A tobacco transplanter

Abstract

The application discloses a tobacco transplanting machine, which comprises a seedling tray conveying mechanism, a walking and steering device, a seedling taking device, a tobacco seedling spacing adjusting device, a seedling tray collecting box and a seedling inserting mechanism. The application builds a mechanical platform for tobacco transplanting through reasonable structure and connection. Specifically, the walking and steering device is installed at the front of the machine and can move on different terrains, having high stability and flexibility. The walking and steering device adopts a stepping motor driving sector gear mode for steering, has high precision and can realize accurate steering control. The seedling tray conveying mechanism can be used for storing seedling trays, so that the occupied area of the seedling tray storage is small, and can also be used for changing the movement direction of the seedling trays, thereby cooperating with the seedling taking device and the seedling tray collecting box to take seedlings and collect empty seedling trays after taking seedlings. Through cooperation of the seedling taking device and the tobacco seedling spacing adjusting device, the tobacco seedlings released by the seedling taking device can be transferred and the spacing of the tobacco seedlings can be adjusted, and the transferred tobacco seedlings are transplanted through the seedling inserting mechanism.

Description

Technical Field

[0001] This invention relates to a tobacco transplanter, belonging to the field of agricultural machinery. Background Technology

[0002] Tobacco cultivation has a long history, and tobacco planting can drive regional economic development. Tobacco is a cash crop that can generate significant economic value for growers; in many provinces of my country, tobacco is a primary source of income. Transplanting tobacco seedlings can shorten the growth cycle, reduce seedling loss, increase seedling survival rate, and reduce pests and diseases. However, current tobacco cultivation techniques are relatively backward, mainly relying on manual cultivation methods with low levels of mechanization.

[0003] Mechanized tobacco transplanting technology is a crucial breakthrough for modernizing tobacco production. To improve tobacco planting and transplanting techniques, further research and improvement of transplanting technology are essential. Currently, the mechanization level of tobacco transplanting machinery is low; traditional equipment largely relies on manual labor during operation. Therefore, it is necessary to develop a new type of tobacco transplanting machinery to improve work efficiency and reduce the labor intensity for farmers. The current tobacco planting area exceeds 2 million hectares. Promoting and applying a tobacco transplanting machine can enable the tobacco industry to achieve sustainable and stable development and higher economic benefits. Summary of the Invention

[0004] This invention provides a tobacco transplanter for constructing a mechanical platform for tobacco transplanting, thereby addressing the shortcomings of manual planting.

[0005] The technical solution of this invention is: a tobacco transplanter, comprising a seedling tray conveying mechanism 1, a walking and turning device 4, a seedling picking device 5, a seedling spacing adjustment device 6, a seedling tray collection box 9, and a seedling transplanting mechanism 10; the walking and turning device 4 is used for walking and turning; the seedling tray conveying mechanism 1 is used to store seedling trays and to change the direction of movement of the seedling trays: moving from a first direction of movement to a second direction of movement, and turning from the second direction of movement to a third direction of movement; the seedling picking device 5 is used to grab / release tobacco seedlings on the seedling trays moving to the second direction of movement, thereby adjusting the spacing of the grabbed seedlings; the seedling tray collection box 9 is used to collect empty seedling trays from the third direction of movement; the seedling spacing adjustment device 6 is used to transfer and adjust the spacing of the tobacco seedlings released by the seedling picking device 5; and the seedling transplanting mechanism 10 is used to transplant the tobacco seedlings conveyed by the seedling spacing adjustment device 6.

[0006] The seedling tray conveying mechanism 1 includes a seedling tray 1-1, a seedling delivery plate 1-2, a plate electric cylinder connector 1-3, an electric cylinder 1-4, a seedling tray support rod 1-5, a lifting crossbeam 1-6, a lead screw slider 1-8, a lifting structure stepper motor 1-11, a lifting structure lead screw 1-15, and a seedling tray check valve. The lead screw slider 1-8 is mounted on the back side of the lifting crossbeam 1-6. The lead screw slider 1-8 is driven by the lifting structure stepper motor 1-11 to move along a first direction of motion. The seedling tray support rod 1-5 is inserted into the lifting crossbeam 1-6 and moves from the lifting crossbeam. The front of the crossbeam 1-6 extends out and supports the seedling tray 1-1 via the seedling tray support rod 1-5. The output shaft of the electric cylinder 1-4 is equipped with a flat electric cylinder connector 1-3 to connect with the seedling delivery plate 1-2. When the seedling tray 1-1 is delivered to the seedling delivery plate 1-2 and stabilized, the electric cylinder 1-4 moves within its stroke range in conjunction with the seedling picking device 5 to grab the seedlings. When the electric cylinder 1-4 reaches the end of its stroke, the edge of the seedling tray 1-1 is caught by the seedling tray check device, the electric cylinder 1-4 retracts, and the empty seedling tray 1-1 falls into the seedling tray collection box 9.

[0007] The walking and steering device 4 includes an output bevel gear shaft 4-1, an output shaft 4-2, an input bevel gear 4-5, a universal joint 4-6, a tire 4-9, a motor 4-10, a reducer 4-11, a steering chassis 4-12, a flange 4-14, and a steering section. The steering section includes a steering stepper motor 4-3, a bogie 4-7, a steering sector gear 4-8, an output gear 4-4, a steering link 4-13, and an idler gear 4-15. The steering chassis 4-12, bogie 4-7, and steering link 4-13 form an Ackermann steering device with a parallel four-bar linkage. Two bogies 4-7 are respectively mounted at both ends of the steering chassis 4-12 to form a revolute pair. The steering link 4-13 passes through the steering chassis 4-12 and connects to the two bogies 4-7 at both ends. The output shaft of the motor 4-10 is connected to the reducer 4-1. The input shaft of the reducer 4-11 is connected and the entire assembly is mounted on the steering chassis 4-12. The output end of the reducer 4-11 is connected to the input bevel gear 4-5. The bevel gear on the output bevel gear shaft 4-1 meshes with the input bevel gear 4-5 for transmission. Two universal joints 4-6 are connected to both ends of the output bevel gear shaft 4-1. The other end of the universal joint 4-6 is connected to one end of the output shaft 4-2. The other end of the output shaft 4-2 is fitted with a tire 4-9. The steering mechanism drives the output gear 4-4 to rotate through the steering stepper motor 4-3. The output gear 4-4 meshes with the idler gear 4-15. The idler gear 4-15 meshes with the steering sector gear 4-8 to achieve a large reduction ratio transmission. The steering sector gear 4-8 is fixedly connected to the bogie 4-7 on one side. Under the torque provided by the steering stepper motor 4-3, the steering sector gear 4-8 is driven to rotate, thereby rotating the bogie 4-7.

[0008] The seedling picking device 5 includes a left-right movable connecting plate 5-4, a front-back movable slider 5-6, a front-back movable lead screw 5-7, a seedling lifting device 5-8, a seedling gripper 5-9, a front-back movable stepper motor 5-11, a left-right movable lead screw 5-13, a left-right movable stepper motor 5-15, and a left-right rotating integrated lead screw system 5-16; wherein, the front-back movable slider 5-6 is mounted on the front-back movable lead screw 5-7, and the front-back movable lead screw 5-7 is driven by the front-back movable stepper motor 5-11 to move the front-back movable slider. 5-6 moves along the second direction of motion; the left and right moving connecting plate 5-4 is installed on the front and rear moving slider 5-6, and the left and right moving stepper motor 5-15 on the left and right moving connecting plate 5-4 drives the left and right moving lead screw 5-13 to move the seedling lifting device 5-8 on the left and right moving lead screw 5-13; the stepper motor on the left and right rotating integrated lead screw system 5-16 rotates to realize the pitch change of the seedling gripper 5-9, the seedling gripper 5-9 is used to clamp / release the seedlings, and the seedling lifting device 5-8 drives the seedling gripper 5-9 to move.

