Wheat and soybean composite planting device and planting method thereof

Abstract

The invention discloses a wheat and soybean composite planting device and a planting method thereof. A ploughing device is arranged at the front end of a mounting plate; the soil pumping device is arranged right behind the ploughing device, three soil shoveling grooves are formed in the soil pumping device at equal intervals, and when the moving device drives the mounting plate to move, three ditches are shoveled out through the three soil shoveling grooves; the wheat planting device is arranged behind the soil shoveling grooves, two transplanting devices are symmetrically arranged in the wheat planting device, and a pair of soil shifting pieces of each transplanting device is located between the two adjacent soil shoveling grooves; the soybean planting device is arranged behind the wheat planting device and provided with three planting mechanisms arranged at equal intervals, and each planting mechanism is located right behind one soil shoveling groove. According to the invention, composite planting of wheat and soybean can be realized, the planting efficiency is improved, and the requirements of soybean and wheat on different planting depths are met while wheat root systems and soybean seeds are on the same horizontal line after planting.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to a wheat and soybean composite planting device and a planting method thereof. Background Art

[0002] In agricultural production, in order to improve land utilization efficiency and increase crop yields, compound planting technology has been widely used. Among them, the compound planting of spring wheat and spring soybeans can improve land utilization, increase crop yields and economic benefits, but there is currently no planting device for compound planting of wheat and soybeans. The planting device for planting wheat and the planting device for planting soybeans are mainly used separately for planting, which consumes high costs, has low planting efficiency, and cannot meet the different planting depth requirements of soybeans and wheat. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a wheat and soybean composite planting device and a planting method thereof.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The invention discloses a wheat and soybean composite planting device, which comprises a moving device, a plowing device, a soil pumping device, a wheat planting device, a mounting plate, a wheat fertilizing device, a soybean fertilizing device and a soybean planting device.

[0006] The plowing device is arranged at the front end of the mounting plate, and two symmetrically arranged wheels are hinged on both sides of the rear end of the mounting plate, and the moving device drives the mounting plate to move. The soil extraction device is located directly behind the plowing device, and includes a receiving box, a soil shoveling trough, a soil extraction drill, a soil pump and a guide block; the receiving box is fixed on the mounting plate; the rear of the receiving box is a soil delivery bin; the bottom plate of the soil delivery bin is arranged to tilt backwards, and two guide blocks are fixed on the bottom plate, and the two guide blocks and the two side walls of the receiving box form three soil dropping channels, and the front end of the guide block is conical; the soil shoveling trough is an L-shaped tube, and is provided with three equidistantly arranged, the three soil shoveling troughs are aligned one by one with the three soil dropping channels, and the vertical section of each soil shoveling trough is aligned with the mounting plate. The three holes opened on the plate are fixed respectively, and the horizontal sections are all located below the mounting plate; the inlet of each soil shoveling trough is opened at the front end of the corresponding horizontal section and is arranged forward, and the outlet of each soil shoveling trough is opened at the upper end of the corresponding vertical section and is arranged backward, and is respectively connected with the three inlets opened at the front end of the receiving box; a vertically arranged soil extraction drill is hinged in each vertical section, and each soil extraction drill is driven to rotate by a motor; the soil pump is fixed on the bottom plate 2 at the front end of the receiving box, and the inlet of the soil pump is connected with each inlet of the receiving box through a pipeline.

[0007] The wheat planting device is arranged at the rear of each soil shoveling groove, and comprises a lifting mechanism and a transplanting device. The transplanting device comprises a seedling-introducing tube, a lifting mechanism II, a connecting piece, a rocker, a soil-pushing piece, a pot body, a turntable and a seedling-taking claw; the vertically arranged seedling-introducing tube is arranged in a square hole I opened on the mounting plate and is located between two adjacent soil-shoveling grooves; two symmetrically arranged connecting pieces are arranged in front and behind the seedling-introducing tube, and the two connecting pieces are synchronously driven to lift and lower by two lifting mechanisms II; one end of the symmetrically arranged two rockers is hinged with the two connecting pieces respectively and driven to rotate synchronously by two motors II, and the other end is fixed with the symmetrically arranged two soil-pushing pieces, and the seedling-introducing tube is located between the two soil-pushing pieces, and the lower end of the soil-pushing piece is a pointed end; the horizontally arranged turntable is arranged above the seedling-introducing tube, and forms a rotating pair with the bottom plate II, and is driven to rotate by the motor III; a plurality of pot bodies uniformly distributed vertically and circumferentially are fixed on the turntable, and an opening I at the lower end of each pot body is hinged with a baffle I, which is driven to rotate by the driving piece; the seedling-taking claw is driven to translate and lift and lower by a moving mechanism arranged on the lower surface of the bottom plate II. The transplanting device is provided with two symmetrically arranged ones, and the two seedling-leading tubes of the two transplanting devices are synchronously driven to rise and fall by the lifting mechanism.

[0008] The wheat fertilization device comprises a rectangular frame, a connecting frame, a feed pipe group and a fertilizer box 1. The fertilizer box 1 is fixed on a mounting plate; the horizontally arranged connecting frame and the mounting plate form a rotating pair and are driven to rotate by a motor 4. The feed pipe group is fixed on the connecting frame and two rectangular frames, and the inlet of the feed pipe group is connected to the fertilizer box 1 through a water pump 1 and a hose; the feed pipe group is located in the two rectangular frames and is provided with a plurality of equally spaced hole groups, and the hole group is composed of a plurality of equally spaced hole 2; each rectangular frame is located directly below a square hole 1.

[0009] The soybean fertilization device is arranged behind the wheat planting device, and is provided with three equidistantly arranged ones, and each soybean fertilization device is aligned with a shoveling groove. The soybean planting device is arranged directly behind each soybean fertilization device, and includes a seed box and a planting mechanism; the seed box is fixed on the mounting plate, the bottom surface of the seed box is an inclined surface, and the front end of the seed box is provided with three openings 2 arranged equidistantly, each opening 2 is provided with a planting mechanism, and the three planting mechanisms are aligned with the three shoveling grooves one by one; the planting mechanism includes a gear, a limit groove and a digging mechanism, the gear is hinged on the corresponding opening 2, and is driven to rotate by the motor 5, the limit groove is fixed to the square hole 2 opened on the mounting plate, and is located directly below the gear, and the digging mechanism is provided directly below the limit groove. The digging mechanism includes a push rod, a closing cover, a second baffle plate and a slider. The closing cover is located directly below the corresponding limit groove and is driven to rise and fall by the lifting mechanism three. The upper and lower ends of the closing cover are open, and an integrally formed cross bar is provided at the upper end of the closing cover. The upper ends of the two symmetrically arranged sliders form sliding pairs with the cross bar, and the lower ends are hinged to the middle parts of the two symmetrically arranged second baffle plates. The upper ends of the two second baffle plates are hinged to one end of the two electric push rods, and the lower ends are connected by springs, and the other ends of the two electric push rods are fixed to the two ends of the closing cover. A pressure sensor is fixed on the closing cover; when the lower end of the second baffle plate is at the lowest position, it is in the same horizontal plane as the lower end of the earth-moving piece when it is at the lowest position.

