Self-propelled range-extending vegetable tobacco seedling transplanter and tobacco seedling continuous transplanting and planting method

Abstract

The invention provides a self-propelled extended-range vegetable tobacco seedling transplanter and a continuous tobacco seedling transplanting method, the transplanter comprises a complete machine support, a walking mechanism, a seedling dropping mechanism, a seedling planting mechanism, a power assembly and a controller, the complete machine support is arranged on the walking mechanism, and the seedling dropping mechanism, the seedling planting mechanism, the power assembly and the controller are all arranged on the complete machine support; the seedling dropping mechanism comprises a plurality of seedling dropping cylinders which are distributed at equal intervals in the circumferential direction, the seedling planting mechanism comprises a seedling receiving guide hopper, a well cellar type seedling planting nozzle and a seedling planting driving execution assembly, and the power assembly provides electric energy for the walking mechanism, the seedling dropping mechanism, the seedling planting mechanism and the controller. The transplanter is simple in structural composition and convenient for subsequent maintenance and repair; when transplanting operation is carried out, the action of each execution mechanism is independently executed by an independent motor, and the controller can flexibly control the running state of each motor according to requirements, so that accurate matching and flexible adjustment of the executable action can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of crop seedling transplanting, in particular to a self-propelled extended-range vegetable and tobacco seedling transplanting machine and a tobacco seedling continuous transplanting and planting method. Background Art

[0002] Because transplanting has a high stacking rate and is easy to manage, transplanting is basically used to transplant seedlings in the fields of vegetable planting and tobacco seedling planting. At present, there are two main ways to transplant tobacco seedlings, one is pure manual planting, and the other is mechanized planting. When transplanting tobacco seedlings, people need to bend down frequently and frequently, and after long-term work, the labor intensity is large, and the efficiency of manual transplanting is low. When mechanized planting of tobacco seedlings is used, although the labor intensity can be reduced and the planting efficiency can be improved, the existing tobacco seedling transplanting and planting machines all use engines to achieve the synergy of various actuators through pure mechanical transmission mechanisms, which results in a relatively complex structure of the existing tobacco seedling transplanting and planting machines, and the coordination accuracy of the various actuators is low and cannot be well adjusted flexibly, which leads to the low planting quality of mechanized transplanting of tobacco seedlings. Summary of the invention

[0003] The purpose of the present invention is to provide a self-propelled extended-range vegetable and tobacco seedling transplanter and a method for continuous transplanting and planting of tobacco seedlings. The transplanter has a simple structure and is easy to carry out subsequent maintenance and repair. When performing transplanting operations, the actions of each actuator are independently executed by a separate motor and the controller can flexibly control the operating status of each motor according to demand, thereby achieving precise coordination and flexible adjustment of executable actions.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a self-propelled extended-range vegetable and tobacco seedling transplanter, including a complete machine support, a walking mechanism, a seedling throwing mechanism, a seedling planting mechanism, a power assembly, and a controller. The complete machine support is arranged on the walking mechanism, and the complete machine support can be adjusted up and down and positioned relative to the walking mechanism. The seedling throwing mechanism, the seedling planting mechanism, the power assembly and the controller are all arranged on the complete machine support. The seedling throwing mechanism includes a plurality of seedling throwing tubes distributed at equal intervals along the circumferential direction, and the bottom of the seedling throwing tube can be automatically opened at the seedling throwing station. The seedling planting mechanism includes a seedling receiving guide bucket, a well-cellar type seedling planting nozzle, and a seedling planting drive execution component. The seedling receiving guide bucket is arranged at the positive position of the seedling throwing station. Below, the well-cellar type seedling planting nozzle is arranged at the lower part of the seedling receiving guide bucket, and the seedling outlet of the seedling receiving guide bucket is connected with the seedling inlet of the well-cellar type seedling planting nozzle, the upper part of the well-cellar type seedling planting nozzle is cylindrical and the lower part is conical, and the well-cellar type seedling planting nozzle is composed of two seedling planting half-noses symmetrically distributed on the left and right, the seedling planting drive execution component can drive the well-cellar type seedling planting nozzle to reciprocate up and down and can sequentially realize the opening of the bottom of the well-cellar type seedling planting nozzle at the seedling planting station and the closing at the seedling throwing station, the power assembly provides electrical energy for the walking mechanism, the seedling throwing mechanism, the seedling planting mechanism and the controller, and the controller can control the operation of the walking mechanism, the seedling throwing mechanism, the seedling planting drive execution component and the power assembly.

[0005] Preferably, the seedling planting drive execution component includes a first driving motor, a transmission chain, a moving frame, and an opening and closing transmission component. The transmission chain is vertically rotatably arranged on the front side of a first support plate of the whole machine bracket. The first driving motor is used to drive the transmission chain to rotate. A connecting rod is arranged on the transmission chain. The connecting rod passes through a first oblong hole arranged on the left and right of the moving frame. A first mounting plate is fixedly arranged on the lower front side of the moving frame. The well-cellar type seedling planting nozzle is arranged at the lower part of the first mounting plate, and the seedling guide bucket is arranged at the upper part of the first mounting plate. The opening and closing transmission component is arranged on the inner front side of the moving frame. The opening and closing transmission component realizes the opening and closing of the bottom of the well-cellar type seedling planting nozzle through the drive of the connecting rod. The first driving motor is electrically connected to the controller.

[0006] Furthermore, the opening and closing transmission assembly includes a rotating connecting rod, a first hinge connecting rod, and a second hinge connecting rod. The second oblong hole vertically arranged on the upper part of the rotating connecting rod is sleeved on the connecting rod, and the lower part of the rotating connecting rod is rotatably sleeved on a first hinge shaft on the movable frame. A second hinge shaft located on the left side of the first hinge shaft is arranged at the lower part of the rotating connecting rod. The outer upper parts of the two seedling planting half mouths are hingedly connected to the lower part of the first mounting plate, and a third hinge shaft is arranged on the inner side of the rear part of the two seedling planting half mouths. The upper ends of the first hinge connecting rod and the second hinge connecting rod are hingedly connected to the second hinge shaft, the lower end of the first hinge connecting rod is hingedly connected to the third hinge shaft located on the left, and the lower end of the second hinge shaft is hingedly connected to the third hinge shaft located on the right, and the up and down swing of the second hinge shaft can drive the lower parts of the two seedling planting half mouths to close and move away from each other.

[0007] Furthermore, a connecting plate is fixedly provided on the front side of the connecting rod, and two movable sliders distributed up and down are fixedly provided on the connecting plate, and the two movable sliders are respectively sleeved on a first guide rod, and the first guide rod is fixedly provided on the movable frame horizontally left and right, and a positioning detection rod is vertically fixedly provided on the upper part of the movable slider located on the upper side, and a third oblong hole distributed left and right is provided on the upper part of the movable frame, and a fourth oblong hole corresponding to the third oblong hole up and down is provided on the whole machine bracket, and the upper part of the positioning detection rod passes through the fourth oblong hole, and a first inductive proximity switch is provided on the whole machine bracket and is located on the left rear of the fourth oblong hole, and the first inductive proximity switch is electrically connected to the controller.

