Self-propelled semi-automatic vegetable transplanter and transplanting method

Abstract

The application provides a self-propelled semi-automatic vegetable transplanting machine, which comprises a walking chassis, a driving mechanism and a planting mechanism; two planting mechanisms are symmetrically arranged on the walking chassis, and each planting mechanism is movably installed on the walking chassis; the planting mechanism comprises a planter frame, a seedling receiving cup moving plate, a planter moving plate, a duck bill, a planting cylinder, a planting up-down slide rail and a seedling receiving cup; the planter frame is installed on the walking chassis, the planting up-down slide rail is installed on the planter frame, and the planter moving plate is movably installed on the planting up-down slide rail; two planting cylinders are installed on the planter moving plate; the planter moving plate is connected with an actuating mechanism; the seedling receiving cup moving plate is installed on the planter frame; two seedling receiving cups are installed on the seedling receiving cup moving plate; the duck bill is installed at the bottom of the seedling receiving cup and is opened and closed through a pull wire mechanism. The application effectively improves the planting efficiency of the semi-automatic transplanting machine and improves the mechanization level of the semi-automatic transplanting machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural planting machinery, in particular to a self-propelled semi-automatic vegetable transplanting machine and a transplanting method. BACKGROUND

[0002] At present, with the growth of global population and the acceleration of urbanization process, the demand for green food such as vegetables is also increasing. At the same time, the continuous rise of labor cost also brings great challenges to agricultural production. Therefore, agricultural mechanization development is more and more concerned by farmers. Under this trend, a semi-automatic vegetable transplanting machine emerges as the times require.

[0003] Modern automatic vegetable transplanting machine mainly has two parts, one is a transplanting mechanical arm, and the other is a control system. The transplanting mechanical arm is a kind of mechanical arm that can move, grab plants and then transplant them to new land. The control system is completed by a relatively small computer or embedded system for program control and data processing. This system can make the transplanting robot have the functions of automatic position, counting, quantitative root pulling and planting, and covering soil. Through the device equipped on the robot, the soil plants can be collected for root calibration, and then positioned and transplanted to replace the new soil for each plant. This robot seamlessly integrates plant grabbing, pruning, positioning and transplanting functions, and increases the speed of land cultivation by more than 10 times. At present, this transplanting robot has been used for planting agricultural products in high-efficiency farms and special agricultural fields, but it is limited due to its complex system and high manufacturing and using cost.

[0004] The emergence of semi-automatic vegetable transplanting machine breaks the limitation of traditional manual transplanting, reduces labor cost to a certain extent, improves labor productivity, and thus improves crop yield and planting effect. At the same time, this transplanting machine has simple structure and can realize intelligent management of agriculture. Through the control system, the planting process is controlled, and the operation mode of the robot is adjusted in time to ensure stable and efficient completion of transplanting work.

[0005] In summary, semi-automatic vegetable transplanting machine is an important trend in the development of agricultural mechanization, and has wide application prospect. However, the traditional semi-automatic vegetable transplanting machine adopts pure mechanical structure, and the row spacing and plant spacing adjustment needs to replace the transmission parts to realize, which is neither accurate nor convenient, especially cannot realize adjustment under non-stop state; secondly, the traditional semi-automatic vegetable transplanting machine uses rotary seedling cup, which needs the operator to throw seedlings during the rotation of the seedling cup, which is easy to cause visual fatigue and missed seedlings, and the structure of rotary seedling cup is complex and easy to damage; thirdly, the planting parts on both sides of the traditional semi-automatic vegetable transplanting machine are realized synchronous planting through the transmission mechanism of the chassis, but this causes the planting parts on both sides to be unable to realize asynchronous planting, which cannot adapt to the needs of different crops. SUMMARY

[0006] In view of the deficiencies in the prior art, the self-propelled semi-automatic vegetable transplanting machine and the transplanting method are provided, which are different from the traditional rotary seedling cup, a manually movable seedling receiving cup is designed, and a ejection type seedling receiving method is used to reduce the labor intensity, without the need for an additional machine operator, thereby effectively improving the planting efficiency of the semi-automatic transplanting machine and the mechanization level of the semi-automatic transplanting machine. Moreover, the self-propelled semi-automatic vegetable transplanting machine can adjust the row spacing and the plant spacing, and can also adjust the transplanting depth according to the ridge height.

