Facility crop transplanter

Abstract

The invention relates to a facility crop transplanter which comprises a rack, a front walking mechanism arranged at the front end of the rack and a rear walking mechanism arranged at the rear end of the rack, a seedling taking mechanism, a duckbilled planting device and a seedling feeding mechanism are sequentially arranged at the upper end of the rack at intervals from front to back in the length direction of the rack, and the seedling feeding mechanism is used for conveying hole trays in the length direction of the rack; a transverse moving mechanism is arranged at the lower end of the seedling taking mechanism, the transverse moving mechanism is used for driving the seedling taking mechanism to move in the width direction of the rack, and the seedling taking mechanism is used for taking out pot seedlings from the hole tray and can drive the pot seedlings to reciprocate between the transverse moving mechanism and the seedling conveying mechanism; a seedling blocking piece is arranged above the duckbilled planting device, and when the seedling taking mechanism takes out the pot seedlings from the hole tray and moves towards the transverse moving mechanism, the seedling blocking piece is used for blocking the pot seedlings and enabling the pot seedlings to fall into the duckbilled planting device. According to the transplanting machine, flexible operation and efficient transplanting in scattered small planting areas can be achieved, and the applicability problem that a large field transplanting machine cannot be applied in facilities is solved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery engineering technology, and in particular to a facility crop transplanter. Background Technology

[0002] Facility agriculture is a modern agricultural model that achieves efficient crop production in a controlled environment, with typical scenarios including vegetable greenhouses. Currently, greenhouse vegetable cultivation is still mainly based on manual labor, which suffers from high labor intensity and low efficiency. This not only hinders the advancement of large-scale planting and standardized management but also becomes a prominent weakness in the process of agricultural modernization. At the same time, the total cost of greenhouse vegetable cultivation is rising year by year due to continuously increasing labor costs, and these multiple factors collectively constrain the sustainable development of this industry.

[0003] While field transplanters developed in recent years have demonstrated excellent performance and significantly improved transplanting efficiency through testing, they are still ill-suited to the demands of greenhouse agriculture. The greenhouse environment contains numerous beam and column structures, and the land is fragmented into small, scattered plots. Field transplanters, due to their large size and complex structure, struggle to operate effectively in such environments. Therefore, vigorously developing greenhouse vegetable seedling transplanting technology to achieve mechanized and intelligent transplanting of greenhouse vegetables is an inevitable trend. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a facility crop transplanter.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a facility crop transplanter, including a frame, a front walking mechanism set at the front end of the frame and a rear walking mechanism set at the rear end of the frame. The upper end of the frame is provided with a seedling picking mechanism, a duckbill planter and a seedling delivery mechanism in sequence from front to back along the length of the frame. The seedling delivery mechanism is used to transport the seedling trays along the length of the frame. The lower end of the seedling picking mechanism is provided with a transverse moving mechanism, which is used to drive the seedling picking mechanism to move along the width of the frame. The seedling picking mechanism is used to take out the seedlings from the seedling trays and can drive the seedlings to move back and forth between the transverse moving mechanism and the seedling delivery mechanism. The duckbill planter is equipped with a seedling blocking device. When the seedling taking mechanism takes the potted seedling from the seedling tray and moves towards the lateral moving mechanism, the seedling blocking device is used to block the potted seedling and cause it to fall into the duckbill planter.

[0006] As a preferred embodiment, the front walking mechanism includes two front wheel assemblies, and the rear walking mechanism includes two rear wheel assemblies. The front wheel assemblies and the rear wheel assemblies have the same structure and size. The front wheel assembly includes a wheel assembly and a steering mechanism. The wheel assembly is connected to the frame through the steering mechanism. The steering mechanism is used to turn the wheel assembly. The wheel assembly includes a wheel frame and a wheel that is rotatably mounted on the wheel frame. The wheel frame is equipped with a drive motor for driving the wheel to rotate.