[0008] Furthermore, the seedling throwing mechanism also includes a second driving motor, a first reduction gear box, a rotating shaft, a rotating circular plate, and a supporting ring, the seedling throwing tube includes an upper cylinder body and a lower sealing cover, one side of the lower sealing cover is hingedly connected to one side of the lower portion of the upper cylinder body, the rotating shaft is vertically rotatably arranged on the whole machine bracket, the rotating circular plate is fixedly arranged on the upper part of the rotating shaft, six seedling throwing tubes are arranged on the rotating circular plate at equal intervals along the circumferential direction of the rotating shaft, and the corresponding seedling throwing tubes can be located at the seedling throwing station through the rotation of the rotating circular plate, the lower part of the rotating shaft is connected to the first reduction gear box, the second driving motor is used to drive the first reduction gear box to rotate, the supporting ring is arranged on the whole machine bracket and is located below the seedling throwing tube, the supporting ring is in an open state at the seedling throwing station, and the lower sealing cover is closed at the lower part of the upper cylinder body by supporting the lower sealing cover by the supporting ring, and the second driving motor is electrically connected to the controller.

[0009] Furthermore, a circular detection plate is fixedly arranged on the rotating shaft, and six detection blocks are arranged on the outer side of the circular detection plate and are distributed at equal intervals along the circumferential direction of the rotating shaft. The six detection blocks correspond to the six seedling throwing tubes one by one up and down, and a second inductive proximity switch for detecting the corresponding detection blocks is arranged on the whole machine bracket. When the second inductive proximity switch detects a detection block, one of the seedling throwing tubes is located at the seedling throwing station, and the inductive proximity switch is electrically connected to the controller.

[0010] Furthermore, the walking mechanism includes a walking bracket, a third driving motor, an active walking wheel, an auxiliary walking wheel, and a second reduction gearbox. The walking bracket includes a fixed tube and a telescopic rod. The two telescopic rods are sleeved on the two ends of the fixed tube, and the telescopic rod can move left and right and be positioned relative to the fixed tube. A support frame is provided at the outer end of the telescopic rod. The active walking wheel and the auxiliary walking wheel are provided at the lower part of each of the support frames for forward and backward rotation. The second reduction gearbox is used to drive the active walking wheel, and the third driving motor is used to drive the second reduction gearbox. The fixed tube can move up and down and be positioned relative to the whole machine bracket, and the telescopic rod can be adjusted up and down and positioned relative to the support frame; an adjusting screw is rotatably arranged on the whole machine bracket, and a second guide rod is respectively and parallelly arranged on both sides of the adjusting screw. An adjusting slider is sleeved on the adjusting screw and the second guide rod. The adjusting slider can be moved up and down relative to the adjusting screw by rotating the adjusting screw, and the fixed tube is arranged on the adjusting slider.

[0011] Furthermore, a forward and reverse switching lever, a travel speed control knob, a start and stop button, a power switch, an emergency stop switch, an indicator light, and a seedling planting switch are respectively provided on the upper front side of the whole machine bracket; a programming operation area and a timing counting area are provided on the front vertical side wall of the whole machine bracket; two handrails distributed on the left and right are provided on the front of the whole machine bracket, a left turn control switch and a right turn control switch are respectively provided on the two handrails, and a seedling placement tray is provided on the upper part of the whole machine bracket.

[0012] Preferably, the power assembly includes a small gasoline engine, a generator, and a battery. The small gasoline engine is used to drive the generator to rotate. The generator is electrically connected to the battery. The controller is electrically connected to the small gasoline engine and the battery.

[0013] A method for continuously transplanting tobacco seedlings includes the self-propelled extended-range vegetable tobacco seedling transplanter described above, wherein the inner diameter of the cylindrical part of the well-cellar type seedling planting nozzle is set to 10 cm, and the vertical heights of the cylindrical part and the conical part of the well-cellar type seedling planting nozzle are set to 10 cm and 11 cm respectively, and the distance from the well-cellar type seedling planting nozzle from the starting position to the downward movement to the lowest position is set to 23 cm. The method for transplanting tobacco seedlings also includes the following steps:

[0014] S1, moving the transplanter to the starting planting end of the corresponding soil ridge, and adjusting the orientation of the transplanter so that the transplanter spans directly above the soil ridge;

[0015] S2, making the well-cellar type transplanting nozzle located at the initial working position, making one of the seedling throwing tubes located at the seedling throwing station, and at the same time, ensuring that one tobacco seedling has been placed in the remaining seedling throwing tubes, and placing one tobacco seedling in the well-cellar type transplanting nozzle;

[0016] S3, turn the adjusting screw to adjust the vertical height between the bottom of the well-cellar type transplanting nozzle and the soil ridge, so that the bottom of the well-cellar type transplanting nozzle is 5 cm away from the top of the soil ridge;

[0017] S4, setting the duration of each movement of the transplanter through the timing counting operation area, here, the duration of each movement of the transplanter is set to 1.5S, and the forward and backward switching lever is used to put the transplanter in a forward movement mode;

[0018] S5, manually pressing the start-stop button to start the transplanter;

[0019] S6, the controller starts the first driving motor to drive the well-cellar type transplanting nozzle to complete an up and down reciprocating motion, and the tobacco seedlings in the well-cellar type transplanting nozzle are transplanted into the soil ridge during the up and down motion of the well-cellar type transplanting nozzle;

[0020] S7, when the well-cellar type transplanting nozzle completes an up and down reciprocating motion, the controller starts the second drive motor to rotate the circular rotating plate, and when the circular rotating plate rotates 60 degrees clockwise, the rotation of the second drive motor is stopped, and then the tobacco seedlings in the corresponding seedling throwing tube are dropped into the well-cellar type seedling planting nozzle; after the second drive motor stops rotating, the tobacco seedlings are manually and synchronously placed back into the seedling throwing tube with the bottom sealed and the interior empty;

[0021] S8, when the second drive motor stops rotating, the controller starts the third drive motor according to the internally set walking control program, and when the third drive motor continues to run for a set time of 1.5 seconds, the controller stops the operation of the third drive motor;

[0022] S9, repeating steps S6-S8 in sequence to achieve continuous transplanting and planting of tobacco seedlings on a soil ridge.

[0023] The beneficial effects of the present invention are:

[0024] 1. The present invention has the advantages of high degree of automation, long continuous operation endurance, strong walking power, small turning radius, and flexible adjustment of operation mode.

[0025] 2. The powertrain of the present invention is an extended-range power module. The gasoline engine utilizes the advantage of high fuel energy density and can use fuel to generate electricity when the battery is insufficient, thereby achieving continuous discharge of the battery, thereby enabling the present invention to have a longer endurance operation time, which is beneficial for growers to complete the centralized transplanting of seedlings within the optimal planting period; the battery charging is automatically controlled by the controller according to the set battery power monitoring program, so that the battery charging is highly automated.

[0026] 3. Both active walking wheels are independently controlled by a motor. When walking, the two active walking wheels rotate synchronously, which makes the walking power of the transplanter strong. By controlling the corresponding motors, the flexible steering of the entire transplanter can be conveniently realized. By controlling the operation of the motor by the controller, the intermittent movement of the active walking wheels can be easily realized, and then the precise control and flexible adjustment of the seedling spacing can be realized.

[0027] 4. The up and down reciprocating motion of the well-cellar type seedling planting nozzle is controlled by a motor, so that the controller is used to control the operation of the motor to realize flexible adjustment of the seedling planting frequency. During the up and down reciprocating motion of the well-cellar type seedling planting nozzle, it can simultaneously realize stable opening and closing actions, thereby ensuring the smooth transplanting of the seedlings. By reasonably controlling the up and down reciprocating frequency of the well-cellar type seedling planting nozzle and the walking speed of the transplanter, the seedling transplanting efficiency can be flexibly adjusted.

