Full-automatic combined type pepper seedling transplanting vehicle

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a full-automatic combined type pepper seedling transplanting vehicle. Comprising a land treatment module and a seedling treatment module, the land treatment module is used for ploughing, ridging and film covering of planting land, and the seedling treatment module is used for pushing, taking and planting of pepper seedlings; the land processing module comprises a rotary tillage mechanism, a ploughing and ridging mechanism and a film mulching mechanism, and the seedling processing module comprises a seedling pushing mechanism and a seedling clamping mechanism. According to the full-automatic combined type pepper seedling transplanting vehicle, through cooperation of the rotary tillage mechanism, the ploughing and ridging mechanism, the film covering mechanism, the seedling pushing mechanism and the seedling clamping mechanism, the problems that pepper seedling transplanting vehicles in the market are insufficient in automation degree, single in function and high in efficiency are solved when the device is used; the problems of poor adaptability, low precision control, difficulty in maintenance and the like are solved, and the functions of ploughing, ridging, film mulching, seedling pushing, seedling taking, watering and the like can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, in particular to a fully automatic composite pepper seedling transplanting vehicle. Background Art

[0002] Traditional transplanters have significant limitations in their application scenarios. While they operate normally on the wide, flat lands of northern China, their performance is clearly insufficient on the rugged and narrow roads of the mountainous south.

[0003] There are many problems with existing transplanting vehicles on the market:

[0004] 1. Low automation: Most transplanters on the market currently lack sufficient automation, a problem particularly evident in domestic pepper transplanters. Most domestic pepper transplanters are semi-automatic, requiring multiple operators and supervisors to operate and monitor the operation, significantly limiting transplanting efficiency.

[0005] 2. Functional limitations: Transplanters generally have a single function and cannot meet the complex and diverse needs of agricultural production. Even though some domestic transplanters have added some functions, they still cannot achieve a single planting and are highly dependent on manpower during the operation.

[0006] 3. Poor adaptability: Most existing transplanting vehicles are large in size and have insufficient adaptability when facing complex terrain environments. Their application scenarios are severely limited, making it difficult for them to operate effectively under complex and diverse terrain conditions.

[0007] 4. Low level of intelligence, integration and precision: Current transplanting vehicles cannot meet the urgent needs of agricultural development for intelligence, integration and precision, affecting the quality of transplanting and subsequent crop growth.

[0008] Although there are fully automatic transplanting machines with advanced technology and reliable performance abroad, they are expensive, usually more than five times the price of semi-automatic transplanting vehicles, which is beyond the purchasing power of the vast majority of domestic agricultural machinery users.

[0009] For this reason, a fully automatic composite pepper seedling transplanting vehicle is designed to provide another technical solution to the above-mentioned technical problems. Summary of the Invention

[0010] Based on this, it is necessary to provide a fully automatic composite pepper seedling transplanting vehicle to solve the technical problems raised in the above background technology.

[0011] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0012] A fully automatic composite pepper seedling transplanter includes a soil processing module and a seedling processing module. The soil processing module is used to cultivate, ridge and cover the planting land, and the seedling processing module is used to push, remove and plant the pepper seedlings.

[0013] The land processing module includes:

[0014] A rotary tillage mechanism, used for rotary tilling the land;

[0015] The plowing and ridging mechanism is installed at one end of the rotary tillage mechanism and is used to plow and ridge the land after rotary tillage;

[0016] The film covering mechanism is installed at one end of the plowing and ridging mechanism and is used for covering the land after plowing and ridging;

[0017] The seedling processing module includes:

[0018] The seedling pushing mechanism is installed at one end of the film covering mechanism and is used to temporarily store the pepper seedlings and transport them when planting;

[0019] The seedling clamping mechanism is installed at one end of the seedling pushing mechanism close to the film covering mechanism, and is used for clamping the pepper seedlings transported by the seedling pushing mechanism and placing them into the pit for planting.

[0020] As a preferred embodiment of the fully automatic composite pepper seedling transplanting vehicle provided by the present invention, the rotary tillage mechanism includes a rotary tillage blade, a protective cover, a rotary tillage drive motor, a first connecting block, a support rod, a fixing plate, a height adjustment drive motor, a screw rod and a steering beam, the bottom end of the protective cover is internally rotatably connected to the rotary tillage blade, the rotary tillage drive motor is fixed on both sides of the protective cover, the output end of the rotary tillage drive motor is connected to the rotary tillage blade through a synchronous belt, the top of the protective cover is fixed with a first connecting block, one end of the first connecting block is fixed with a support rod, the internal thread of one end of the support rod is connected to the screw rod, and two fixing plates are provided at the top of the screw rod, and the spacing between the two fixing plates is adjusted by sliding a guide rail, one of the fixing plates is rotatably connected to the screw rod, and the other fixing plate is fixed with a height adjustment drive motor, the top of the screw rod passes through one of the fixing plates and is connected to the output end of the height adjustment drive motor through a synchronous belt, and the outer sides of the bottom ends of the two screw rods are rotatably connected to the steering beam.

[0021] As a preferred embodiment of the fully automatic composite pepper seedling transplanting vehicle provided by the present invention, the plowing and ridging mechanism includes a plow, a second connecting block, a support plate, a guide frame, a lifting block, a lifting adjustment rack, a height drive motor, an adjusting worm, an adjusting worm wheel, an adjusting gear and a first support frame. The bottom of the steering beam is fixed with the first support frame, the top of the second connecting block is fixed to another of the fixed plates, the bottom of the second connecting block is fixed to the support plate, and guide frames are fixed on both sides of the outer side of the support plate. A lifting block is provided at the bottom of the support plate, the lifting block is slidably connected to the guide frame, the bottom of the lifting block is rotatably connected to the plow, the top of the first support frame is fixed to the height drive motor, the output end of the height drive motor is connected to the adjusting worm, one end of the adjusting worm is meshed with the adjusting worm wheel, both ends of the adjusting worm wheel are connected to the adjusting gear through a transmission shaft, and the transmission shaft is rotatably connected to the steering beam, the end of the adjusting gear close to the lifting block is meshed with the lifting adjustment rack, the lifting adjustment rack is fixed to the lifting block, and the top of the lifting adjustment rack is slidably connected to the guide frame.

[0022] The lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of

[0023] As a preferred embodiment of the fully automatic composite pepper seedling transplanting vehicle provided by the present invention, servos are fixed on both sides of the second support frame and at one end of the film feeding roller close to the rotary tillage mechanism, and the output ends of the two servos are connected to film cutting blades.