[0007] The present application achieves the above technical purpose through the following technical means.

[0008] A self-propelled semi-automatic vegetable transplanting machine comprises a walking chassis, a driving mechanism and a planting mechanism; two planting mechanisms are symmetrically arranged on the walking chassis, and each planting mechanism is movably installed on the walking chassis and used for adjusting the row spacing between the two planting mechanisms; the driving mechanism is located at the front part of the walking chassis and used for driving the walking chassis to move and turn;

[0009] The planting mechanism comprises a planter rack, a seedling cup moving plate, a seedling cup ejection rod, a planter moving plate, a duckbill, a planting cylinder, a planting up-down slide rail and a seedling cup; the planter rack is installed on the walking chassis, the planting up-down slide rail is installed on the planter rack, and the planter moving plate is movably installed on the planting up-down slide rail; two planting cylinders are installed on the planter moving plate; the planter moving plate is connected with an actuator, and used for driving the planter moving plate to move along the planting up-down slide rail; the seedling cup moving plate is installed on the planter rack; two seedling cups are installed on the seedling cup moving plate, and each seedling cup is located above the corresponding planting cylinder; the duckbill is installed at the bottom of the seedling cup, and the duckbill is opened and closed through a pull wire mechanism.

[0010] Further, the pull wire mechanism comprises a cam, a roller, a movable plate, a duckbill pull wire, a spring and a speed reducer motor; the speed reducer motor is installed on the planting cylinder, the cam is connected with the output shaft of the speed reducer motor; the movable plate is movably installed on the planting cylinder, the roller is installed on the movable plate and in contact with the cam, and the movable plate is reciprocally moved along the cylinder wall of the planting cylinder through the rotation of the cam; the pull wire moving plate is intermittently matched with the cylinder wall of the planting cylinder, a plurality of guide columns are arranged between the pull wire moving plate and the movable plate, and each guide column penetrates through the spring; the duckbill is composed of at least three duckbill pieces, each duckbill piece is connected with the bottom of the seedling cup through a rotary pair, and each duckbill piece is connected with the pull wire moving plate through the duckbill pull wire, so that the duckbill is opened and closed through the reciprocating movement of the pull wire moving plate.

[0011] Further, the seedling cup moving plate is provided with a first groove perpendicular to the planting direction, the seedling cup is installed on the first groove, and the seedling cup is moved on the first groove by manual or an actuator; the planting device moving plate is provided with a second groove perpendicular to the planting direction, and the first groove and the second groove correspond to each other; the planting cylinder is installed on the second groove, and the planting cylinder is moved on the second groove by manual or an actuator.

[0012] Further, a mechanical valve is installed at the bottom of the seedling cup; a seedling cup top rod is installed at the top of the planting cylinder, the seedling cup top rod is in contact with the mechanical valve by upward movement of the planting cylinder, so as to make the seedling in the seedling cup enter the planting cylinder; when the seedling cup top rod is separated from the mechanical valve, the mechanical valve is reset.

[0013] Further, two parallel slide rails are installed on the walking chassis; the slide rails are perpendicular to the forward direction; the planting device racks of the two planting mechanisms are respectively movably installed on the two slide rails, and the planting row spacing is changed by moving the planting device racks respectively.

[0014] Further, a controller and a sensor are further included; the sensor is installed on the walking chassis to obtain the ridge height of the planting operation; and the controller determines the planting depth according to the ridge height of the planting operation and the plant parameters.