[0028] 5. The overall structural size of the transplanter is small, so that the required turning radius is small, which makes it easy for the transplanter to turn around in a small space at the end of the field, thereby improving the flexible operating range of the transplanter.

[0029] 6. The inductive proximity switch can effectively realize the initial height position of the well-cellar type seedling planting nozzle and the precise control of the seedling planting tube at the seedling planting station, so that the present invention can accurately realize the smooth transplanting of seedlings each time.

[0030] 7. By reasonably setting the reciprocating stroke of the well-pit type seedling planting nozzle, the height difference of the top of the soil ridge at the initial position and the overall height, the well-pit type transplanting of tobacco seedlings can be realized, which is beneficial to improve the transplanting survival rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a side view of the overall structure of the present invention;

[0034] Figure 3 This is a schematic diagram of the connection between the fixed pipe of the walking support and the whole machine support;

[0035] Figure 4 It is a structural schematic diagram of the seedling planting mechanism;

[0036] Figure 5 It is a structural side view of the seedling planting mechanism;

[0037] Figure 6 It is a bottom perspective schematic diagram of the seedling planting mechanism;

[0038] Figure 7 It is a structural diagram of the seedling delivery mechanism;

[0039] Figure 8 for Figure 1 Enlarged view of point A in the middle;

[0040] Fig. 9 for Figure 1 Enlarged view of point B in the middle;

[0041] Fig.10 for Figure 2 Enlarged view of point C in the middle;

[0042] Fig.11 for Figure 4 Enlarged view of point D in the middle;

[0043] Fig.12 for Figure 5 Enlarged view of point E in the middle;

[0044] Fig.13 for Figure 5 Enlarged view of point F in the middle;

[0045] Fig.14 for Figure 7 Enlarged view of H in the middle;

[0046] Fig.15 This is the main view of the well-cellar type seedling planting nozzle;

[0047] Fig.16 This is a schematic diagram of the tobacco seedlings after being transplanted in a well-cellar style on a soil ridge;

[0048] In the figure: 1 whole machine support, 11 adjusting screw, 111 second guide rod, 12 first support plate, 13 second guide rod, 14 handrail, 141 left turn control switch, 142 right turn control switch, 143 second top pressure bolt, 15 seedling placement plate, 16 handrail connecting rod, 161 sawtooth, 2 walking mechanism, 21 fixed pipe, 22 telescopic rod, 221 adjusting plate, 222 first top pressure bolt, 23 support frame, 24 second reduction box, 25 third drive motor, 26 auxiliary walking wheel, 27 active walking wheel, 3 seedling throwing mechanism, 31 seedling throwing cylinder, 311 upper cylinder, 312 lower cover, 32 second drive motor, 33 first reduction box, 34 rotating shaft, 341 circular detection plate, 342 detection block, 35 rotating circular plate, 36 support ring, 361 arc guide plate, 4 seedling planting mechanism, 41 seedling receiving guide bucket, 42 well cellar type seedling planting nozzle, 421 seedling planting semi mouth, 4211 the third hinge axis, 4212 the rotating support rod, 431 the first driving motor, 432 the transmission chain, 4321 the upper sprocket, 4322 the lower sprocket, 4323 the connecting rod, 433 the moving frame, 4331 the first mounting plate, 4332 the first hinge axis, 4333 the first oblong hole, 4334 the third oblong hole, 434 the rotating connecting rod, 4341 the first hinge connecting rod, 4342 the second hinge connecting rod, 434 3 second oblong hole, 435 connecting plate, 436 moving slider, 437 positioning detection rod, 438 first guide rod, 5 power assembly, 61 first inductive proximity switch, 62 second inductive proximity switch, 71 forward and reverse switching lever, 72 walking speed control knob, 73 start and stop button, 74 power switch, 75 seedling planting switch, 76 indicator light, 77 emergency stop switch, 81 soil ridge, 811 well-cellar seedling hole, 82 tobacco seedling. DETAILED DESCRIPTION

[0049] The following will be combined with specific embodiments and attached Figure 1-16 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the preferred embodiments of the present invention, rather than all the embodiments. Those skilled in the art can make similar modifications without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0050] The present invention provides a self-propelled extended-range vegetable and tobacco seedling transplanter (such as Figure 1 , Figure 2As shown), it includes a whole machine support 1, a walking mechanism 2, a seedling throwing mechanism 3, a seedling planting mechanism 4, a power assembly 5, and a controller. The whole machine support 1 is used to realize the setting of various related structures on the transplanter while maintaining the overall structural strength of the transplanter; the whole machine support 1 is arranged on the walking mechanism 2, and the whole machine support 1 can be adjusted up and down and positioned relative to the walking mechanism 2, and the walking mechanism 2 can drive the whole machine support 1 to walk and move, the seedling throwing mechanism 3, the seedling planting mechanism 4, the power assembly 5 and the controller are all arranged on the whole machine support 1. In this specific embodiment, the controller can select the PLC controller commonly used in the existing industrial automation field. The seedling throwing mechanism includes a plurality of seedling throwing tubes 3 distributed at equal intervals along the circumferential direction, and the throwing tubes The bottom of the seedling tube 3 can be automatically opened at the seedling throwing station. In actual application, when the seedling throwing tube 3 with the seedlings inside rotates and moves to the seedling throwing station, the seedlings in the seedling throwing tube 3 will automatically separate from the bottom of the seedling throwing tube 3 under the action of gravity. When several seedling throwing tubes 3 stop intermittently at the seedling throwing station in turn, the intermittent delivery of the seedlings at the seedling throwing station is realized. The seedling planting mechanism 4 includes a seedling receiving guide bucket 41, a well-cellar type seedling planting nozzle 42, and a seedling planting drive execution component. The seedling receiving guide bucket 41 is arranged directly below the seedling throwing station. In actual application, the seedlings falling from the seedling throwing station enter the seedling receiving guide bucket 41. The well-cellar type seedling planting nozzle 42 is arranged at the lower part of the seedling receiving guide bucket 41, and the seedling receiving guide bucket 41 The seedling outlet is connected with the seedling inlet of the well-cellar type seedling planting nozzle 42, and the seedlings entering the seedling guide bucket 41 directly enter the well-cellar type seedling planting nozzle 42 under the action of gravity. In order to ensure that the seedling guide bucket 4 can stably realize the acceptance and guidance of the seedlings, the upper part of the seedling guide head 4 is made into a square structure, and its length and width are about 3 cm larger than the outer diameter of the seedling tube 3, so that the bottom seedling outlet of the seedling guide bucket 41 is circular and the inner diameter of the seedling outlet is smaller than the inner diameter of the entrance of the upper part of the well-cellar type seedling planting nozzle 42. The upper part of the well-cellar type seedling planting nozzle 42 is cylindrical and the lower part is conical. In actual application, when the well-cellar type seedling planting nozzle 42 is vertically inserted into the top of the relatively moist soil ridge, a cone-shaped bottom and a cylindrical upper part are formed in the soil. shaped well cellar, the well cellar type seedling planting nozzle 42 is composed of two seedling planting half nozzles 421 symmetrically distributed on the left and right, and the seedling planting half nozzles 421 are composed of a semi-circular shell and a semi-conical shell fixedly connected up and down. When the bottoms of the two seedling planting half nozzles 421 are closed to each other, the seedlings are received, and when the bottoms of the two seedling planting half nozzles 421 are opened away from each other, the seedlings are released, so that the seedlings can smoothly stay in the well cellar of the soil. The seedling planting drive execution component can drive the well cellar type seedling planting nozzle 42 to reciprocate up and down and can sequentially realize the opening of the bottom of the well cellar type seedling planting nozzle 42 at the seedling planting station and the closing of the bottom of the well cellar type seedling planting nozzle 42 at the seedling throwing station, and the intermittent downward transportation of the seedlings is realized through the up and down reciprocating movement of the well cellar type seedling planting nozzle 42.The transplanting of seedlings on the soil ridges is achieved by intermittently closing and opening the well-cellar type seedling planting nozzle 42. The power assembly provides electrical energy to the walking mechanism 2, the seedling throwing mechanism 3, the seedling planting mechanism 4 and the controller. The controller can control the operation of the walking mechanism 2, the seedling throwing mechanism 3, the seedling planting drive execution component and the power assembly. In actual applications, the fixed-distance transplanting of seedlings on the soil ridges can be achieved by the controller coordinating the action operation logic of the walking mechanism 2, the seedling throwing mechanism 3 and the seedling planting drive execution component, thereby realizing the mechanized transplanting and planting of seedlings, and then improving the transplanting efficiency. In actual applications, the present invention can be used to transplant and plant vegetable seedlings such as eggplant seedlings, pepper seedlings and tobacco seedlings.

