Tobacco seedling transplanting vehicle and method thereof

Abstract

The present invention provides a tobacco seedling transplanting vehicle and a method thereof, comprising a vehicle body and a fertilizer storage bin for storing fertilizers located above the vehicle body and a hole tray for storing seedlings, a swingable hole punching member is provided in the middle of the vehicle body, the hole punching member comprises a hole punching rod that can pass through the vehicle body, the middle of the hole punching rod is hollow, the lower end of the hole punching rod is hinged with a pair of semi-conical cone mouth parts that can be opened and closed, a hole punching reset spring is provided between the top of the hole punching rod and the vehicle frame, a telescopic rod is hooked on the outside of the semi-conical cone mouth part, the upper end of the telescopic rod is positioned on the vehicle body, a pressing device for driving the hole punching rod downward is provided on the vehicle body, when the hole punching rod moves downward, the telescopic rod is extended and retracted and reaches the stretching length limit, then the semi-conical cone mouth part is opened outward to release the material in the cavity of the hole punching rod, the present invention can realize automatic operations such as mechanical automatic hole punching, fertilizer placement, secondary hole opening, and tobacco seedling placement, can be used as a tobacco seedling transplanting robot, liberates manpower, and improves efficiency.

Description

Technical Field

[0001] The invention relates to a tobacco seedling transplanting vehicle and a method thereof. Background Art

[0002] Tobacco occupies a significant position in the national economy. Traditional tobacco seedling transplanting is mainly done by manpower, using light tools to locate on the ridges, making holes (mainly by manpower pressing), placing nutrient soil, opening holes (expanding holes), placing tobacco seedlings, watering, etc., all of which are done by manpower, which is time-consuming and labor-intensive, inefficient, and has high labor costs. Later, some simple mechanical devices appeared. Although they have improved the efficiency of transplanting, their working principle is still mainly based on human operation. The process is relatively cumbersome, labor-intensive, and their economic benefits are not high. Summary of the invention

[0003] The present invention improves the above-mentioned problem, that is, the technical problem to be solved by the present invention is that the existing tobacco seedling transplanting is mainly manpower-based, which is time-consuming, labor-intensive and inefficient.

[0004] The specific implementation scheme of the present invention is: a tobacco seedling transplanting vehicle, including a vehicle body and a fertilizer storage bin for storing fertilizers located above the vehicle body and a hole tray for storing seedlings, the vehicle body having a swingable hole punching member in the middle, the hole punching member including a hole punching rod that can pass through the vehicle body, the hole punching rod being hollow in the middle, the lower end of the hole punching rod being hinged with a pair of semi-conical cone mouth pieces that can be opened and closed, a hole punching reset spring being provided between the top of the hole punching rod and the vehicle frame, a telescopic rod being hooked on the outside of the semi-conical cone mouth piece, the upper end of the telescopic rod being positioned on the vehicle body, the vehicle body having a pressing device for driving the hole punching rod downward, when the hole punching rod moves downward, the telescopic rod is extended and retracted, and after reaching the stretching length limit, the semi-conical cone mouth piece is opened outward to release the material in the inner cavity of the hole punching rod.

[0005] Furthermore, a groove is provided on the vehicle body, the upper end of the acupuncture reset spring is fixedly connected to the acupuncture rod, the lower end of the acupuncture reset spring is fixed with a baffle rod which crosses the groove and is on the upper surface of the vehicle body, a swing frame motor is fixed on the frame, a swing frame is fixed to the output end of the swing frame motor, and the acupuncture rod is fixed to the lower end of the swing frame via a connecting spring and passes through the groove.

[0006] Furthermore, the acupuncture member has a pair, and the two acupuncture rods are located on both sides of the swing frame. The swing frame is provided with an opening at the upper end of the acupuncture rod corresponding to the opening. The axial direction of the opening is fixed to the upper end of the spring, and the lower end of the spring is fixedly connected to the upper end of the acupuncture rod.

[0007] Furthermore, the pressing device includes a pressing motor located on the frame, a ball fixed to the vehicle body is provided below the pressing motor, and a lead screw is coaxially connected to the output end of the pressing motor, and the lead screw can resist the upper end of the acupuncture rod.

[0008] Furthermore, the vehicle body is provided with a manipulator for clamping seedlings, and the manipulator is located on the movable end of the three-axis slide. The manipulator includes a manipulator seat, and a pair of articulated jaws are hinged on the manipulator seat. A connecting plate is hinged in the middle of each jaw, and the middle part of the connecting plate is connected to a pulling block that can pull the connecting plate forward and backward, and the pulling block is driven by an electric cylinder to move forward and backward.

