific actions are as follows:

firstly, the guide plate 604 moves the seedling grabbing claw 606 to a set position above a seedling tray, in the process, the air bag 611 is in an inflated state, the four movable arms 613 are spread against the tightening force of the tightening spring 615, the movable arms 613 slide outwards along the elongated guide hole 610 on the guide holder 609 and are in an open state, the four movable arms 613 are respectively located at the outer side positions of four positions above the seedling, the seedling grabbing rod 617 is located inside the movable arms 613, and the seedling grabbing claw 606 is in the state shown in fig. 9;

secondly, the air inlet at the air inlet 618 and the air outlet 619 are controlled to push the piston telescopic rod 616 to slide forwards, so as to drive the seedling grabbing rod 617 to extend out of the inner hole at the front end of the movable arm 613, the flat part at the front end of the seedling grabbing rod 617 is inserted into the matrix soil at the four sides of the seedling, and at this time, the seedling grabbing claw 606 is in the state shown in fig. 10;

thirdly, controlling the air bag 611 to deflate, tightening the four movable arms 613 inwards under the tightening force of the tightening springs 615, enabling the movable arms 613 to be in a tightened state after sliding inwards along the elongated guide holes 610 on the guide seats 609, enabling the flat parts at the front ends of the four seedling grabbing rods 617 to mutually cooperate to grab the seedlings together with the matrix soil, and enabling the seedling grabbing claws 606 to be in the state shown in fig. 11;

fourthly, the external moving mechanism moves the seedling tray of the invention into the seedling cup on the seedling tray, the air inlet at the air outlet 619 is controlled, the air outlet at the air inlet 618 is controlled, the piston telescopic rod 616 is pushed to slide backwards, the seedling grabbing rod 617 is driven to retract into the inner hole of the movable arm 613, at this time, the seedling grabbing claw 606 is in the state shown in fig. 12, then the air bag 611 is controlled to inflate, the four movable arms 613 are unfolded against the tightening force of the tightening spring 615, the movable arm 613 slides outwards along the elongated guide hole 610 on the guide holder 609 to be in the unfolded state, and the seedling grabbing claw 606 is moved to the set position above the seedling tray again through the guide plate 604.

Further, the seedling grabbing claws 606 are arranged in two rows in the transverse direction, the connection between the front and the back in the transverse direction is informed to realize synchronous movement, the main connecting rod 607 is connected to the connecting rod, and the top of the connecting rod is arranged in the guide long hole 605 through the guide rod and driven by the guide plate 604. Can snatch the removal operation to the seedling dish of two rows simultaneously, improve work efficiency.

Preferably, seedling dish extrusion fixing device 5 is including setting up installation pole 51 and the drive installation pole 51 pivoted extrusion cylinder 52 on workstation 2, be connected with depression bar 53 on the installation pole 51, control extrusion cylinder 52 piston rod stretches out to promote the installation pole 51 rotatory and then drive depression bar 53 and push down the seedling dish and push down fixedly, and the seedling of being convenient for snatchs mechanism 6 and takes out the seedling.

Preferably, the bottom of the frame 1 is connected with a roller 10. The whole rack is convenient to move.

The working process of the invention is as follows:

the seedling dish that the planting has the seedling transports 5 departments to seedling dish extrusion fixing device through seedling dish conveyer belt 3, the sensor detects feedback signal behind the seedling dish and gives the motor and control seedling dish conveyer belt 3 and stop, through the upper and lower moving mechanism 8 with all around four-way moving mechanism 9 cooperation action with the seedling snatch mechanism 6 and remove to the seedling dish on, snatch the seedling in claw 606 with the seedling dish together with the matrix soil and grab through the seedling, move the seedling to the seedling cup on the seedling dish under the control of upper and lower moving mechanism 8 and all around four-way moving mechanism 9. In the process, all parts cooperate with the whole action, the seedling grabbing efficiency is high, the automation degree is high, and the seedlings are not easy to damage.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change or modification made to the above embodiments according to the technical principle of the present invention still falls within the scope of the technical solution of the present invention.

