Naked seedling planting mechanism and self-propelled naked seedling transplanting equipment and method

Abstract

The invention discloses a bare seedling planting mechanism, a self-propelled bare seedling transplanting device and a self-propelled bare seedling transplanting method, solves the problem that a bare seedling planting mechanism in the prior art is low in response speed, and has the beneficial effects of improving the response speed and improving the adaptability of bare seedlings. A crank in the crank four-bar mechanism is connected with a power source and connected with a rocker through a connecting rod, a push-pull mechanism is supported on one side of the connecting rod, the push-pull direction of the push-pull mechanism is the same as the arrangement direction of the connecting rod, the output end of the push-pull mechanism is movably connected with one ends of two pull rods respectively, and a set angle is formed between the two pull rods. The connecting rod supports the first support, the first support rotatably supports the middle sections of the two clamping finger mounting arms, one end of each clamping finger mounting arm is hinged to the other end of the pull rod, the first bent position of each clamping finger mounting arm is hinged to the first support, and the end, away from the pull rod, of each clamping finger mounting arm is connected with the corresponding planting clamping finger.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, and in particular to a bare seedling planting mechanism, a self-propelled bare seedling transplanting device and method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Sweet potatoes are an important food and cash crop, and their cultivation areas are mostly concentrated in hilly and mountainous regions with complex terrain. Currently, sweet potato transplanting still relies heavily on manual labor or semi-mechanized equipment, resulting in problems such as high labor intensity, low efficiency, and inconsistent planting quality.

[0004] Sweet potato transplanting operations typically involve the use of a sweet potato seedling planting mechanism. This mechanism usually includes a crank-connecting rod mechanism connected to a seedling planting component. The seedling planting component is typically a scissor structure with a spring near the gripper. When releasing the seedling, the seedling planting component usually needs to overcome the elasticity of the spring to release, resulting in a delayed response. Moreover, if the spring is damaged, the machine needs to be stopped for replacement. In addition, because the bending degree and diameter of sweet potato seedlings vary at different transplanting times, the opening distance of the existing seedling planting component cannot be adjusted, making it unsuitable for sweet potato seedlings of different shapes.

[0005] In addition, traditional machinery generally lacks the ability to automatically track the direction of the ridges and the ability to adapt and level undulating ridge surfaces in planting operations, resulting in uneven planting row spacing and depth, which makes it difficult to meet the requirements of high-yield agronomy.

[0006] Most existing transplanting machinery is a wheeled structure designed for plains areas. When operating in hilly and mountainous areas, it has defects such as poor terrain adaptability, insufficient walking stability, and easy soil compaction. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a bare seedling planting mechanism with a reasonable structure, rapid response, and long service life.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solution: A bare seedling planting mechanism includes a crank-four-bar linkage. The crank is connected to a power source, and the crank and rocker arm are connected by a connecting rod. One side of the connecting rod supports a push-pull mechanism. The push-pull direction of the mechanism is the same as the direction of the connecting rod. The output end of the push-pull mechanism is movably connected to one end of two pull rods, forming a set angle between the two pull rods. The connecting rod supports a first support, which rotatably supports the middle section of two finger-clamping mounting arms. One end of each finger-clamping mounting arm is hinged to the other end of a pull rod. The finger-clamping mounting arm has a bend, and the first bend is hinged to the first support. The end of the finger-clamping mounting arm away from the pull rod is connected to a planting finger. The crank and rocker arm are rotatably connected to a seedling hanger. The length of the rocker arm is longer than the length of the crank. The stroke of the push-pull mechanism is adjustable. The output end of the push-pull mechanism pushes one end of the finger-clamping mounting arm outward through the two pull rods, causing the two planting fingers to move towards each other to clamp the bare seedling.

[0009] As described above, in a bare seedling planting mechanism, the first support is L-shaped, one side of the first support is connected to the connecting rod, and the other side of the first support is used to connect to the finger clamping mounting arm. An extension plate is provided at the end of the finger clamping mounting arm away from the pull rod, and an installation plate is provided at one end of the planting finger clamp. The installation plate is provided with a card holder, which is hung on the extension plate and provided with a first fastener. A second fastener passes through the installation plate and is placed below the extension plate.

[0010] As described above, in a bare seedling planting mechanism, the pull rod is a first pull rod and a second pull rod. The second pull rod is located close to the connecting rod, and a recess is provided at one end of the second pull rod near the push-pull mechanism to limit the minimum included angle between the first pull rod and the second pull rod. The finger clamp mounting arm also includes a second bend, and the second bends of the two finger clamp mounting arms are arranged opposite to each other. The second bend of the finger clamp mounting arm is located on the side of the first bend away from the pull rod. The distance between the second bend of the finger clamp mounting arm and the planting finger is greater than the distance between the second bend and the pull rod. The side of the finger clamp mounting arm used to connect with the planting finger bends towards the other finger clamp mounting arm.