[0009] Furthermore, a pair of rear wheel guide rails arranged along the length direction of the vehicle body are fixed at the front side of the bottom of the vehicle body, a guide slider is slidably fitted on the rear wheel guide rail, the rear wheel is hinged on an axle, both ends of the axle are connected to the guide slider via bearings, and the bottom of the vehicle body has a ridge changing electric cylinder for driving the axle to move forward and backward.

[0010] Furthermore, the vehicle body includes a frame and a pair of front wheels and a pair of rear wheels located below the frame, and the pair of front wheels are driven to rotate by different motors.

[0011] Furthermore, a water tank is fixed on the upper part of the vehicle body, and a nozzle is extended from the water tank and fixed under the vehicle body.

[0012] Furthermore, the plug tray is placed on a plug tray rack, a power supply and a control box are provided on the vehicle body, and the fertilizer outlet below the fertilizer storage bin has a valve body or auger for controlling discharge.

[0013] The present invention also includes a tobacco seedling transplanting method, using the tobacco seedling transplanting vehicle as described above, characterized in that it includes the following steps:

[0014] (1) After the operation starts, the trolley moves as a whole above the ridges of the field. An auger is provided at the fertilizer outlet to control the fertilizer in the fertilizer storage bin to flow out from the fertilizer outlet and then flow into the inside of a dozen holes to complete the fertilizer loading;

[0015] (2) After the fertilizer is loaded, the swing frame motor rotates, and the entire acupuncture component together with the fertilizer inside and the connecting spring placed above the acupuncture component rotate to the position directly below the pressure motor and the ball screw, and this position is directly above the position where the acupuncture is to be made in the field ridge;

[0016] (3) The punching motor rotates, and the ball screw moves down to hit the top of the punching rod of the primary punching part. At this time, the primary punching part will extend downward to punch holes under the action of the ball screw. The punching reset spring will be blocked by the vehicle body due to the action of the gear lever. As the ball screw rotates and drives the punching motor downward, the punching reset spring is compressed, the upper connecting spring is stretched, and the telescopic rod is also stretched. When the punching depth is reached, the telescopic rod reaches the maximum extension limit. At this time, the ball screw continues to rotate, and the primary punching part continues to extend downward. At this time, the telescopic rod no longer extends, but begins to pull the semi-conical cone mouth of the primary punching part. Then the two semi-conical cone mouths open, and the internal material falls into the soil to complete the punching and material dropping process;

[0017] (4) The fertilizer inside the primary cavitation element flows out, and then the cavitation motor reverses. The primary cavitation element also rises under the action of the cavitation reset spring in a compressed state and the connecting spring in a stretched state above, completing the primary cavitation and nutrient soil placement process;

[0018] (5) At this time, another hole punching member uses a robot to place the tobacco seedlings from the hole tray into the hole punching rod, and the swing frame motor rotates the hole punching member with the tobacco seedlings inside to move it below the pressing motor and repeat the hole punching and dropping process of step (3) to make the tobacco seedlings fall into the soil;

[0019] (6) A water tank is fixed on the upper part of the vehicle body, and a nozzle is extended from the water tank and fixed under the vehicle body. After the tobacco seedlings fall into the soil, the nozzle sprays water;

[0020] (7) After the trolley completes the work of a row of ridges, the telescopic end of the ridge-changing electric cylinder is pulled back. At this time, the wheel axle moves closer to the front wheel along the rear wheel guide rail, reducing the distance between the front and rear wheels. Then, the turning action is performed. At this time, the turning radius becomes smaller, so it will not damage the surrounding ridges. After the trolley turns and completes the ridge-changing work.

[0021] Compared with the prior art, the present invention has the following beneficial effects: the transplanting vehicle can realize mechanical automatic operation of hole drilling, fertilizer placement, secondary hole opening, tobacco seedling placement and other automated operations, and can be used as a tobacco seedling transplanting robot, freeing up manpower and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 It is a schematic diagram of the top view structure of the present invention.

[0024] Figure 3 It is a schematic diagram of the installation structure of the hole punching member of the present invention.

[0025] Figure 4 It is a schematic diagram of the structure of the hole punching member of the present invention.

[0026] Figure 5 It is a schematic diagram of the structure of the robot of the present invention.