[0007] As a preferred embodiment, the steering mechanism includes a steering seat, a steering motor mounted on the steering seat, a steering shaft mounted on the wheel frame, and a fixed block connected to the steering seat. The steering shaft rotates through the fixed block and has a driven bevel gear at its end. The output shaft of the steering motor has a driving bevel gear at its end that meshes with the driven bevel gear.

[0008] As a preferred embodiment, a pitching mechanism is provided between the front walking mechanism and the frame, and the rear wheel assembly is rotatably connected to the frame via a rear rotating shaft. The duckbill planter has a seedling receiving position and a planting position, and the frame has a horizontal state and an inclined state. When the frame is in the horizontal state, the front and rear ends of the frame are at the same height. When the frame is in the inclined state, the front end of the frame is lower than the rear end. The pitching mechanism is used to switch the frame between the horizontal and inclined states. When the duckbill planter is in the seedling receiving position, the frame is in the horizontal state, and when the duckbill planter is in the planting position, the frame is in the inclined state.

[0009] As a preferred embodiment, the pitch mechanism includes a fixed seat connected to the steering seat of the forward travel mechanism, a positioning shaft mounted on the fixed seat, a drive shaft rotatably mounted at the front end of the frame, a pitch motor mounted on the frame, and a drive gear mounted on the pitch motor. The drive shaft is provided with a driven gear meshing with the drive gear, and rotating shafts are provided at both ends of the drive shaft. A connecting sleeve rotatably connected to the positioning shaft is provided on the rotating shaft.

[0010] As a preferred embodiment, the frame is provided with a rotating support, the rotating shaft is L-shaped and has a horizontal end and a vertical end, the horizontal end rotates through the rotating support and is connected to the drive shaft, and the vertical end is connected to the connecting sleeve.

[0011] As a preferred embodiment, the seedling delivery mechanism includes a conveyor belt with multiple limiting protrusions on the conveying surface of the conveyor belt. A limiting groove is formed between two adjacent limiting protrusions, and the limiting groove cooperates with the positioning protrusion at the bottom of the seedling tray. A guide plate is provided in front of the conveyor belt, which includes a vertical part and an arc-shaped part located at the upper end of the vertical part. The concave surface of the arc-shaped part faces the conveyor belt. Vertical plates are provided on both sides of the conveyor belt, and limiting plates are provided on the vertical plates that abut against and slide against the top surface of the side of the seedling tray.

[0012] As a preferred embodiment, the lateral movement mechanism includes a horizontal linear movement module, and the seedling picking mechanism includes a seedling picking frame, a fixed connecting plate, a seedling picking motor mounted on the seedling picking frame, and a crank mounted on the seedling picking motor. The crank is connected to a seedling picking rod via a connecting rod assembly. The end of the seedling picking rod is provided with an arc-shaped seedling picking ring. The diameter of the arc-shaped seedling picking ring is larger than the diameter of the stem of the potted seedling but smaller than the diameter of the nodal point of the seedling branch. The connecting rod assembly includes a drive connecting rod hinged to the crank, a transmission shaft rotatably passing through the fixed connecting plate, and a first connecting rod hinged to the fixed connecting plate. One end of the transmission shaft is connected to the drive connecting rod, and the other end is provided with a second connecting rod. The free end of the first connecting rod is hinged to a third connecting rod, and the free end of the third connecting rod is connected to the seedling picking rod and hinged to the second connecting rod.

[0013] As a preferred embodiment, the duckbill planter includes a duckbill frame, a seedling inlet located at the upper end of the duckbill frame, and two duckbills hinged to the lower end of the duckbill frame. The duckbills are provided with a first connecting rod, the duckbill frame is provided with a positioning plate, the positioning plate is provided with a cylinder, and the piston rod end of the cylinder is hinged to two second connecting rods, which are hinged to the first connecting rods.

[0014] As a preferred embodiment, the seedling blocking component includes an arc-shaped seedling blocking ring disposed on the positioning plate, the structure and size of which are the same as the arc-shaped seedling taking ring.