[0009] The tobacco seedling spacing adjustment device 6 includes a transfer mechanism 6-1, a support sprocket 6-2, a transfer mechanism chain 6-3, a transfer mechanism drive sprocket 6-4, a spacing adjustment main shaft 6-5, a spacing adjustment input sprocket 6-6, a spacing adjustment stepper motor 6-17, a power input chain 6-7, a power output sprocket 6-9, a transfer mechanism drive wheel 6-10, a stepper motor reducer 6-13, a seedling planting mechanism drive wheel 6-14, and a reversing reducer 6-16; wherein, the output shaft of the spacing adjustment stepper motor 6-17 is connected to the input shaft of the stepper motor reducer 6-13, and the power output sprocket 6-9 is mounted on the output shaft of the stepper motor reducer 6-13; the transfer mechanism... The drive sprocket 6-4, the plant spacing adjustment input sprocket 6-6, and the planting mechanism drive wheel 6-14 are respectively mounted on the plant spacing adjustment main shaft 6-5. The power input chain 6-7 transmits the motion of the power output sprocket 6-9 to the plant spacing adjustment input sprocket 6-6. The transfer mechanism chain 6-3 meshes with the transfer mechanism drive wheel 6-10, the transfer mechanism drive sprocket 6-4, and the support sprocket 6-2. The transfer mechanism drive wheel 6-10 is mounted on the transfer mechanism shaft 6-11 and transmits power to the transfer mechanism 6-1 through the reversing reducer 6-16 mounted on the transfer mechanism shaft 6-11. Power is transmitted to the planting mechanism 10 through the planting mechanism drive wheel 6-14.

[0010] The transfer mechanism 6-1 includes a support sprocket 6-1-1, a seedling cup chain 6-1-2, a transmission sprocket 6-1-3, a seedling cup support plate 6-1-4, and self-opening seedling cups. Power is transmitted through a reversing reducer 6-16 mounted on the transfer mechanism shaft 6-11, causing the transmission sprocket 6-1-3 to rotate. The seedling cup chain 6-1-2 is mounted on the support sprocket 6-1-1 and the transmission sprocket 6-1-3. Self-opening seedling cups are evenly spaced on the seedling cup chain 6-1-2, and the self-opening seedling cups cooperate with the seedling cup support plate 6-1-4 to achieve the opening and closing of the self-opening seedling cups.

[0011] It also includes a compaction device 8, which is used to compact the tobacco seedlings.

[0012] The seedling planting mechanism 10 includes a seedling planting mechanism transmission chain 10-1, a seedling planting mechanism driven wheel 10-2, a planting mechanism 10-3, and a seedling planting mechanism hexagonal transmission shaft 10-4. The seedling planting mechanism driven wheel 10-2 is mounted on the seedling planting mechanism hexagonal transmission shaft 10-4, and the power is transmitted from the seedling planting mechanism drive wheel 6-14 in the tobacco seedling spacing adjustment device 6 to the seedling planting mechanism driven wheel 10-2 through the seedling planting mechanism transmission chain 10-1. The hexagonal coupling 10-3-7 of the planting mechanism 10-3 is mounted on the seedling planting mechanism hexagonal transmission shaft 10-4.

[0013] The planting mechanism 10-3 includes a concentric disc 10-3-2, a hinge bracket 10-3-3, a connecting rod 10-3-4, an eccentric disc 10-3-5, an eccentric support disc fixing frame 10-5, a hexagonal coupling 10-3-7, a roller I 10-3-8, an eccentric support disc 10-3-9, an eccentric support disc bearing 10-3-10, and multiple hinges. The centers of the two concentric discs 10-3-2 are connected by the hexagonal coupling 10-3-7. The edges of the concentric discs 10-3-2 are respectively fixedly connected to the tips of the hinge brackets 10-3-3. A hinge is installed in the middle of the two hinge brackets 10-3-3. The hinge shaft 10-3-13 on one side of the hinge is connected to the hinge bracket 10-3-3 through a bearing. The hinge shaft 10-3-13 on the other side of the hinge is connected to the hinge bracket 10-3-3 in sequence through... The bearing is fixedly connected to one end of the connecting rod 10-3-4, and the other end of the connecting rod 10-3-4 is rotatably connected to the eccentric disk 10-3-5. Roller I 10-3-8 is installed on the eccentric support disk 10-3-9, and roller I 10-3-8 restricts the eccentric disk 10-3-5 from rotating on the eccentric support disk 10-3-9. The concentric disk 10-3-2 rotates around the hexagonal transmission shaft 10-4 of the seedling transplanting mechanism and swings with the moving connecting rod 10-3-4. When any one of the opening and closing devices in the planting mechanism 10-3 moves to the bottom to transplant the seedling, the swing of the connecting rod 10-3-4 drives the roller II 10-3-12 on the opening and closing device shaft 10-3-13 to contact the linear cam on the opening and closing device bracket 10-3-3, causing the opening and closing device spout 10-3-6 to move and open, completing the transplanting of a tobacco seedling.

[0014] The opening and closing device includes an opening 10-3-1, an opening and closing duckbill 10-3-6, an elastic rope 10-3-11, a roller II 10-3-12, an opening and closing device shaft 10-3-13, and an elastic rope fixing pin 10-3-14. The opening 10-3-1 is fixed to the opening and closing device shaft 10-3-13. The elastic rope fixing pin 10-3-14 is installed in a pre-drilled hole in the opening and closing device shaft 10-3-13. The elastic rope 10-3-11 and the opening and closing duckbills 10-3-6 on both sides are installed on the elastic rope fixing pin 10-3-14. The roller II 10-3-12 is installed on the opening and closing duckbills 10-3-6 on both sides.

[0015] The beneficial effects of this invention are as follows: This invention constructs a mechanical platform for tobacco transplanting through a rational structure and connection. Specifically, the walking and steering device is installed at the front of the machine, allowing it to move across different terrains with high stability and flexibility. It uses a stepper motor to drive a sector gear for steering, achieving high precision and accurate steering control. The seedling tray transport mechanism can store seedling trays, minimizing the footprint of the trays, and can also change the direction of movement of the seedling trays. Furthermore, in conjunction with the seedling retrieval device and the seedling tray collection box, it can retrieve seedlings and collect empty seedling trays after retrieval. Through the cooperation of the seedling retrieval device and the tobacco seedling spacing adjustment device, the transfer and spacing adjustment of the tobacco seedlings released by the seedling retrieval device can be achieved, and the transferred seedlings are transplanted through the planting mechanism. This invention has a compact and ingenious structural design, a high degree of automation, and can replace a large amount of manpower, reducing planting costs. Attached Figure Description

[0016] Figure 1 This is an axial view of the three-dimensional structure of the present invention;

[0017] Figure 2 This is an axial view of the overall frame of the present invention;

[0018] Figure 3 This is a front axial view of the seedling tray transport mechanism of the present invention;

[0019] Figure 4 This is a rear axial view of the seedling tray transport mechanism of the present invention;

[0020] Figure 5 This is a perspective view of the check valve of the seedling tray transport mechanism of the present invention;

[0021] Figure 6 This is a schematic diagram of the tobacco seedling tray check valve of the present invention;

[0022] Figure 7 This is a front perspective view of the walking and steering device of the present invention;

[0023] Figure 8 This is a rear perspective view of the walking and steering device of the present invention;

[0024] Figure 9 This is an axial view of the chassis structure of the present invention;

[0025] Figure 10 Axial view of the seedling taking device of the present invention Figure 1 ;

[0026] Figure 11 Axial view of the seedling taking device of the present invention Figure 2 ;

[0027] Figure 12 This is a view of the synchronous belt installation of the seedling collection device of the present invention;

[0028] Figure 13 This is an axial view of the left and right moving parts of the seedling-taking device of the present invention;

[0029] Figure 14 This is an axial view of the seedling lifting device and the tobacco seedling clamp of the seedling picking device of the present invention;

[0030] Figure 15 This is an axial view of the tobacco seedling gripper of the seedling picking device of the present invention;

[0031] Figure 16 This is a front axial view of the tobacco seedling spacing adjustment device of the present invention. Figure 1 ;

[0032] Figure 17 This is a front axial view of the tobacco seedling spacing adjustment device of the present invention. Figure 2 ;

[0033] Figure 18 This is a rear axial view of the tobacco seedling spacing adjustment device of the present invention;

[0034] Figure 19 This is an axial view of the transfer mechanism of the tobacco seedling spacing adjustment device of the present invention;

[0035] Figure 20 This is a partial view of the self-opening seedling cup of the tobacco seedling spacing adjustment device of the present invention;

[0036] Figure 21 This is an axial view of the self-opening seedling cup of the present invention;