[0010] Preferably, the plowing device includes a plow and a mudguard, the mudguard is fixed to the front end of the mounting plate, the horizontally arranged plow and the mudguard form a rotating pair, and are driven to rotate by motor six; a pull rod is fixed on the mudguard, and the moving device drives the pull rod to drive the mounting plate to move through the mudguard.

[0011] Preferably, the lifting mechanism comprises a screw, a nut block and a connecting rod. The vertically arranged screw and the mounting plate form a transmission pair and are driven to rotate by a motor. The nut block and the screw form a ball screw pair through balls, and two symmetrically arranged connecting rods are fixed at both ends of the nut block; the seedling tubes of the two transplanting devices are fixed to the two connecting rods.

[0012] Preferably, the lifting mechanism 2 includes a support frame 1, a lead screw 2 and a nut block 2, the support frame 1 is vertically fixed on the corresponding square hole 1, the lead screw 2 and the support frame 1 form a rotating pair, and are driven to rotate by a motor 8, the nut block 2 and the lead screw 2 form a threaded pair, and form a sliding pair with the support frame 1; the connecting piece is fixed on the nut block 2.

[0013] Preferably, the moving mechanism includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module. The X-axis linear module is fixed on the second base plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate. The Z-axis linear module drives the seedling claw to rise and fall. The direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

[0014] Preferably, the soybean fertilization device includes a second fertilizer box, a nozzle and a water distribution tray, the second fertilizer box is fixed to the upper surface of the mounting plate, the water distribution tray is fixed to the lower surface of the mounting plate, and the second fertilizer box is connected to the inlet of the water distribution tray through a second water pump and a water pipe, and a plurality of nozzles evenly distributed along the circumferential direction are fixed and connected to the water distribution tray.

[0015] Preferably, two support plates are fixed on both sides of the second opening in parallel and arranged at a distance, the gear is arranged between the two support plates, and both ends of the gear form a rotating pair with the two support plates.

[0016] Preferably, the feed pipe group includes U-shaped tube 1, U-shaped tube 2 and U-shaped tube 3, the middle part of U-shaped tube 1 is fixed on the connecting frame, and the inlet opened in the middle part of U-shaped tube 1 is connected to fertilizer box 1 through water pump 1 and hose, the outlets of the two arms on U-shaped tube 1 are respectively fixed and connected to the inlets opened in the middle parts of two U-shaped tubes 2, the outlets of the two arms on each U-shaped tube 2 are respectively fixed and connected to the inlets of the two arms on a U-shaped tube 3; each U-shaped tube 3 is fixed to the inner wall of a rectangular frame, and each U-shaped tube 3 is provided with a plurality of hole groups arranged equidistantly.

[0017] Preferably, the lifting mechanism three includes a lead screw three, a support frame two, a connecting rod two, and a nut block three. The two support frames two arranged vertically and at intervals are fixed on the mounting plate. The two vertically arranged lead screws three and the two support frames two respectively constitute a rotating pair, and are driven to rotate by two motors nine respectively. The two nut blocks three and the two lead screws three respectively constitute a threaded pair, and respectively constitute a sliding pair with the two support frames two. The upper ends of the two connecting rods two are fixed to the two nut blocks three respectively, and the lower ends are fixed to the two ends of the closing cover.

[0018] The planting method of the wheat and soybean composite planting device of the present invention is as follows:

[0019] Step 1: Place the seedling tray with wheat seedlings on the mounting plate, and put the wheat seedlings into each vacant pot between the seedling claw and the seedling introduction tube on the turntable of each transplanting device; put soybean seeds in the seed box; pour liquid fertilizer into the fertilizer box 1 and each fertilizer box 2; then the plowing device starts to work, the controller controls each motor 1 to drive each soil extraction drill to start rotating, and the soil pump starts to work at the same time.

[0020] Step 2: The mobile device drives the mounting plate forward in the field to move the wheat planting device to the first planting area; during the forward movement of the mounting plate, the plowing device turns over the soil passing by, and then each shovel trough shovels part of the soil, and each soil auger transports the soil shoveled into the corresponding shovel trough to the top of each shovel trough. At the same time, the soil pump transports the soil transported to the top of each shovel trough into the soil delivery bin and discharges it to the rear of the mounting plate along each soil dropping channel, and three grooves are formed on the ground after each shovel trough shovels part of the soil.

[0021] Step 3, the controller controls the motor 4 to drive the connecting frame to drive the feed pipe group and the two rectangular frames to rotate downward, so that the lower ends of the two rectangular frames are inserted into the soil, and each rectangular frame is located between two adjacent grooves; the controller controls the two lifting mechanisms 2 in each transplanting device to synchronously drive the two connecting pieces to drive the two combined soil-digging pieces to move downward through the two rocking arms, so that the lower ends of the two soil-digging pieces are inserted into the soil and are located in the corresponding rectangular frames, and the two soil-digging pieces dig out a pit 1; then the water pump 1 works, the liquid fertilizer in the fertilizer box 1 is transported to the feed pipe group, and is sprinkled out from each hole 2, and at the same time, the controller controls the two motors 2 in each transplanting device to drive the two rocking arms to swing back and forth, and the two rocking arms drive the two soil-digging pieces to open and close back and forth, and the soil located outside the two soil-digging pieces in the rectangular frame is turned over during the reciprocating opening and closing of the two soil-digging pieces, and the soil is stirred with the liquid fertilizer transported from the fertilizer box 1; after the stirring is completed, the controller controls each motor 2 to stop working, and at this time, the two soil-digging pieces in each transplanting device are in an open state.

[0022] Step 4, the lifting mechanism 1 drives the seedling tubes in the two transplanting devices to descend synchronously, so that the seedling tubes pass through the corresponding two soil-digging pieces and are inserted into the corresponding pit 1; at the same time, on the pot body just above the seedling tube, the driving member drives the baffle 1 to rotate, so that the opening at the lower end of the pot body is opened, and the wheat seedlings in the pot body fall down and fall into the pit 1 from the seedling tube; then the lifting mechanism 1 drives the seedling tubes in the two transplanting devices to rise synchronously to the original position, and at the same time, the two lifting mechanisms 2 in each transplanting device synchronously drive the two connecting members to drive the opened two soil-digging pieces to move upward to the original position through the two rocking rods, and control the two motors 2 in each transplanting device to drive the two rocking rods to drive the two soil-digging pieces to move toward each other, so that the two soil-digging pieces are closed, and with the rise of the seedling tube in each transplanting device, and the rise and gradual closing of the two soil-digging pieces, the soil mixed with the liquid fertilizer covers the corresponding wheat seedling roots, and the transplanting of the wheat seedlings is completed; then the controller controls the motor 4 to drive the connecting frame to drive the feed pipe group to rotate upward, so that each rectangular frame returns to its original position.