[0015] The beneficial effects of this application are as follows: 1. By optimizing the overall layout of the machine, this application arranges the seedling picking mechanism, the seedling delivery mechanism and the duckbill planter in sequence along the length of the machine frame, and equips the seedling picking mechanism that can move laterally. This effectively overcomes the limitations of the small space and the presence of beam and column obstacles in the greenhouse, and realizes flexible operation and efficient transplanting in scattered small planting areas. It solves the applicability problem that large field transplanters cannot be used in facilities.

[0016] 2. This application uses an automatic seedling delivery mechanism to transport seedling trays, combined with a seedling retrieval mechanism for precise seedling retrieval and lateral transfer, and utilizes a seedling blocking device and a duckbill planter to complete seedling receiving and planting. This significantly reduces manual labor, lowers labor intensity, and ensures consistency in plant spacing, row spacing, and planting depth, which is conducive to standardized crop management and yield improvement.

[0017] 3. This application adopts an arc-shaped seedling picking ring that matches the size of the stem and nodule of the seedling in the pot, making the seedling picking stable and not easy to slip off; the seedling blocking part and the seedling picking mechanism are cleverly matched to ensure that the seedling in the pot falls accurately into the duckbill planter, avoiding the damage and error that may be caused by manual seedling placement, and improving the planting survival rate and operation quality.

[0018] 4. The walking mechanism of this application adopts a four-wheel independent drive and steering design, and achieves precise control through the motor and bevel gear structure, which is highly mobile; the pitch mechanism can adjust the overall horizontal and tilt state of the frame, so that the duckbill planter can quickly switch between the two work positions of seedling receiving and planting, which not only ensures the stability of seedling receiving, but also ensures that the duckbill can enter the soil at the best angle during planting, thus improving the adaptability and reliability of operation.

[0019] 5. The seedling delivery mechanism of this application uses a limiting groove to cooperate with the positioning protrusion at the bottom of the seedling tray, and limiting plates are provided on both sides to effectively prevent the seedling tray from shifting or tipping over during delivery; the guide plate structure set at the front further guides the seedling tray to the correct position, ensuring the accuracy of the seedling picking position and providing a solid foundation for continuous automated operation.

[0020] 6. In the overall planting process, after the duckbill planter descends to the lowest point along with the front half of the vehicle body and inserts into the soil to plant the seedling, the duckbill of the planter continues to return to the highest point, which plays a role in supporting the seedling and ensuring the uprightness of the planted seedling; as the whole vehicle moves forward, the duckbill has a backward horizontal component speed and an upward vertical component speed as the crank rotates, which plays a role in supporting the seedling. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the seedling delivery mechanism in this invention.

[0023] Figure 3 This is a schematic diagram of the structure of the rear rotating shaft in this invention.

[0024] Figure 4 This is a schematic diagram of the guide plate in this invention.

[0025] Figure 5 This is a schematic diagram of the wheel assembly in this invention.

[0026] Figure 6 This is a schematic diagram of the first structure of the pitching mechanism in this invention.

[0027] Figure 7 This is a schematic diagram of the second structure of the pitching mechanism in this invention.

[0028] Figure 8 This is a schematic diagram of the seedling-taking mechanism in this invention.

[0029] Figure 9 This is a schematic diagram of the structure of the duckbill planter in this invention.

[0030] Figure 10 This is a schematic diagram of the arc-shaped seedling retaining ring used in this invention.

[0031] Figure 11 This is a schematic diagram of the frame in an inclined state in this invention.