[0037] Figure 22 Axial view of the compaction device of the present invention Figure 1 ;

[0038] Figure 23 Axial view of the compaction device of the present invention Figure 2 ;

[0039] Figure 24 This is a cross-sectional view of the compaction device of the present invention;

[0040] Figure 25 This is an axial view of the planting mechanism and frame assembly of the present invention;

[0041] Figure 26 This is an axial view of the planting mechanism of the present invention;

[0042] Figure 27 This is an axial view of the hidden parts of the planting mechanism of the present invention;

[0043] Figure 28 This is an axial view of the eccentric disc of the planting mechanism of the present invention;

[0044] Figure 29This is an axial view of the opening and closing mechanism of the planting mechanism of the present invention;

[0045] Figure 30 This is an axial view of the opening and closing bracket of the planting mechanism of the present invention;

[0046] Figure 31 This is a schematic diagram of the planting mechanism of the present invention when the linear cam and roller II are not in contact;

[0047] Figure 32 This is a schematic diagram showing the contact between the linear cam and roller II in the planting mechanism of the present invention;

[0048] Figure 33 This is an axial view of the sector gear of the walking and steering device of the present invention;

[0049] Figure 34 This is an axial view of the steering bracket of the walking and steering device of the present invention;

[0050] Figure 35 This is a flowchart of the motion process of the present invention;

[0051] The following components are labeled in the diagram: 1-Seedling tray conveying mechanism, 2-Control box, 3-Battery pack, 4-Walking and steering device, 5-Seedling picking device, 6-Seedling transfer device, 7-Integrated frame, 8-Compacting device, 9-Seedling tray collection box, 10-Seedling planting mechanism, 1-1 Seedling tray, 1-2 Seedling delivery plate, 1-3 Plate electric cylinder connector, 1-4 Electric cylinder, 1-5 Seedling tray support rod, 1-6 Lifting crossbeam, 1-7 Seedling tray check valve sleeve, 1-8 Screw slider, 1-9 Top screw fixing device, 1-10 Lifting structure smooth rod, 1-11 Lifting structure stepper motor, 1-12 Screw fixing device, 1-13 Screw slider, 1-14 Seedling tray support rod fixing device, 1-15 Lifting structure screw, 1-16 Motor screw coupling, 1 -17 Check spring, 1-18 Check wedge, 4-1 Output bevel gear shaft, 4-2 Output shaft, 4-3 Steering stepper motor, 4-4 Output gear, 4-5 Input bevel gear, 4-6 Universal joint, 4-7 Bogie, 4-8 Steering sector gear, 4-9 Tire, 4-10 Motor, 4-11 Reducer, 4-12 Steering chassis, 4-13 Steering linkage, 4-14 Flange, 4-15 Idler gear, 5-1 Seedling picking device crossbeam, 5-2 Synchronous belt, 5-3 Seedling picking device smooth rod retainer, 5-4 Left and right moving connecting plate, 5-5 Front and rear moving smooth rod, 5-6 Front and rear moving slider, 5-7 Front and rear moving lead screw, 5-8 Seedling lifting device, 5-9 Seedling gripper, 5-10 Seedling picking device lead screw retainer, 5-11 Front and rear moving... Stepper motor, 5-12 Synchronous pulley, 5-13 Left / right moving lead screw, 5-14 Left / right moving guide rod, 5-15 Left / right moving stepper motor, 5-16 Left / right rotating integrated lead screw system, 5-8-1 Left / right moving slider, 5-8-2 Seedling lifting device stepper motor, 5-8-3 Seedling lifting device guide rod, 5-8-4 Seedling lifting device slider, 5-8-5 Seedling lifting device lead screw, 5-9-1 Connecting rod, 5-9-2 Servo lever, 5-9-3 Servo mounting bracket, 5-9-4 Gripper rubber sleeve, 5-9-5 Pitch variable slider, 5-9-6 Left side gripper, 5-9-7 Connecting column, 5-9-8 Right side gripper, 5-9-9 Gripper servo, 6-1 Transfer mechanism, 6-2 Support sprocket, 6-3 Transfer mechanism chain, 6-4 Transfer mechanism drive sprocket 6-5 Plant spacing adjustment main shaft, 6-6 Plant spacing adjustment stepper motor, 6-7 Power input chain, 6-8 Motor mounting bracket, 6-9 Power output sprocket, 6-10 Transfer mechanism drive wheel, 6-11 Transfer mechanism shaft, 6-12 Bearing seat, 6-13 Stepper motor reducer, 6-14 Seedling transplanting mechanism drive wheel, 6-15 Bearing seat mounting bracket, 6-16 Reversing reducer, 6-17 Stepper motor, 6-1-1 Support sprocket, 6-1-2 Seedling cup chain, 6-1-3 Transmission sprocket, 6-1-4 Seedling cup support plate, 6-1-5 Self-opening seedling cup body, 6-1-6 Torsion spring, 6-1-7 Self-opening seedling cup bottom, 7-1 Transfer device and seedling picking device frame, 7-2 Seedling transplanting device and depth adjustment frame, 7-3 Main frame7-4 Seedling delivery device frame, 7-5 Power and steering mechanism frame, 8-1 Handwheel, 8-2 Depth adjustment screw, 8-3 Middle fixing frame, 8-4 Depth adjustment connecting rod, 8-5 Compacting wheel, 8-6 Upper fixing bracket, 10-1 Transmission chain of seedling planting mechanism, 10-2 Driven wheel of seedling planting mechanism, 10-3 Planting mechanism, 10-4 Hexagonal transmission shaft of seedling mechanism, 10-5 Eccentric support plate fixing frame, 10-3-1 Opening and closing port, 10 -3-2 Concentric disc, 10-3-3 Opener / closer bracket, 10-3-4 Connecting rod, 10-3-5 Eccentric disc, 10-3-6 Opener / closer duckbill, 10-3-7 Hexagonal coupling, 10-3-8 Roller I, 10-3-9 Eccentric support disc, 10-3-10 Eccentric support disc bearing, 10-3-11 Elastic rope, 10-3-12 Roller II, 10-3-13 Opener / closer shaft, 10-3-14 Elastic rope fixing pin. Detailed Implementation

[0052] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0053] Example 1: As Figure 1-35 As shown, a tobacco transplanter includes a seedling tray transport mechanism 1, a walking and turning device 4, a seedling picking device 5, a seedling spacing adjustment device 6, a seedling tray collection box 9, and a seedling transplanting mechanism 10. The walking and turning device 4 is used for walking and turning. The seedling tray transport mechanism 1 is used to store seedling trays and change the direction of movement of the seedling trays: from a first direction of movement to a second direction of movement, and from the second direction of movement to a third direction of movement. The seedling picking device 5 is used to pick up / release tobacco seedlings on the seedling trays moving to the second direction of movement within the movement space of a rectangular coordinate system, thereby adjusting the spacing of the picked seedlings. The seedling tray collection box 9 is used to collect empty seedling trays from the third direction of movement. The seedling spacing adjustment device 6 is used to transfer and adjust the spacing of the tobacco seedlings released by the seedling picking device 5. The seedling transplanting mechanism 10 is used to transplant the tobacco seedlings transported by the seedling spacing adjustment device 6.

[0054] Furthermore, it also includes a control box 2, a battery pack 3, and an overall frame 7, each powered by a separate power source to achieve automated control; such as Figure 2As shown, the overall frame 7 includes a transfer device and seedling picking device frame 7-1, a seedling planting device and depth adjustment frame 7-2, a main frame 7-3, U-bolts 7-4, and a power and steering mechanism frame 7-5; each part is welded from hollow square steel of different diameters according to the designed shape; the main frame 7-3 is the core of the overall frame, and the power and steering mechanism frame 7-5 is fixed to the bottom of the main frame 7-3 by four U-bolts 7-4; the transfer device and seedling picking device frame 7-1 is fixed to the front of the main frame 7-3 by four U-bolts 7-4. The side; the seedling insertion device and depth adjustment frame 7-2 are fixed to the front side of the transfer device and seedling taking device frame 7-1 by four U-bolts 7-4; the battery pack 3 is provided with 48V DC power by a series and parallel connection of eight 12V / 10A lead-acid batteries, and is fixed to the power and steering mechanism frame 7-5 by an electrical mounting bracket; the control box 2 realizes the control of the DC motors, stepper motors and other actuators of each part, and is fixed to the main frame 7-3 by bolts; the seedling tray collection box 9 is fixed to the main frame 7-3 by bolts.