[0051] On the basis of the above embodiment, the specific implementation method of the seedling planting drive execution component is as follows: the seedling planting drive execution component includes a first driving motor 431, a transmission chain 432, a moving frame 433, and an opening and closing transmission component. The transmission chain 432 is vertically rotatably arranged on the front side of a first support plate 11 of the whole machine bracket 1. Specifically, an upper sprocket 4321 and a lower sprocket 4322 are arranged on the upper and lower sides of the front side of the first support plate 11. The transmission chain 432 is sleeved on the upper sprocket 4321 and the lower sprocket 4322. The first driving motor 431 is used to drive the transmission chain 432 to rotate. Specifically, the first driving motor 431 is arranged on the rear side of the first support plate 11, and the first driving motor 431 drives the upper sprocket 4321 to rotate A connecting rod 4323 is provided on the transmission chain 432. Specifically, a connecting plate can be fixedly provided on the outer side of a connecting pin shaft of the transmission chain 432. The connecting rod 4323 is fixedly provided on the connecting plate. The connecting rod 4323 passes through a first oblong hole 4333 provided on the moving frame 433 from front to back. During the rotation of the transmission chain 432, the up and down movement of the connecting rod 4323 is realized. The up and down movement of the connecting rod 4323 synchronously realizes the up and down movement of the moving frame 433. When the connecting rod 4323 moves left and right following the transmission chain 432, it moves in the first oblong hole 4333 relative to the moving frame 433, so that the left and right movement of the connecting rod 4323 will not drive the moving frame 432 to move left and right. Therefore, during the reciprocating rotation of the transmission chain 432, only the up and down reciprocating motion of the moving frame 432 is realized. In order to improve the reliability of the up and down reciprocating motion of the moving frame 432, two second guide rods 13 are arranged at the rear of the moving frame 432, and the guide plate arranged at the rear of the moving frame 432 is sleeved in the corresponding second guide rods 13, and the upper and lower ends of the second guide rods 13 are fixedly arranged on the whole machine bracket 1, and the guiding effect of the two second guide rods 13 is utilized to realize the up and down reciprocating motion of the moving frame 432; a first mounting plate 4331 is fixedly arranged on the lower front side of the moving frame 432, the well-cellar type seedling planting nozzle 42 is arranged at the lower part of the first mounting plate 4331, and the seedling guide bucket 41 is arranged at the upper part of the first mounting plate 4331. The opening and closing transmission assembly is arranged on the inner front side of the moving frame 42, and the opening and closing transmission assembly realizes the opening and closing of the bottom of the well-cellar type seedling planting nozzle 42 through the driving of the connecting rod 4323. Specifically, the opening and closing transmission assembly includes a rotating connecting rod 434, a first hinge connecting rod 4341, and a second hinge connecting rod 4342. The second oblong hole 4343 vertically arranged on the upper part of the rotating connecting rod 434 is sleeved on the connecting rod 4323, and the lower part of the rotating connecting rod 434 is rotatably sleeved on a first hinge shaft 4332 on the moving frame 433. In actual application, when the connecting rod 4323 moves from one side of the upper sprocket 4321 or the lower sprocket 4322 to the other side, the upper part of the rotating connecting rod 434 is realized to move left and right.The second hinge shaft 4344 is connected to the second hinge shaft 4342 by the second oblong hole 4343, so that the upper part of the rotating connecting rod 434 will not affect the left and right swinging of the connecting rod 4323. A second hinge shaft 4344 is provided at the lower part of the rotating connecting rod 434 and is located on the left side of the first hinge shaft 4332. When the rotating connecting rod 434 is driven by the connecting rod 4323 to rotate around the first hinge shaft 4332, the second hinge shaft 4344 is synchronously connected to the first hinge shaft 4332. The seedling planting half mouth 421 is hingedly connected to the lower part of the first mounting plate 4331. Specifically, a rotating support shaft 4212 is arranged on the outer side of the seedling planting half mouth 421. The rotating support shaft 4212 is rotatably arranged on the first mounting plate 4331. The rotation of the seedling planting half mouth 421 can be realized by the rotating support of the rotating support shaft 4212. A third hinge shaft 4211 is arranged on the inner side of the rear part of the two seedling planting half mouths 421. The upper ends of the first hinge link 4341 and the second hinge link 4342 are hingedly connected to the second hinge shaft 4344. The lower end of the first hinge link 4341 The second hinge shaft 4342 is hingedly connected to the third hinge shaft 4211 on the left side, and the lower end of the second hinge shaft 4342 is hingedly connected to the third hinge shaft 4211 on the right side. The up and down swinging of the second hinge shaft 4344 can drive the lower parts of the two seedling planting half-mouths 42 to close to and move away from each other. That is, through the above-mentioned setting method, the up and down reciprocating movement of the well-cellar type seedling planting mouth 42 can be realized within one rotation cycle of the transmission chain 432. At the same time, the opening and closing of the two seedling planting half-mouths 42 can be realized near the lower limit movement position and the upper limit position. Specifically, when the third hinge shaft 4344 is When the shaft 4344 swings upward to the upper limit, the two seedling planting half-mouths 421 are closed. When the third hinge shaft 4344 swings downward to the lower limit, the two seedling planting half-mouths 421 are opened. When the two seedling planting half-mouths 42 are in the open state, the seedlings inside can fall smoothly. When the two seedling planting half-mouths 42 are in the closed state, it is convenient to receive and transport the seedlings downward. The first drive motor 431 is electrically connected to the controller, and the frequency of the first drive motor 431 can be controlled by the controller, so as to adjust the up and down movement speed of the well-cellar type seedling planting mouth 42. The up and down reciprocating motion stroke of the well-cellar type seedling planting mouth 42 is determined by the upper and lower distribution distances and the outer diameters of the upper sprocket 4321 and the lower sprocket 4322. Therefore, in actual applications, the position setting and outer diameter selection of the upper sprocket 4321 and the lower sprocket 4322 can be carried out according to actual needs.