[0032] Illustration markings: 1. Frame; 2. Seedling delivery mechanism; 21. Conveyor belt; 22. Limiting protrusion; 23. Seedling tray; 231. Positioning protrusion; 24. Guide plate; 25. Vertical plate; 26. Limiting plate; 3. Duckbill planter; 31. Duckbill frame; 32. Duckbill; 33. First connecting rod; 34. Second connecting rod; 35. Cylinder; 36. Positioning plate; 4. Seedling picking mechanism; 41. Seedling picking frame; 42. Fixed connecting plate; 43. Seedling picking motor; 44. Crank; 45. Drive connecting rod; 46. Transmission shaft; 47. Second connecting rod; 48. Seedling picking rod; 481. Arc-shaped picking rod. 49. Seedling ring; 410. Third link; 5. Pitch mechanism; 51. Pitch motor; 52. Drive gear; 53. Drive shaft; 54. Driven gear; 55. Rotating shaft; 56. Connecting sleeve; 57. Positioning shaft; 58. Fixed seat; 59. Rotating support; 6. Wheel assembly; 61. Wheel; 62. Wheel frame; 63. Fixed block; 64. Driven bevel gear; 65. Driven bevel gear; 66. Steering seat; 67. Steering motor; 7. Potted seedling; 71. Seedling branch node; 8. Rear rotating shaft; 9. Arc-shaped seedling retaining ring; 10. Horizontal moving linear module. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] Please see Figures 1-11This invention provides a facility crop transplanter, including a frame 1, a front walking mechanism located at the front end of the frame 1, and a rear walking mechanism located at the rear end of the frame 1. The frame 1 is characterized by having a seedling picking mechanism 4, a duckbill planter 3, and a seedling delivery mechanism 2 sequentially spaced along its length from front to back on its upper end. The seedling delivery mechanism 2 is used to transport seedling trays 23 along the length of the frame 1. The seedling picking mechanism 4 has a lateral moving mechanism at its lower end, which drives the seedling picking mechanism 4 to move along the width of the frame 1. The seedling picking mechanism 4 is used to remove seedlings 7 from the seedling trays 23 and can move the seedlings 7 back and forth between the lateral moving mechanism and the seedling delivery mechanism 2. A seedling blocking component is provided above the duckbill planter 3. When the seedling picking mechanism 4 removes the seedlings 7 from the seedling trays 23 and moves towards the lateral moving mechanism, the seedling blocking component prevents the seedlings 7 from falling into the duckbill planter 3.

[0035] Combination Figure 1 and Figure 5 As shown, the front traveling mechanism includes two front wheel assemblies, and the rear traveling mechanism includes two rear wheel assemblies. The front wheel assemblies and rear wheel assemblies have the same structure and size. The front wheel assembly includes a wheel assembly 6 and a steering mechanism. The wheel assembly 6 is connected to the frame 1 through the steering mechanism. The steering mechanism is used to steer the wheel assembly 6. The wheel assembly 6 includes a wheel frame 62 and a wheel 61 rotatably mounted on the wheel frame 62. The wheel frame 62 is equipped with a drive motor for driving the wheel 61 to rotate. The steering mechanism includes a steering seat 66, a steering motor 67 mounted on the steering seat 66, a steering shaft mounted on the wheel frame 62, and a fixed block 63 connected to the steering seat 66. The steering shaft rotatably passes through the fixed block 63 and has a driven bevel gear 64 at its end. The output shaft of the steering motor 67 has a driving bevel gear 65 that meshes with the driven bevel gear 64 at its end.

[0036] Combination Figure 1 , Figure 3 , Figure 6 and Figure 7 As shown, the frame 1 has an installation notch, and the duckbill planter 3 is installed at the installation notch. A pitching mechanism 5 is provided between the front traveling mechanism and the frame 1. The rear wheel assembly is rotatably connected to the frame 1 through the rear rotating shaft 8, and the steering seat 66 of the rear wheel assembly is rotatably connected to the frame 1 through the rear rotating shaft 8. The duckbill planter 3 has a seedling receiving position and a planting position. The frame 1 has a horizontal state and an inclined state. When the frame 1 is in the horizontal state, the front and rear ends of the frame 1 are at the same height. When the frame 1 is in the inclined state, the front end of the frame 1 is lower than the rear end. The pitching mechanism 5 is used to switch the frame 1 between the horizontal and inclined states. When the duckbill planter 3 is in the seedling receiving position, the frame 1 is in the horizontal state. When the duckbill planter 3 is in the planting position, the frame 1 is in the inclined state.