[0055] Further, the seedling tray conveying mechanism 1 includes a seedling tray 1-1, a seedling feeding plate 1-2, a plate electric cylinder connector 1-3, an electric cylinder 1-4, a seedling tray support rod 1-5, a lifting beam 1-6, a lead screw slider 1-8, a lifting structure stepper motor 1-11, a lifting structure lead screw 1-15, and a seedling tray check valve; wherein, the lead screw slider 1-8 is installed on the back side of the lifting beam 1-6, and the lead screw slider 1-8 is driven to move along the first motion direction by the lifting structure stepper motor 1-11, and the seedling tray support rod 1-5 is inserted into the lifting beam 1-6 and... Extending from the front of the lifting beam 1-6, the seedling tray 1-1 is supported by the seedling tray support rod 1-5; the output shaft of the electric cylinder 1-4 is equipped with a flat electric cylinder connector 1-3 to connect with the seedling delivery plate 1-2. When the seedling tray 1-1 is delivered to the seedling delivery plate 1-2 and stabilized, the electric cylinder 1-4 moves within its stroke range in conjunction with the seedling picking device 5 to grab the seedlings; when the electric cylinder 1-4 reaches the end of its stroke, the edge of the seedling tray 1-1 is caught by the seedling tray check device, the electric cylinder 1-4 retracts its stroke, and the empty seedling tray 1-1 falls into the seedling tray collection box 9.

[0056] Furthermore, the tobacco seedling tray check device includes a tobacco seedling tray check device sleeve 1-7, a check spring 1-17, and a check wedge 1-18; one end of the check spring 1-17 is welded and fixed to the bottom inner side of the tobacco seedling tray check device sleeve 1-7, and the check wedge 1-18 is welded and fixed to the other end of the check spring 1-17 and extends out from the tobacco seedling tray check device sleeve 1-7. The check wedge 1-18 ensures that the tobacco seedling tray 1-1 can only move forward and cannot move backward.

[0057] like Figure 3-5As shown, the seedling tray conveying mechanism 1 includes a seedling tray 1-1, a seedling feeding plate 1-2, a plate electric cylinder connector 1-3, an electric cylinder 1-4, a seedling tray support rod 1-5, a lifting crossbeam 1-6, a lead screw slider 1-8, a top lead screw retainer 1-9, a lifting structure guide rod 1-10, a lifting structure stepper motor 1-11, a guide rod retainer 1-12, a guide rod slider 1-13, a seedling tray support rod retainer 1-14, a lifting structure lead screw 1-15, a motor lead screw coupling 1-16, and a seedling tray check valve; wherein, the lifting structure stepper motor 1-10... 11 is fixed to the main frame 7-3 by a fixing bracket. The output shaft of the lifting structure stepper motor 1-11 is connected to one end of the motor lead screw coupling 1-16, and the other end of the motor lead screw coupling 1-16 is connected to the lower end of the lifting structure lead screw 1-15. The upper end of the lifting structure lead screw 1-15 is fixed to the top lead screw retainer 1-9, which is fixed to the main frame 7-3. Four smooth rod retainers 1-12 are fixed to the four corners of the main frame 7-3 to fix two lifting structure smooth rods 1-10. On the back of the lifting beam 1-6 A screw slider 1-8, which mates with the lifting structure screw 1-15, is installed in the middle of the section. Smooth rod sliders 1-13, which mate with the lifting structure smooth rod 1-10, are installed at both ends of the back of the lifting beam 1-6. A tobacco seedling tray support rod holder 1-14 is installed at a suitable position on the lifting beam 1-6. The tobacco seedling tray support rod 1-5 is inserted into the tobacco seedling tray support rod holder 1-14 for fixation, and the tobacco seedling tray support rod 1-5 is perpendicular to the lifting beam 1-6 and the lifting structure screw 1-15. The tobacco seedling tray 1-1 can be placed on the tobacco seedling tray support rod 1-5. Six lifting beams... Modules 1-6 are installed on the lead screw system composed of the aforementioned components. Under the forward and reverse rotation of the stepper motor, they realize the storage and transmission of the tobacco seedling tray 1-1. The electric cylinder 1-4 is fixed to a pre-welded platform on the main frame 7-3. A flat electric cylinder connector 1-3 is installed on the output shaft of the electric cylinder 1-4 to connect with the seedling delivery plate 1-2, which is located between the tobacco seedling tray support rods 1-5. When the tobacco seedling tray 1-1 is delivered onto the seedling delivery plate 1-2 and stabilized, the electric cylinder 1-4, within its stroke range, works in conjunction with the seedling picking device 5 to slowly move forward and grasp the tobacco seedlings. Figure 35 As shown, the tobacco seedling tray check valve includes a tobacco seedling tray check valve sleeve 1-7, a check spring 1-17, and a check wedge 1-18. The function of the check wedge 1-18 is to control the tobacco seedling tray 1-1 to only move forward and not backward. When the tobacco seedlings in the tobacco seedling tray 1-1 are all removed, the electric cylinder 1-4 moves to the end of its stroke, and the edge of the tobacco seedling tray 1-1 is caught by the check wedge 1-18 of the tobacco seedling tray check valve. The electric cylinder 1-4 then retracts its stroke, and the empty tobacco seedling tray 1-1 falls into the seedling tray collection box 9, thus achieving collection.

[0058] Further, the walking and steering device 4 includes an output bevel gear shaft 4-1, an output shaft 4-2, an input bevel gear 4-5, a universal joint 4-6, a tire 4-9, a motor 4-10, a reducer 4-11, a steering chassis 4-12, a flange 4-14, and a steering section; the steering section includes a steering stepper motor 4-3, a bogie 4-7, a steering sector gear 4-8, an output gear 4-4, a steering link 4-13, and an idler gear 4-15; wherein, the steering chassis 4-12, the bogie 4-7, and the steering link 4-13 form an Ackermann steering device with a parallel four-bar linkage, the two bogies 4-7 are respectively mounted at both ends of the steering chassis 4-12 to form a revolute pair, and the steering link 4-13 passes through the steering chassis 4-12 and is connected to the two bogies 4-7 at both ends respectively; the output shaft of the motor 4-10 is connected to the reducer The input shaft of 4-11 is connected and the whole assembly is mounted on the steering chassis 4-12. The output end of the reducer 4-11 is connected to the input bevel gear 4-5. The bevel gear on the output bevel gear shaft 4-1 meshes with the input bevel gear 4-5 for transmission. Two universal joints 4-6 are connected to both ends of the output bevel gear shaft 4-1. The other end of the universal joint 4-6 is connected to one end of the output shaft 4-2. The other end of the output shaft 4-2 is equipped with a tire 4-9. The steering part drives the output gear 4-4 to rotate through the steering stepper motor 4-3. The output gear 4-4 meshes with the idler gear 4-15. The idler gear 4-15 meshes with the steering sector gear 4-8 to achieve a large reduction ratio transmission. The steering sector gear 4-8 is fixedly connected to the bogie 4-7 on one side. Under the torque provided by the steering stepper motor 4-3, the steering sector gear 4-8 is driven to rotate, thereby rotating the bogie 4-7.