[0023] Step 5: The mobile device drives the mounting plate to advance a preset distance in the field, so that the wheat planting device moves to the next planting area, and the soybean planting device moves to the groove position aligned with the previous planting area; wherein, during the advancement of the mounting plate, the controller controls the motor three in each transplanting device to drive the corresponding turntable to rotate a preset angle, so that the next pot body with wheat seedlings on the turntable rotates to the top of the seedling introduction tube, and the next empty pot body rotates to the bottom of the seedling claw, and each mobile mechanism drives each seedling claw to translate and lift, so that each seedling claw clamps the wheat seedlings from the seedling tray, and places the clamped wheat seedlings in the corresponding next empty pot body, and at the same time, each soybean fertilization device works to fertilize the three grooves passed by, and the controller controls each motor five to drive each gear to rotate one circle, and the soybean seeds at each opening two position are pushed into the corresponding limit groove by each gear, and fall into the closed cover of the corresponding digging mechanism and are located between the two baffles two.

[0024] Step 6, each lifting mechanism three drives each closed cover to descend, so that each closed cover is inserted into the soil of a groove, a pit two is dug out at the lower end of the two baffles two in each closed cover, and the soil outside the two baffles two in the corresponding closed cover is squeezed to both sides, when each pressure sensor detects that the pressure exerted on it by the soil in the corresponding closed cover exceeds the preset value, the corresponding lifting mechanism three stops working; the bottom of the pit two is at the same horizontal plane as the bottom of the pit one; then the controller controls the piston rods of the two electric push rods in each planting mechanism to extend, and the piston rods of the two electric push rods push the two sliders to move toward each other through the two baffles two, so that the upper ends of the two baffles two move toward each other, and the lower ends of the two baffles two move away from each other, The spring stretches, so that the soil outside the two baffles 2 in the closed cover is pushed to both sides, and the soybean seeds fall into the pit 2; then each lifting mechanism 3 drives each closed cover to rise to the original position, and the controller controls the piston rods of the two electric push rods in each planting mechanism to shorten, and the piston rods of the two electric push rods pull the two sliders to rotate in opposite directions through the two baffles 2, so that the upper ends of the two baffles 2 rotate in opposite directions, and the restoring force of the spring pulls the lower ends of the two baffles 2 to move toward each other. With the rise of the closed cover and the movement of the lower ends of the two baffles 2, the soil pushed to both sides in the closed cover gathers to the middle and covers the soybean seeds, thereby completing the soybean seed sowing work at the groove position aligned with the previous planting area. Repeat steps 3 and 4 while sowing the soybean seeds to complete the wheat planting work in the planting area where the wheat planting device is located.

[0025] Step 7. Repeat steps 5 and 6 until the wheat planting work in the last planting area is completed, the soil pump stops working, and the controller controls the plowing device and each motor to stop working. During this process, the soil in the soil delivery bin is discharged along each soil drop channel to the rear of the mounting plate to refill the groove.

[0026] The present invention has the following beneficial effects:

[0027] 1. The present invention can realize the composite planting of wheat and soybeans, saves planting costs, improves planting efficiency, and can meet the different requirements of soybeans and wheat for planting depths while keeping the wheat root system and soybean seeds on the same horizontal line after planting. Specifically, the present invention realizes the planting and fertilization of wheat seedlings through the cooperation of the wheat fertilization device and the wheat planting device, and realizes the fertilization and sowing of soybean seeds through the soybean fertilization device and the soybean planting device, thereby realizing the composite planting of wheat and soybeans; further, the soil extraction device of the present invention is provided with three equidistantly arranged soil shoveling grooves, and when the moving device drives the mounting plate to move, each soil shoveling groove shovels into the soil and digs three grooves on the ground, wherein the wheat seedlings are planted in the soil between two adjacent grooves, and the soybean seeds are planted in each groove, but the wheat root system after planting is kept on the same horizontal line as the soybean seeds, thereby meeting the different planting depth requirements of shallow soybean planting (easy to emerge from the soil) and deep wheat planting (resistant to lodging), and the nitrogen fixation effect of soybeans can also promote the growth of wheat roots and resist lodging, ensuring the complementary effect of composite planting.

[0028] 2. In the wheat fertilizing device of the present invention, the motor 4 drives the connecting frame to rotate downward through the feeding pipe group, so that the rectangular frame is inserted into the soil. The two lifting mechanisms 2 in the transplanting device drive the two connecting pieces to drive the two closed soil-moving pieces to descend through the two rocking arms and insert them into the soil to dig out a pit. Then, the liquid fertilizer in the wheat fertilizing device flows into the soil in the rectangular frame through the feeding pipe group. The two motors 2 drive the two rocking arms to drive the two soil-moving pieces to reciprocate and close, so that the liquid fertilizer and the soil are fully mixed, thereby ensuring the consistency of the fertilization degree around the wheat seedlings. Then the lifting mechanism 1 drives the seedling-leading tube to descend, and passes through the two soil-moving pieces that are opened after the liquid fertilizer and soil are mixed. At the same time, the opening 1 at the lower end of the pot body just above each seedling-leading tube is opened, so that the wheat seedlings fall into the pit 1 from the pot body through the corresponding seedling-leading tube. Then the lifting mechanism 1 drives the seedling-leading tube to rise, and the two lifting mechanisms 2 in the transplanting device drive the two soil-moving pieces to rise. At the same time, the two motors 2 drive the two rockers to drive the two soil-moving pieces to close, so that the soil outside the two soil-moving pieces covers the roots of the wheat seedlings, thereby realizing the fertilization and planting of the wheat seedlings.

[0029] 3. When the mobile device drives the mounting plate forward in the present invention, each soybean fertilizing device fertilizes the soil passing by. When the mobile device stops driving the mounting plate, the motor five driving gear of the soybean planting device rotates, and the soybean seeds are pushed into the limiting groove and fall between the two baffles two in the closed cover. The lifting mechanism three drives the closed cover to descend, so that the closed cover is inserted into the soil fertilized by the corresponding soybean fertilizing device, and the two baffles two dig out the pit two, and then the two electric push rods on the closed cover push the upper ends of the two baffles two to move toward each other, so that the lower ends of the two baffles two move away from each other, and the soil in the closed cover is squeezed to both sides, and the soybean seeds fall into the pit two, and then the two electric push rods pull the upper ends of the two baffles two to move away from each other, and the lifting mechanism three drives the closed cover to rise, so that the soil squeezed to both sides gathers between and covers the soybean seeds, thereby realizing the fertilization and sowing of the soybean seeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the present invention after removing the moving device and the pull rod;

[0032] Figure 3 It is a schematic diagram of the structure of the moving device and the plowing device in the present invention;

[0033] Figure 4 It is a front view of the soil extraction device in the present invention;

[0034] Figure 5 It is a structural stereogram of the soil extraction device in the present invention;

[0035] Figure 6 This is a partial enlarged view of the wheat planting device of the present invention;

[0036] Figure 7 It is a structural schematic diagram of the wheat fertilization device in the present invention;

[0037] Figure 8 It is a structural schematic diagram of the soybean fertilization device of the present invention;

[0038] Fig. 9 It is a front view of the soybean planting device and a part of the mounting plate of the present invention;

[0039] Fig.10 It is a structural stereogram of the soybean planting device and part of the mounting plate in the present invention;

[0040] Fig.11 It is a structural schematic diagram of the digging mechanism in the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described below in conjunction with the accompanying drawings.