[0024] As a preferred embodiment of the fully automatic composite pepper seedling transplanting vehicle provided by the present invention, a punching mechanism is also installed at the bottom of the second support frame, and the punching mechanism includes a telescopic part and a punching drill bit. The top of the telescopic part is fixed to the second support frame, and the bottom of the telescopic part is fixed to the punching drill bit. A humidity sensor is fixed inside the bottom end of the punching drill bit for detecting soil moisture.

[0025] As a preferred embodiment of the fully automatic composite pepper seedling transplanting vehicle provided by the present invention, a water tank is also fixed on the top of the second support frame, and water pumps are fixed on the top of the second support frame and on both sides of the water tank.

[0026] The lifting mechanism comprises a lifting mechanism, a lifting mechanism comprising a lifting mechanism, a lifting mechanism comprising a lifting mechanism, a lifting mechanism comprising a lifting mechanism, a lifting mechanism, a lifting mechanism for lifting two members, a lifting mechanism for lifting two members, a lifting mechanism for lifting two members, a lifting mechanism for lifting two members, a lifting mechanism for lifting two members, a lifting mechanism for lifting two members, a lifting mechanism for lifting two members, a The transmission gear of the present invention is a gear which is engaged with the gear of the first gear and the gear of the second gear is engaged with the gear of the first gear and the gear of the second gear is engaged with the gear of the second gear and the gear is engaged with the gear of the second gear and the gear is engaged with the gear of the second gear.

[0027] The transmission mechanism that this invention provides is as follows: as a preferred embodiment of the fully automatic composite pepper seedling transplanting vehicle provided by the present invention, the seedling clamping mechanism includes a clamping drive motor, a first clamping bevel gear, a second clamping bevel gear, a rotating rod, an adjusting block, a fixing rod, a fixing shell, a synchronous connecting rod and a clamping claw, a fixing rod is provided on the inner side of the second support frame, and both sides of the fixing rod are fixed with a fixing shell, the internal rotation of the bottom end of the fixing shell is connected to the rotating rod, and the clamping drive motor is fixed inside the fixing shell. The output end of the clamping drive motor is connected to the first clamping bevel gear, one end of the first clamping bevel gear is meshed with the second clamping bevel gear, and the second clamping bevel gear is fixed with the rotating rod, the outer side of the bottom end of the fixing shell is uniformly rotatably connected to the synchronous connecting rod, and the bottom of the synchronous connecting rod is rotatably connected to the clamping claw, the outer side of the rotating rod and the bottom of the fixing shell are threadedly connected with the adjusting block, and the adjusting block is rotatably connected to the synchronous connecting rod through the transmission rod.

[0028] As a preferred embodiment of the fully automatic composite pepper seedling transplanting vehicle provided by the present invention, it further includes a displacement mechanism for driving the device to move;

[0029] The displacement mechanism includes a bearing steering seat, a rear wheel and a front wheel. Rear wheels are provided on both sides of the bottom of one end of the second support frame. The bottoms of both sides of the steering beam are rotatably connected to the bearing steering seat, and the bottom of the bearing steering seat is rotatably connected to the front wheel.

[0030] It can be seen without a doubt that the above-mentioned technical solution of this application can definitely solve the technical problem to be solved by this application.

[0031] At the same time, through the above technical solutions, the present invention has at least the following beneficial effects:

[0032] 1. The present invention provides a fully automatic composite pepper seedling transplanter, which, through the cooperation of a rotary tillage mechanism, a plowing and ridging mechanism, a film covering mechanism, a seedling pushing mechanism and a seedling clamping mechanism, allows the device to solve the problems of pepper seedling transplanters on the market, such as insufficient automation, single function, insufficient adaptability, low precision control of planting row spacing and difficult maintenance, and can realize functions such as plowing, ridging, film covering, pushing seedlings, taking seedlings and watering.

[0033] 2. The present invention can accurately control the planting row spacing through the cooperation of the seedling pushing mechanism and the seedling clamping mechanism, thereby preventing transplanting failure caused by the fragile root system of the pepper seedlings.

[0034] 3. The present invention is highly integrated, integrating the functions of tilling the land, ridging, mulching, pushing seedlings, taking seedlings, planting seedlings and watering. It can complete the transplanting of pepper seedlings in one operation and achieve efficient sowing.

[0035] 4. Compared with the existing transplanting vehicles, the present invention also improves the degree of automation of transplanting, and can realize the full mechanization and intelligent planting of pepper seedlings without manual operation and monitoring, which greatly improves the planting efficiency and quality, and saves manpower and time; in addition, compared with the existing transplanting vehicles, the present invention also greatly improves the degree of precision. The present invention adopts precise positioning and automatic seedling transplanting devices, which can ensure the accurate positioning and appropriate depth of each seedling, and improve the survival rate and uniformity of the pepper seedlings.

[0036] 5. The present invention uses the lifting function of the rotary tillage mechanism and the plowing and ridging mechanism to perform field turning and ridging according to the soil differences between the north and the south, so that the pepper seedlings can be planted in the north and the south without affecting their survival rate and later growth, thereby allowing the transplanter to have a wider range of uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 Schematic diagram of the structure of the rotary tillage mechanism of the present invention;

[0040] Figure 3 This is a schematic structural diagram of the plowing and ridging mechanism of the present invention;

[0041] Figure 4 It is a side view of the plowing and ridging mechanism of the present invention;

[0042] Figure 5 It is a structural schematic diagram of the laminating mechanism of the present invention;

[0043] Figure 6 This is a schematic structural diagram of the film cutting blade of the present invention;

[0044] Figure 7 This is a schematic structural diagram of the drilling bit of the present invention;

[0045] Figure 8 It is a structural schematic diagram of the seedling pushing mechanism of the present invention;

[0046] Figure 9 It is a side view of the seedling pushing mechanism of the present invention;

[0047] Figure 10 This is a structural diagram of the conveying drive motor of the present invention;

[0048] Figure 11 This is a structural diagram of the seedling delivery gear of the present invention;

[0049] Figure 12 It is a structural schematic diagram of the seedling clamping mechanism of the present invention;

[0050] Figure 13 It is a structural schematic diagram of the limit block of the present invention;

[0051] Figure 14 It is a structural schematic diagram of the clamping jaws of the present invention.