[0059] like Figure 7-9As shown in Figures 33 and 34, the walking and steering device 4 includes an output bevel gear shaft 4-1, an output shaft 4-2, an input bevel gear 4-5, a universal joint 4-6, a tire 4-9, a motor 4-10, a reducer 4-11, a steering chassis 4-12, a flange 4-14, and a steering section. The steering section includes a steering stepper motor 4-3, a bogie 4-7, a steering sector gear 4-8, an output gear 4-4, a steering link 4-13, and an idler gear 4-15. The steering chassis 4-12 is connected to the power and steering mechanism frame 7-5 by welding and realizes the connection, fixation, and installation of the various components of the walking and steering device 4. The steering chassis 4-12, the bogie 4-7, and the steering link 4-13 form a parallel four-bar linkage Ackermann steering device. The two bogies 4-7 are... The steering linkage 4-13 is installed at both ends of the steering chassis 4-12 to form a rotating pair. The steering linkage 4-13 passes through the steering chassis 4-12 and is connected to two bogies 4-7 at both ends. The bogies 4-7 have bearings to reduce friction. The output shaft of the motor 4-10 is connected to the input shaft of the reducer 4-11 and is installed on the steering chassis 4-12 as a whole. The output end of the reducer 4-11 is connected to the input bevel gear 4-5. The bevel gear on the output bevel gear shaft 4-1 meshes with the input bevel gear 4-5 and is installed on the steering chassis 4-12. Two universal joints 4-6 are connected to both ends of the output bevel gear shaft 4-1. The other end of the universal joint 4-6 is connected to one end of the output shaft 4-2. The other end of the output shaft 4-2 is connected to the flange 4-14. The tire 4-9 is installed on the flange 4-14. The steering mechanism is achieved by a steering stepper motor 4-3 driving an output gear 4-4, which meshes with an idler gear 4-15. The idler gear 4-15 meshes with a steering sector gear 4-8 to achieve a large reduction ratio transmission. The steering sector gear 4-8 is fixedly connected to the bogie 4-7 on the right side. Under the torque provided by the steering stepper motor 4-3, the steering sector gear 4-8 is driven to rotate, thereby rotating the bogie 4-7. Ultimately, this achieves the rotation of the Ackermann steering device of the parallel four-bar linkage, thus controlling the steering of the machine.

[0060] Furthermore, the seedling picking device 5 includes a left-right movable connecting plate 5-4, a front-back movable slider 5-6, a front-back movable lead screw 5-7, a seedling lifting device 5-8, a seedling gripper 5-9, a front-back movable stepper motor 5-11, a left-right movable lead screw 5-13, a left-right movable stepper motor 5-15, and a left-right rotating integrated lead screw system 5-16; wherein, the front-back movable slider 5-6 is mounted on the front-back movable lead screw 5-7, and the front-back movable lead screw 5-7 is driven by the front-back movable stepper motor 5-11 to move forward and backward. The movable slider 5-6 moves along the second direction of motion; the left and right moving connecting plate 5-4 is installed on the front and rear moving slider 5-6, and the left and right moving stepper motor 5-15 on the left and right moving connecting plate 5-4 drives the left and right moving lead screw 5-13 to move the seedling lifting device 5-8 on the left and right moving lead screw 5-13; the stepper motor on the left and right rotating integrated lead screw system 5-16 rotates to realize the pitch change of the seedling gripper 5-9, the seedling gripper 5-9 is used to clamp / release the seedlings, and the seedling lifting device 5-8 drives the seedling gripper 5-9 to move.

[0061] like Figure 10-15As shown, the seedling taking device 5 includes a seedling taking device consisting of a crossbeam 5-1, a synchronous belt 5-2, a seedling taking device smooth rod fixer 5-3, a left-right moving connecting plate 5-4, a front-back moving smooth rod 5-5, a front-back moving slider 5-6, a front-back moving lead screw 5-7, a seedling lifting device 5-8, a tobacco seedling gripper 5-9, a seedling taking device lead screw fixer 5-10, a front-back moving stepper motor 5-11, a synchronous wheel 5-12, a left-right moving lead screw 5-13, a left-right moving smooth rod 5-14, a left-right moving stepper motor 5-15, and a left-right rotating integrated lead screw system 5-16; two seedling taking device smooth rod fixers 5-3 are respectively installed at appropriate positions at both ends of the two crossbeams 5-1, one above the other, and four front and rear crossbeams 5-1. The movable guide rod 5-5 is fixed by the guide rod holder 5-3 of the seedling picking device. The rectangular component as a whole is installed on the frame 7-1 of the transfer device and the seedling picking device. The front and rear moving lead screws 5-7 are installed between the two front and rear moving guide rods 5-5 and fixed at both ends to the crossbeam 5-1. The front and rear moving stepper motor 5-11 is connected to one of the front and rear moving lead screws 5-7 through a coupling. The synchronous pulley 5-12 is installed on the two front and rear moving lead screws 5-7. The synchronous belt 5-2 is installed on the synchronous pulley 5-12. When the front and rear moving lead screw 5-7 on the side with the stepper motor is installed rotates, it drives the synchronous pulley 5-12 to rotate. Under the force transmitted by the synchronous belt 5-2, the front and rear moving lead screw 5-7 on the other side is rotated synchronously. The front-to-back moving slider 5-6 is mounted on the front-to-back moving lead screw 5-7 and the front-to-back moving guide rod 5-5; the left-to-right moving connecting plate 5-4 is mounted on the front-to-back moving slider 5-6, and two seedling lifting device guide rod fixers 5-3 are respectively mounted on the left-to-right moving guide rods 5-14 on both sides of the left-to-right moving guide rods 5-14. The left-to-right moving lead screw 5-13 is installed in the middle of the two left-to-right moving guide rods 5-14, and both ends of the left-to-right moving lead screw 5-13 are mounted on the left-to-right moving connecting plate 5-4. One side is connected to the left-to-right moving stepper motor 5-15 by a coupling; the left-to-right moving slider 5-8-1 of the seedling lifting device 5-8 is mounted on the left-to-right moving guide rods 5-14 and the left-to-right moving lead screw 5-13. The left and right movement stepper motor 5-15 rotates to move the left and right slider 5-8-1 left and right. The seedling lifting device 5-8 consists of the left and right movement slider 5-8-1, the seedling lifting device stepper motor 5-8-2, the seedling lifting device smooth rod 5-8-3, the seedling lifting device slider 5-8-4, and the seedling lifting device lead screw 5-8-5. The two seedling lifting device smooth rods 5-8-3 and the seedling lifting device lead screw 5-8-5 are installed in appropriate positions on the left and right movement slider 5-8-1. The seedling lifting device slider 5-8-4 is installed on the seedling lifting device smooth rod 5-8-3 and the seedling lifting device lead screw 5-8-5. The seedling lifting device stepper motor 5-8-2 rotates, causing the seedling lifting device slider 5-8-4 to move up and down, completing the seedling lifting action.The left- and right-hand rotating integrated screw system 5-16 is a type of pitch-changing device on the market. It has three seedling grippers 5-9 installed on it, with one gripper 5-9 fixed in the middle and one gripper 5-9 on the left-hand and right-hand rotating sections of the screw. When retrieving seedlings from the seedling tray 1-1, the spacing between the seedlings on the tray is too small, requiring the three seedling grippers 5-9 to be reduced in size. When placing the seedlings into the transfer mechanism 6-1, the spacing between the self-opening seedling cups is large, necessitating an increase in the spacing between the three seedling grippers 5-9. The stepper motor on the left-right rotating integrated lead screw system 5-16 rotates to achieve pitch variation of the three tobacco seedling grippers 5-9. Each gripper 5-9 consists of a connecting rod 5-9-1, a servo motor 5-9-2, a servo motor mounting bracket 5-9-3, a gripper rubber sleeve 5-9-4, a pitch-variable slider 5-9-5, a left gripper 5-9-6, a connecting post 5-9-7, a right gripper 5-9-8, and a gripper servo motor 5-9-9. The left and right grippers 5-9-6 and 5-9-8 are covered with rubber sleeves, and the grippers on both sides use gear meshing to ensure stable opening and closing. The left gripper 5-9-6 is designed to mount the connecting post 5-9-7. One end of the connecting rod 5-9-1 connects to the connecting post 5-9-7, and the other end connects to the servo motor 5-9-2. The servo motor 5-9-2 is mounted on the gripper servo motor 5-9-9, and rotation of the servo motor opens and closes the gripper. The gripper servo motor 5-9-9 is mounted on the servo motor mounting bracket 5-9-3, and the servo motor mounting bracket 5-9-3 is mounted on the pitch slider 5-9-5. This ultimately forms the seedling-grabbing device 5 of the tobacco transplanter.