[0011] In the bare seedling planting mechanism described above, a second support is provided on the side of the connecting rod near the crank. The second support is L-shaped and supports the push-pull mechanism. The push-pull mechanism is a push-pull electromagnet.

[0012] Secondly, the present invention also provides a self-propelled bare seedling transplanting device, including a support frame, the support frame supporting a bare seedling conveying assembly, the bare seedling conveying assembly supporting a bare seedling planting mechanism, the bare seedling planting mechanism being arranged facing the rear side of the support frame, the support frame being connected to a walking mechanism, a lifting mechanism being arranged between the walking mechanism and the support frame, the lifting mechanism being located on the left and right sides of the support frame, one side of the lifting mechanism being tiltable relative to the walking mechanism to drive the rear side of the self-propelled bare seedling transplanting device to rise and fall, the power source of the bare seedling planting mechanism, the lifting mechanism, and the walking mechanism are all connected to a controller; A contouring contact plate assembly is installed at the bottom of the support frame. The contouring contact plate assembly includes a contouring plate and a displacement sensor between the contouring plate and the support frame. The contouring plate slides close to the ridge surface. The displacement sensor converts the change in ridge height into an electrical signal and sends it to the controller. The controller controls the lifting mechanism to move, so that the two sides of the self-propelled bare seedling transplanting equipment rise and fall with the undulation of the ridge, maintaining the consistency of the planting depth.

[0013] As described above, in a self-propelled bare seedling transplanting device, the support frame is provided with ridge-raising assemblies on both sides of the contoured contact plate assembly. An angle sensor is provided between the ridge-raising assembly and the support frame. The angle sensor is connected to the controller. The ridge-raising assembly detects the direction of the ridge through the angle sensor. The controller controls the walking mechanism to automatically turn to align with the row based on the data detected by the angle sensor. Multiple T-shaped seedling protection strips are provided on each side of the outer ring of the bare seedling conveying assembly, and the spacing between two adjacent T-shaped seedling protection strips on each side is set.

[0014] As described above, in a self-propelled bare seedling transplanting device, the lifting mechanism includes a support platform, which is arranged along the front-rear direction of the support frame. The support platform is hinged to the support frame. After a U-shaped support rod crosses the support platform, the end of the U-shaped support rod is movably connected to the walking mechanism. The U-shaped support rod is inclined towards the rear side of the support frame. The position of the U-shaped support rod is limited by the connection between the support platform and the support frame. A telescopic component is fixed at one of the U-shaped support rods, and the telescopic end of the telescopic component is movably connected to the support platform.

[0015] As described above, a self-propelled bare seedling transplanting device includes a support frame comprising two first horizontal beams parallel to each other. First vertical beams are respectively provided at both ends of the first horizontal beams to support them. A first longitudinal beam is provided between the two first vertical beams on one side. The two first horizontal beams support a second longitudinal beam via a second vertical beam. The second longitudinal beam is located above the first horizontal beam and comprises two beams, which support the bare seedling conveying assembly. The first horizontal beams also support a seedling tray mounting pipe, which is bent to support the seedling tray.

[0016] As described above, a self-propelled bare seedling transplanting device includes a chassis with multiple supports on the chassis to support the lifting mechanism. The walking mechanism is a tracked walking mechanism. The contoured touch panel assembly is connected to the support frame via a contoured hanger component. The contoured touch panel assembly includes a first support arm and a second support arm. The bottoms of the first and second support arms are fixed to the contoured plate, and a tension spring is provided at the top of the second support arm. The tension spring is connected to the contoured hanger component.

[0017] Thirdly, the present invention also provides a method for operating a self-propelled bare seedling transplanting device, comprising the following: The traveling mechanism drives the support frame to move, and the traveling mechanism travels on both sides of the ridge; The power source drives the crank four-bar linkage to move, which in turn drives the bare seedling planting mechanism to the seedling picking point of the bare seedling conveying assembly and the seedling placement point at the lowest point of the soil. The output end of the push-pull mechanism pushes one end of the finger clamping arm outward through two pull rods, so that the two planting fingers move towards each other to clamp the bare seedling, or the push-pull mechanism moves in the opposite direction to release the seedling. One side of the lifting mechanism can be tilted relative to the walking mechanism to drive the rear side of the self-propelled bare seedling transplanter to rise and fall, so that both sides of the self-propelled bare seedling transplanter rise and fall with the undulation of the ridge, maintaining the consistency of the planting depth.

[0018] The beneficial effects of the present invention are as follows: 1) The bare seedling planting mechanism of the present invention is supported by a linkage in a crank four-bar linkage mechanism. The output end of the push-pull mechanism is connected to one end of the finger clamping mounting arm through a pull rod. The finger clamping mounting arm is hinged to the first support. When the output end of the push-pull mechanism is pushed outward through two pull rods, it pushes one end of the finger clamping mounting arm outward, so that the two planting fingers move towards each other to clamp the bare seedling. The push-pull mechanism directly drives the planting fingers to close or open through the pull rod. The finger clamping mounting arm does not need to overcome the elastic force of the spring, and the response is fast.