[0042] like Figure 1 and Figure 2 As shown, a wheat and soybean composite planting device of the present invention includes a moving device, a soil extraction device 1, a plowing device 2, a wheat planting device 3, a wheat fertilizing device 4, a mounting plate 5, a soybean fertilizing device 6 and a soybean planting device 7.

[0043] like Figure 3 As shown, the plowing device 2 includes a plow 21 and a mudguard 22. The mudguard 22 is fixed to the front end of the mounting plate 5. The horizontally arranged plow 21 and the mudguard 22 form a rotating pair and are driven to rotate by a motor 6 24. The mudguard 22 is used to block the soil splashed backward when the plow 21 plows the land. A pull rod 23 is fixed to the mudguard 22. Two wheels arranged symmetrically are hinged on both sides of the rear end of the mounting plate 5. The moving device drives the pull rod 23 to drive the mounting plate 5 to move through the mudguard 22.

[0044] like Figure 4 and Figure 5 As shown, the soil extraction device 1 is located directly behind the fender 22, and includes a receiving box 11, a soil shoveling trough 12, a soil extraction drill 13, a soil pump 14 and a guide block 15; the receiving box 11 is fixed on the mounting plate 5; the rear of the receiving box 11 is a soil delivery bin; the bottom plate of the soil delivery bin is arranged to tilt backward, and two guide blocks 15 are fixed on the bottom plate, and the two guide blocks 15 and the two side walls of the receiving box 11 form three soil dropping channels 17, and the front end of the guide block is conical 18; the soil shoveling trough 12 is an L-shaped tube, and is provided with three equidistantly arranged, the three soil shoveling troughs 12 are aligned one by one with the three soil dropping channels 17, and each soil shoveling trough 12 has a The vertical sections are fixed to the three holes opened on the mounting plate 5, respectively, and the horizontal sections are all located below the mounting plate 5; the inlet of each soil shoveling groove 12 is opened at the front end of the corresponding horizontal section and is arranged forward, and the outlet of each soil shoveling groove 12 is opened at the upper end of the corresponding vertical section and is arranged backward, and is respectively connected with the three inlets opened at the front end of the receiving box 11; a vertically arranged soil extraction drill 13 is hinged in each vertical section, and each soil extraction drill 13 is driven to rotate by a motor 16; the soil pump 14 is fixed on the bottom plate 2 at the front end of the receiving box 11, and the inlet of the soil pump 14 is connected with each inlet of the receiving box 11 through a pipeline.

[0045] like Figure 6As shown, the wheat planting device 3 is arranged behind each shovel trough 12, and includes a lifting mechanism 1 and a transplanting device. The lifting mechanism 1 includes a lead screw 1 33, a nut block 1 and a connecting rod 1 35. The vertically arranged lead screw 1 33 and the mounting plate 5 form a transmission pair, and are driven to rotate by a motor 7 32. The nut block 1 and the lead screw 1 33 form a ball screw pair through balls, and two symmetrically arranged connecting rods 1 35 are fixed at both ends of the nut block 1, and two symmetrically arranged transplanting devices are provided on the two connecting rods 1 35. The transplanting device includes a seedling introduction tube 31, a lifting mechanism 2, a connecting piece, a rocker 38, a soil-pushing piece 39, a pot body 310, a turntable 311 and a seedling-taking claw 314; the vertically arranged seedling introduction tube 31 is arranged in a square hole 1 opened on the mounting plate 5, and is located between two adjacent soil-shoveling grooves 12, and is fixed on a corresponding connecting rod 1 35; two symmetrically arranged connecting pieces are arranged in front and rear of the seedling introduction tube 31, and the two connecting pieces are synchronously driven to rise and fall by two lifting mechanisms 2; one end of the two symmetrically arranged rockers 38 is respectively hinged to the two connecting pieces, and is synchronously driven by two motors 2 37 The first end of the seedling introduction tube 31 is fixed with the second end of the seedling introduction tube 31, and the second end of the seedling introduction tube 31 is fixed with the second end of the seedling introduction tube 31. The seedling introduction tube 31 is located between the two seedling removal pieces 39, and the lower end of the seedling removal piece 39 is a pointed end. The horizontally arranged turntable 311 is arranged above the seedling introduction tube 31, and forms a rotating pair with the second bottom plate, and is driven to rotate by the motor three. A plurality of bowl bodies 310 are fixed vertically and evenly distributed along the circumferential direction on the turntable, and an opening one at the lower end of each bowl body 310 is hinged with a baffle one, and the baffle one is driven to rotate by the driving member 312. The seedling picking claw 314 (with its own power source to realize opening and closing) is driven to translate and lift by a moving mechanism arranged on the lower surface of the second bottom plate.

[0046] like Figure 7 As shown, the wheat fertilization device 4 includes a rectangular frame 41, a connecting frame, a feed pipe group 42 and a fertilizer box 1 44. The fertilizer box 1 44 is fixed on the mounting plate 5; the horizontally arranged connecting frame and the mounting plate 5 form a rotating pair and are driven to rotate by a motor 43. The feed pipe group 42 includes a U-shaped tube 1, a U-shaped tube 2 and a U-shaped tube 3. The middle part of the U-shaped tube 1 is fixed on the connecting frame, and the inlet opened in the middle part of the U-shaped tube 1 is connected to the fertilizer box 1 44 through a water pump 1 and a hose. The outlets of the two arms on the U-shaped tube 1 are respectively fixed and connected to the inlets opened in the middle parts of the two U-shaped tubes 2, and the outlets of the two arms on each U-shaped tube 2 are respectively fixed and connected to the inlets of the two arms on a U-shaped tube 3; each U-shaped tube 3 is fixed to the inner wall of a rectangular frame 41, and each U-shaped tube 3 is provided with a plurality of hole groups arranged at equal distances, and the hole group is composed of a plurality of hole 2 arranged at equal distances; each rectangular frame 41 is located directly below a square hole 1.

[0047] like Figure 8As shown, the soybean fertilization device 6 includes a second fertilizer box 61, a nozzle 63 and a water distribution plate 64; the second fertilizer box 61 is fixed to the upper surface of the mounting plate 5, the water distribution plate 64 is fixed to the lower surface of the mounting plate 5, and the second fertilizer box 61 is connected to the inlet of the water distribution plate 64 through the second water pump 62 and the water pipe 65, and a plurality of nozzles 63 uniformly distributed along the circumferential direction are fixed and connected to the water distribution plate 64. Three soybean fertilization devices 6 are arranged equidistantly behind the wheat planting device 3, and the water distribution plate 64 of each soybean fertilization device 6 is aligned with a shovel trough 12.