[0062] Furthermore, the tobacco seedling spacing adjustment device 6 includes a transfer mechanism 6-1, a support sprocket 6-2, a transfer mechanism chain 6-3, a transfer mechanism drive sprocket 6-4, a spacing adjustment main shaft 6-5, a spacing adjustment input sprocket 6-6, a spacing adjustment stepper motor 6-17, a power input chain 6-7, a power output sprocket 6-9, a transfer mechanism drive wheel 6-10, a stepper motor reducer 6-13, a seedling transplanting mechanism drive wheel 6-14, and a reversing reducer 6-16; wherein, the output shaft of the spacing adjustment stepper motor 6-17 is connected to the input shaft of the stepper motor reducer 6-13, and the power output sprocket 6-9 is mounted on the output shaft of the stepper motor reducer 6-13. The transfer mechanism's drive sprocket 6-4, plant spacing adjustment input sprocket 6-6, and transplanting mechanism drive wheel 6-14 are respectively mounted on the plant spacing adjustment main shaft 6-5. The power input chain 6-7 transmits the motion of the power output sprocket 6-9 to the plant spacing adjustment input sprocket 6-6. The transfer mechanism chain 6-3 meshes with the transfer mechanism drive wheel 6-10, transfer mechanism drive sprocket 6-4, and support sprocket 6-2. The transfer mechanism drive wheel 6-10 is mounted on the transfer mechanism shaft 6-11 and transmits power to the transfer mechanism 6-1 through the reversing reducer 6-16 mounted on the transfer mechanism shaft 6-11. Power is transmitted to the transplanting mechanism 10 through the transplanting mechanism drive wheel 6-14.

[0063] Furthermore, the transfer mechanism 6-1 includes a support sprocket 6-1-1, a seedling cup chain 6-1-2, a transmission sprocket 6-1-3, a seedling cup support plate 6-1-4, and self-opening seedling cups; wherein, power is transmitted through a reversing reducer 6-16 installed on the transfer mechanism shaft 6-11 to make the transmission sprocket 6-1-3 rotate; the seedling cup chain 6-1-2 is installed on the support sprocket 6-1-1 and the transmission sprocket 6-1-3; the self-opening seedling cups are installed at equal intervals on the seedling cup chain 6-1-2, and the self-opening seedling cups cooperate with the seedling cup support plate 6-1-4 to realize the opening and closing of the self-opening seedling cups.

[0064] like Figure 16-21As shown, the tobacco seedling spacing adjustment device 6 includes a transfer mechanism 6-1, a support sprocket 6-2, a transfer mechanism chain 6-3, a transfer mechanism drive sprocket 6-4, a spacing adjustment main shaft 6-5, a spacing adjustment input sprocket 6-6, a spacing adjustment stepper motor 6-17, a power input chain 6-7, a motor mounting bracket 6-8, a power output sprocket 6-9, a transfer mechanism drive wheel 6-10, a transfer mechanism shaft 6-11, a bearing seat 6-12, a stepper motor reducer 6-13, a seedling planting mechanism drive wheel 6-14, a bearing seat mounting bracket 6-15, and a reversing reducer 6-16; the motor mounting bracket 6-8 is installed on the power and steering... On the frame 7-5 of the mechanism, the output shaft of the plant spacing adjustment stepper motor 6-17 is connected to the input shaft of the stepper motor reducer 6-13. The stepper motor reducer 6-13 is mounted on the motor mounting bracket 6-8, and the power output sprocket 6-9 is mounted on the output shaft of the stepper motor reducer 6-13. The plant spacing adjustment main shaft 6-5 is mounted on the frame 7-1 of the transfer device and seedling taking device through two bearing seats 6-12. The transfer mechanism drive sprocket 6-4, the plant spacing adjustment input sprocket 6-6, and the seedling transplanting mechanism drive wheel 6-14 are respectively mounted in appropriate positions on the plant spacing adjustment main shaft 6-5, and circumferential positioning and axial positioning are completed by keys, pins, etc. The power input chain 6-7 transmits the motion of the power output sprocket 6-9 to the plant spacing adjustment input sprocket 6-6; the transfer mechanism 6-1 includes a support sprocket 6-1-1, a seedling cup chain 6-1-2, a transmission sprocket 6-1-3, a seedling cup support plate 6-1-4, and a self-opening seedling cup; the transfer mechanism chain 6-3 meshes with the transfer mechanism drive wheel 6-10, the transfer mechanism drive sprocket 6-4, and the support sprocket 6-2 to provide power to the transfer mechanism 6-1; the transfer mechanism drive wheel 6-10 is mounted on the transfer mechanism shaft 6-11, and the transfer mechanism shaft 6-11 is mounted on the bearing seat mounting bracket 6-15 via two bearing seats 6-12 and finally fixed to the frame 7-1 of the transfer device and seedling taking device; the reversing reducer 6-16 has two bevel gears inside and is mounted on the transfer mechanism shaft 6-11, reducing speed through reversing. The device 6-16 transmits power to make the transmission sprocket 6-1-3 rotate; the seedling cup chain 6-1-2 is installed on the support sprocket 6-1-1 and the transmission sprocket 6-1-3, and the self-opening seedling cup body 6-1-5 is installed at equal intervals on the seedling cup chain 6-1-2; the self-opening seedling cup is composed of the self-opening seedling cup body 6-1-5, the torsion spring 6-1-6 and the self-opening seedling cup bottom 6-1-7. The self-opening seedling cup bottom 6-1-7 is connected to the self-opening seedling cup body 6-1-5 through the torsion spring 6-1-6. The torsion spring 6-1-6 cooperates with the seedling cup support plate 6-1-4 to realize the automatic opening and closing of the self-opening seedling cup (specifically, the seedling cup support plate 6-1-4 has a notch, and a sloping baffle is set on the lower part of one side of the notch. When the self-opening seedling cup moves to the notch, the bottom of the self-opening seedling cup opens. After moving to the sloping baffle on one side of the notch, the bottom of the self-opening seedling cup gradually closes).

[0065] Furthermore, it also includes a compaction device 8, which is used to compact the tobacco seedlings.

[0066] Furthermore, such as Figure 22-24 As shown, the compaction device 8 includes a handwheel 8-1, a depth adjustment screw 8-2, a middle fixing frame 8-3, a depth adjustment connecting rod 8-4, a compaction wheel 8-5, and an upper fixing bracket 8-6. The depth adjustment connecting rod 8-4 is fixed to the frame (fixed to the seedling planting device and the depth adjustment frame 7-2) by the upper fixing bracket 8-6 and the middle fixing frame 8-3. The depth adjustment screw 8-2 passes through the depth adjustment connecting rod 8-4. The handwheel 8-1 is installed at the top of the depth adjustment screw 8-2. The compaction wheel 8-5, which is arranged at an angle, is installed at the end of the depth adjustment screw 8-2. The compaction depth is adjusted by rotating the handwheel 8-1.

[0067] Furthermore, such as Figure 22-23 As shown in Figures 25-32, the seedling planting mechanism 10 includes a seedling planting mechanism transmission chain 10-1, a seedling planting mechanism driven wheel 10-2, a planting mechanism 10-3, and a seedling planting mechanism hexagonal transmission shaft 10-4; wherein, the seedling planting mechanism hexagonal transmission shaft 10-4 is mounted on the seedling planting device and depth adjustment frame 7-2 via a seedling planting mechanism bearing seat, and the seedling planting mechanism driven wheel 10-2 is mounted on the seedling planting mechanism hexagonal transmission shaft 10-4, and is connected via the seedling planting mechanism transmission chain. 10-1 transmits power from the seedling spacing adjustment device 6 to the driven wheel 10-2 of the seedling planting mechanism via the active wheel 6-14 of the seedling planting mechanism; the hexagonal coupling 10-3-7 of the planting mechanism 10-3 is mounted on the hexagonal drive shaft 10-4 of the seedling planting mechanism; the hexagonal drive shaft 10-4 of the seedling planting mechanism passes through the hexagonal coupling 10-3-7 and the two are interference-fitted, and the hexagonal drive shaft 10-4 of the seedling planting mechanism is clearance-fitted with the eccentric support plate 10-3-9;