[0052] In the figure: 1. rotary tillage mechanism; 2. plowing and ridging mechanism; 3. film covering mechanism; 4. seedling pushing mechanism; 5. seedling clamping mechanism; 6. rotary tillage blade; 7. protective cover; 8. rotary tillage drive motor; 9. first connecting block; 10. support rod; 11. fixing plate; 12. height adjustment drive motor; 13. screw rod; 14. steering beam; 15. coulter; 16. second connecting block; 17. support plate; 18. guide frame; 19. lifting block; 20. lifting adjustment rack; 21. height drive motor; 22. adjusting worm; 23. adjusting worm gear; 24. adjusting gear; 25. first supporting frame; 26. clamping drive motor; 27. first clamping bevel gear; 28. second clamping bevel gear; 29. ​​rotating rod; 30. adjusting block; 31. bearing steering seat; 32. second supporting frame; 33. servo; 34. sliding frame; 35. film feeding roller; 36. film pressing roller; 37. Film feeding drive motor; 38. Film pressing wheel; 39. Wheel bracket; 40. Soil covering wheel; 41. Drill bit; 42. Parallelogram linkage; 43. Gear rack assembly; 44. Carrier slider; 45. Guide rod; 46. Seedling feeding drive motor; 47. Seedling pushing plate; 48. Seedling tray; 49. Hydraulic rod; 50. Connecting rod; 51. Recovery basket; 52. Conveyor belt; 53. Conveyor drive motor; 54. A conveying bevel gear; 55, a second conveying bevel gear; 56, a seedling delivery gear; 57, a seedling delivery rack; 58, a longitudinal guide rail; 59, a transverse guide rail; 60, a vertical guide rail; 61, a pulley; 62, a displacement drive motor; 63, a synchronous wheel; 64, a limit block; 65, a displacement timing belt; 66, a fixed rod; 67, a fixed shell; 68, a synchronous connecting rod; 69, a clamp; 70, a rear wheel; 71, a front wheel; 72, a film cutting blade. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0055] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions therein may be combined with each other.

[0056] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0057] Reference Figures 1-14A fully automatic composite pepper seedling transplanter includes a land processing module and a seedling processing module. The land processing module is used to cultivate, ridge and cover the planting land, and the seedling processing module is used to push, remove and plant the pepper seedlings, thereby mechanized planting of pepper seedlings in the land.

[0058] The land processing module includes:

[0059] The rotary tillage mechanism 1 is used for rotary tilling the land;

[0060] The rotary tillage mechanism 1 includes a rotary tillage blade 6, a protective cover 7, a rotary tillage drive motor 8, a first connecting block 9, a support rod 10, a fixing plate 11, a height adjustment drive motor 12, a screw rod 13 and a steering beam 14. The internal rotation of the bottom end of the protective cover 7 is connected to the rotary tillage blade 6. The rotary tillage drive motor 8 is fixed on both sides of the protective cover 7. The output end of the rotary tillage drive motor 8 is connected to the rotary tillage blade 6 through a synchronous belt, so that the operation of the rotary tillage drive motor 8 can drive the rotary tillage blade 6 to rotate stably on the inside of the protective cover 7, and then the land is rotary tilled by the rotation of the rotary tillage blade 6. The top of the protective cover 7 is fixed with a first connecting block 9, one end of the first connecting block 9 is fixed with a support rod 10, and the internal thread of one end of the support rod 10 is connected with a screw rod 13, so that the rotation of the screw rod 13 can be controlled by the support rod 13. The rod 10 drives the protective cover 7 to rise and fall, so that the rotary tiller 6 is transported on the flat ground when the transplanter is driving normally, and the rotary tiller 6 does not touch the ground. Two fixed plates 11 are provided on the top of the screw rod 13. The spacing between the two fixed plates 11 is adjusted by sliding a guide rail. One of the fixed plates 11 is rotatably connected to the screw rod 13, and a height adjustment drive motor 12 is fixed on the other fixed plate 11. The top of the screw rod 13 passes through one of the fixed plates 11 and is connected to the output end of the height adjustment drive motor 12 through a synchronous belt, so that the height adjustment drive motor 12 drives the two screw rods 13 to rotate in the same direction through the synchronous belt; the outer sides of the bottom ends of the two screw rods 13 are rotatably connected to the steering beam 14, so that the bottom of the screw rod 13 can be supported by the steering beam 14;

[0061] The system also includes a laser radar sensor, a visual sensor, and an STM32 single-chip computer. The laser radar sensor and the visual sensor are installed on the outside of the transplanter. The laser radar sensor and the visual sensor can then be used to identify the surrounding environment of the transplanter and transmit the signal to the single-chip computer. The signal is then transmitted to the rotary tillage mechanism 1 through the single-chip computer and the control panel.

[0062] In this embodiment, the connection between the output end of the rotary tillage drive motor 8 and the rotary tillage blade 6 can also be achieved through a sprocket and a chain, so that the transmission can be more stable, while ensuring that the power of the two rotary tillage drive motors 8 is evenly transmitted to the rotary tillage shaft, so that the rotary tillage blade 6 rotates stably.

[0063] In this embodiment, the two fixed plates 11 can slide between each other through a guide rail, and the fixed plates 11 and the guide rail are fixed by bolts. In other embodiments, a push rod motor or a hydraulic rod or a cylinder can be set between the two fixed plates 11, so as to adjust the distance between the two fixed plates 11 and adjust the tightness of the synchronous belt between the top of the screw rod 13 and the output end of the height adjustment drive motor 12.

[0064] The plowing and ridging mechanism 2 is installed at one end of the rotary tillage mechanism 1 and is used to plow and ridge the land after rotary tillage;

[0065] The plowing and ridging mechanism 2 includes a plow blade 15, a second connecting block 16, a support plate 17, a guide frame 18, a lifting block 19, a lifting adjustment rack 20, a height drive motor 21, an adjusting worm 22, an adjusting worm wheel 23, an adjusting gear 24 and a first support frame 25. The first support frame 25 is fixed to the bottom of the steering beam 14, so that the height of the first support frame 25 can be supported by the steering beam 14, and one end of the protective cover 7 can be contacted by the first support frame 25. The top of the second connecting block 16 is connected to the The other fixed plate 11 is fixed, so as to support the height of the second connecting block 16. A support plate 17 is fixed to the bottom of the second connecting block 16. Guide frames 18 are fixed on both sides of the outer side of the support plate 17. A lifting block 19 is provided at the bottom of the support plate 17. The lifting block 19 is slidably connected to the guide frame 18, so that the lifting block 19 can be stably lifted and lowered by sliding with the guide frame 18 to adjust the height. The bottom of the lifting block 19 is rotatably connected to the plow 15, so that the movement of the plow 15 forms ridges on the ground.