[0019] 2) The stroke of the push-pull mechanism in this invention is adjustable. For sweet potato seedlings harvested in different cropping seasons, the degree of bending of the seedling leaves and stems is different. By using the push-pull mechanism, the distance of the planting clamp fingers can be adjusted according to the plant morphology of the sweet potato seedlings in different cropping seasons before planting, thereby improving the overall adaptability of the machine to sweet potato varieties.

[0020] 3) In this invention, the first pull rod and the second pull rod are reasonably arranged. The first pull rod is provided with a groove to limit the position of the second pull rod. The finger clamping mounting arm is reasonably arranged with two bends. The first bend is movably connected to the first support, and the second bend is arranged towards the outside of the finger clamping mounting arm. The overall structure is reasonably arranged to facilitate the push rod mechanism to push the movement of the finger clamping mounting arm through the pull rod.

[0021] 4) In this invention, a controller is provided. The contouring contact plate assembly includes a contouring plate and a displacement sensor between the contouring plate and the support frame. The contouring plate slides close to the ridge surface. The displacement sensor converts the change in ridge height into an electrical signal and sends it to the controller. The controller controls the lifting mechanism to move, so that the two sides of the self-propelled bare seedling transplanting equipment rise and fall with the ridge shape, maintaining the consistency of planting depth. The controller is connected to an angle sensor. The controller controls the walking mechanism to automatically turn to align with the row based on the data detected by the angle sensor. The controller is also connected to other electrical control components, realizing precise timing coordination of seedling delivery and planting actions, facilitating the adjustment of parameters such as planting frequency and plant spacing. The whole system can adapt to complex terrain and achieve precise automated operation.

[0022] 5) The self-propelled bare seedling transplanting equipment provided by the present invention is applicable to the transplanting of sweet potato bare seedlings. The bare seedling conveying assembly supports two bare seedling planting mechanisms and can adapt to the double-row mulching planting mode on large ridges. Through control, double-row staggered planting can be achieved, which improves land utilization, planting density and adaptability of sweet potato seedling varieties. The integrated continuous operation greatly improves transplanting efficiency and standardization. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0024] Figure 1 This is a side view of a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0025] Figure 2 This is a rear view of a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0026] Figure 3 This is a top view of a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0027] Figure 4 This is a schematic diagram of a bare seedling conveying assembly in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0028] Figure 5 This is a schematic diagram of the walking mechanism in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0029] Figure 6 This is a schematic diagram of the first seedling hanging frame in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0030] Figure 7 This is a schematic diagram of a bare seedling planting mechanism according to one or more embodiments of the present invention.

[0031] Figure 8 This is a schematic diagram of the ridging assembly in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0032] Figure 9 This is a schematic diagram of the support frame in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0033] Figure 10 This is a schematic diagram of the right lifting mechanism in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0034] Figure 11 This is a schematic diagram of the contour-following contact plate assembly in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0035] Figure 12 This is a schematic diagram of a contour-following hanging frame component in a self-propelled bare seedling transplanting device according to one or more embodiments of the present invention.

[0036] Figure 13 This is a schematic diagram of a bare seedling planting mechanism according to one or more embodiments of the present invention, showing the planting of a bent bare seedling using a clamping finger.

[0037] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0038] The components include: 1. Walking mechanism, 2. Bare seedling conveying assembly, 3. First seedling hanging rack, 4. Second seedling hanging rack, 5. Electrically controlled seedling planting mechanism, 6. Ridge supporting assembly, 7. Support frame, 8. Right lifting mechanism, 9. Left lifting mechanism, 10. Contour-following touch plate assembly, 11. Contour-following hanging rack component, 12. Seat, 13. Seedling tray, 14. Remote control, 15. Bare seedling; 1-1. Bracket; 2-1. Seedling delivery drive gear; 2-2. Seedling delivery chain; 2-3. Seedling delivery belt drive motor; 2-4. T-shaped seedling guard strip; 2-5. Seedling delivery frame; 2-6. First seedling planting drive motor; 2-7. Seedling belt support roller; 2-8. Seedling planting drive motor mounting plate; 2-9. Second seedling planting drive motor; 2-10. Seedling clamping block; 2-11. Seedling delivery belt; 3-1. First beam; 3-2. Second beam; 3-3. Third beam; 5-1. Crank, 5-2. Connecting rod, 5-3. Rocker arm, 5-4. Push-pull electromagnet, 5-5. First pull rod, 5-6. Second pull rod, 5-7. First support, 5-8. First finger clamp mounting arm, 5-9. Second finger clamp mounting arm, 5-10. Second planting finger, 5-11. First planting finger, 5-12. Mounting plate, 5-13. Extension plate, 5-14. Locking seat, 5-15. First bend, 5-16. Second bend, 5-17. Second support; 6-1. Angle sensor; 6-2. Support rod; 6-3. Ridging wheel; 7-1. First vertical beam; 7-2. First longitudinal beam; 7-3. First horizontal beam; 7-4. Second vertical beam; 7-5. Second longitudinal beam; 7-6. Seedling tray installation pipe; 8-1. U-shaped support rod; 8-2. Support platform; 8-3. Support frame hinge seat; 8-4. Electric actuator; 8-5. U-shaped seat; 10-1. Contouring plate; 10-2. Displacement sensor; 10-3. First support arm; 10-4. Tension spring; 10-5. Second support arm; 11-1. Contour-shaped hanging rod; 11-2. Contour-shaped hanging rack panel. Detailed Implementation