[0068] Furthermore, such as Figure 26-28As shown in Figures 30-32, the planting mechanism 10-3 includes a concentric disc 10-3-2, a hinge bracket 10-3-3, a connecting rod 10-3-4, an eccentric disc 10-3-5, an eccentric support disc fixing frame 10-5, a hexagonal coupling 10-3-7, a roller I 10-3-8, an eccentric support disc 10-3-9, an eccentric support disc bearing 10-3-10, and multiple hinges; the centers of two concentric discs 10-3-2 are connected by the hexagonal coupling 10-3-7, and the edges of the concentric discs 10-3-2... The two opening / closing devices are respectively fixedly connected to the tips of the opening / closing device brackets 10-3-3, and the opening / closing device is installed in the middle of the two opening / closing device brackets 10-3-3; the opening / closing device shaft 10-3-13 on one side of the opening / closing device is connected to the opening / closing device bracket 10-3-3 through a bearing, and the opening / closing device shaft 10-3-13 on the other side of the opening / closing device is sequentially connected to the opening / closing device bracket 10-3-3 through a bearing and fixedly connected to one end of the connecting rod 10-3-4, and the other end of the connecting rod 10-3-4 is rotatably connected to the eccentric disk 10-3-5 (i.e., close to the eccentric disk 10-3). -5 The concentric disc 10-3-2 on one side is fixedly mounted with a connecting rod 10-3-4 on the outside of the opening and closing bracket 10-3-3; the eccentric support disc 10-3-9 is fixed to the transfer device and seedling taking device frame 7-1 through the eccentric support disc fixing bracket 10-5. Five rollers I 10-3-8 are installed at appropriate positions on the eccentric support disc 10-3-9. The five rollers I 10-3-8 can restrict the rotation of the eccentric disc 10-3-5 on the eccentric support disc 10-3-9; the concentric disc 10-3-2 surrounds the seedling inserting mechanism six The lateral drive shaft 10-4 rotates, and the moving connecting rod 10-3-4 swings. The opening and closing device bracket 10-3-3 is designed with a linear cam. When any one of the opening and closing devices in the planting mechanism 10-3 moves to the bottom to insert the seedling, the connecting rod 10-3-4 swings and drives the roller II 10-3-12 on the opening and closing device shaft 10-3-13 to contact the linear cam on the opening and closing device bracket 10-3-3, causing the opening and closing device spout 10-3-6 to move and open, completing the transplanting of a tobacco seedling.

[0069] Furthermore, such as Figure 29 As shown, the opening / closing device includes an opening 10-3-1, an opening / closing spout 10-3-6, an elastic rope 10-3-11, a roller II 10-3-12, an opening / closing shaft 10-3-13, and an elastic rope fixing pin 10-3-14. The opening 10-3-1 is fixed to the opening / closing shaft 10-3-13. The elastic rope fixing pin 10-3-14 is installed in a pre-drilled hole in the opening / closing shaft 10-3-13. The elastic rope 10-3-11 and the two opening / closing spouts 10-3-6 on both sides are mounted on the elastic rope fixing pin 10-3-14. The roller II 10-3-12 is mounted on the two opening / closing spouts 10-3-6 on both sides.

[0070] like Figure 35As shown, the operation process of the fully automatic unmanned tobacco transplanter is as follows: Two tires and compaction wheels support the machine, a battery pack provides power, relevant parameters are set in the control box, the walking and steering mechanisms are controlled by setting the movement speed and direction of the seedling trays; the seedling tray transport mechanism is controlled by setting the movement speed and position of the seedling trays; the seedling picking device picks up the tobacco seedlings by setting the movement of the grippers; and the seedling spacing adjustment device is controlled by setting the plant spacing. The tobacco seedlings are planted in the soil through the seedling trays, seedling tray transport mechanism, seedling picking device, seedling spacing adjustment device, and planting mechanism, and finally compacted by the compaction device to complete the sowing. The emptied seedling trays are collected in the seedling tray collection box.

[0071] This invention features rationally designed and precisely verified modules, along with kinematic simulation analysis. The system ensures smooth, interference-free operation and good anti-interference capabilities, meeting the requirements of large-scale field production. In practical applications, it is simple to operate. A control box allows for the control of the DC motors, stepper motors, and other actuators in each component. Users can adjust the sowing speed and plant spacing, and the compaction depth can be adjusted via a handwheel. The designed sowing speed for the tobacco transplanter is 0.6-1.6 m / s, with a single sowing capacity of 0.5 mu (approximately 0.067 hectares). Based on this machine, unmanned control can be achieved by setting a trajectory using the BeiDou satellite positioning system, while manual remote control is possible via a remote handle, playing a crucial role in specific operational positions. Intelligent tobacco cultivation is currently a major trend in tobacco transplanting; therefore, designing a tobacco transplanter suitable for mechanized, large-scale cultivation in flat and hilly areas is of practical significance.

[0072] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A tobacco transplanter, characterized in that, It includes a seedling tray transport mechanism (1), a walking and turning device (4), a seedling picking device (5), a tobacco seedling spacing adjustment device (6), a seedling tray collection box (9), and a seedling planting mechanism (10). The walking and steering device (4) is used for walking and steering; The seedling tray transport mechanism (1) is used to store seedling trays and to change the direction of movement of the seedling trays: to move from the first direction of movement to the second direction of movement, and from the second direction of movement to the third direction of movement; The seedling picking device (5) is used to pick up / release tobacco seedlings on the seedling tray that has moved to the second direction of movement, thereby adjusting the spacing of the picked tobacco seedlings. The seedling tray collection box (9) is used to collect empty seedling trays from the third direction of movement; The tobacco seedling spacing adjustment device (6) is used to realize the transfer and spacing adjustment of the tobacco seedlings released by the seedling taking device (5). The transplanting mechanism (10) is used to transplant the tobacco seedlings delivered by the tobacco seedling spacing adjustment device (6). The seedling picking device (5) includes a left-right movable connecting plate (5-4), a front-back movable slider (5-6), a front-back movable lead screw (5-7), a seedling lifting device (5-8), a seedling gripper (5-9), a front-back movable stepper motor (5-11), a left-right movable lead screw (5-13), a left-right movable stepper motor (5-15), and a left-right rotating integrated lead screw system (5-16); wherein, the front-back movable slider (5-6) is mounted on the front-back movable lead screw (5-7), and the front-back movable lead screw (5-7) is driven by the front-back movable stepper motor (5-11) to move the front-back movable slider. Block (5-6) moves along the second direction of motion; the left and right moving connecting plate (5-4) is installed on the front and rear moving slider (5-6), and the left and right moving stepper motor (5-15) on the left and right moving connecting plate (5-4) drives the left and right moving screw (5-13) to move the seedling lifting device (5-8) on the left and right moving screw (5-13); the stepper motor on the left and right rotating integrated screw system (5-16) rotates to realize the pitch change of the tobacco seedling gripper (5-9), the tobacco seedling gripper (5-9) is used to clamp / release the tobacco seedlings, and the seedling lifting device (5-8) drives the tobacco seedling gripper (5-9) to move; The tobacco seedling spacing adjustment device (6) includes a transfer mechanism (6-1), a support sprocket (6-2), a transfer mechanism chain (6-3), a transfer mechanism drive sprocket (6-4), a spacing adjustment main shaft (6-5), a spacing adjustment input sprocket (6-6), a spacing adjustment stepper motor (6-17), a power input chain (6-7), a power output sprocket (6-9), a transfer mechanism drive wheel (6-10), a stepper motor reducer (6-13), a seedling transplanting mechanism drive wheel (6-14), and a reversing reducer (6-16); wherein, the output shaft of the spacing adjustment stepper motor (6-17) is connected to the input shaft of the stepper motor reducer (6-13), and the power output sprocket (6-9) is mounted on the output shaft of the stepper motor reducer (6-13); the transfer mechanism... The main sprocket (6-4), the plant spacing adjustment input sprocket (6-6), and the planting mechanism main wheel (6-14) are respectively mounted on the plant spacing adjustment main shaft (6-5). The power input chain (6-7) transmits the motion of the power output sprocket (6-9) to the plant spacing adjustment input sprocket (6-6). The transfer mechanism chain (6-3) meshes with the transfer mechanism main wheel (6-10), the transfer mechanism main sprocket (6-4), and the support sprocket (6-2). The transfer mechanism main wheel (6-10) is mounted on the transfer mechanism shaft (6-11) and transmits power to the transfer mechanism (6-1) through the reversing reducer (6-16) mounted on the transfer mechanism shaft (6-11). Power is transmitted to the planting mechanism (10) through the planting mechanism main wheel (6-14). The transfer mechanism (6-1) includes a support sprocket (6-1-1), a seedling cup chain (6-1-2), a transmission sprocket (6-1-3), a seedling cup support plate (6-1-4), and self-opening seedling cups. Power is transmitted through a reversing reducer (6-16) mounted on the transfer mechanism shaft (6-11) to cause the transmission sprocket (6-1-3) to rotate. The seedling cup chain (6-1-2) is mounted on the support sprocket (6-1-1) and the transmission sprocket (6-1-3). Self-opening seedling cups are evenly spaced on the seedling cup chain (6-1-2), and the self-opening seedling cups cooperate with the seedling cup support plate (6-1-4) to achieve self-opening. The self-opening seedling cup consists of a self-opening seedling cup body (6-1-5), a torsion spring (6-1-6), and a self-opening seedling cup bottom (6-1-7). The self-opening seedling cup bottom (6-1-7) is connected to the self-opening seedling cup body (6-1-5) through the torsion spring (6-1-6). The torsion spring (6-1-6) cooperates with the seedling cup support plate (6-1-4) to realize the automatic opening and closing of the self-opening seedling cup. The seedling cup support plate (6-1-4) has a notch, and a sloping baffle is set on the lower part of one side of the notch. When the self-opening seedling cup moves to the notch, the bottom of the self-opening seedling cup opens. After moving to the sloping baffle on one side of the notch, the bottom of the self-opening seedling cup gradually closes. The seedling transplanting mechanism (10) includes a seedling transplanting mechanism transmission chain (10-1), a seedling transplanting mechanism driven wheel (10-2), a planting mechanism (10-3), and a seedling transplanting mechanism hexagonal transmission shaft (10-4). The seedling transplanting mechanism driven wheel (10-2) is mounted on the seedling transplanting mechanism hexagonal transmission shaft (10-4), and the power is transmitted from the seedling transplanting mechanism drive wheel (6-14) in the tobacco seedling spacing adjustment device (6) to the seedling transplanting mechanism driven wheel (10-2) through the seedling transplanting mechanism transmission chain (10-1). The hexagonal coupling (10-3-7) of the planting mechanism (10-3) is mounted on the seedling transplanting mechanism hexagonal transmission shaft (10-4) by interference fit.