[0066] Preferably, a buffer spring is provided between the bottom of the lifting block 19 and the coulter 15, so that the coulter 15 can rotate backward when plowing, and can be reset by the resistance and rebound force of the buffer spring. The buffer spring also prevents the coulter 15 from damaging the tool when it touches a stone. A trapezoidal area is formed between the two coulters 15, which matches the shape of the ridge.

[0067] A height driving motor 21 is fixed to the top of the first support frame 25, and an adjusting worm 22 is connected to the output end of the height driving motor 21, and one end of the adjusting worm 22 is meshedly connected to the adjusting worm wheel 23, and both ends of the adjusting worm wheel 23 are connected to an adjusting gear 24 through a transmission shaft, and the transmission shaft is rotatably connected to the steering beam 14, so as to support the height of the transmission shaft, and the end of the adjusting gear 24 close to the lifting block 19 is meshedly connected to the lifting adjustment rack 20, and the lifting adjustment rack 20 is fixed to the lifting block 19, and the top of the lifting adjustment rack 20 is slidably connected to the guide frame 18, so that the rotation of the adjusting gear 24 can drive the meshing connection lifting block 19 to perform auxiliary lifting adjustment by sliding with the guide frame 18;

[0068] In other embodiments, the bottom of the support plate 17 can be fixed to the first support frame 25, so as to improve the height support effect of the plowing and ridging mechanism 2.

[0069] In this embodiment, the lifting function in the rotary tillage mechanism and the plowing and ridging mechanism can perform field turning and ridge formation according to the soil differences between the north and the south, so that the survival rate and later growth of pepper seedlings can be affected when planting in the north and the south, thereby enabling the transplanter to have a wider range of uses.

[0070] The film covering mechanism 3 is installed at one end of the plowing and ridging mechanism 2 and is used to cover the land after plowing and ridging;

[0071] The film coating mechanism 3 includes a second support frame 32, a steering gear 33, a sliding frame 34, a film feeding roller 35, a film pressing roller 36, a film feeding drive motor 37, a film pressing wheel 38, a wheel bracket 39, a soil covering wheel 40 and a film cutting blade 72. The second support frame 32 is fixed to the first support frame 25, so that the film coating mechanism 3 can be supported by the second support frame 32. The top of both sides of the second support frame 32 is fixed with a sliding frame 34. The film feeding roller 35 is rotatably connected between the two sliding frames 34. A film pressing roller 36 is slidably connected to the top of the film feeding roller 35, so that the film pressing roller 36 can be adjusted in height by sliding between the two sliding frames 34. At the same time, the film pressing roller 36 can rotate, so that the rotation of the film feeding roller 35 can drive the film squeezed by the film pressing roller 36 to extend. A film roller is provided at one end of the top of the second support frame 32, so that the film roller can be installed on the top of the second support frame 32 from top to bottom, and one end of the film is located between the film feeding roller 35 and the film pressing roller 36;

[0072] The film feeding drive motor 37 is fixed to the top of the second support frame 32, and the film feeding drive motor 37 is connected to the film feeding roller 35 by a synchronous belt, so that the film feeding drive motor 37 drives the film feeding roller 35 to rotate through the synchronous belt. The two sides of the second support frame 32 and the film feeding roller 35 are fixed with a servo 33 at one end close to the rotary tillage mechanism 1. The output ends of the two servo 33 are connected with a film cutting blade 72, which can cut the film guided by the film feeding roller 35 through the operation of the servo 33. The two sides of the bottom of the second support frame 32 and the end close to the rotary tillage mechanism 1 are rotatably connected to the film pressing wheel 38, so that the film is pressed by the contact between the film pressing wheel 38 and the ground. The bottom of the second support frame 32 is close to the two sides of the rotary tillage mechanism 1 and is located on the outside of the two film pressing wheels 38. The bottom of the wheel disc bracket 39 is rotatably connected to the soil covering wheel 40, and the soil on the ground is covered with film by the rotation of the soil covering wheel 40 in contact with the ground;

[0073] The bottom of the second support frame 32 is also equipped with a punching mechanism, which can punch holes for planting pepper seedlings in the film and the ground through the punching mechanism. The punching mechanism includes a telescopic member and a punching drill 41. The top of the telescopic member is fixed to the second support frame 32, and the bottom of the telescopic member is fixed to the punching drill 41. The punching drill 41 is driven to rise and fall by the operation of the telescopic member, and holes are punched in the ground and the film through the punching drill 41. A humidity sensor is fixed inside the bottom end of the punching drill 41 for detecting soil humidity, so that when the punching drill 41 enters the soil, it can detect the humidity inside the soil. When the humidity inside the soil does not trigger the set threshold, the water tank and water pump on the transplanting vehicle are allowed to hydrate the soil.

[0074] Preferably, the telescopic member is composed of a parallelogram linkage mechanism 42 and a gear rack assembly 43. The parallelogram linkage mechanism 42 is arranged at the bottom of the second support frame 32. A gear rack assembly 43 is fixed to the bottom of the second support frame 32 and located on the outside of the parallelogram linkage mechanism 42. A punching drill bit 41 is fixed to the bottom of the gear rack assembly 43, so that the operation of the parallelogram linkage mechanism 42 drives the gear rack assembly 43 to expand, so that the gear rack assembly 43 drives the punching drill bit 41 to descend. When working, the gear in the gear rack assembly 43 drives the rack to drive the active connecting rod on the parallelogram linkage mechanism 42 to move. By utilizing the characteristics of the parallelogram linkage mechanism 42, the other connecting rods are moved synchronously to realize the rising and falling of the punching drill bit 41.

[0075] In other embodiments, the telescopic member is a structure such as a push rod motor or a hydraulic rod that can drive the drilling bit 41 to move up and down.

[0076] Preferably, a water tank is fixed on the top of the second support frame 32, and water pumps are fixed on the top of the second support frame 32 and on both sides of the water tank, so that when the humidity sensor detects that there is insufficient moisture in the soil, the transplanting vehicle can control the single-chip microcomputer to allow the water pump to pump out the water in the water tank, and then replenish the water for the planted pepper seedlings in time to avoid the seedlings from drying up and to improve the survival rate of the seedlings, thereby realizing the linkage between film covering and watering.