[0039] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. As described in the background section, existing bare seedling planting mechanisms suffer from slow response speeds. To address these technical issues, this invention proposes a bare seedling planting mechanism.

[0041] Example 1 In a typical embodiment of the present invention, reference is made to Figure 7As shown, a bare seedling planting mechanism includes a crank-four-bar linkage mechanism. Crank 5-1 is connected to a power source. Crank 5-1 and rocker arm 5-3 are connected via a connecting rod 5-2. One side of connecting rod 5-2 supports a push-pull mechanism. The push-pull direction of the push-pull mechanism is the same as the setting direction of connecting rod 5-2. The output end of the push-pull mechanism is movably connected to one end of two pull rods, forming a set angle between the two pull rods. The connecting rod supports a first support 5-7, which rotatably supports two finger clamps. The middle section of the arm has one end of the finger-mounting arm hinged to the other end of the pull rod. The finger-mounting arm has a bend, and the first bend of the finger-mounting arm is hinged to the first support 5-7. The end of the finger-mounting arm away from the pull rod is connected to the planting finger. The crank 5-1 and the rocker arm 5-3 are rotatably connected to the seedling hanging frame. The length of the rocker arm 5-3 is longer than the length of the crank 5-1. The stroke of the push-pull mechanism is adjustable. The output end of the push-pull mechanism pushes one end of the finger-mounting arm outward through the two pull rods, so that the two planting fingers move towards each other to clamp the bare seedling 15.

[0042] In this embodiment, the connecting rod 5-2 is a plate-shaped structure, and the first support 5-7 is L-shaped. The shorter side of the first support 5-7 is connected to the connecting rod 5-2, and the other side of the first support 5-7 is used for hinged connection with the first finger clamping mounting arm 5-8 and the second finger clamping mounting arm 5-9. The ends of the first finger clamping mounting arm 5-8 and the second finger clamping mounting arm 5-9 away from the first pull rod 5-5 and the second pull rod 5-6 are each provided with an extension plate 5-13. The first planting finger clamp 5-11 and the second planting finger clamp 5-10 are provided with a mounting plate 5-12. The length of the mounting plate 5-12 is longer than the length of the extension plate 5-13, and the mounting plate 5-12 is provided with a retainer 5-14. The card holder 5-14 is L-shaped and is hung on the extension plate 5-13. A first fastener, such as a first bolt, is provided. The first bolt passes through the opening of the card holder 5-14 to limit the position of the card holder 5-14. A first nut is provided to cooperate with the first bolt. The first nut is placed on the lower side of the extension plate 5-13. A second fastener, such as a second bolt, passes through the elongated hole of the mounting plate 5-12 and is placed below the extension plate 5-13. It is then locked by the second nut. In this way, reliable connection between the first planting clip finger 5-11, the second planting clip finger 5-10 and the first clip finger mounting arm 5-8, the second clip finger mounting arm 5-9 is ensured in both the lateral and longitudinal directions.

[0043] The pull rods are a first pull rod 5-5 and a second pull rod 5-6. The second pull rod 5-6 is located near the connecting rod 5-2. A recess is provided at one end of the second pull rod 5-6 near the push-pull mechanism to limit the minimum included angle between the first pull rod 5-5 and the second pull rod 5-6, thereby limiting the opening angle of the first planting clip 5-11 and the second planting clip 5-10. One end of the first clip mounting arm 5-8 is hinged to the first pull rod 5-5, and the other end is fixedly connected to the first planting clip 5-11. One end of the second clip mounting arm 5-9 is hinged to the second pull rod 5-6, and the other end is fixedly connected to the second planting clip 5-10. The structure of the first planting clip 5-11 and the second planting clip 5-10 is the same as that of the planting clip structure in the prior art.