Claims (9)

1. The utility model provides a water planting vegetable seedling transplanter, includes frame (1), its characterized in that: frame (1) below is provided with workstation (2), be provided with seedling tray conveyer belt (3) and seedling tray conveyer belt (4) on workstation (2), be provided with sensor and seedling tray extrusion fixing device (5) on workstation (2) of seedling tray conveyer belt (3) front end, be provided with the seedling on frame (1) of seedling tray extrusion fixing device (5) top and snatch mechanism (6), the seedling snatchs mechanism (6) and connects on moving mechanism (7), moving mechanism (7) can realize the removal of six directions from top to bottom around, control moving mechanism (7) drive the seedling snatch mechanism (6) take out in the seedling tray the seedling after move to the seedling cup on the seedling tray.

2. The hydroponic vegetable seedling transplanting machine as claimed in claim 1, wherein: the moving mechanism (7) comprises an up-and-down moving mechanism (8) and a front-back left-right four-direction moving mechanism (9), the up-and-right moving mechanism (8) comprises a first guide rail (801) vertically arranged on the left side and the right side of the rack (1), a first moving plate (803) arranged on the first guide rail (801) through a first sliding block (802), and a first motor (804) arranged at the top of the rack (1), the first motor (804) is connected with a first belt wheel (806) through a speed reducer and a transmission shaft (805), a second belt wheel (807) is arranged below the first belt wheel (806), a first synchronous belt (808) is connected between the first belt wheel (806) and the second belt wheel (807), the first synchronous belt (808) and the first guide rail (801) are arranged in parallel, the first sliding block (802) is connected to the first synchronous belt (808), and the first motor (804) controls the movement of the first synchronous belt (808) through the transmission shaft (805) and the first belt wheel (806) to drive the first moving plate (803) to move along the first guide rail (801) A guide rail (801) moves up and down.

3. The hydroponic vegetable seedling transplanting machine as claimed in claim 2, wherein: the lower end of the first moving plate (803) is connected with a first air cylinder (809), and the first air cylinder (809) synchronously assists the ascending and descending actions of the first moving plate (803).

4. The hydroponic vegetable seedling transplanting machine as claimed in claim 2, wherein: the front-back left-right four-way moving mechanism (9) comprises a main moving frame (901) connected to a first moving plate (803), the main moving frame (901) is provided with a first longitudinal guide rail (902) and a second longitudinal guide rail (903) which are parallel to each other, two ends of the first longitudinal guide rail (902) and the second longitudinal guide rail (903) are respectively provided with a belt wheel (904), the tops of the belt wheels (904) positioned on one side of the main moving frame and the second longitudinal guide rail are respectively and correspondingly connected with a first servo motor (905) and a second servo motor (906), a cross beam (907) is vertically arranged between the first longitudinal guide rail (902) and the second longitudinal guide rail (903), the cross beam (907) is provided with a transverse guide rail (908), two ends of the cross beam (907) are respectively connected to the first longitudinal guide rail (902) and the second longitudinal guide rail (903) through a first longitudinal slider (909) and a second longitudinal slider (910), the tensioning device is characterized in that a first tensioning guide wheel (911) and a second tensioning guide wheel (912) are respectively arranged at the front end and the rear end of the first longitudinal sliding block (909) along the longitudinal direction, a third tensioning guide wheel (913) and a fourth tensioning guide wheel (914) are respectively arranged at the front end and the rear end of the second longitudinal sliding block (910) along the longitudinal direction, a transverse sliding block (915) is arranged on the transverse guide rail (908), a second moving plate (916) is connected to the transverse sliding block (915), the transverse sliding block (915) is connected to a second synchronous belt (917), and the second synchronous belt (917) sequentially bypasses the first tensioning guide wheel (911), a belt wheel (904) below the first servo motor (905), a belt wheel (904) at the other end of the first longitudinal guide rail (902), the second tensioning guide wheel (912), the fourth tensioning guide wheel (914) and a belt wheel (904) at the other end of the second longitudinal guide rail (903), A belt wheel (904) and a third tensioning guide wheel (913) below the second servo motor (906) are closed.