[0077] Seedling processing module includes:

[0078] The seedling pushing mechanism 4 is installed at one end of the film covering mechanism 3 and is used to temporarily store the pepper seedlings and transport them when planting;

[0079] The seedling pushing mechanism 4 includes a carrier slide block 44, a guide rod 45, a seedling delivery drive motor 46, a seedling pushing plate 47, a seedling tray 48, a hydraulic rod 49, a connecting rod 50, a recovery basket 51, a conveyor belt 52, a conveying drive motor 53, a first conveying bevel gear 54, a second conveying bevel gear 55, a seedling delivery gear 56 and a seedling delivery rack 57. A guide rod 45 is fixed to the side of the second support frame 32 away from the inside of one end of the rotary tillage mechanism 1. The outer side of the guide rod 45 is slidably connected to the carrier slide block 44, so that the carrier slide block 44 can be stably lifted and slid by the guidance of the guide rod 45. A hydraulic rod 49 is fixed to the other side of the second support frame 32 away from the inside of one end of the rotary tillage mechanism 1. The push rod of the hydraulic rod 49 is rotatably connected to the connecting rod 50. The connecting rod 50 is rotatably connected to the carrier slide block 44, so that the operation of the hydraulic rod 49 drives the connecting rod 50 to rise, and the connecting rod 50 drives the carrier slide block 44 to rise under the guidance of the guide rod 45.

[0080] The conveyor belt 52 is provided inside the tray slider 44, and a recovery basket 51 is fixed on one side of the second support frame 32 and at a position corresponding to the tray slider 44, so that the pepper seedlings can be fed into the empty seedling tray 48 into the recovery basket 51 for recycling through the operation of the conveyor belt 52; one end of the tray slider 44 is fixed with a conveying drive motor 53, and the output end of the conveying drive motor 53 is connected to the first conveying bevel gear 54, and one side of the first conveying bevel gear 54 is meshedly connected to the second conveying bevel gear 55, and the second conveying bevel gear 55 is fixed to the transmission shaft of the conveyor belt 52, so that the operation of the conveying drive motor 53, through the meshing connection of the first conveying bevel gear 54 and the second conveying bevel gear 55, drives the conveyor belt 52 to transport the objects on the top of the conveyor belt 52 inside the tray slider 44 to the direction of the recovery basket 51;

[0081] In this embodiment, the number of seedling trays 48 is two. In other embodiments, the number of seedling trays 48 can be changed as needed, and can be multiple.

[0082] The second support frame 32 is away from the rotary tillage mechanism 1 and is internally connected to at least one seedling tray 48 in a sliding manner, so that the seedling tray 48 can slide in translation inside the second support frame 32. The top of the seedling tray 48 is provided with a seedling pushing plate 47 at one end away from the coating mechanism 3, so that the movement of the seedling pushing plate 47 can be achieved by squeezing the seedling tray 48, so that the seedling tray 48 is translated into the top of the conveyor belt 52. A seedling delivery drive motor 46 is fixed to one side of the top of the second support frame 32, and the output end of the seedling delivery drive motor 46 is connected to the seedling delivery gear 56. The seedling delivery gear 56 is meshed with a seedling delivery rack 57 on the side close to the seedling tray 48. The seedling delivery rack 57 is fixed to the seedling tray 48, so that the rotation of the seedling delivery gear 56 drives the meshing connected seedling delivery rack 57 to drive the seedling tray 48 to move;

[0083] The seedling clamping mechanism 5 is installed at one end of the seedling pushing mechanism 4 close to the film covering mechanism 3, and is used to clamp the pepper seedlings transported by the seedling pushing mechanism 4 and place them in the pit for planting;

[0084] The seedling clamping mechanism 5 includes a clamping drive motor 26, a first clamping bevel gear 27, a second clamping bevel gear 28, a rotating rod 29, an adjusting block 30, a fixed rod 66, a fixed shell 67, a synchronous connecting rod 68 and a clamping claw 69. A fixed rod 66 is provided on the inner side of the second support frame 32. Fixed shells 67 are fixed on both sides of the fixed rod 66. The internal rotation of the bottom end of the fixed shell 67 is connected to the rotating rod 29. The clamping drive motor 26 is fixed inside the fixed shell 67. The output end of the clamping drive motor 26 is connected to the first clamping bevel gear 27. One end of the first clamping bevel gear 27 is meshed with the second clamping bevel gear 28. The second clamping bevel gear 28 is fixed to the rotating rod 29, so that the rotation of the first clamping bevel gear 27 drives the rotating rod 29 to rotate through the meshing second clamping bevel gear 28. The outer side of the bottom end of the fixed shell 67 is evenly rotated and connected to the synchronous connecting rod 68. The bottom of the synchronous link 68 is rotatably connected with a clamping claw 69, so that the rotation of the synchronous link 68 drives multiple clamping claws 69 to move closer to or away from each other, thereby achieving the grasping of the pepper seedlings. The outside of the rotating rod 29 and the bottom of the fixed shell 67 are threadedly connected with an adjusting block 30. The adjusting block 30 and the synchronous link 68 are rotatably connected through the transmission rod, so that the lifting and lowering of the adjusting block 30 drives the rotatably connected transmission rod to rise and fall synchronously, and the transmission rod drives the rotatably connected synchronous link 68 to rotate and move, and through the rotatable connection between the synchronous link 68 and the fixed shell 67, multiple synchronous links 68 rotate in the direction close to the adjusting block 30 when the adjusting block 30 rises, and the synchronous link 68 drives the bottom clamping claw 69 to rotate in the direction away from the adjusting block 30, so that multiple clamping claws 69 are synchronously away from the adjusting block 30 or simultaneously rotate in the direction close to the adjusting block 30.

[0085] In this embodiment, the clamping claw 69 can be connected through the corresponding synchronous connecting rod 68 to clamp the pepper seedlings inside the seedling tray 48. In other embodiments, an elastic material can be set on the outside of the clamping claw 69, so that the pepper seedlings can be clamped without damaging the root system of the pepper seedlings through the protection of the elastic material, thereby achieving high planting row spacing accuracy requirements (the error needs to be ≤2cm).

[0086] The seedling clamping mechanism 5 also includes an adjustment mechanism for driving the fixed rod 66 to move in three axes. The adjustment mechanism includes a longitudinal guide rail 58, a transverse guide rail 59, a vertical guide rail 60, a pulley 61, a displacement drive motor 62, a synchronous wheel 63, a limit block 64 and a displacement synchronous belt 65. Longitudinal guide rails 58 are fixed on both sides of the top of the second support frame 32. A transverse guide rail 59 is provided on the top of the two longitudinal guide rails 58, and a vertical guide rail 60 is provided at one end of the transverse guide rail 59. The longitudinal movement of the vertical guide rail 60 can be achieved by moving the transverse guide rail 59 on the longitudinal guide rail 58. One end of the bottom of the vertical guide rail 60 is fixed to the fixed rod 66, and the movement of the vertical guide rail 60 on the transverse guide rail 59 can achieve transverse movement. At the same time, the lifting of the vertical guide rail 60 drives the fixed rod 66 to adjust the vertical height.