[0027] Figure 6 It is a schematic diagram of the bottom structure of the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figures 1 to 6 As shown, a tobacco seedling transplanting vehicle comprises a vehicle body 10 and a fertilizer storage bin 20 for storing fertilizer located above the vehicle body and a hole tray 30 for storing seedlings, the vehicle body has a swingable hole punching member 40 in the middle, the hole punching member comprises a hole punching rod 410 that can pass through the vehicle body, the hole punching rod is hollow in the middle, and a pair of semi-conical cone mouth members 420 that can be opened and closed are hinged at the lower end of the hole punching rod, a hole punching reset spring 430 is provided between the top of the hole punching rod and the vehicle frame, a telescopic rod 440 is hooked on the outside of the semi-conical cone mouth member, the upper end of the telescopic rod 440 is positioned on the vehicle body, and the vehicle body has a pressing device for driving the hole punching rod downward, when the hole punching rod moves downward, the telescopic rod 440 is extended and retracted, and after reaching the stretching length limit, the semi-conical cone mouth member 411 is opened outward to release the material in the cavity of the hole punching rod.

[0030] In this embodiment, a groove 110 is opened on the vehicle body, the upper end of the acupuncture reset spring is fixedly connected to the acupuncture rod 410, and the lower end of the acupuncture reset spring 430 is fixed with a blocking rod 431 that spans the groove 110 and presses against the upper surface of the vehicle body. A swing frame motor 50 is fixed on the frame, and a swing frame 510 is fixed to the output end of the swing frame motor 50. The acupuncture rod is fixed to the lower end of the swing frame via a connecting spring 520 and passes through the groove 110.

[0031] In this embodiment, the beating device includes a beating motor 60 located on the frame, and a ball fixed to the vehicle body is provided below the beating motor. The output end of the beating motor is coaxially connected with a lead screw, and the lead screw can resist the upper end of the acupuncture rod.

[0032] In actual design, electric cylinders, pneumatic cylinders and other linear drive methods are used to apply pressure to the acupuncture rod.

[0033] In this embodiment, the piercing member 40 has a pair, including a primary piercing member 401 and a secondary piercing member 402. The primary piercing member 401 is used to receive fertilizers, and the secondary piercing member 402 is used to receive tobacco seedlings.

[0034] The swing frame 510 is a fan-shaped structure, and the groove 110 is an arc-shaped structure, which is located in the path passed by the swing arc of the swing frame 510. The two acupuncture rods 410 are located on both sides of the swing frame 510. The swing frame is provided with an opening 511 at the upper end opening of the acupuncture rod. The axial direction of the opening is fixed to the upper end of the spring 520, and the lower end of the spring is fixedly connected to the upper end of the acupuncture rod.

[0035] In this embodiment, the plug tray 30 is placed on a plug tray rack 310, and the plug tray is provided with a plurality of plug holes for placing seedlings. The vehicle body is provided with a power supply and a control box, and the fertilizer outlet 210 below the fertilizer storage bin has an auger 220 for controlling the discharge of materials.

[0036] The vehicle body is provided with a manipulator 70 for clamping the seedlings, and the manipulator is located on the moving end of the three-axis slide 710 .

[0037] When working, the operation procedure is also divided into several steps, including positioning, first hole digging, placing fertilizer, second hole digging, placing tobacco seedlings, and watering;

[0038] After the operation starts, the trolley moves on the top of the ridges, and the wheels are placed on both sides of the ridges so as not to crush the ridges. After reaching the designated position, the auger 220 at the fertilizer outlet 210 rotates, and the fertilizer placed in the fertilizer storage bin 20 flows out of the fertilizer outlet 210 under the action of the internal auger. The amount of fertilizer discharged is controlled by the number of revolutions of the auger, and then flows into the first hole punching member 401 (the default position of the first hole punching member is directly below the fertilizer outlet 210), and the fertilizer is loaded.

[0039] After the fertilizer is loaded, the swing frame motor 50 rotates, and the entire primary puncturing member 401, together with the fertilizer inside and the connecting spring 520 placed above the primary puncturing member 401, rotates to the position directly below the pressing motor 60 and the ball screw, and this position is directly above the position where the puncture is to be made in the ridge. At this time, the secondary puncturing member 402 and the connecting spring 520 placed above the secondary puncturing member 402 just rotate to the front of the manipulator 70.