[0037] Specifically, the pitch mechanism 5 includes a fixed base 58 connected to the steering seat 66 of the forward travel mechanism, a positioning shaft 57 mounted on the fixed base 58, a drive shaft 53 rotatably mounted at the front end of the frame 1, a pitch motor 51 mounted on the frame 1, and a drive gear 52 mounted on the pitch motor 51. The drive gear 52 is mounted on the output shaft of the pitch motor 51. The drive shaft 53 has a driven gear 54 that meshes with the drive gear 52. Rotary shafts 55 are located at both ends of the drive shaft 53, and connecting sleeves 56 that are rotatably connected to the positioning shaft 57 are located on the rotating shafts 55. The frame 1 has a rotating support 59. The rotating shaft 55 is L-shaped and has a horizontal end and a vertical end. The horizontal end rotatably passes through the rotating support 59 and is connected to the drive shaft 53, and the vertical end is connected to the connecting sleeve 56. When the pitch motor 51 drives the rotating shaft 55 to rotate, the frame 1 is in a horizontal state when the vertical end of the rotating shaft 55 is vertically upward, and the frame 1 is in an inclined state when the vertical end of the rotating shaft 55 is vertically downward.

[0038] Among them, combined Figures 1-4 As shown, the seedling delivery mechanism 2 includes a conveyor belt 21. Multiple limiting protrusions 22 are provided on the conveying surface of the conveyor belt 21, and a limiting groove is formed between adjacent limiting protrusions 22. The limiting groove engages with the positioning protrusions 231 at the bottom of the seedling tray 23. The conveyor belt 21 also includes a conveyor motor, a driven roller, and a driving roller connected to the output shaft of the conveyor motor. The driven roller and the driving roller are connected by transmission through the conveyor belt 21. A first bearing seat is provided on the frame 1, which rotatably engages with the driving roller. Two second bearing seats are also provided on the frame 1, and the driven roller is rotatably positioned between the two second bearing seats. The conveyor motor drives the driving roller to rotate, thereby enabling the conveyor belt 21 to deliver the seedling tray 23. A guide plate 24 is provided in front of the conveyor belt 21. The guide plate 24 includes a vertical part and an arc-shaped part located at the upper end of the vertical part. The concave surface of the arc-shaped part faces the conveyor belt 21. Vertical plates 25 are provided on both sides of the conveyor belt 21, and limiting plates 26 are provided on the vertical plates 25 that abut against and slide against the top side surface of the seedling tray 23.

[0039] During the conveying process of the seedling feeding mechanism 2, the two long edges of the seedling tray 23 are engaged within the limiting plate 26 to prevent the edges of the seedling tray 23 from lifting during conveying, thus ensuring the stability of the seedling tray 23 during conveying. When the edge of the seedling tray 23 reaches the guide plate 24, it is guided downwards by the arc-shaped part on the upper part of the guide plate 24 and falls down. The frame 1 is provided with a seedling tray notch for the seedling tray 23 to fall down.