[0052] On the basis of the above embodiment, when using the well-cellar type seedling planting nozzle 42 to accurately receive the seedlings dropped by the seedling tube 3, it is necessary to make the well-cellar type seedling planting nozzle 42 in a closed state. Therefore, it is necessary to make the initial position of the connecting rod 4323 should be located at the right vertical end part of the transmission chain 432. At this time, the rotating connecting rod 434 is in the right limit position of swinging to the right, and the third hinge shaft 4344 is in the upper limit position of swinging upward, so that the two seedling planting half-mouths 421 are close to the closed state. In order to facilitate the effective positioning of the connecting rod 4323 on the right vertical section of the transmission chain 432, a connecting plate 435 is fixedly provided on the front side of the connecting rod 4323, and two movable sliders 436 distributed up and down are fixedly provided on the connecting plate 435. The two movable sliders 436 are respectively sleeved on a first guide rod 438. The first guide rod 438 is fixedly provided on the movable frame 433 horizontally left and right, and a A positioning detection rod 437 is provided with a third oblong hole 4334 distributed left and right on the upper part of the moving frame 433, and a fourth oblong hole corresponding to the third oblong hole 4334 is provided on the whole machine bracket 1. The upper part of the positioning detection rod 437 passes through the fourth oblong hole, and a first inductive proximity switch 61 is provided on the whole machine bracket 1 and is located at the left rear of the fourth oblong hole. The first inductive proximity switch 61 is electrically connected to the controller. During the rotation of the transmission chain 432, the positioning detection rod 437 is synchronously driven to move up and down and left and right. During the movement of the positioning detection rod 437, when the first inductive proximity switch 61 detects the positioning detection rod 437, a detection signal is sent to the controller. After receiving the detection signal, the controller stops the operation of the first drive motor 431, thereby realizing the initial positioning of the well-cellar type seedling planting nozzle 42. In order to improve the initial positioning accuracy of the well-cellar type seedling planting nozzle 42, the first drive motor 431 can be a stepper motor with a brake.

[0053] On the basis of the above embodiment, the specific implementation of the seedling throwing mechanism is as follows: the seedling throwing mechanism 3 also includes a second driving motor 32, a first reduction gearbox 33, a rotating shaft 34, a rotating circular plate 35, and a supporting ring 36. The seedling throwing tube 31 includes an upper cylinder 311 and a lower cover 312. One side of the lower cover 312 is hingedly connected to one side of the lower portion of the upper cylinder 311. When the seedling throwing tube 31 rotates to the seedling throwing station, the lower cover 312 can be automatically opened under the action of its own gravity and the gravity of the seedlings, so that the seedlings in the upper cylinder 311 fall down. The rotating shaft 34 is vertically rotatably arranged on the whole machine bracket 1, and the rotating circular plate 35 is fixedly arranged on the upper part of the rotating shaft 34. The six seedling throwing tubes 31 are arranged along The rotating shaft 34 is arranged on the rotating circular plate 35 at equal intervals in the circumferential direction, and the corresponding seedling throwing tube 31 can be located at the seedling throwing station by rotating the rotating circular plate 35. The lower part of the rotating shaft 34 is connected to the first reduction box 33, and the second drive motor 32 is used to drive the first reduction box 33 to rotate. The support ring 36 is arranged on the whole machine bracket 1 and is located below the seedling throwing tube 31. The support ring 36 is in an open state at the seedling throwing station, and the support of the lower cover 312 by the support ring 36 is realized to close the lower cover 312 at the lower part of the upper cylinder 311. In this specific embodiment, the clockwise rotation of the rotating circular plate 35 drives the seedling throwing tube 31 to rotate clockwise. During the rotation of the hour hand, the lower cover 312 is finally closed under the guidance and support of the support ring 36. The second drive motor 32 is electrically connected to the controller. In actual application, the controller can realize intermittent motion control of the rotating circular plate 35 according to the angle after time, so that each seedling tube 31 can accurately stop at the seedling station. In order to further improve the precise positioning of the seedling tube 31 at the seedling station, a circular detection plate 341 is fixedly set on the rotating shaft 34, and six detection blocks 342 are arranged on the outer side of the circular detection plate 341. The six detection blocks 342 correspond to the six seedling tubes 31 one by one up and down, and a detection block 342 is arranged on the whole machine bracket 1. The second inductive proximity switch 62 is used to detect the corresponding detection block 342. When the second inductive proximity switch 62 detects a detection block 342, one of the seedling tubes 31 is located at the seedling station. The inductive proximity switch 62 is electrically connected to the controller. When the inductive proximity switch 62 detects a detection block 342, it sends a detection signal to the controller. The controller stops the operation of the second drive motor 32 according to the received detection signal. When the second drive motor 32 stops running, the precise positioning of the seedling tube 31 at the seedling station is achieved. After the seedling tube 31 stops at the seedling station, the lower cover 312 is opened, so that the seedlings in the seedling tube 31 fall directly into the seedling guide bucket 41 under the action of gravity.After being guided by the seedling guide head 41, the seedlings directly enter the well-cellar type seedling planting nozzle 42. After the well-cellar type seedling planting nozzle 42 receives the seedlings, it is convenient to carry out the subsequent seedling planting action.

[0054] On the basis of the above embodiment, the specific implementation of the walking mechanism is as follows: the walking mechanism 2 includes a walking bracket, a third drive motor 25, an active walking wheel 27, an auxiliary walking wheel 26, and a second reduction box 24. The walking bracket includes a fixed tube 21 and a telescopic rod 22. The two telescopic rods 22 are sleeved on both ends of the fixed tube 21, and the telescopic rod 22 can be moved left and right and positioned relative to the fixed tube 21. Specifically, a pressing bolt for pressing the telescopic rod 22 is provided on the fixed tube 21. The telescopic rod 22 is positioned on the fixed tube 21 by pressing the pressing bolt. A support frame 23 is provided at the outer end of the telescopic rod 22. The lower part of each support frame 23 is provided with the active walking wheel 27 and the auxiliary walking wheel 26 for forward and backward rotation. The second reduction box 24 is used to drive the active walking wheel 27. The third drive motor 25 is used to drive the second reduction box 24. Specifically, the second reduction box 24 is fixedly arranged at the lower part of the support frame 23, and the third drive motor 25 is arranged on the second reduction box 24. The third drive motor 25 is used to realize the rotation drive of the active walking wheel 27. The fixed tube 21 can be moved up and down and positioned relative to the whole machine bracket 1. The telescopic rod 22 can be adjusted up and down and positioned relative to the support frame 23. An adjusting screw 11 is rotatably arranged on the whole machine bracket 1. A second guide rod 111 is respectively arranged in parallel on both sides of the adjusting screw 11, and an adjusting slider 28 is sleeved on the adjusting screw 11 and the second guide rod 111. The adjusting slider 28 can be moved up and down relative to the adjusting screw 11 by rotating the adjusting screw 11. The fixed tube 21 is arranged on the adjusting slider 28. Since the adjusting screw 11 is rotatably arranged on the whole machine bracket 1, and the adjusting slider 28 is connected to the fixed tube 21, when the adjusting screw 11 is rotated, the whole machine bracket is adjusted up and down relative to the ground, thereby realizing the height adjustment of the well cellar type seedling nozzle 42 and the ground. Furthermore, in order to realize the up and down adjustment of the telescopic rod 22 relative to the support frame 23 and Positioning, so as to further realize the adjustment of the height between the well-cellar type seedling planting nozzle 42 and the ground, here, a vertical through groove is arranged on the support frame 23, the end of the telescopic rod 22 is sleeved in the vertical through groove, and the telescopic rod 22 is sleeved with an adjustment plate 221 located on the left and right sides of the support frame 23, and the two sides of the adjustment plate 221 are fixed to the support frame 23 by bolts, and a plurality of threaded holes are arranged on the support frame 23. By adjusting the position of the adjustment plate 221 on the support frame 23, the height adjustment of the whole machine bracket 1 is realized, a support plate is arranged on the adjustment plate 221, and a first pressing bolt 222 is arranged on the support plate, and the telescopic rod 22 is pressed and fixed on the adjustment plate 221 by the first pressing bolt 222.