[0040] After that, the punching starts, the punching motor 60 rotates, and the ball screw moves down and hits the top of the punching rod 410 of the primary punching member 401. At this time, the primary punching member 401 will extend downward to punch a hole under the action of the ball screw, and the punching reset spring 430 will be blocked by the vehicle body under the action of the shift rod 431. As the ball screw rotates and drives the punching motor 60 downward, the punching reset spring 430 is compressed, the upper connecting spring 520 is stretched, and the telescopic rod 25 will also be lengthened. When the cavitation depth is reached, the telescopic rod 25 times reaches the maximum telescopic limit, at this time the ball screw continues to rotate, the primary cavitation member 401 continues to extend downward, at this time the telescopic rod no longer extends, but starts to pull the semi-conical cone mouth member 411 at the bottom of the primary cavitation member 401, then the two semi-conical cone mouth members 411 open, the fertilizer inside the primary cavitation member 401 flows out, then the pressing motor 60 reverses, the primary cavitation member 401 will also rise under the action of the cavitation reset spring 430 in a compressed state and the connecting spring 520 in a stretched state above, completing the primary cavitation and nutrient soil placement process. During the rise of the primary cavitation member 401, the telescopic rod 440 will also be compressed and retracted until it no longer retracts, the primary cavitation member 401 is still rising, at this time the telescopic rod 440 starts to push back the cone mouth under the primary cavitation member 401 to close it, and the primary cavitation member 401 also returns to its original state.

[0041] The plug tray 30 is placed on the plug tray rack 310, and the plug tray has multiple layers. The manipulator 70 includes a manipulator seat 710, and a pair of hinged clamping jaws 720 are hinged on the manipulator seat. A connecting piece 730 is hinged in the middle of each clamping jaw. The middle of the connecting piece is hingedly connected to a pulling block 740 that can pull the connecting piece forward and backward. The pulling block is driven by an electric cylinder to move forward and backward, and the electric cylinder is used to pull the clamping jaws 720. In actual design, the manipulator can use other multi-axis manipulators to perform the operation of clamping tobacco seedlings.

[0042] While the primary puncture member 401 is working, the manipulator 70 will also work at the same time, and it will clamp the seedlings in the puncture tray 30 at a fixed position on the adjacent puncture tray rack 310, and the puncture tray 30 will send the seedlings inside to the fixed position grabbed by the manipulator 70 under the action of the three-axis slide. After the manipulator 70 grabs the seedlings, it will be placed in the secondary puncture member 402, and then the manipulator 70 returns, the swing frame motor 50 rotates in the opposite direction, and the secondary puncture member 402 and the connecting spring 520 placed above the secondary puncture member 402 just rotate to the bottom of the pressure motor 60 and the ball screw, and the primary puncture member 401 together with the connecting spring 520 placed above the primary puncture member 401 and the puncture reset spring 430 are all rotated to the bottom of the fertilizer outlet 210. At this time, the pressure motor 60 drives the output shaft to drive the lead screw to rotate and move downward. The secondary puncture component 402 and the upper parts have exactly the same working principle as the primary puncture component 401. The telescopic rod reaches the maximum telescopic limit after 25 times. At this time, the ball screw continues to rotate, and the secondary puncture component 402 continues to extend downward. At this time, the telescopic rod no longer extends, but begins to pull the lowest semi-conical cone mouth component 411 of the secondary puncture component 402, and then the two semi-conical cone mouth components 411 open, and the seedlings inside the secondary puncture component 402 fall down. After that, the secondary puncture component 402 rises and returns, and all parts are in their original state, completing the secondary puncture and seedling placement process.

[0043] During the working process, in order to make the primary and secondary acupuncture operations more compact and efficient, during the operation of the secondary acupuncture component, the primary acupuncture component 401 is located at the fertilizer outlet 210, the auger 220 rotates, fertilizer is discharged from the fertilizer outlet 210, and the fertilizer falls into the primary acupuncture component 401 in preparation for the next acupuncture, and the manipulator 70 is ready to grab the tobacco seedlings for the next time.

[0044] A water storage tank 80 is fixed on the upper part of the vehicle body, and a nozzle 810 is extended from the water storage tank and fixed under the vehicle body. After the process of placing the tobacco seedlings is completed, the nozzle 810 sprays water, and the nozzle 810 is connected to the water storage tank 80 through a pipeline, and a water pump and a solenoid valve are arranged on the pipeline to realize water output control. At this point, a working cycle is completed, and then various mechanisms work together and cycle back and forth. Although there are many processes, they are all carried out simultaneously, saving time and effort.