[0040] More specifically, the lateral movement mechanism includes a horizontal linear module 10, which typically includes a horizontally extending slide rail on which a motor-driven slide table is mounted. The seedling picking mechanism 4 includes a seedling picking frame 41, a fixed connecting plate 42, a seedling picking motor 43 mounted on the seedling picking frame 41, and a crank 44 mounted on the seedling picking motor 43. The seedling picking frame 41 and the fixed connecting plate 42 are both mounted on the slide table of the horizontal linear module 10, and the crank 44 is located at the end of the output shaft of the seedling picking motor 43. The crank 44 is connected to a seedling picking rod 48 via a connecting rod assembly. The end of the seedling picking rod 48 is provided with an arc-shaped seedling picking ring 481. The diameter of the arc-shaped seedling picking ring 481 is larger than the diameter of the stem of the potted seedling 7 but smaller than the diameter of the branch node 71 of the potted seedling 7. The upper end of the arc-shaped seedling picking ring 481 abuts against the branch node 71 of the potted seedling 7 to grasp and lift the potted seedling 7. Preferably, the arc-shaped seedling picking ring 481 is a two-thirds circular ring. The connecting rod assembly includes a drive connecting rod 45 hinged to a crank 44, a transmission shaft 46 rotatably passing through a fixed connecting plate 42, and a first connecting rod 410 hinged to the fixed connecting plate 42. One end of the transmission shaft 46 is connected to the drive connecting rod 45, and the other end is provided with a second connecting rod 47. A third connecting rod 49 is hinged to the free end of the first connecting rod 410. The free end of the third connecting rod 49 is connected to the seedling-picking rod 48 and is also hinged to the second connecting rod 47. The angle between the seedling-picking rod 48 and the third connecting rod 49 is an obtuse angle of 132 degrees. The arc-shaped seedling-picking ring 481 is horizontally positioned.

[0041] In addition, the duckbill planter 3 includes a duckbill frame 31, a seedling inlet located at the upper end of the duckbill frame 31, and two duckbills 32 hinged to the lower end of the duckbill frame 31. Each duckbill 32 has a first connecting rod 33. The duckbill frame 31 has a positioning plate 36, and the positioning plate 36 has a cylinder 35. Two second connecting rods 34 are hinged to the piston rod end of the cylinder 35, and the second connecting rods 34 are hinged to the first connecting rods 33. The seedling blocking component includes an arc-shaped seedling blocking ring 9 located on the positioning plate 36, which is fixedly connected to the positioning plate 36 via a connecting vertical rod. The structure and size of the arc-shaped seedling blocking ring 9 are the same as the arc-shaped seedling picking ring 481. The cylinder 35 drives the second connecting rods 34 to open the duckbills 32, controlling the falling of the potted seedlings 7.

[0042] The frame 1 of this application serves as the basic support for the entire equipment. Front and rear traveling mechanisms are respectively located at the front and rear ends of the frame 1, providing the machine with movement power and steering function. The seedling feeding mechanism 2 is installed at the upper rear end of the frame 1, used to carry and transport the seedling trays 23 containing the potted seedlings 7. The duckbill planter 3 is located in the middle of the frame 1 and is the executing component that ultimately completes the planting action. The seedling retrieval mechanism 4 is located at the upper front end of the frame 1, responsible for retrieving the potted seedlings 7 from the seedling trays 23. The lateral movement mechanism 10 is installed below the seedling retrieval mechanism 4, which can drive the seedling retrieval mechanism 4 to move precisely along the width of the frame, transferring the retrieved potted seedlings 7 to above the duckbill planter 3. A seedling stop is installed above the duckbill planter 3 to prevent the potted seedlings 7 from falling into the duckbill planter 3 when the seedling retrieval mechanism 4 is transferring the seedlings.

[0043] During operation, the seedling delivery mechanism 2 transports the seedling tray 23 to the seedling collection station in a step-by-step manner. The seedling collection mechanism 4 then operates, with its arc-shaped seedling collection ring 481 descending and encircling the stem of the potted seedling 7. The nodule 71 is used to grasp the seedling, and then the potted seedling 7 is lifted. After the seedling collection is completed, the horizontal moving linear module 10 is activated, driving the entire seedling collection mechanism 4 to move horizontally along the width of the frame 1 to directly above the seedling inlet of the duckbill planter 3. This process involves the seedling collection mechanism 4 moving as a whole.