[0055] On the basis of the above embodiments, in order to facilitate the control of the transplanter, a forward and backward switching lever 71, a travel speed regulating knob 72, a start and stop button 73, a power switch 74, an emergency stop switch 77, an indicator light 76, and a seedling planting switch 75 are respectively provided on the upper front side of the whole machine bracket 1, and a programming operation area and a timing counting area are provided on the front vertical side wall of the whole machine bracket 1. The forward and backward switching lever 71, the travel speed regulating knob 72, the start and stop button 73, the power switch 74, the emergency stop switch 77, the indicator light 76, the seedling planting switch 75, the programming operation area and the timing counting area are all electrically connected to the controller, and the ... The gear lever 71 realizes the forward, stop and reverse switching control of the walking mechanism, the walking speed control knob 72 is used to realize the secondary control of the walking speed, the start and stop button 73 realizes the start and stop of the transplanting work, the power switch 74 realizes the connection of the battery power, the emergency stop switch 77 is used to cut off the total power supply in an emergency, the indicator light 76 is used to display the power connection status, the seedling switch 75 is used to turn on and off the power of the first drive motor 431, and the operation control logic of each actuator can be directly performed through the programming operation area, so that the actuators can work together to ensure the smooth progress of the transplanting work, and the timing counting area can be used to realize the direct display of the number of seedlings and The duration of each movement of the transplanter is controlled by the movement duration and the speed control of the third drive motor 25, so as to facilitate the control of the spacing of the seedlings. In order to facilitate the manual adjustment of the orientation of the whole machine support 1, two left and right distributed handrails 14 are provided at the front of the whole machine support 1, and a left turn control switch 141 and a right turn control switch 142 are respectively provided on the two handrails 14. The left turn control switch 141 is provided on the left handrail, and the right turn control switch 142 is provided on the right handrail. When the left turn control switch 141 or the right turn control switch 142 is pressed, the power supply of the corresponding left or right third drive motor 25 is cut off, and then To realize left or right turn, after releasing the left turn control switch 141 or the right turn control switch 142, the corresponding third drive motor 25 is started again, and then the vehicle continues to move in a straight line. To facilitate the angle adjustment of the handrail 14, saw teeth 161 distributed in an annular shape are arranged on the end surface of the handrail connecting rod 16 connecting the whole machine support 1 and the handrail 14, saw teeth corresponding to the saw teeth 161 are arranged on the connecting end of the handrail 14, and a second pressing bolt 143 is sleeved on the connecting end of the handrail 14, and the second pressing bolt 143 is threadedly connected to the handrail connecting rod 16. Tightening the second pressing bolt 143 can realize the fixation of the handrail 14 on the handrail connecting rod 16. A seedling placement tray 15 is arranged on the upper part of the whole machine support 1. In the actual operation process, a certain amount of seedlings are placed on the seedling placement tray 15, so that the seedlings can be continuously put into the seedling throwing tube 31 manually during the transplanting process.

[0056] On the basis of the above embodiment, the specific implementation of the power assembly is as follows: the power assembly includes a small gasoline engine, a generator, and a battery. The small gasoline engine is used to drive the generator to rotate. The generator is electrically connected to the battery. The controller is electrically connected to the small gasoline engine and the battery. A battery power detection module is set in the controller. When the controller detects that the power in the battery is lower than the set value, the controller directly starts the small gasoline engine. After the small gasoline engine is started, it drives the generator to generate electricity and charge the battery. When the battery power reaches the set detection upper limit, the controller turns off the small gasoline engine, thereby completing the battery charging process. In the present invention, the battery provides power for each electrical component.

[0057] Since the power actuators in the walking mechanism 2, the seedling throwing mechanism 3 and the seedling planting mechanism 4 are all independently controlled by one motor, the independent control of each motor by the controller can achieve effective coordination among the walking mechanism 2, the seedling throwing mechanism 3 and the seedling planting mechanism 4, and at the same time, it is convenient to achieve a simplified design of the overall structure of the transplanter.

[0058] The present invention also provides a method for continuous transplanting and planting of tobacco seedlings, including the above-mentioned self-propelled extended-range vegetable tobacco seedling transplanter. In order to facilitate the well-cellar transplanting of tobacco seedlings and improve the later survival rate of tobacco seedlings, the inner diameter of the cylindrical part of the well-cellar planting nozzle 42 is set to 10 cm, and at the same time, the vertical heights of the cylindrical part and the conical part of the well-cellar planting nozzle 42 are set to 10 cm and 11 cm respectively, that is, the attached Fig.15 The value of L1 is set to 10 cm, the value of L2 is set to 11 cm, and the distance from the starting position to the downward movement of the well-cellar type seedling planting nozzle 42 to the lowest position is set to 23 cm. The tobacco seedling transplanting and planting method also includes the following steps:

[0059] S1, move the transplanter to the starting planting end of the corresponding soil ridge 81, and adjust the orientation of the transplanter so that the transplanter spans directly above the soil ridge 81;

[0060] S2, make the well-cellar type transplanting nozzle 42 be located at the initial working position, make one of the seedling throwing tubes 31 be located at the seedling throwing station, at the same time, make sure that one tobacco seedling 82 has been placed in the remaining seedling throwing tubes 31, and place one tobacco seedling 82 in the well-cellar type transplanting nozzle 42;

[0061] S3, rotating the adjusting screw 11, adjusting the vertical height between the bottom of the well-cellar type transplanting nozzle 42 and the soil ridge 81, so that the bottom of the well-cellar type transplanting nozzle 42 is 5 cm away from the top of the soil ridge 81; the state of the well-cellar type cultivation of the tobacco seedlings in the soil ridge 81 is as follows Fig.16As shown, the tobacco seedling 82 is located in the well-cellar seedling hole 811, and the value of the distance L3 between the top of the tobacco seedling 82 and the top of the soil ridge 81 is maintained at about 4 cm. In this specific embodiment, the height of the tobacco seedling 82 is basically about 10 cm. When the tobacco seedling 82 is placed in the well-cellar seedling planting nozzle 42, the bottom of the tobacco seedling 82 is about 3 cm away from the bottom of the well-cellar seedling planting nozzle 42.