[0045] In this embodiment, the vehicle body 10 comprises a frame and a pair of front wheels 120 and a pair of rear wheels 130 located below the frame. The pair of front wheels are driven to rotate by different front wheel motors (121, 122) so as to generate a differential when turning to achieve the purpose of turning.

[0046] A pair of rear wheel guide rails 131 arranged along the length direction of the vehicle body are fixed at the front side of the bottom, and a guide slider 140 is slidably fitted on the rear wheel guide rail 131. The rear wheel is hinged on an axle 150, and both ends of the axle are connected to the guide slider via bearings. The bottom of the vehicle body is provided with a ridge changing electric cylinder 160 for driving the axle to move forward and backward.

[0047] Since the front wheel 120 and the rear wheel 130 are at a certain distance when the trolley is working, the turning radius is large when the trolley changes ridges after completing the work of a row of ridges and turns to change ridges, which will damage the adjacent ridges. Therefore, after the trolley completes the work of a row of ridges, the telescopic end of the ridge-changing electric cylinder 160 is pulled back, and at this time, the axle 150 and the two rear wheels 130 move closer to the front wheel 120 along the rear wheel guide 130 under the action of the pulling force, reducing the distance between the front and rear wheels, and then turning again. At this time, the turning radius becomes smaller, so the surrounding ridges will not be damaged. After the trolley turns and completes the ridge-changing work, the telescopic end of the ridge-changing electric cylinder 160 is pushed out, and the axle 150 and the two rear wheels 130 return to the initial position along the rear wheel guide 130, and the transplanting work begins, and the cycle repeats.

[0048] The vehicle body is also provided with a power supply 170 and a control box 180 for realizing power supply and control of the electric control equipment.

[0049] This tobacco seedling transplanter is equipped with a control motor part as well as adaptive cruise, Beidou navigation, binocular vision assistance and other control systems. This transplanter can freely navigate and track along the ridges in the field. Manual workers only need to add fertilizer, water, replace plug trays, batteries, etc. according to the alarm sound. It can be used as a tobacco seedling transplanter robot, freeing up manpower and improving efficiency.

[0050] The device can be used to meet the seeding requirements of various plant seedlings.

[0051] If the present invention discloses or involves components or structures that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connection using bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by integrated molding using a casting process) (except when it is obviously impossible to use an integrated molding process).

[0052] In addition, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in the present invention include states or shapes that are approximate, similar, or close to them.

[0053] Any component provided by the present invention may be assembled from a plurality of separate components, or may be a separate component manufactured by an integral forming process.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A tobacco seedling transplanting vehicle, characterized in that: The vehicle comprises a vehicle body and a fertilizer storage bin for storing fertilizers and a plug tray for storing seedlings located above the vehicle body, a fertilizer outlet for discharging fertilizers is provided below the fertilizer storage bin, a swingable plug-in is provided in the middle of the vehicle body, the plug-in comprises a plug-in rod that can pass through the vehicle body, the plug-in rod is hollow in the middle, a pair of semi-conical cone mouths that can be opened and closed are hinged at the lower end of the plug-in rod, a plug-in reset spring is provided between the top of the plug-in rod and the vehicle frame, a telescopic rod is hooked on the outside of the semi-conical cone mouth, the upper end of the telescopic rod is positioned on the vehicle body, a pressing device for driving the plug-in rod downward is provided on the vehicle body, when the plug-in rod moves downward, the telescopic rod is extended and retracted, and after reaching the stretching length limit, the semi-conical cone mouth is opened outward to release the material in the cavity of the plug-in rod; A groove is provided on the vehicle body, the upper end of the acupuncture reset spring is fixedly connected to the acupuncture rod, the lower end of the acupuncture reset spring is fixed with a stopper rod which crosses the groove and is on the upper surface of the vehicle body, a swing frame motor is fixed on the vehicle frame, a swing frame is fixed to the output end of the swing frame motor, and the acupuncture rod is fixed to the lower end of the swing frame via a connecting spring and passes through the groove; The acupuncture member has a pair, and the two acupuncture rods are located on both sides of the swing frame. The swing frame is provided with an opening at the upper end opening of the acupuncture rod. The axial direction of the opening is fixedly connected to the upper end of the spring, and the lower end of the spring is fixedly connected to the upper end of the acupuncture rod. The pressing device includes a pressing motor located on the vehicle frame, a ball screw fixed on the vehicle body is provided below the pressing motor, the output end of the pressing motor is coaxially connected to the ball screw, and the ball screw can abut against the upper end of the acupuncture rod; The vehicle body is provided with a manipulator for clamping seedlings, and the manipulator is located on the movable end of the three-axis slide. The manipulator includes a manipulator seat, and a pair of hinged jaws are hinged on the manipulator seat. A connecting piece is hinged in the middle of each jaw, and the middle part of the connecting piece is connected to a pulling block that can pull the connecting piece forward and backward. The pulling block is driven by an electric cylinder to move forward and backward.