[0044] After the seedling-collecting mechanism 4 is moved to the target position, its own seedling-collecting motor 43 continues to work, driving the seedling-collecting rod 48 to carry the potted seedling 7 along its inherent reciprocating motion trajectory towards the horizontal linear module 10. At this time, the arc-shaped seedling-blocking ring 9 fixed on the duckbill planter 3 intervenes. When the potted seedling 7 moves with the seedling-collecting rod 48 to contact the arc-shaped seedling-blocking ring 9, the arc-shaped seedling-blocking ring 9 blocks the potted seedling, preventing it from continuing to move forward with the seedling-collecting ring 481, thus forcing it to detach from the arc-shaped seedling-collecting ring 481. Under the action of gravity, it falls accurately and vertically into the duckbill planter 3 below, realizing forced passive seedling placement without the need for a complex release mechanism. The action is reliable and causes minimal damage to the seedlings. After the seedling placement is completed, the seedling-collecting mechanism 4 returns to the initial position under the drive of the horizontal movement mechanism 10, ready for the next seedling collection.

[0045] Simultaneously, the pitching mechanism 5 activates, driving the front end of the frame 1 to tilt downwards, allowing the duckbill planter 3 to insert into the soil at the optimal angle. Subsequently, the cylinder 35 activates to close the duckbill 32, completing the planting. After planting, the duckbill 32 opens, and the frame 1 returns to horizontal under the action of the pitching mechanism 5. Driven by the front and rear walking mechanisms, the machine advances one plant spacing, beginning the next transplanting cycle.

[0046] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A facility crop transplanter, comprising a frame (1), a front traveling mechanism disposed at the front end of the frame (1), and a rear traveling mechanism disposed at the rear end of the frame (1), characterized in that, The upper end of the frame (1) is provided with a seedling taking mechanism (4), a duckbill planter (3) and a seedling delivery mechanism (2) arranged sequentially from front to back along the length of the frame (1). The seedling delivery mechanism (2) is used to transport the seedling tray (23) along the length of the frame (1). The lower end of the seedling taking mechanism (4) is provided with a transverse moving mechanism. The transverse moving mechanism is used to drive the seedling taking mechanism (4) to move along the width of the frame (1). The seedling taking mechanism (4) is used to take out the seedlings (7) from the seedling tray (23) and can drive the seedlings (7) to move back and forth between the transverse moving mechanism and the seedling delivery mechanism (2). The duckbill planter (3) is provided with a seedling blocking device above it. When the seedling taking mechanism (4) takes the potted seedling (7) out of the seedling tray (23) and moves towards the direction of the lateral moving mechanism, the seedling blocking device is used to block the potted seedling (7) and make it fall into the duckbill planter (3).

2. The facility crop transplanter according to claim 1, characterized in that, The front walking mechanism includes two front wheel assemblies, and the rear walking mechanism includes two rear wheel assemblies. The front wheel assemblies and the rear wheel assemblies have the same structure and size. The front wheel assembly includes a wheel assembly (6) and a steering mechanism. The wheel assembly (6) is connected to the frame (1) through the steering mechanism. The steering mechanism is used to turn the wheel assembly (6). The wheel assembly (6) includes a wheel frame (62) and a wheel (61) rotatably mounted on the wheel frame (62). The wheel frame (62) is provided with a drive motor for driving the wheel (61) to rotate.

3. A facility crop transplanter according to claim 2, characterized in that, The steering mechanism includes a steering seat (66), a steering motor (67) mounted on the steering seat (66), a steering shaft mounted on the wheel frame (62), and a fixed block (63) connected to the steering seat (66). The steering shaft rotates through the fixed block (63) and has a driven bevel gear (64) at its end. The output shaft of the steering motor (67) has a driving bevel gear (65) that meshes with the driven bevel gear (64).

4. A facility crop transplanter according to claim 3, characterized in that, A pitching mechanism (5) is provided between the front walking mechanism and the frame (1). The rear wheel assembly is rotatably connected to the frame (1) through the rear rotating shaft (8). The duckbill planter (3) has a seedling receiving position and a planting position. The frame (1) has a horizontal state and an inclined state. When the frame (1) is in the horizontal state, the front end and the rear end of the frame (1) are at the same height. When the frame (1) is in the inclined state, the front end of the frame (1) is lower than the rear end. The pitching mechanism (5) is used to switch the frame (1) between the horizontal state and the inclined state. When the duckbill planter (3) is in the seedling receiving position, the frame (1) is in a horizontal state; when the duckbill planter (3) is in the planting position, the frame (1) is in an inclined state.