[0062] S4, setting the duration of each movement of the transplanter through the timing counting operation area, here, the duration of each movement of the transplanter is set to 1.5S, and the forward and backward switching lever 71 is used to put the transplanter in a forward movement mode;

[0063] S5, manually pressing the start-stop button 73 to start the transplanter;

[0064] S6, the controller starts the first drive motor 431 to drive the well-cellar type transplanting nozzle 42 to complete an up and down reciprocating motion, and the well-cellar type transplanting nozzle 42 completes the transplanting of the tobacco seedlings 82 into the soil ridge 81 during the up and down motion of the well-cellar type transplanting nozzle 42; when the well-cellar type transplanting nozzle 42 moves downward by 23 cm, the well-cellar type transplanting nozzle 42 initially remains in a closed downward motion state, so that it can be smoothly inserted into the soil ridge 81, and as the connecting rod 4323 continues to vertically descend, the well-cellar type transplanting nozzle 42 continues to vertically move into the soil ridge 81. When the connecting rod 4323 starts to make a circular motion around the lower sprocket 4322, the descending speed of the well-cellar type transplanting nozzle 42 slows down and the two transplanting half-nozzles 421 begin to slowly open. When the connecting rod 4323 moves to the bottom of the lower sprocket 4322, the well-cellar type transplanting nozzle 42 moves downward to the limit position. At this time, the well-cellar type transplanting nozzle 42 penetrates into the soil ridge 81 to a depth of about 18 cm. At the same time, the tobacco seedlings 82 have not yet separated from the well-cellar type transplanting nozzle 42. As the connecting rod 4323 moves upward in the opposite direction, the two transplanting half-nozzles 421 begin to open slowly. When the two seedling planting half-mouths 421 continue to open, the tobacco seedlings 82 fall out of the well-cellar type transplanting mouth 42. Before the tobacco seedlings 82 fall out, the opening action of the seedling planting half-mouths 421 has a certain torsion effect on the soil, so that part of the soil will flow to the bottom of the tobacco seedlings 82. When the tobacco seedlings 82 fall out completely, the bottom of the tobacco seedlings 82 is about 3-4 cm from the lower limit of the well-cellar type transplanting mouth 42, and then the distance L3 between the top of the tobacco seedlings 82 and the top of the soil ridge 81 is about 4-5 cm, thereby achieving a good tobacco seedling 82 of the well-cellar transplanting; after the well-cellar transplanting nozzle 42 is inserted into the soil ridge 81, the upper diameter of the well-cellar seedling hole 811 formed by it is about 10cm. Because the soil is relatively moist, when the well-cellar seedling planting nozzle 42 is in the process of opening and moving upward, even if the bottom of the seedling planting half nozzle 421 has a torsion effect on the side wall soil of the well-cellar seedling hole 811, the whole well-cellar seedling hole 811 will not be completely filled with soil, and then there will be no situation where the tobacco seedlings 82 are completely submerged by the soil, so that the well-cellar transplanting of the tobacco seedlings 82 can be carried out smoothly;

[0065] S7, when the well-cellar type transplanting nozzle 42 completes an up and down reciprocating motion, the controller starts the second driving motor 32 to rotate the circular rotating plate 35, and when the circular rotating plate 35 rotates 60 degrees clockwise, the rotation of the second driving motor 32 is stopped, and then the tobacco seedlings 82 in the corresponding seedling tube 31 are dropped into the well-cellar type seedling planting nozzle 42; after the second driving motor 32 stops rotating, the tobacco seedlings 82 are manually and synchronously replaced in the seedling tube 31 with the bottom sealed and the interior empty;

[0066] S8, when the second drive motor 32 stops rotating, the controller starts the third drive motor 25 according to the internally set walking control program, and when the third drive motor 25 continues to run for a set time of 1.5 seconds, the controller stops the operation of the third drive motor 25;

[0067] S9, repeating steps S6-S8 in sequence to achieve continuous transplanting and planting of tobacco seedlings 82 on a soil ridge 81.

[0068] In the present invention, "up", "down", "front", "back", "left" and "right" are relative positions used to conveniently describe positional relationships, and therefore cannot be understood as absolute positions to limit the scope of protection.

[0069] Except for the technical features described in the specification, all other technical features are known technologies to those skilled in the art.

[0070] The above description in combination with the accompanying drawings has detailed the preferred implementation modes and embodiments of the present invention, but the present invention is not limited to the above implementation modes and embodiments. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the concept of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A self-propelled extended-range vegetable and tobacco seedling transplanter, characterized in that: The present invention comprises a complete machine support, a walking mechanism, a seedling throwing mechanism, a seedling planting mechanism, a power assembly, and a controller. The complete machine support is arranged on the walking mechanism, and the complete machine support can be adjusted up and down and positioned relative to the walking mechanism. The seedling throwing mechanism, the seedling planting mechanism, the power assembly, and the controller are all arranged on the complete machine support. The seedling throwing mechanism comprises a plurality of seedling throwing tubes distributed at equal intervals along the circumferential direction, and the bottom of the seedling throwing tube can be automatically opened at the seedling throwing station. The seedling planting mechanism comprises a seedling receiving guide bucket, a well-cellar type seedling planting nozzle, and a seedling planting drive execution component. The seedling receiving guide bucket is arranged directly below the seedling throwing station, and the well-cellar type seedling planting nozzle is arranged at the receiving station. The lower part of the seedling guide bucket, and the seedling outlet of the seedling guide bucket is connected with the seedling inlet of the well-cellar type seedling planting nozzle, the upper part of the well-cellar type seedling planting nozzle is cylindrical and the lower part is conical, and the well-cellar type seedling planting nozzle is composed of two seedling planting half-mouths symmetrically distributed on the left and right, the seedling planting drive execution component can drive the well-cellar type seedling planting nozzle to reciprocate up and down and can sequentially realize the opening of the bottom of the well-cellar type seedling planting nozzle at the seedling throwing station and the closing at the seedling planting station, the power assembly provides electrical energy for the walking mechanism, the seedling throwing mechanism, the seedling planting mechanism and the controller, and the controller can control the operation of the walking mechanism, the seedling throwing mechanism, the seedling planting drive execution component and the power assembly.

2. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 1 is characterized in that: The seedling planting drive execution component includes a first driving motor, a transmission chain, a moving frame, and an opening and closing transmission component. The transmission chain is vertically rotated and arranged on the front side of a first support plate of the whole machine bracket. The first driving motor is used to drive the transmission chain to rotate. A connecting rod is arranged on the transmission chain. The connecting rod passes through a first oblong hole arranged on the left and right sides of the moving frame. A first mounting plate is fixedly arranged on the lower front side of the moving frame. The well-cellar type seedling planting nozzle is arranged at the lower part of the first mounting plate, and the seedling guide bucket is arranged at the upper part of the first mounting plate. The opening and closing transmission component is arranged on the inner front side of the moving frame. The opening and closing transmission component realizes the opening and closing of the bottom of the well-cellar type seedling planting nozzle through the drive of the connecting rod. The first driving motor is electrically connected to the controller.

3. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 2 is characterized in that: The opening and closing transmission assembly includes a rotating connecting rod, a first hinge connecting rod, and a second hinge connecting rod. The second oblong hole vertically arranged on the upper part of the rotating connecting rod is sleeved on the connecting rod, and the lower part of the rotating connecting rod is rotatably sleeved on a first hinge shaft on the movable frame. A second hinge shaft located on the left side of the first hinge shaft is arranged at the lower part of the rotating connecting rod. The outer upper parts of the two seedling planting half mouths are hingedly connected to the lower part of the first mounting plate, and a third hinge shaft is arranged on the inner side of the rear part of the two seedling planting half mouths. The upper ends of the first hinge connecting rod and the second hinge connecting rod are hingedly connected to the second hinge shaft, the lower end of the first hinge connecting rod is hingedly connected to the third hinge shaft located on the left, and the lower end of the second hinge shaft is hingedly connected to the third hinge shaft located on the right, and the up and down swing of the second hinge shaft can drive the lower parts of the two seedling planting half mouths to close and move away from each other.

4. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 3 is characterized in that: A connecting plate is fixedly arranged on the front side of the connecting rod, and two movable sliders distributed up and down are fixedly arranged on the connecting plate, and the two movable sliders are respectively sleeved on a first guide rod, and the first guide rod is fixedly arranged on the movable frame horizontally left and right, and a positioning detection rod is vertically fixedly arranged on the upper part of the movable slider located on the upper side, and a third oblong hole distributed left and right is arranged on the upper part of the movable frame, and a fourth oblong hole corresponding to the third oblong hole up and down is arranged on the whole machine bracket, and the upper part of the positioning detection rod passes through the fourth oblong hole, and a first inductive proximity switch is arranged on the whole machine bracket and is located at the left rear of the fourth oblong hole, and the first inductive proximity switch is electrically connected to the controller.

5. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 3 is characterized in that: The seedling throwing mechanism also includes a second driving motor, a first reduction gear box, a rotating shaft, a rotating circular plate, and a supporting ring, wherein the seedling throwing tube includes an upper cylinder body and a lower sealing cover, one side of the lower sealing cover is hingedly connected to one side of the lower portion of the upper cylinder body, the rotating shaft is vertically rotatably arranged on the whole machine support, the rotating circular plate is fixedly arranged on the upper part of the rotating shaft, six seedling throwing tubes are arranged on the rotating circular plate at equal intervals along the circumferential direction of the rotating shaft, and the corresponding seedling throwing tubes can be located at the seedling throwing station through the rotation of the rotating circular plate, the lower part of the rotating shaft is connected to the first reduction gear box, the second driving motor is used to drive the first reduction gear box to rotate, the supporting ring is arranged on the whole machine support and is located below the seedling throwing tube, the supporting ring is in an open state at the seedling throwing station, and the lower sealing cover is closed at the lower part of the upper cylinder body by supporting the lower sealing cover by the supporting ring, and the second driving motor is electrically connected to the controller.

6. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 3 is characterized in that A circular detection plate is fixedly arranged on the rotating shaft, and six detection blocks are arranged on the outer side of the circular detection plate and are distributed at equal intervals along the circumferential direction of the rotating shaft. The six detection blocks correspond to the six seedling throwing tubes one by one up and down, and a second inductive proximity switch for detecting the corresponding detection blocks is arranged on the whole machine bracket. When the second inductive proximity switch detects a detection block, one of the seedling throwing tubes is located at the seedling throwing station, and the inductive proximity switch is electrically connected to the controller.

7. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 5 is characterized in that: The walking mechanism includes a walking bracket, a third driving motor, an active walking wheel, an auxiliary walking wheel, and a second reduction gearbox. The walking bracket includes a fixed tube and a telescopic rod. The two telescopic rods are sleeved on the two ends of the fixed tube left and right, and the telescopic rod can move left and right and be positioned relative to the fixed tube. A support frame is arranged at the outer end of the telescopic rod. The active walking wheel and the auxiliary walking wheel are arranged to rotate back and forth at the lower part of each of the support frames. The second reduction gearbox is used to drive the active walking wheel, and the third driving motor is used to drive the second reduction gearbox. The fixed tube can move up and down and be positioned relative to the whole machine bracket, and the telescopic rod can be adjusted up and down and positioned relative to the support frame; an adjusting screw is rotatably arranged on the whole machine bracket, and a second guide rod is respectively and parallelly arranged on both sides of the adjusting screw, and an adjusting slider is sleeved on the adjusting screw and the second guide rod. The adjusting slider can be moved up and down relative to the adjusting screw by rotating the adjusting screw, and the fixed tube is arranged on the adjusting slider.

8. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 7 is characterized in that The upper front part of the whole machine bracket is respectively provided with a forward and reverse switching lever, a travel speed control knob, a start and stop button, a power switch, an emergency stop switch, an indicator light, and a seedling planting switch; a programming operation area and a timing counting area are arranged on the vertical side wall on the front side of the whole machine bracket; two handrails distributed on the left and right are arranged at the front of the whole machine bracket, a left turn control switch and a right turn control switch are respectively arranged on the two handrails, and a seedling placement tray is arranged on the upper part of the whole machine bracket.

9. The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 1 is characterized in that: The power assembly includes a small gasoline engine, a generator, and a battery. The small gasoline engine is used to drive the generator to rotate. The generator is electrically connected to the battery. The controller is electrically connected to the small gasoline engine and the battery.

10. A method for continuous transplanting of tobacco seedlings, characterized in that: The self-propelled extended-range vegetable and tobacco seedling transplanter according to claim 8 is provided, wherein the inner diameter of the cylindrical part of the well-cellar type seedling planting nozzle is set to 10 cm, and the vertical heights of the cylindrical part and the conical part of the well-cellar type seedling planting nozzle are set to 10 cm and 11 cm respectively, and the distance from the well-cellar type seedling planting nozzle from the starting position to the downward movement to the lowest position is set to 23 cm. The tobacco seedling transplanting and planting method further comprises the following steps: S1, moving the transplanter to the starting planting end of the corresponding soil ridge, and adjusting the orientation of the transplanter so that the transplanter spans directly above the soil ridge; S2, making the well-cellar type transplanting nozzle located at the initial working position, making one of the seedling throwing tubes located at the seedling throwing station, and at the same time, ensuring that one tobacco seedling has been placed in the remaining seedling throwing tubes, and placing one tobacco seedling in the well-cellar type transplanting nozzle; S3, turn the adjusting screw to adjust the vertical height between the bottom of the well-cellar type transplanting nozzle and the soil ridge, so that the bottom of the well-cellar type transplanting nozzle is 5 cm away from the top of the soil ridge; S4, setting the duration of each movement of the transplanter through the timing counting operation area, here, the duration of each movement of the transplanter is set to 1.5S, and the forward and backward switching lever is used to put the transplanter in a forward movement mode; S5, manually pressing the start-stop button to start the transplanter; S6, the controller starts the first driving motor to drive the well-cellar type transplanting nozzle to complete an up and down reciprocating motion, and the tobacco seedlings in the well-cellar type transplanting nozzle are transplanted into the soil ridge during the up and down motion of the well-cellar type transplanting nozzle; S7, when the well-cellar type transplanting nozzle completes an up and down reciprocating motion, the controller starts the second drive motor to rotate the circular rotating plate, and when the circular rotating plate rotates 60 degrees clockwise, the rotation of the second drive motor is stopped, and then the tobacco seedlings in the corresponding seedling throwing tube are dropped into the well-cellar type seedling planting nozzle; after the second drive motor stops rotating, the tobacco seedlings are manually and synchronously placed back into the seedling throwing tube with the bottom sealed and the interior empty; S8, when the second drive motor stops rotating, the controller starts the third drive motor according to the internally set walking control program, and when the third drive motor continues to run for a set time of 1.5 seconds, the controller stops the operation of the third drive motor; S9, repeating steps S6-S8 in sequence to achieve continuous transplanting and planting of tobacco seedlings on a soil ridge.

Images