[0044] Specifically, the finger-clamping mounting arm also includes a second bend 5-16. The second bends 5-16 of the two finger-clamping mounting arms are arranged opposite each other. The second bend 5-16 of the finger-clamping mounting arm is located on the side away from the pull rod of the first bend 5-15. The distance between the second bend 5-16 of the finger-clamping mounting arm and the planting finger is greater than the distance between the second bend 5-16 and the pull rod. The side of the finger-clamping mounting arm used to connect with the planting finger bends towards the other finger-clamping mounting arm. The hinges of the two finger-clamping mounting arms and the first support 5-7 are set separately, which facilitates the pull rod to control the finger-clamping mounting arms separately. Thus, there is no need to set a spring between the two finger-clamping mounting arms.

[0045] Specifically, a second support 5-17 is installed on the side of connecting rod 5-2 near crank 5-1. The second support 5-17 is spaced apart from the first support 5-7. The second support 5-17 is L-shaped and supports the push-pull mechanism via the second support 5-14. The push-pull mechanism is a push-pull electromagnet 5-4, which is an existing structural component. The push-pull electromagnet 5-4 is an actuator that uses electromagnetic principles to drive the iron core in linear reciprocating motion. By adjusting the stroke of the push-pull electromagnet 5-4 (by adjusting the mechanical limit or by adjusting the voltage), the opening distance between the two planting clips can be adjusted. (See reference...) Figure 13 As shown, this is to achieve clamping of bare seedlings 15 of different diameters and degrees of curvature (especially second-crop or late-crop potato seedlings).

[0046] The bare seedling planting mechanism provided in this embodiment is supported by a push-pull mechanism by a connecting rod 5-2 in a crank four-bar linkage. The output end of the push-pull mechanism is connected to one end of the finger clamping mounting arm via a pull rod. The finger clamping mounting arm is hinged to the first support 5-7. When the output end of the push-pull mechanism is pushed outward by two pull rods, it pushes one end of the finger clamping mounting arm outward, causing the two planting fingers to move towards each other to clamp the bare seedling 15. The push-pull mechanism directly moves by pulling rods to close or open the planting fingers. The finger clamping mounting arm does not need to overcome the elastic force of the spring, and the response is fast.

[0047] Example 2 This embodiment provides a self-propelled bare seedling transplanting device, see reference. Figure 1 , Figure 2 and Figure 3 As shown, it includes a support frame 7, which supports a bare seedling conveying assembly 2. The bare seedling conveying assembly 2 supports two bare seedling planting mechanisms in Embodiment 1. The bare seedling planting mechanism is arranged facing the rear side of the support frame 7. The support frame 7 is connected to the walking mechanism 1. A lifting mechanism is provided between the walking mechanism 1 and the support frame 7. The lifting mechanism is located on the left and right sides of the support frame 7. One side of the lifting mechanism can be tilted relative to the walking mechanism 1 so that the rear side of the self-propelled bare seedling transplanting equipment can be raised and lowered. The power source, lifting mechanism, and walking mechanism of the bare seedling planting mechanism are all connected to the controller. Specifically, the controller is a PLC controller or other types of controller.

[0048] The first seedling hanging frame 3 and the second seedling hanging frame 4 have the same structure. The bare seedling planting mechanism is installed through the first seedling hanging frame 3 and the second seedling hanging frame 4. (Refer to...) Figure 6 As shown, the first seedling hanging frame 3 includes a first beam 3-1, which is rotatably connected to a rocker arm. The first beam 3-1 is connected to a second beam 3-2, the second beam 3-2 is connected to a third beam 3-3, and the third beam 3-3 is rotatably connected to a crank. The output shaft of the power source passes through the third beam and is connected to the crank.

[0049] The bottom of the support frame 7 is equipped with a contoured contact plate assembly 10, for reference. Figure 11 As shown, the contouring contact plate assembly 10 includes a contouring plate 10-1, which is a multi-segment structural component. A displacement sensor 10-2 is located between the contouring plate 10-1 and the support frame 7. The displacement sensor 10-2 is a linear displacement sensor. The contouring plate 10-1 slides close to the ridge surface. The displacement sensor 10-2 converts the change in ridge height into an electrical signal and sends it to the controller. The controller controls the lifting mechanism to move, so that the two sides of the self-propelled bare seedling transplanting equipment rise and fall with the undulation of the ridge, maintaining the consistency of the planting depth.

[0050] It should be noted that the support frame 7 is provided with the ridge-supporting assembly 6 on both sides of the contouring contact plate assembly. An angle sensor 6-1 is provided between the ridge-supporting assembly 6 and the support frame 7. The angle sensor 6-1 is used to detect the angle. The angle sensor 6-1 is connected to the controller. The ridge-supporting assembly 6 detects the direction of the ridge through the angle sensor 6-1. The controller controls the walking mechanism to automatically turn to align with the row based on the data detected by the angle sensor 6-1. refer to Figure 8 As shown, the ridge-raising assembly 6 includes an adjustable-length support rod 6-2, a ridge-raising wheel 6-3 is provided at the bottom of the support rod 6-2, and an angle sensor 6-1 is provided at the top of the support rod 6-2.