5. The hydroponic vegetable seedling transplanting machine as claimed in claim 4, wherein: seedling snatchs mechanism (6) including connecting first longeron (601) and second longeron (602) that are parallel to each other on crossbeam (907), first longeron (601) and second longeron (602) other end are connected with second crossbeam (603), all be provided with the guide rail on first longeron (601), second longeron (602), second crossbeam (603), be connected with deflector (604) on second movable plate (916), the deflector (604) other end passes through the slider and connects on the guide rail of second crossbeam (603), be provided with the direction slot hole (605) that the multichannel slant was dispersed on deflector (604), be connected with the seedling on every direction slot hole (605) and snatch claw (606), the seedling snatchs claw (606) about both ends and connects on first longeron (601), second longeron (602) through the slider, deflector (604) drive seedling claw (606) synchronous longitudinal motion when snatching along longitudinal motion under the drive of second hold-in range (917) The guide plate (604) is driven by the second synchronous belt (917) to move along the transverse direction, so that the distance between the seedling grabbing claws (606) is increased or decreased through the guide long hole (605), and each adjacent seedling grabbing claw (606) is kept at equal distance.

6. The hydroponic vegetable seedling transplanting machine as claimed in claim 5, wherein: seedling snatchs claw (606) including main connecting rod (607) that is located the middle part, main connecting rod (607) upper portion is provided with mount pad (608), main connecting rod (607) lower extreme is connected with guide holder (609), be provided with on guide holder (609) and link up rectangular shape guiding hole (610) of the radial arrangement of guide holder (609) upper and lower surface, main connecting rod (607) surface is located mount pad (608) below and is provided with gasbag (611), be provided with at least three articulated seat (612) along the equidirectional angle of circumferencial direction on mount pad (608), every articulated arm (613) is gone up in articulated seat (612), arm (613) are located guide holder (609) below after passing rectangular shape guiding hole (610), arm (613) outside is provided with spring mounting groove (614), the peripheral department cover of the spring mounting groove (614) of a plurality of arm (613) is equipped with tightens up spring (615), the tightening springs (615) keep all the movable arms (613) in a tightened state, piston telescopic rods (616) and seedling grabbing rods (617) which are connected together and can slide along the axial direction are arranged inside the movable arms (613) along the axial direction, and the movable arms (613) are respectively provided with air inlets (618) and air outlets (619) corresponding to the piston telescopic rods (616); the expansion or contraction of the air bag (611) is controlled by inflating or deflating the air bag (611), the expansion or contraction of the air bag (611) is matched with the tightening spring (615) to realize the expansion or grasping of all the movable arms (613), and the extension and retraction of the seedling grasping rod (617) are realized by pushing the piston telescopic rod (616) to slide along the axial direction through the air inlet direction of the air inlet (618) and the air outlet (619).

7. The hydroponic vegetable seedling transplanting machine as claimed in claim 6, wherein: seedling snatchs claw (606) along horizontal arrangement two rows, along horizontal front and back two between inform the connecting rod to connect and realize synchronous motion, main connecting rod (607) is connected on this connecting rod, and the connecting rod top is passed through the guide bar and is set up in direction slot hole (605) and receive the drive of deflector (604).

8. The hydroponic vegetable seedling transplanting machine as claimed in claim 1, wherein: seedling dish extrusion fixing device (5) is including setting up installation pole (51) and drive installation pole (51) pivoted extrusion cylinder (52) on workstation (2), be connected with depression bar (53) on installation pole (51), control extrusion cylinder (52) piston rod stretch out to promote the rotation of installation pole (51) and then drive depression bar (53) and push down the seedling dish and fix, and the seedling of being convenient for snatchs mechanism (6) and takes out the seedling.

9. The hydroponic vegetable seedling transplanting machine as claimed in claim 1, wherein: the bottom of the frame (1) is connected with a roller (10).

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