[0087] Limit blocks 64 are provided on both sides of the bottom of the transverse guide rail 59 and one end of the vertical guide rail 60, the top of one limit block 64 is fixed to the transverse guide rail 59, and the other limit block 64 is used to connect the transverse guide rail 59 and the vertical guide rail 60, so that the corresponding transverse guide rail 59 or the vertical guide rail 60 can be driven to adjust by the limit block 64, and the two sides of the bottom of one limit block 64, the two sides of one end of the other limit block 64 and the two ends of the bottom of the other limit block 64 are rotatably connected with synchronous wheels 63, and the longitudinal guide rail 58, the transverse guide rail 59 and the vertical guide rail 60 are all installed with a transmission assembly, which is two pulleys 61, and the pulleys 61 are rotatably connected to the longitudinal guide rail 58, the transverse guide rail 59 and the vertical guide rail 60, so that the pulleys 61 are installed at both ends of the longitudinal guide rail 58, the two sides of the transverse guide rail 59, and the top and bottom of the vertical guide rail 60 through a rotatable connection;

[0088] The two pulleys 61 of the same transmission assembly are connected by a displacement timing belt 65. The bottom of one of the pulleys 61 in the same transmission assembly is connected to the output end of the displacement drive motor 62, and the displacement drive motor 62 is fixed to the corresponding longitudinal guide rail 58 or transverse guide rail 59 or vertical guide rail 60, so that the work of the displacement drive motor 62 can be assisted by the two pulleys 61 in the same transmission assembly, driving the corresponding displacement timing belt 65 to rotate; one end of the displacement timing belt 65 is fixed to the corresponding limit block 64 on the outside, so that the displacement timing belt 65 on the longitudinal guide rail 58 rotates, driving the limit block 64 at the bottom of the transverse guide rail 59 to translate at the top of the longitudinal guide rail 58, and at the same time through the corresponding synchronization The wheel 63 assists in translation, so that the transverse guide rail 59 moves laterally at the top of the longitudinal guide rail 58. At the same time, the displacement synchronous belt 65 on the transverse guide rail 59 rotates, driving the limit block 64 at the top of the transverse guide rail 59 to translate at the top of the transverse guide rail 59. At the same time, the corresponding synchronous wheel 63 assists in translation, thereby enabling the longitudinal movement of the vertical guide rail 60 on the transverse guide rail 59. At the same time, the displacement synchronous belt 65 on the vertical guide rail 60 rotates, and the displacement synchronous belt 65 on the outer side of the vertical guide rail 60 is fixed to the limit block 64 at the top of the transverse guide rail 59, so that the vertical guide rail 60 performs vertical lifting and sliding at one end of the limit block 64, and is assisted in stabilization by the corresponding synchronous wheel 63.

[0089] In this embodiment, the seedling clamping mechanism 5 also includes a laser radar sensor and a visual sensor for detecting the position of the clamping claws 69.

[0090] It also includes a displacement mechanism for driving the device to move;

[0091] The displacement mechanism includes a bearing steering seat 31, a rear wheel 70 and a front wheel 71. Rear wheels 70 are provided on both sides of the bottom of one end of the second support frame 32. The bottoms of both sides of the steering beam 14 are rotatably connected to the bearing steering seat 31. The bottom of the bearing steering seat 31 is rotatably connected to the front wheel 71, and the movement of the device can be achieved through the cooperation of the front wheel 71 and the rear wheel 70.

[0092] In other embodiments, a mechanism for driving the front wheels 71 to steer may be installed on the steering beam 14, or a drive motor for driving the bearing steering seat 31 to rotate may be installed on the top of the steering beam 14 to drive the front wheels 71 to steer.

[0093] In the present embodiment, a control panel and a battery are also included, which can be installed on one side of the second support frame 32. The electrical appliances in the control device are controlled by the control panel, and the battery provides power to the electrical appliances. When in use, the staff plans the planting path according to the terrain, determines the placement point of the pepper seedling plant spacing, and inputs the parameters on the control panel. The soil is loosened by the rotary tillage mechanism 1, and then the plowing and ridging mechanism 2 piles the soil after rotary tillage into a fixed shape of a trapezoidal ridge. Through the work of the film covering mechanism 3, the film is sent out, and through the pressing of the film pressing wheel 38 and the covering of the soil covering wheel 40, the film is covered on the piled soil. The seedling tray 48 is pushed by the gear rack transmission mechanism, and the pepper seedlings are grabbed and planted by the seedling clamping mechanism 5. Finally, the pepper seedlings that have just been transplanted are watered by a water pump. After completing the work of the first group planting point, the machine repeats the same working process according to the planned path to complete the planting of subsequent points.

[0094] The use process of the fully automatic composite pepper seedling transplanter provided by the present invention is as follows:

[0095] When in use, the rotary tillage mechanism 1 is connected to the rotary tillage blade 6 through the output end of the rotary tillage drive motor 8, so that the power of the two rotary tillage drive motors 8 is evenly transmitted to the rotary tillage shaft, so that the rotary tillage blade 6 rotates stably, and then the ground is rotary tilled by the rotary tillage blade 6;

[0096] At the same time, the plowing and ridging mechanism 2 realizes the conversion between rotational motion and linear motion through the gear rack transmission, and utilizes the relationship between the number of teeth of the gear and the module of the rack to accurately control the moving distance of the coulter 15, thereby achieving precise control of the plowing depth; the vertical guide rail provides a stable guide for the coulter 15, ensuring the straightness of the coulter 15 during the up and down movement, thereby ensuring the quality of the plowing and ridging;

[0097] The film-covering mechanism 3 is also driven by a synchronous pulley with high transmission efficiency and accurate transmission ratio, ensuring stable rotation of the film-feeding roller 35 and achieving uniform transportation of the plastic film. The design of the film-pressing wheel 38 and the soil-covering wheel 40 is based on the principle of pressure and friction. The pressure of the film-pressing wheel 38 makes the plastic film fit tightly to the ground, and the soil-covering wheel 40 uses the gravity and rolling friction of the soil to cover the soil on both sides of the film, ensuring the firmness of the film.

