Design and Experiment of Ejecting-clip Pneumatic Picking-up Seedlings Device

In order to solve problems of manual seedling collection，high labor intensity and low efficiency of semi-automatic transplanter，a ejecting-clip automatic picking-up seedlings device was designed，which was suitable for leafy vegetables and solanaceous vegetables.The actions of the device，such as seedling ejecting，picking seedling，swinging and seedling plate moving，were driven by air cylinder.The longitudinal conveying of seedling tray was driven by motor and scanned line by line with laser sensor to eliminate accumulated error and realize precise positioning.FPGA controller was used to control the orderly action of each cylinder and motor to complete seedling picking process.128 and 200 seedling trays were selected to carry out experiment of transportation，positioning and automatic seedling picking.Results showed that average positioning errors of tray transportation were 0.509 mm and 0.564 mm respectively.The coefficient of variation was 4.08% and 5.20%，which met requirements of tray transportation and positioning.The frequency of seedling collection can reach more than 120 plants/min，and reach efficiency target.