5. A facility crop transplanter according to claim 4, characterized in that, The pitch mechanism (5) includes a fixed seat (58) connected to the steering seat (66) of the forward travel mechanism, a positioning shaft (57) set on the fixed seat (58), a drive shaft (53) rotatably set at the front end of the frame (1), a pitch motor (51) set on the frame (1) and a drive gear (52) set on the pitch motor (51). The drive shaft (53) is provided with a driven gear (54) meshing with the drive gear (52). Rotary shafts (55) are respectively provided at both ends of the drive shaft (53). A connecting sleeve (56) rotatably connected to the positioning shaft (57) is provided on the rotating shaft (55).

6. A facility crop transplanter according to claim 5, characterized in that, The frame (1) is provided with a rotating support (59), and the rotating shaft (55) is L-shaped and has a horizontal end and a vertical end. The horizontal end rotates through the rotating support (59) and is connected to the drive shaft (53), and the vertical end is connected to the connecting sleeve (56).

7. A facility crop transplanter according to claim 1, characterized in that, The seedling delivery mechanism (2) includes a conveyor belt (21). Multiple limiting protrusions (22) are provided on the conveying surface of the conveyor belt (21). A limiting groove is formed between two adjacent limiting protrusions (22). The limiting groove cooperates with the positioning protrusion (231) at the bottom of the seedling tray (23). A guide plate (24) is provided in front of the conveyor belt (21). The guide plate (24) includes a vertical part and an arc-shaped part provided at the upper end of the vertical part. The concave surface of the arc-shaped part faces the conveyor belt (21). Vertical plates (25) are provided on both sides of the conveyor belt (21). A limiting plate (26) is provided on the vertical plate (25) that abuts against and slides against the top side surface of the seedling tray (23).

8. A facility crop transplanter according to claim 1, characterized in that, The lateral movement mechanism includes a horizontal movement linear module (10), and the seedling taking mechanism (4) includes a seedling taking frame (41), a fixed connecting plate (42), a seedling taking motor (43) set on the seedling taking frame (41), and a crank (44) set on the seedling taking motor (43). The crank (44) is connected to a seedling taking rod (48) through a connecting rod assembly. The end of the seedling taking rod (48) is provided with an arc-shaped seedling taking ring (481). The diameter of the arc-shaped seedling taking ring (481) is larger than the diameter of the stem of the potted seedling (7) and smaller than the diameter of the seedling branch node (71) of the potted seedling (7). The connecting rod assembly includes a drive connecting rod (45) hinged to a crank (44), a transmission shaft (46) rotatably passing through a fixed connecting plate (42), and a first connecting rod (410) hinged to the fixed connecting plate (42). One end of the transmission shaft (46) is connected to the drive connecting rod (45), and the other end is provided with a second connecting rod (47). The free end of the first connecting rod (410) is hinged to a third connecting rod (49). The free end of the third connecting rod (49) is connected to the seedling pole (48) and the free end is hinged to the second connecting rod (47).

9. A facility crop transplanter according to claim 8, characterized in that, The duckbill planter (3) includes a duckbill frame (31), a seedling inlet set at the upper end of the duckbill frame (31), and two duckbills (32) hinged at the lower end of the duckbill frame (31). A first connecting rod (33) is provided on the duckbill (32), a positioning plate (36) is provided on the duckbill frame (31), and a cylinder (35) is provided on the positioning plate (36). Two second connecting rods (34) are hinged to the piston rod end of the cylinder (35), and the second connecting rods (34) are hinged to the first connecting rods (33).

10. A facility crop transplanter according to claim 9, characterized in that, The seedling blocking device includes an arc-shaped seedling blocking ring (9) set on the positioning plate (36). The structure and size of the arc-shaped seedling blocking ring (9) are the same as those of the arc-shaped seedling taking ring (481).

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