[0051] refer to Figure 4 As shown, the bare seedling conveying assembly 2 includes a seedling feeding frame 2-5, which supports a seedling feeding belt 2-11. A seedling belt support roller 2-7 is installed at the bottom of the seedling feeding frame 2-5. The seedling feeding frame 2-5 also supports a seedling feeding drive gear 2-1. The seedling feeding drive gear 2-1 is connected to the output end of the seedling feeding belt drive motor 2-3 through a seedling feeding chain 2-2. The seedling feeding drive gear 2-1 is used to drive the seedling feeding belt 2-11. Multiple T-shaped seedling protection strips 2-4 are respectively installed in the middle section of each side of the outer ring of the seedling feeding belt 2-11. The distance between two adjacent T-shaped seedling protection strips on each side is set. A seedling clamping block 2-10 is also installed in the outer ring of the seedling feeding belt 2-11 to clamp the bare seedlings. The distance between the seedling clamping block 2-10 and the T-shaped seedling protection strips 2-4 is set. The T-shaped seedling protection strips 2-4 are used to protect the bare seedlings.

[0052] In addition, a seedling drive motor mounting plate 2-8 is also provided through the seedling delivery frame 2-5. The seedling drive motor mounting plate 2-8 supports the first seedling drive motor 2-6 and the second seedling drive motor 2-9. The seedling drive motor 2-9 is the power source of the bare seedling planting mechanism.

[0053] refer to Figure 10 As shown, the lifting mechanism includes a left lifting mechanism 9 and a right lifting mechanism 8. The two lifting platforms have the same structure. Specifically, the lifting mechanism includes a support platform 8-2, which is set along the front-rear direction of the support frame 7. The support platform 8-2 is hinged to the support frame 7. After the U-shaped support rod 8-1 crosses the support platform, the end of the U-shaped support rod 8-1 is rotatably connected to the chassis of the traveling mechanism. The U-shaped support rod 8-1 is inclined towards the rear side of the support frame 7. The position of the U-shaped support rod 8-1 is limited by the connection between the support platform and the support frame (support frame hinge seat 8-3). One end of the telescopic component can be rotatably positioned at one of the U-shaped support rods through the U-shaped seat 8-5. The telescopic end of the telescopic component is movably connected to the support platform through the U-shaped seat 8-5. The telescopic component is specifically an electric push rod 8-4.

[0054] refer to Figure 9 As shown, the support frame 7 includes two first horizontal beams 7-3, which are parallel to each other. First vertical beams 7-1 are respectively set at both ends of the first horizontal beams 7-3 to support them. A first longitudinal beam 7-2 is set between the two first vertical beams 7-1 on one side. The two first horizontal beams 7-3 support the second longitudinal beam 7-5 through the second vertical beam 7-4. The second longitudinal beam 7-5 is located on the upper side of the first horizontal beam 7-3. The second longitudinal beam 7-2 includes two beams, which support the bare seedling conveying assembly 2. The first horizontal beams 7-3 also support the seedling tray mounting pipe 7-6. The seedling tray mounting pipe 7-6 is placed between the second vertical beam 7-4 and the first vertical beam 7-1. The seedling tray mounting pipe 7-6 is connected to a bent pipe. The bent pipe supports the seedling tray 13 through the seedling tray mounting pipe 7-6. The seedling tray 13 is fixedly installed at the seedling tray 13 by bolts and nuts.

[0055] Additionally, refer to Figure 5 As shown, the traveling mechanism 1 includes a chassis, and the chassis is provided with multiple supports 1-1, which support the lifting mechanism. The traveling mechanism is a tracked traveling mechanism. The contoured touch panel assembly is connected to the support frame 7 via the contoured hanger component 11. The contoured touch panel assembly 10 includes a first support arm 10-3 and a second support arm 10-5. The bottoms of the first support arm 10-3 and the second support arm 10-5 are fixed to the contoured plate 10-1. The bottoms of the first support arm 10-3 and the second support arm 10-5 are located on the same side of the contoured plate 10-1. The first support arm 10-3 is vertically connected to the first section of the contoured plate 10-1. The second support arm 10-5 is inclined outward relative to the contoured plate 10-1. A tension spring 10-4 is provided at the top of the second support arm 10-5. The tension spring 10-4 is connected to the contoured hanging rod 11-1 in the contoured hanger component 11.

[0056] Among them, reference Figure 12 As shown, the contour hanger component 11 includes two contour hanger plates 11-2 and two contour hanger rods 11-1. The contour hanger rods 11-1 connect the contour hanger plates 11-2 on both sides. Hooks are provided on the upper side of the contour hanger plates 11-2 to connect with the support frame 7.