[0098] When in use, a film roll with a plastic film roll is installed on the top of the second support frame 32, and the film pressing roller 36 is first lifted, and a portion of the plastic film is pulled out to pass through the gap between the film pressing roller 36 and the film feeding roller 35, and then the film pressing roller 36 is lowered to press the plastic film onto the film feeding roller 35; the film feeding drive motor 37 drives the synchronous belt to rotate, and then the plastic film is rolled down. After the plastic film touches the ground, the transplanting vehicle moves forward so that the film pressing wheels 38 on both sides below the film covering device press the plastic film in contact with the ground, and then the soil covering wheel discs 40 behind the film pressing wheels 38 on both sides cover the soil on both sides of the plastic film to fix the plastic film;

[0099] During the drilling process, the drill bit 41 is lowered to drill through the plastic film and form the pits required for planting pepper seedlings, preparing for the subsequent planting process. In addition, below the film covering device, the steering gear 33 controls the film cutting blade 72 to work and remove the excess plastic film;

[0100] The seedling pushing mechanism 4 uses the gear rack transmission principle to realize the pushing action of the seedling pushing plate 47, ensuring the stability and accuracy of the seedling pushing. The application of the hydraulic rod 49 is based on the Pascal principle. By changing the pressure of the hydraulic oil, the lifting and lowering of the push rod drives the connecting rod 50 to drive the lifting and lowering of the tray slider 44, which facilitates the transportation of the seedling tray 48 between seedling tray racks at different heights and improves the seedling tray processing efficiency.

[0101] The seedling clamping mechanism 5 is composed of a synchronous belt slide module based on the belt drive principle and the guidance of linear motion guide rails, which realizes the precise movement of the clamping jaw 69 in three-dimensional space. By controlling the speed and direction of the drive motor in each direction and accurately identifying the sensor, the position of the clamping jaw 69 can be accurately controlled to meet the requirements of different planting positions.

[0102] The humidity sensor at the bottom of the drilling bit 41 detects the humidity inside the soil. Based on the feedback from the humidity sensor, the water pump and the water tank cooperate to water the transplanted pepper seedlings, providing them with sufficient moisture. The water pump uses the principle of centrifugal force to pressurize the water in the water tank and then transport it to the nozzle through a hose to spray the water. By controlling the flow rate of the water pump and the spraying time, the amount of water can be accurately controlled, maintaining the humidity of the soil around the pepper seedlings, which is beneficial to the growth of the pepper seedlings.

[0103] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A fully automatic composite pepper seedling transplanter, characterized in that: It includes a land processing module and a seedling processing module, wherein the land processing module is used for ploughing, ridging and covering the planting land, and the seedling processing module is used for pushing, removing and planting the pepper seedlings; The land processing module comprises: A rotary tillage mechanism (1) is used for rotary tilling the land; A plowing and ridging mechanism (2) is installed at one end of the rotary tillage mechanism (1) and is used to plow and ridge the land after rotary tillage; A film covering mechanism (3) is installed at one end of the plowing and ridging mechanism (2) and is used to cover the land after plowing and ridging; The seedling processing module comprises: A seedling pushing mechanism (4) is installed at one end of the film covering mechanism (3) and is used for temporarily storing the pepper seedlings and transporting the pepper seedlings during planting; The seedling clamping mechanism (5) is installed at one end of the seedling pushing mechanism (4) close to the film covering mechanism (3) and is used for clamping the pepper seedlings transported by the seedling pushing mechanism (4) and placing them in a pit for planting.

2. The fully automatic composite pepper seedling transplanting vehicle according to claim 1, characterized in that: The rotary tillage mechanism (1) comprises a rotary tillage blade (6), a protective cover (7), a rotary tillage drive motor (8), a first connecting block (9), a support rod (10), a fixing plate (11), a height adjustment drive motor (12), a screw rod (13) and a steering crossbeam (14); the bottom end of the protective cover (7) is internally rotatably connected to the rotary tillage blade (6); the rotary tillage drive motor (8) is fixed on both sides of the protective cover (7); the output end of the rotary tillage drive motor (8) is connected to the rotary tillage blade (6) via a synchronous belt; the top of the protective cover (7) is fixed with a first connecting block (9); one end of the first connecting block (9) is fixed with the support rod (11). 0), one end of the support rod (10) is internally threadedly connected with a screw rod (13), two fixed plates (11) are arranged on the top of the screw rod (13), the spacing between the two fixed plates (11) is adjusted by sliding a guide rail, one of the fixed plates (11) is rotatably connected to the screw rod (13), and a height adjustment drive motor (12) is fixed on the other fixed plate (11), the top of the screw rod (13) passes through one of the fixed plates (11) and is connected to the output end of the height adjustment drive motor (12) through a synchronous belt, and the outer sides of the bottom ends of the two screw rods (13) are rotatably connected to a steering beam (14).

3. A fully automatic composite pepper seedling transplanting vehicle according to claim 2, characterized in that: The plowing and ridging mechanism (2) comprises a plow blade (15), a second connecting block (16), a support plate (17), a guide frame (18), a lifting block (19), a lifting and adjusting rack (20), a height driving motor (21), an adjusting worm (22), an adjusting worm wheel (23), an adjusting gear (24) and a first supporting frame (25); the first supporting frame (25) is fixed to the bottom of the steering beam (14); the top of the second connecting block (16) is fixed to another of the fixing plates (11); the bottom of the second connecting block (16) is fixed to the support plate (17); guide frames (18) are fixed to both sides of the outer side of the support plate (17); a lifting block (19) is provided at the bottom of the support plate (17); the lifting block (19) and the guide frame (18) are connected to the guide frame (18). The first support frame (25) is slidably connected to the guide frame (18), the bottom of the lifting block (19) is rotatably connected to the plow (15), the top of the first support frame (25) is fixed with a height driving motor (21), the output end of the height driving motor (21) is connected to an adjusting worm (22), one end of the adjusting worm (22) is meshingly connected to an adjusting worm wheel (23), both ends of the adjusting worm wheel (23) are connected to an adjusting gear (24) through a transmission shaft, and the transmission shaft is rotatably connected to the steering beam (14), one end of the adjusting gear (24) close to the lifting block (19) is meshingly connected to a lifting adjustment rack (20), the lifting adjustment rack (20) is fixed to the lifting block (19), and the top of the lifting adjustment rack (20) is slidably connected to the guide frame (18).