2. A tobacco seedling transplanting vehicle according to claim 1, characterized in that: A pair of rear wheel guide rails arranged along the length direction of the vehicle body are fixed at the front side of the bottom of the vehicle body, and a guide slider is slidably fitted on the rear wheel guide rail. The rear wheel is hinged on an axle, and both ends of the axle are connected to the guide slider via bearings. The bottom of the vehicle body is provided with a ridge changing electric cylinder for driving the axle to move forward and backward.

3. The tobacco seedling transplanting vehicle according to claim 1, characterized in that: The vehicle body comprises a frame, a pair of front wheels and a pair of rear wheels located below the frame, and the pair of front wheels are driven to rotate by different motors.

4. The tobacco seedling transplanting vehicle according to claim 1, characterized in that: A water storage tank is fixed on the upper part of the vehicle body, and a spray head is extended from the water storage tank and fixed under the vehicle body.

5. The tobacco seedling transplanting vehicle according to claim 1, characterized in that: The plug tray is placed on a plug tray rack, a power supply and a control box are arranged on the vehicle body, and a valve body or an auger for controlling the discharge of materials is provided at a fertilizer outlet below the fertilizer storage bin.

6. A tobacco seedling transplanting method, using the tobacco seedling transplanting vehicle according to claim 2, characterized in that: The following steps are involved: After the operation starts, the trolley moves on the ridges of the field as a whole. A screwdriver is provided at the fertilizer outlet to control the fertilizer in the fertilizer storage bin to flow out from the fertilizer outlet and then flow into the inside of a dozen holes to complete the fertilizer loading. After the fertilizer is loaded, the swing frame motor rotates, and the entire acupuncture component, together with the fertilizer inside and the connecting spring placed above the acupuncture component, rotates to the position directly below the pressure motor and the ball screw, and this position is directly above the position where the acupuncture is to be made in the field ridge; The punching motor rotates, and the ball screw moves down and hits the top of the punching rod of the primary punching member. At this time, the primary punching member will extend downward to punch holes under the action of the ball screw, and the punching reset spring will be blocked by the vehicle body under the action of the gear lever. As the ball screw rotates and drives the punching motor downward, the punching reset spring is compressed, the upper connecting spring is stretched, and the telescopic rod is also stretched at the same time; when the punching depth is reached, the telescopic rod reaches the maximum telescopic limit, and the ball screw continues to rotate, and the primary punching member continues to extend downward. At this time, the telescopic rod no longer extends, but starts to pull the semi-conical cone mouth piece at the bottom of the primary punching member, and then the two semi-conical cone mouth pieces open, and the internal material falls into the soil to complete the punching and blanking process; The fertilizer inside the primary piercing member flows out, and then the piercing motor reverses, and the primary piercing member rises under the action of the piercing return spring in a compressed state and the connecting spring in a stretched state above, completing the primary piercing and nutrient soil placement process; At this time, another hole punching member uses a robot to place the tobacco seedlings from the hole tray into the hole punching rod, and the swing frame motor rotates the hole punching member with the tobacco seedlings inside to move to the bottom of the pressing motor and repeat the hole punching and dropping process of step (3) to make the tobacco seedlings fall into the soil; A water storage tank is fixed on the upper part of the vehicle body, and a nozzle fixed under the vehicle body is extended from the water storage tank. After the tobacco seedlings fall into the soil, the nozzle sprays water; After the trolley completes the work on a row of ridges, the telescopic end of the ridge-changing electric cylinder is pulled back. At this time, the wheel axle moves closer to the front wheel along the rear wheel guide rail, reducing the distance between the front and rear wheels. Then the trolley turns again. At this time, the turning radius becomes smaller and therefore will not damage the surrounding ridges. The trolley turns to complete the ridge-changing work.

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