[0048] like Fig. 9 and Fig.10 As shown, the soybean planting device 7 is arranged directly behind each soybean fertilizing device 6, including a seed box 71 and a planting mechanism; the seed box 71 is fixed on the mounting plate 5, the bottom surface of the seed box 71 is an inclined surface, and the front end of the seed box 71 is provided with three openings 2 arranged equidistantly, each opening 2 is provided with a planting mechanism, and the three planting mechanisms are aligned one by one with the three shoveling grooves 12; the planting mechanism includes a support plate, a gear 72, a limiting groove 73, a digging mechanism 74 and a motor 5 78; two support plates arranged in parallel and at intervals are fixed on both sides of the corresponding opening 2, the gear 72 is arranged between the two support plates, and the two ends of the gear 72 form a rotating pair with the two support plates, and the motor 5 78 drives the gear 72 to rotate; the limiting groove 73 is fixed to the square hole 2 opened on the mounting plate 5, and is located directly below the gear 72, and the digging mechanism 74 is located directly below the limiting groove 73; wherein, the gear 72 is made of flexible material (such as rubber) to avoid damaging the soybean seeds.

[0049] like Fig.11 As shown, the digging mechanism 74 includes an electric push rod 741, a closed cover 742, a baffle 2 743, a spring 744, a pressure sensor 745 and a slider 746; the closed cover 742 is located directly below the corresponding limit groove 73 and is driven to rise and fall by the lifting mechanism 3. The upper and lower ends of the closed cover 742 are both open, and an integrally formed cross bar is provided at the upper end of the closed cover 742. The upper ends of the two symmetrically arranged sliders 746 both form sliding pairs with the cross bar, and the lower ends are hinged to the middle parts of the two symmetrically arranged baffles 2 743. The upper ends of the two baffles 2 743 are hinged to one end of the two electric push rods 741, and the lower ends are connected by springs 744, and the other ends of the two electric push rods 741 are fixed to the two ends of the closed cover 742; a pressure sensor 745 is fixed to the closed cover 742; when the lower end of the baffle 2 743 is at the lowest position, it is in the same horizontal plane as the lower end of the earth-moving member 39 when it is at the lowest position.

[0050] As a preferred embodiment, the lifting mechanism 2 includes a support frame 1, a lead screw 2 36 and a nut block 2. The support frame 1 is vertically fixed on the corresponding square hole 1. The lead screw 2 36 and the support frame 1 form a rotating pair and are driven to rotate by a motor 8 34. The nut block 2 and the lead screw 2 36 form a threaded pair and form a sliding pair with the support frame 1. A connecting piece is fixed on each nut block 2.

[0051] As a preferred embodiment, a placement rack is fixed on the mounting plate 5, and the placement rack is used to place the seedling tray 313.

[0052] As a preferred embodiment, the moving mechanism includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module. The X-axis linear module is fixed on the second base plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate. The Z-axis linear module drives the seedling claw 314 to rise and fall, and the direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

[0053] As a preferred embodiment, the lifting mechanism three includes a screw three 75, a support frame two, a connecting rod two 76, and a nut block three. The two support frames two arranged vertically and at intervals are fixed on the mounting plate 5. The two vertically arranged screws three 75 and the two support frames two respectively constitute a rotating pair, and are driven to rotate by two motors nine 77 respectively. The two nut blocks three and the two screws three 75 respectively constitute a threaded pair, and respectively constitute a sliding pair with the two support frames two. The upper ends of the two connecting rods two 76 are fixed to the two nut blocks three respectively, and the lower ends are fixed to the two ends of the closing cover 742.

[0054] Among them, the mobile device, soil pump 14, water pump one, motor three, motor four 43, motor six 24, motor seven 32, each motor one 16, each motor two 37, each motor five 78, each motor eight 34, each motor nine 77, each water pump two 62, each X-axis linear module, each Y-axis linear module, each Z-axis linear module, each driving member 312, each seedling claw 314 has its own power source and each electric push rod 741 are all controlled by the controller, and the signal output end of each pressure sensor 745 is connected to the controller.

[0055] The planting method of the wheat and soybean composite planting device of the present invention is as follows:

[0056] Step 1: In the initial state, the two soil-moving pieces 39 of each transplanting device are in a closed state, and the upper ends of the two baffles 2 743 of each digging mechanism 74 are open and the lower ends are closed; the opening 1 at the lower end of each pot body 310 is closed, and there is a pot body 310 directly below the seedling claw 314 and directly above the seedling introduction tube 31 in each transplanting device. The seedling tray 313 with wheat seedlings is placed on the mounting plate 5, and wheat seedlings are placed in each pot body 310 between the seedling claw 314 and the seedling introduction tube 31 on the turntable of each transplanting device; soybean seeds are placed in the seed box 71; liquid fertilizer is poured into the fertilizer box 1 44 and each fertilizer box 2 61; then the controller controls the motor 6 24 to drive the plow 21 to start rotating, and controls each motor 1 16 to drive each soil extraction drill 13 to start rotating, and the soil pump 14 starts working at the same time.

[0057] Step 2: The mobile device drives the pull rod 23 to drive the mounting plate 5 forward in the field through the mudguard 22, so that the wheat planting device 3 moves to the first planting area; wherein, during the forward movement of the mounting plate 5, the rotating plow 21 turns over the passing soil to loosen the soil, and then each shoveling groove 12 shovels into part of the loose soil, and each soil extraction drill 13 transports the soil shoveled into the corresponding shoveling groove 12 to the top of each shoveling groove 12, and at the same time, the soil pump 14 transports the soil transported to the top of each shoveling groove 12 into the soil delivery bin and discharges it to the rear of the mounting plate 5 along each soil dropping channel 17, and three grooves are formed on the ground after each shoveling groove 12 shovels into part of the loose soil.

[0058] Step 3: The controller controls the motor 43 to drive the connecting frame to drive the U-shaped tube 1 to rotate downward, and the U-shaped tube 1 drives the two rectangular frames 41 to rotate downward through each U-shaped tube 2 and each U-shaped tube 3, so that the lower ends of the two rectangular frames 41 are inserted into the soil, and each rectangular frame 41 is located between two adjacent grooves; the controller controls the two motors 8 34 in each transplanting device to drive the two lead screws 2 36 to rotate forward, and the two lead screws 2 36 drive the two connecting pieces to move downward through the two nut blocks 2, and the two connecting pieces drive the two combined soil-moving pieces 39 to move downward through the two rocking arms 38, so that the tips of the two soil-moving pieces 39 are inserted into the soil and are located in the corresponding rectangular frames 41, and the two soil-moving pieces 3 9 digs out a pit 1; then the water pump 1 works, and the liquid fertilizer in the fertilizer box 44 is transported to each U-shaped tube 3 through the U-shaped tube 1 and each U-shaped tube 2, and is sprinkled out from each hole 2. At the same time, the controller controls the two motors 2 37 in each transplanting device to drive the two rocking arms 38 to swing back and forth, and the two rocking arms 38 drive the two soil-moving pieces 39 to open and close back and forth. During the reciprocating opening and closing of the two soil-moving pieces 39, the soil outside the two soil-moving pieces 39 in the rectangular frame 41 is turned over, so that the soil is fully mixed with the liquid fertilizer transported from the fertilizer box 44; after the mixing is completed, the controller controls each motor 2 37 to stop working, and at this time, the two soil-moving pieces 39 in each transplanting device are in an open state.