2. The tobacco transplanter according to claim 1, characterized in that, The seedling tray transport mechanism (1) includes a seedling tray (1-1), a seedling delivery plate (1-2), a plate electric cylinder connector (1-3), an electric cylinder (1-4), a seedling tray support rod (1-5), a lifting beam (1-6), a lead screw slider (1-8), a lifting structure stepper motor (1-11), a lifting structure lead screw (1-15), and a seedling tray check valve; wherein, the lead screw slider (1-8) is installed on the back side of the lifting beam (1-6), and the lead screw slider (1-8) is driven by the lifting structure stepper motor (1-11) to move along the first motion direction, and the seedling tray support rod (1-5) is inserted into the lifting beam (1-6) and moves from the lifting beam. The lowering beam (1-6) extends out from the front and supports the seedling tray (1-1) through the seedling tray support rod (1-5); the electric cylinder (1-4) is connected to the seedling delivery plate (1-2) by installing a flat electric cylinder connector (1-3) on the output shaft; when the seedling tray (1-1) is delivered to the seedling delivery plate (1-2) and stabilized, the electric cylinder (1-4) moves within its stroke range in conjunction with the seedling picking device (5) to pick up the seedlings; when the electric cylinder (1-4) reaches the end of its stroke, the edge of the seedling tray (1-1) is blocked by the seedling tray check device, the electric cylinder (1-4) retracts its stroke, and the empty seedling tray (1-1) falls into the seedling tray collection box (9).

3. The tobacco transplanter according to claim 1, characterized in that, The walking and steering device (4) includes an output bevel gear shaft (4-1), an output shaft (4-2), an input bevel gear (4-5), a universal joint (4-6), a tire (4-9), a motor (4-10), a reducer (4-11), a steering chassis (4-12), a flange (4-14), and a steering section; the steering section includes a steering stepper motor (4-3), a bogie (4-7), a steering sector gear (4-8), an output gear (4-4), and a steering linkage. The steering mechanism consists of a rod (4-13) and an idler wheel (4-15); the steering chassis (4-12), bogies (4-7), and steering linkage (4-13) form an Ackermann steering system with a parallel four-bar linkage. Two bogies (4-7) are mounted at opposite ends of the steering chassis (4-12) to form a revolute pair. The steering linkage (4-13) passes through the steering chassis (4-12) and connects to the two bogies (4-7) at both ends. The output shaft of the electric motor (4-10) is connected to the reducer. The input shaft of (4-11) is connected and the entire assembly is mounted on the steering chassis (4-12); the output end of the reducer (4-11) is connected to the input bevel gear (4-5), the bevel gear on the output bevel gear shaft (4-1) meshes with the input bevel gear (4-5) for transmission, two universal joints (4-6) are connected to both ends of the output bevel gear shaft (4-1), the other end of the universal joint (4-6) is connected to one end of the output shaft (4-2), and the other end of the output shaft (4-2) is fitted with a tire. 4-9); The steering part drives the output gear (4-4) to rotate through the steering stepper motor (4-3). The output gear (4-4) meshes with the idler gear (4-15), and the idler gear (4-15) meshes with the steering sector gear (4-8) to achieve a large reduction ratio transmission. The steering sector gear (4-8) is fixedly connected to the bogie (4-7) on one side. Under the torque provided by the steering stepper motor (4-3), the steering sector gear (4-8) is driven to rotate to realize the rotation of the bogie (4-7).

4. The tobacco transplanter according to claim 1, characterized in that, It also includes a compaction device (8) for compacting tobacco seedlings.

5. The tobacco transplanter according to claim 1, characterized in that, The planting mechanism (10-3) includes a concentric disc (10-3-2), a hinge bracket (10-3-3), a connecting rod (10-3-4), an eccentric disc (10-3-5), an eccentric support disc fixing frame (10-5), a hexagonal coupling (10-3-7), roller I (10-3-8), an eccentric support disc (10-3-9), an eccentric support disc bearing (10-3-10), and multiple hinges; the two concentric discs (10-3-2) are in the middle The core is connected by a hexagonal coupling (10-3-7). The edges of the concentric discs (10-3-2) are fixedly connected to the tips of the opening / closing device brackets (10-3-3). The opening / closing device is installed in the middle of the two opening / closing device brackets (10-3-3). The opening / closing device shaft (10-3-13) on one side of the opening / closing device is connected to the opening / closing device bracket (10-3-3) by a bearing. The opening / closing device shaft (10-3-13) on the other side of the opening / closing device is connected to the opening / closing device bracket (10-3-3) in sequence. The connecting rod (10-3-4) is fixedly connected to one end via a bearing, and the other end of the connecting rod (10-3-4) is rotatably connected to the eccentric disk (10-3-5). Roller I (10-3-8) is installed on the eccentric support disk (10-3-9), and roller I (10-3-8) restricts the eccentric disk (10-3-5) from rotating on the eccentric support disk (10-3-9). The concentric disk (10-3-2) rotates around the hexagonal transmission shaft (10-4) of the seedling insertion mechanism. As the moving link (10-3-4) swings, when any one of the opening and closing devices in the planting mechanism (10-3) moves to the bottom to insert the seedling, the swing of the link (10-3-4) causes the roller II (10-3-12) on the opening and closing device shaft (10-3-13) to contact the linear cam on the opening and closing device bracket (10-3-3), causing the opening and closing device spout (10-3-6) to shift, opening the opening and closing device spout (10-3-6), thus completing the transplanting of a tobacco seedling.

6. The tobacco transplanter according to claim 5, characterized in that, The opening and closing device includes an opening (10-3-1), an opening and closing duckbill (10-3-6), an elastic rope (10-3-11), roller II (10-3-12), an opening and closing device shaft (10-3-13), and an elastic rope fixing pin (10-3-14). The opening (10-3-1) is fixed on the opening and closing device shaft (10-3-13), the elastic rope fixing pin (10-3-14) is installed in the hole reserved in the opening and closing device shaft (10-3-13), the elastic rope (10-3-11) and the opening and closing duckbills (10-3-6) on both sides are installed on the elastic rope fixing pin (10-3-14), and the roller II (10-3-12) is installed on the opening and closing duckbills (10-3-6) on both sides.

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