4. The fully automatic composite pepper seedling transplanting vehicle according to claim 3, characterized in that: The coating mechanism (3) comprises a second support frame (32), a sliding frame (34), a film feeding roller (35), a film pressing roller (36), a film feeding drive motor (37), a film pressing wheel (38), a wheel support (39) and a soil covering wheel (40), wherein the second support frame (32) is fixed to the first support frame (25), sliding frames (34) are fixed to the tops of both sides of the second support frame (32), a film feeding roller (35) is rotatably connected between the two sliding frames (34), a film pressing roller (36) is slidably connected between the two sliding frames (34) and located on the tops of the film feeding roller (35), and the second support frame (32) is fixed to the first support frame (25), a sliding frame (34) is fixed to the tops of both sides of the second support frame (32), a film feeding roller (35) is rotatably connected between the two sliding frames (34), and a film pressing roller (36) is slidably connected between the two sliding frames (34) and located on the tops of the film feeding roller (35). A film roller is arranged at one end of the top of the second support frame (32); a film feeding drive motor (37) is fixed at the top of the second support frame (32); the film feeding drive motor (37) is connected to the film feeding roller (35) via a synchronous belt; both sides of the bottom of the second support frame (32) and at one end close to the rotary tillage mechanism (1) are rotatably connected to film pressing wheels (38); a wheel disc bracket (39) is fixed at both sides of the bottom of the second support frame (32) close to one end of the rotary tillage mechanism (1) and located outside the two film pressing wheels (38); and a soil covering wheel disc (40) is rotatably connected to the bottom of the wheel disc bracket (39).

5. The fully automatic composite pepper seedling transplanting vehicle according to claim 4, characterized in that: Steering gears (33) are fixed on both sides of the second support frame (32) and at one end of the film delivery roller (35) close to the rotary tillage mechanism (1), and the output ends of the two steering gears (33) are connected to film cutting blades (72).

6. The fully automatic composite pepper seedling transplanting vehicle according to claim 4, characterized in that: A punching mechanism is also installed at the bottom of the second support frame (32), and the punching mechanism comprises a telescopic member and a punching drill bit (41). The top of the telescopic member is fixed to the second support frame (32), and the bottom of the telescopic member is fixed to the punching drill bit (41). A humidity sensor is fixed inside the bottom end of the punching drill bit (41) for detecting soil humidity.

7. The fully automatic composite pepper seedling transplanting vehicle according to claim 4, characterized in that: A water storage tank is also fixed on the top of the second support frame (32), and water pumps are fixed on the top of the second support frame (32) and on both sides of the water storage tank.

8. The fully automatic composite pepper seedling transplanting vehicle according to claim 4, characterized in that: The seedling pushing mechanism (4) comprises a carrier slider (44), a guide rod (45), a seedling sending drive motor (46), a seedling pushing plate (47), a seedling tray (48), a hydraulic rod (49), a connecting rod (50), a recovery basket (51), a conveyor belt (52), a conveying drive motor (53), a first conveying bevel gear (54), a second conveying bevel gear (55), a seedling sending gear (56) and a seedling sending rack (57), and the second support frame (32) is away from an inner part of one end of the rotary tillage mechanism (1) A guide rod (45) is fixed on the side, and a carrier slider (44) is slidably connected to the outer side of the guide rod (45). A hydraulic rod (49) is fixed to the other side of the inside of one end of the second support frame (32) away from the rotary tillage mechanism (1). The push rod of the hydraulic rod (49) is rotatably connected to a connecting rod (50). The connecting rod (50) is rotatably connected to the carrier slider (44). A conveyor belt (52) is arranged inside the carrier slider (44). A recovery basket (51) is fixed on one side of the second support frame (32) and at a position corresponding to the carrier slider (44). A conveying drive motor (53) is fixed on one end of the carrier slider (44). The output end of the conveying drive motor (53) is connected to a first conveying bevel gear (54). One side of the first conveying bevel gear (54) is meshingly connected to a second conveying bevel gear (55). The second conveying bevel gear (55) is fixed to the transmission shaft of the conveyor belt (52). The second support frame (32) is away from one end of the rotary tillage mechanism (1). At least one seedling tray (48) is slidably connected inside, a seedling pushing plate (47) is provided at one end of the top of the seedling tray (48) away from the film covering mechanism (3), a seedling delivery driving motor (46) is fixed to one side of the top of the second support frame (32), an output end of the seedling delivery driving motor (46) is connected to a seedling delivery gear (56), a side of the seedling delivery gear (56) close to the seedling tray (48) is meshingly connected to a seedling delivery rack (57), and the seedling delivery rack (57) is fixed to the seedling tray (48).

9. The fully automatic composite pepper seedling transplanting vehicle according to claim 4, characterized in that: The seedling clamping mechanism (5) comprises a clamping drive motor (26), a first clamping bevel gear (27), a second clamping bevel gear (28), a rotating rod (29), an adjusting block (30), a fixed rod (66), a fixed shell (67), a synchronous connecting rod (68) and a clamping claw (69); a fixed rod (66) is arranged on the inner side of the second support frame (32); fixed shells (67) are fixed on both sides of the fixed rod (66); the bottom end of the fixed shell (67) is rotatably connected to the rotating rod (29); the clamping drive motor (26) is fixed inside the fixed shell (67); the clamping drive motor (26) is fixed inside the fixed shell (67); The output end of the motor (26) is connected to a first clamping bevel gear (27), one end of the first clamping bevel gear (27) is meshingly connected to a second clamping bevel gear (28), the second clamping bevel gear (28) is fixed to a rotating rod (29), the outer side of the bottom end of the fixed shell (67) is evenly rotatably connected to a synchronous connecting rod (68), the bottom of the synchronous connecting rod (68) is rotatably connected to a clamping claw (69), the outer side of the rotating rod (29) and located at the bottom of the fixed shell (67) is threadedly connected to an adjustment block (30), and the adjustment block (30) is rotatably connected to the synchronous connecting rod (68) through a transmission rod.

10. The fully automatic composite pepper seedling transplanting vehicle according to claim 4, characterized in that: It also includes a displacement mechanism for driving the device to move; The displacement mechanism comprises a bearing steering seat (31), a rear wheel (70) and a front wheel (71); rear wheels (70) are arranged on both sides of the bottom of one end of the second support frame (32); the bottoms of both sides of the steering beam (14) are rotatably connected to the bearing steering seat (31); and the bottom of the bearing steering seat (31) is rotatably connected to the front wheel (71).

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