[0059] Step 4, the controller controls the motor 7 32 to drive the screw 1 33 to rotate forward, and the screw 1 33 drives the seedling-introducing tubes 31 in the two transplanting devices to synchronously descend through the nut block 1 and each connecting rod 1 35, so that the seedling-introducing tube 31 passes through the corresponding two soil-digging pieces 39 and is inserted into the corresponding pit 1; at the same time, on the bowl body 310 located just above the seedling-introducing tube 31, the driving member 312 drives the baffle 1 to rotate, so that the opening at the lower end of the bowl body 310 is opened, and the wheat seedlings in the bowl body 310 fall and fall into the pit 1 from the seedling-introducing tube 31; then the controller controls the motor 7 32 to drive the screw 1 33 to reverse, and the screw 1 33 drives the seedling-introducing tubes 31 in the two transplanting devices to synchronously rise to the original position through the nut block 1 and each connecting rod 1 35, and at the same time the controller controls each transplanting device The two motors 8 34 in the middle drive the two lead screws 2 36 to reverse, so that the two lead screws 2 36 drive the two connecting pieces to move upward to the original position through the two nut blocks 2, and the two connecting pieces drive the two opened soil-moving pieces 39 to move upward to the original position through the two rocking arms 38, and control the two motors 2 37 in each transplanting device to drive the two rocking arms 38 to drive the two soil-moving pieces 39 to move towards each other, so that the two soil-moving pieces 39 are closed, and with the rise of the seedling-leading tube 31 in each transplanting device, and the rise and gradual closing of the two soil-moving pieces 39, the soil mixed with the liquid fertilizer covers the corresponding wheat seedling roots, thereby realizing the transplanting of the wheat seedlings; then the controller controls the motor 4 43 to drive the connecting frame to drive the U-shaped tube 1 to rotate upward, so that each rectangular frame 41 returns to its original position.

[0060] Step 5: The mobile device drives the pull rod 23 to drive the mounting plate 5 to move forward a preset distance in the field through the fender 22, so that the wheat planting device 3 moves to the next planting area, and the soybean planting device 7 moves to the groove position aligned with the previous planting area; wherein, during the advancement of the mounting plate 5, the controller controls the motor 3 in each transplanting device to drive the corresponding turntable 311 to rotate a preset angle, so that the next pot body 310 with wheat seedlings on the turntable 311 rotates to the top of the seedling introduction tube 31, and the next empty pot body 310 rotates to the bottom of the seedling claw 314, and each mobile mechanism drives each seedling claw 314 to move horizontally and lift. The seedling claw 314 clamps the wheat seedlings from the seedling tray 313 and places the clamped wheat seedlings in the corresponding next empty pot body 310. At the same time, each water pump 2 62 works, and the liquid fertilizer in each fertilizer box 2 61 is transported to each water distribution tray 64 by each water pump 2 62, and sprayed out from each nozzle of the corresponding water distribution tray 64 to fertilize the soil in each passing groove. The controller controls each motor 5 78 to drive each gear 72 to rotate one circle, and the (multiple) soybean seeds at each opening position are pushed into the corresponding limit groove 73 by each gear 72, and fall into the closing cover 742 of the corresponding digging mechanism 74, and are located between the two baffles 2 743.

[0061] The two screws 75 drive the two connecting rods 76 to descend through the two nut blocks 76, and the two connecting rods 76 drive the closing cover 742 to descend so that the closing cover 742 is inserted into the soil. A pit 2 is dug out at the lower end of the two baffles 743, and the soil in the closing cover 742 located outside the two baffles 743 is squeezed to both sides. When the pressure sensor 745 detects that the pressure exerted by the soil of the closing cover 742 exceeds the preset value, the controller controls the two motors 77 to stop working. At this time, the closing cover 742 of each planting mechanism is located in a groove; wherein the bottom of the pit 2 is at the same horizontal plane as the bottom of the pit 1; then the controller controls the piston rods of the two electric push rods 741 in each planting mechanism to extend, and the piston rods of the two electric push rods 741 push the two sliders 746 to move toward each other through the two baffles 743, so that the upper and lower parts of the two baffles 743 are The two ends of the two baffle plates 743 move toward each other, the lower ends of the two baffle plates 743 move away from each other, and the spring 744 is stretched, so that the soil outside the two baffle plates 743 in the closed cover 742 is pushed to both sides, and the soybean seeds fall into the pit 2; then the controller controls the two motors 9 77 in each planting mechanism to drive the two lead screws 3 75 to reverse, so that each connecting rod 2 76 drives the closed cover 742 to rise to the original position, and controls the piston rods of the two electric push rods 741 to shorten, and the pistons of the two electric push rods 741 are The rod pulls the two sliders 746 to rotate in opposite directions through the two baffles 743, so that the upper ends of the two baffles 743 move in opposite directions, and the restoring force of the spring 744 pulls the lower ends of the two baffles 743 to move in opposite directions. With the rise of the closed cover 742 and the movement of the lower ends of the two baffles 743 in opposite directions, the soil pushed to the sides of the closed cover 742 gathers in the middle and covers the soybean seeds, thereby completing the soybean seed sowing work at the groove position aligned with the previous planting area. Repeat steps 3 and 4 while sowing the soybean seeds to complete the wheat planting work in the planting area where the wheat planting device 3 is located.

[0062] Step 7, repeat steps 5 and 6 until the wheat planting work in the last planting area is completed, the soil pump 14 stops working, and the controller controls motor 6 24 and each motor 1 16 to stop working. During this process, the soil in the soil delivery bin is discharged along each soil delivery channel 17 to the rear of the mounting plate 5 to refill the groove.