[0057] It should be noted that, based on the tracked chassis 1, the left lifting mechanism 9 and the right lifting mechanism 8 are hinged to the tracked chassis 1. The support frame 7 is fixedly installed on the left lifting mechanism 9 and the right lifting mechanism 8, and a contoured contact plate assembly 10 is installed on the lower front end of the support frame 7. The ridging assembly 6 is installed on the front side of the chassis in the forward direction. The bare seedling conveying assembly 2 and the seedling tray assembly 13 are installed on the support frame 7. The left seedling hanging frame 3 and the right seedling hanging frame 4 are fixed on the bare seedling conveying assembly 2, and the left seedling hanging frame 3 and the right seedling hanging frame 4 are symmetrically arranged and installed on the internal support structure of the bare seedling conveying assembly. The two bare seedling planting mechanisms 5 are installed on the left seedling hanging frame 3 and the right seedling hanging frame 4 respectively. The seat 12 and the controller 14 are located at the rear of the sweet potato transplanting equipment in a position that is easy to operate. The seat 12 is supported by the support frame 7.

[0058] The controller is connected to the remote control. During operation, the operator sets the initial operating parameters through the controller 14 or the remote control and places the potato seedlings one by one on the seedling clamping blocks 2-10 of the bare seedling conveying assembly 02. When the transplanting equipment moves along the ridge, the ridge-supporting wheels 6-3 of the ridge-supporting assembly 6 sense the direction of the ridge side in real time. When the ridge bends, the angle sensor 6-1 feeds back the directional deviation signal to the steering system of the walking mechanism. This signal controls the speed difference of the drive wheels of the tracked chassis 1 to achieve automatic steering and row alignment.

[0059] During this process, the seedling delivery servo motor of the bare seedling conveying assembly 2 and the seedling planting servo motor of the bare seedling planting mechanism 5 work precisely together under the coordination of the controller to complete the continuous actions of seedling delivery, seedling retrieval, and planting. By controlling the phase of the seedling planting servo motors on both sides through the program, staggered planting of double rows of potato seedlings can be achieved, optimizing the planting layout.

[0060] This invention integrates electric drive chassis, servo control, automatic navigation and contouring technology to achieve fully automated and precise sweet potato transplanting in complex terrain, significantly improving the quality, efficiency and automation level of sweet potato transplanting in hilly and mountainous terrain.

[0061] Example 3 This embodiment discloses a working method for a self-propelled bare seedling transplanting device, including the following: The traveling mechanism 1 drives the support frame 7 to move, and the traveling mechanism 1 travels on both sides of the ridge; The power source drives the crank four-bar linkage to move, which in turn drives the bare seedling planting mechanism to the seedling picking point of the bare seedling conveying assembly and the seedling placement point at the lowest point of the soil. The output end of the push-pull mechanism pushes one end of the finger clamping arm outward through two pull rods, so that the two planting fingers move towards each other to clamp the bare seedling, or the push-pull mechanism moves in the opposite direction to release the seedling. One side of the lifting mechanism can be tilted relative to the walking mechanism to drive the rear side of the self-propelled bare seedling transplanter to rise and fall, so that both sides of the self-propelled bare seedling transplanter rise and fall with the undulation of the ridge, maintaining the consistency of the planting depth.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bare seedling planting mechanism, comprising a crank-four-bar linkage, wherein the crank is connected to a power source, and the crank and a rocker arm are connected by a connecting rod, characterized in that, One side of the connecting rod supports a push-pull mechanism. The push-pull direction of the mechanism is the same as the direction of the connecting rod. The output end of the push-pull mechanism is movably connected to one end of two pull rods. The two pull rods form a set angle. The connecting rod supports the first support. The first support rotatably supports the middle section of the two finger-clamping mounting arms. One end of the finger-clamping mounting arm is hinged to the other end of the pull rod. The finger-clamping mounting arm has a bend. The first bend of the finger-clamping mounting arm is hinged to the first support. The end of the finger-clamping mounting arm away from the pull rod is connected to the planting finger. The crank and rocker arm are rotatably connected to the seedling hanger. The length of the rocker arm is longer than the length of the crank. The stroke of the push-pull mechanism is adjustable. The output end of the push-pull mechanism pushes one end of the finger-clamping mounting arm outward through the two pull rods, so that the two planting fingers move towards each other to clamp the bare seedling.

2. The bare seedling planting mechanism according to claim 1, characterized in that, The first support is L-shaped. One side of the first support is connected to the connecting rod, and the other side of the first support is used to connect to the finger clamping mounting arm. An extension plate is provided at the end of the finger clamping mounting arm away from the pull rod. An installation plate is provided at the end of the planting finger clamp. A card holder is provided on the installation plate. The card holder is hung on the extension plate and a first fastener is provided. A second fastener passes through the installation plate and is placed below the extension plate.

3. The bare seedling planting mechanism according to claim 1, characterized in that, The pull rod is a first pull rod and a second pull rod. The second pull rod is located close to the connecting rod. A recess is provided at one end of the second pull rod near the push-pull mechanism to limit the minimum included angle between the first pull rod and the second pull rod. The finger clamp mounting arm also includes a second bend, and the second bends of the two finger clamp mounting arms are arranged opposite to each other. The second bend of the finger clamp mounting arm is located on the side of the first bend away from the pull rod. The distance between the second bend of the finger clamp mounting arm and the planting finger is greater than the distance between the second bend and the pull rod. The side of the finger clamp mounting arm used to connect with the planting finger bends towards the other finger clamp mounting arm.

4. The bare seedling planting mechanism according to claim 1, characterized in that, A second support is provided on the side of the connecting rod near the crank. The second support is L-shaped and supports the push-pull mechanism. The push-pull mechanism is a push-pull electromagnet.

5. A self-propelled bare seedling transplanting device, characterized in that, The device includes a support frame that supports a bare seedling conveying assembly. The bare seedling conveying assembly supports two bare seedling planting mechanisms as described in any one of claims 1-4. The bare seedling planting mechanism is positioned facing the rear of the support frame. The support frame is connected to a walking mechanism. A lifting mechanism is provided between the walking mechanism and the support frame. The lifting mechanism is located on the left and right sides of the support frame. One side of the lifting mechanism can be tilted relative to the walking mechanism to drive the rear of the self-propelled bare seedling transplanting device to rise and fall. The power source, lifting mechanism, and walking mechanism of the bare seedling planting mechanism are all connected to a controller. A contouring contact plate assembly is installed at the bottom of the support frame. The contouring contact plate assembly includes a contouring plate and a displacement sensor between the contouring plate and the support frame. The contouring plate slides close to the ridge surface. The displacement sensor converts the change in ridge height into an electrical signal and sends it to the controller. The controller controls the lifting mechanism to move, so that the two sides of the self-propelled bare seedling transplanting equipment rise and fall with the undulation of the ridge, maintaining the consistency of the planting depth.

6. The self-propelled bare seedling transplanting device according to claim 5, characterized in that, The support frame has ridge-supporting assemblies on both sides of the contoured contact plate assembly. An angle sensor is installed between the ridge-supporting assembly and the support frame. The angle sensor is connected to the controller. The ridge-supporting assembly detects the direction of the ridges through the angle sensor. The controller controls the walking mechanism to automatically turn to align with the rows based on the data detected by the angle sensor. Multiple T-shaped seedling protection strips are provided on each side of the outer ring of the bare seedling conveying assembly, and the spacing between two adjacent T-shaped seedling protection strips on each side is set.

7. A self-propelled bare seedling transplanting device according to claim 5, characterized in that, The lifting mechanism includes a support platform, which is arranged along the front-rear direction of the support frame. The support platform is hinged to the support frame. After the U-shaped support rod crosses the support platform, the end of the U-shaped support rod is movably connected to the traveling mechanism. The U-shaped support rod is inclined towards the rear side of the support frame. The position of the U-shaped support rod is limited by the connection between the support platform and the support frame. The telescopic component is fixed at one of the U-shaped support rods, and the telescopic end of the telescopic component is movably connected to the support platform.

8. The self-propelled bare seedling transplanting device according to claim 5, characterized in that, The support frame includes two first horizontal beams that are parallel to each other. First vertical beams are respectively provided at both ends of the first horizontal beams to support them. A first longitudinal beam is provided between the two first vertical beams on one side. The two first horizontal beams support the second longitudinal beam through the second vertical beam. The second longitudinal beam is located above the first horizontal beam and includes two beams. The two second longitudinal beams support the bare seedling conveying assembly. The first horizontal beams also support the seedling tray mounting tube, which is bent and supports the seedling tray.

9. A self-propelled bare seedling transplanting device according to claim 5, characterized in that, The walking mechanism includes a chassis with multiple supports for supporting the lifting mechanism. The walking mechanism is a tracked walking mechanism. The contoured touch panel assembly is connected to the support frame via a contoured hanger component. The contoured touch panel assembly includes a first support arm and a second support arm. The bottoms of the first and second support arms are fixed to the contoured plate, and a tension spring is provided at the top of the second support arm. The tension spring is connected to the contoured hanger component.

10. The working method of the self-propelled bare seedling transplanting device according to any one of claims 5-9, characterized in that, Includes the following: The traveling mechanism drives the support frame to move, and the traveling mechanism travels on both sides of the ridge; The power source drives the crank four-bar linkage to move, which in turn drives the bare seedling planting mechanism to the seedling picking point of the bare seedling conveying assembly and the seedling placement point at the lowest point of the soil. The output end of the push-pull mechanism pushes one end of the finger clamping arm outward through two pull rods, so that the two planting fingers move towards each other to clamp the bare seedling, or the push-pull mechanism moves in the opposite direction to release the seedling. One side of the lifting mechanism can be tilted relative to the walking mechanism to drive the rear side of the self-propelled bare seedling transplanter to rise and fall, so that both sides of the self-propelled bare seedling transplanter rise and fall with the undulation of the ridge, maintaining the consistency of the planting depth.

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