Claims

1. A wheat and soybean composite planting device, comprising a moving device, a plowing device, a mounting plate, a wheat fertilizing device and a wheat planting device, characterized in that: It also includes a soil pumping device, a soybean fertilizing device and a soybean planting device; the plowing device is arranged at the front end of the mounting plate, and two wheels arranged symmetrically are hinged on both sides of the rear end of the mounting plate, and the moving device drives the mounting plate to move; the soil pumping device is located directly behind the plowing device, and includes a receiving box, a soil shoveling trough, a soil pumping drill, a soil pump and a guide block; the receiving box is fixed on the mounting plate; the rear of the receiving box is a soil delivery bin; the bottom plate of the soil delivery bin is arranged to be tilted backward, and two guide blocks are fixed on the bottom plate, and the two guide blocks and the two side walls of the receiving box form three soil falling channels, and the front end of the guide blocks The soil shoveling trough is an L-shaped tube, and is provided with three equidistantly arranged soil shoveling troughs, which are aligned with the three soil dropping channels one by one, and the vertical sections of each soil shoveling trough are respectively fixed to the three holes opened on the mounting plate, and the horizontal sections are all located below the mounting plate; the inlet of each soil shoveling trough is opened at the front end of the corresponding horizontal section, and is arranged forward, and the outlet of each soil shoveling trough is opened at the upper end of the corresponding vertical section, and is arranged backward, and is respectively connected with the three inlets opened at the front end of the receiving box; each vertical section is hinged with a vertically arranged soil extraction drill, and each soil extraction drill is driven to rotate by a motor; The soil pump is fixed on the bottom plate 2 at the front end of the receiving box, and the inlet of the soil pump is connected with each inlet of the receiving box through a pipeline; The wheat planting device is arranged behind each soil shoveling groove, and includes a lifting mechanism 1 and a transplanting device; the transplanting device includes a seedling introduction tube, a lifting mechanism 2, a connecting piece, a rocker, a soil-moving piece, a bowl body, a turntable and a seedling-taking claw; the vertically arranged seedling introduction tube is arranged in a square hole 1 opened on the mounting plate and is located between two adjacent soil shoveling grooves; two symmetrically arranged connecting pieces are arranged in front of and behind the seedling introduction tube, and the two connecting pieces are synchronously driven to rise and fall by two lifting mechanisms 2; one end of the two symmetrically arranged rockers is respectively hinged to the two connecting pieces, and is synchronously driven to rotate by two motors 2, and the other end is connected to the two connecting pieces by the two motors 2. Two symmetrically arranged soil-pushing pieces are fixed, and the seedling-leading tube is located between the two soil-pushing pieces, and the lower end of the soil-pushing piece is a pointed end; the horizontally arranged turntable is arranged above the seedling-leading tube, and forms a rotating pair with the bottom plate 2, and is driven to rotate by the motor 3; a plurality of pots that are vertically and evenly distributed along the circumference are fixed on the turntable, and an opening 1 at the lower end of each pot body is hinged with a baffle 1, and the baffle 1 is driven to rotate by the driving member; the seedling-taking claw is driven to translate and lift by a moving mechanism arranged on the lower surface of the bottom plate 2; the transplanting device is provided with two symmetrically arranged, and the two seedling-leading tubes of the two transplanting devices are synchronously driven to lift by the lifting mechanism 1; The wheat fertilization device comprises a rectangular frame, a connecting frame, a feed pipe group and a fertilizer box 1; the fertilizer box 1 is fixed on a mounting plate; the horizontally arranged connecting frame and the mounting plate form a rotating pair and are driven to rotate by a motor 4; the feed pipe group is fixed on the connecting frame and two rectangular frames, and the inlet of the feed pipe group is connected to the fertilizer box 1 through a water pump 1 and a hose; the feed pipe group is located in the two rectangular frames and is provided with a plurality of equally spaced hole groups, and the hole group is composed of a plurality of equally spaced hole 2; each rectangular frame is located directly below a square hole 1; The soybean fertilizing device is arranged behind the wheat planting device, and is provided with three equidistantly arranged devices, and each soybean fertilizing device is arranged in alignment with a shovel trough; the soybean planting device is arranged directly behind each soybean fertilizing device, and includes a seed box and a planting mechanism; The seed box is fixed on the mounting plate, the bottom surface of the seed box is an inclined surface, and the front end of the seed box is provided with three openings 2 arranged at equal distances, each opening 2 is provided with a planting mechanism, and the three planting mechanisms are aligned one by one with the three shoveling grooves; the planting mechanism includes a gear, a limit groove and a digging mechanism, the gear is hinged on the corresponding opening 2 and driven to rotate by a motor 5, the limit groove is fixed to the square hole 2 opened on the mounting plate and is located directly below the gear, and the digging mechanism is located directly below the limit groove; the digging mechanism includes a push rod, a closing cover, a baffle 2 and a slider, the closing cover is located at It is located directly below the corresponding limit groove and is driven to rise and fall by the lifting mechanism three. The upper and lower ends of the closed cover are both open, and an integrally formed cross bar is provided at the upper end of the closed cover. The upper ends of the two symmetrically arranged sliders form sliding pairs with the cross bar, and the lower ends are hinged to the middle parts of the two symmetrically arranged baffle plates 2. The upper ends of the two baffle plates 2 are hinged to one end of the two electric push rods, and the lower ends are connected by springs, and the other ends of the two electric push rods are fixed to the two ends of the closed cover, and a pressure sensor is fixed on the closed cover; when the lower end of the baffle plate 2 is at the lowest position, it is in the same horizontal plane as the lower end of the earth-moving piece when it is at the lowest position.

2. A wheat and soybean composite planting device according to claim 1, characterized in that: The plowing device includes a plow and a mudguard, the mudguard is fixed to the front end of the mounting plate, the horizontally arranged plow and the mudguard form a rotating pair, and are driven to rotate by a motor six; a pull rod is fixed on the mudguard, and the moving device drives the pull rod to drive the mounting plate to move through the mudguard.

3. The wheat and soybean composite planting device according to claim 1, characterized in that: The lifting mechanism 1 includes a screw 1, a nut block 1 and a connecting rod 1. The vertically arranged screw 1 and the mounting plate form a transmission pair and are driven to rotate by a motor 7. The nut block 1 and the screw 1 form a ball screw pair through balls, and two symmetrically arranged connecting rods 1 are fixed at both ends of the nut block 1; the seedling introduction tubes of the two transplanting devices are fixed to the two connecting rods 1.

4. The wheat and soybean composite planting device according to claim 1, characterized in that: The lifting mechanism 2 includes a support frame 1, a lead screw 2 and a nut block 2. The support frame 1 is vertically fixed on the corresponding square hole 1. The lead screw 2 and the support frame 1 form a rotating pair and are driven to rotate by a motor 8. The nut block 2 and the lead screw 2 form a threaded pair and form a sliding pair with the support frame 1. The connecting piece is fixed on the nut block 2.

5. The wheat and soybean composite planting device according to claim 1, characterized in that: The moving mechanism includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module. The X-axis linear module is fixed on the second base plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate. The Z-axis linear module drives the seedling claw to rise and fall. The direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

6. The wheat and soybean composite planting device according to claim 1, characterized in that: The soybean fertilization device includes a second fertilizer box, a nozzle and a water distribution plate. The second fertilizer box is fixed to the upper surface of the mounting plate, the water distribution plate is fixed to the lower surface of the mounting plate, and the second fertilizer box is connected to the inlet of the water distribution plate through a second water pump and a water pipe. A plurality of nozzles evenly distributed along the circumferential direction are fixed and connected to the water distribution plate.

7. The wheat and soybean composite planting device according to claim 1, characterized in that: Two support plates are fixed on both sides of the second opening in parallel and arranged at a distance, the gear is arranged between the two support plates, and the two ends of the gear and the two support plates form a rotating pair.

8. The wheat and soybean composite planting device according to claim 1, characterized in that: The feed pipe group includes U-shaped tube 1, U-shaped tube 2 and U-shaped tube 3. The middle part of U-shaped tube 1 is fixed on the connecting frame, and the inlet opened in the middle part of U-shaped tube 1 is connected with fertilizer box 1 through water pump 1 and hose. The outlets of two arms on U-shaped tube 1 are respectively fixed and connected with the inlets opened in the middle parts of two U-shaped tubes 2. The outlets of two arms on each U-shaped tube 2 are respectively fixed and connected with the inlets of two arms on a U-shaped tube 3. Each U-shaped tube 3 is fixed to the inner wall of a rectangular frame, and each U-shaped tube 3 is provided with a plurality of hole groups arranged at equal distances.

9. The wheat and soybean composite planting device according to claim 1, characterized in that: The lifting mechanism three includes a lead screw three, a support frame two, a connecting rod two, and a nut block three. The two support frames two arranged vertically and at a distance from each other are fixed on the mounting plate. The two vertically arranged lead screws three and the two support frames two respectively constitute a rotating pair, and are driven to rotate by two motors nine respectively. The two nut blocks three and the two lead screws three respectively constitute a threaded pair, and respectively constitute a sliding pair with the two support frames two. The upper ends of the two connecting rods two are fixed to the two nut blocks three respectively, and the lower ends are fixed to the two ends of the closing cover.

10. A planting method of a wheat and soybean composite planting device according to any one of claims 1 to 9, characterized in that: The details are as follows: Step 1: Place the seedling tray with wheat seedlings on the mounting plate, and put wheat seedlings into each vacant pot between the seedling claw and the seedling introduction tube on the turntable of each transplanting device; put soybean seeds into the seed box; pour liquid fertilizer into the fertilizer box 1 and each fertilizer box 2; then the plowing device starts to work, the controller controls each motor 1 to drive each soil extraction drill to start rotating, and the soil pump starts to work at the same time; Step 2: The mobile device drives the mounting plate to move forward in the field, so that the wheat planting device moves to the first planting area; wherein, during the forward movement of the mounting plate, the plowing device turns over the soil passing by, and then each shovel trough shovels part of the soil, and each soil extraction drill transports the soil shoveled into the corresponding shovel trough to the top of each shovel trough, and at the same time, the soil pump transports the soil transported to the top of each shovel trough into the soil delivery bin and discharges it to the rear of the mounting plate along each soil dropping channel, and three grooves are formed on the ground after each shovel trough shovels part of the soil; Step 3, the controller controls the motor 4 to drive the connecting frame to drive the feed pipe group and the two rectangular frames to rotate downward, so that the lower ends of the two rectangular frames are inserted into the soil, and each rectangular frame is located between two adjacent grooves; the controller controls the two lifting mechanisms 2 in each transplanting device to synchronously drive the two connecting pieces through the two rocking arms to drive the two combined soil-digging pieces to move downward, so that the lower ends of the two soil-digging pieces are inserted into the soil and are located in the corresponding rectangular frames, and the two soil-digging pieces dig out a pit 1; then the water pump 1 works, the liquid fertilizer in the fertilizer box 1 is transported to the feed pipe group, and is sprinkled out from each hole 2, and at the same time, the controller controls the two motors 2 in each transplanting device to drive the two rocking arms to swing back and forth, and the two rocking arms drive the two soil-digging pieces to open and close back and forth, and the soil located outside the two soil-digging pieces in the rectangular frame is turned over during the reciprocating opening and closing of the two soil-digging pieces, and the soil is stirred with the liquid fertilizer transported from the fertilizer box 1; after the stirring is completed, the controller controls each motor 2 to stop working, and at this time, the two soil-digging pieces in each transplanting device are in an open state; The lifting mechanism 1 drives the seedling tubes in the two transplanting devices to descend synchronously, so that the seedling tubes pass through the corresponding two soil-digging pieces and are inserted into the corresponding pit 1; at the same time, on the pot body just above the seedling tube, the driving member drives the baffle 1 to rotate, so that the opening at the lower end of the pot body is opened, and the wheat seedlings in the pot body fall down and fall into the pit 1 from the seedling tube; then the lifting mechanism 1 drives the seedling tubes in the two transplanting devices to rise synchronously to the original position, and at the same time, the two lifting mechanisms 2 in each transplanting device synchronously drive the two connecting members to drive the opened two soil-digging pieces to move upward to the original position through the two rocking rods, and control the two motors 2 in each transplanting device to drive the two rocking rods to drive the two soil-digging pieces to move toward each other, so that the two soil-digging pieces are closed, and with the rise of the seedling tube in each transplanting device, and the rise and gradual closing of the two soil-digging pieces, the soil mixed with the liquid fertilizer covers the corresponding wheat seedling roots, completing the transplanting of the wheat seedlings; then the controller controls the motor 4 to drive the connecting frame to drive the feed pipe group to rotate upward, so that each rectangular frame returns to its original position; Step 5: The mobile device drives the mounting plate to advance a preset distance in the field, so that the wheat planting device moves to the next planting area, and the soybean planting device moves to the groove position aligned with the previous planting area; wherein, during the advancement of the mounting plate, the controller controls the motor three in each transplanting device to drive the corresponding turntable to rotate a preset angle, so that the next pot body with wheat seedlings on the turntable rotates to just above the seedling introduction tube, and the next empty pot body rotates to just below the seedling claw, and each mobile mechanism drives each seedling claw to translate and lift, so that each seedling claw clamps the wheat seedlings from the seedling tray, and places the clamped wheat seedlings in the corresponding next empty pot body, and at the same time, each soybean fertilizing device works to fertilize the three grooves passed by, and the controller controls each motor five to drive each gear to rotate one circle, and the soybean seeds at each opening two position are pushed into the corresponding limit groove by each gear, and fall into the closed cover of the corresponding digging mechanism, and are located between the two baffles two; Step 6, each lifting mechanism three drives each closed cover to descend, so that each closed cover is inserted into the soil of a groove, a pit two is dug out at the lower end of the two baffles two in each closed cover, and the soil outside the two baffles two in the corresponding closed cover is squeezed to both sides, when each pressure sensor detects that the pressure exerted on it by the soil in the corresponding closed cover exceeds the preset value, the corresponding lifting mechanism three stops working; the bottom of the pit two is at the same horizontal plane as the bottom of the pit one; then the controller controls the piston rods of the two electric push rods in each planting mechanism to extend, and the piston rods of the two electric push rods push the two sliders to move toward each other through the two baffles two, so that the upper ends of the two baffles two move toward each other, and the lower ends of the two baffles two move away from each other, and the spring is stretched, so that the two baffles two in the closed cover are located at the same level. The soil on the outside is pushed to both sides, and the soybean seeds fall into the pit two; then each lifting mechanism three drives each closed cover to rise to its original position, and the controller controls the piston rods of the two electric push rods in each planting mechanism to shorten, and the piston rods of the two electric push rods pull the two sliders to rotate in opposite directions through the two baffles two, so that the upper ends of the two baffles two rotate in opposite directions, and the restoring force of the spring pulls the lower ends of the two baffles two to move toward each other, and with the rise of the closed cover and the movement of the lower ends of the two baffles two towards each other, the soil pushed to both sides in the closed cover gathers toward the middle and covers the soybean seeds, thereby completing the soybean seed sowing work at the groove position aligned with the previous planting area; while sowing the soybean seeds, repeat steps three and four to complete the wheat planting work in the planting area where the wheat planting device is located; Step 7. Repeat steps 5 and 6 until the wheat planting work in the last planting area is completed, the soil pump stops working, and the controller controls the plowing device and each motor to stop working. During this process, the soil in the soil delivery bin is discharged along each soil drop channel to the rear of the mounting plate to refill the groove.

Images