[0015] A planting method of a self-propelled semi-automatic vegetable transplanter, comprising the following steps:

[0016] S01: the driving mechanism drives the walking chassis to move; an operator puts a seedling into the seedling cup; and a sensor of the walking chassis obtains the ridge height of the planting operation;

[0017] S02: the planting device moving plate is driven by an actuator to move upward along the planting up-and-down slide rails; when the seedling cup top rod is in contact with the mechanical valve after the planting device moving plate moves upward, the mechanical valve is opened, so as to make the seedling in the seedling cup enter the planting cylinder;

[0018] S03: the planting device moving plate is driven by an actuator to move downward along the planting up-and-down slide rails; when the seedling cup top rod is separated from the mechanical valve, the mechanical valve is reset; after the mechanical valve is reset, the operator puts another seedling into the seedling cup;

[0019] S04: the controller determines the planting depth according to the obtained ridge height of the planting operation; the planting device moving plate is driven by an actuator to move downward along the planting up-and-down slide rails, so as to make the planting cylinder reach the planting depth;

[0020] S05: the duckbill is opened by a pull line mechanism, and the seedling is planted in the field; the planting device moving plate is driven by an actuator to move upward along the planting up-and-down slide rails, and when the planting cylinder is above the ridge height, the duckbill is closed by the pull line mechanism.

[0021] The beneficial effects of the present application are:

[0022] 1. The self-propelled semi-automatic vegetable transplanting machine and transplanting method of the present application, which is different from the traditional rotary seedling cup, designs a manually movable seedling receiving cup and a ejection type seedling receiving method, reduces the labor intensity, does not need to additionally configure a machine operator, effectively improves the planting efficiency of the semi-automatic transplanting machine, and improves the mechanization level of the semi-automatic transplanting machine.

[0023] 2. The self-propelled semi-automatic vegetable transplanting machine and transplanting method of the present application, two planting mechanisms are symmetrically arranged on the walking chassis, and two planting cylinders are arranged on each planting mechanism, which improves the efficiency of seedling throwing and planting. The two planting mechanisms can be adjusted in relative position on the slide rail to meet the requirement of adjusting the row spacing. Unlike the traditional transplanting machine which needs to change the forward speed of the walking chassis of the transplanting machine to change the plant spacing, the present application adjusts the relative position of the two planting seedling cylinders on the planting device moving plate to achieve the purpose of adjusting the plant spacing. In addition, the two planting mechanisms of the present application can be controlled by actuators respectively, so that asynchronous transplanting of the two planting mechanisms can be realized, and the plant spacing, row spacing and transplanting depth of the two planting mechanisms can be adjusted independently.

[0024] 3. The self-propelled semi-automatic vegetable transplanting machine and transplanting method of the present application, the controller determines the planting depth according to the ridge height of the planting operation and the plant parameters of the planting, so as to achieve the purpose of adjustable planting depth, realize the purpose of adjustable plant spacing and row spacing, and improve the planting efficiency of the semi-automatic transplanting machine.

[0025] 4. The self-propelled semi-automatic vegetable transplanting machine and transplanting method of the present application, the manually movable seedling receiving cup and the ejection type seedling receiving method can solve the problem of missed seedling throwing and other misoperations caused by long-time work of the rotary seedling receiving cup, improve the success rate of seedling throwing, and reduce the seedling missing rate. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. The drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0027] Figure 1 The self-propelled semi-automatic vegetable transplanting machine of the present application is shown in the assembly drawing.

[0028] Figure 2 The walking chassis of the present application is shown in the three-dimensional drawing.

[0029] Figure 3A three-dimensional view of the planting mechanism according to the present application.

[0030] Figure 4 A schematic view of initial seedling planting for the planting mechanism according to the present application.

[0031] Figure 5 A schematic view of top-out type seedling planting for the planting mechanism according to the present application.

[0032] Figure 6 A schematic view of downward planting for the planting mechanism according to the present application.

[0033] Figure 7 A schematic view of the return of the planting mechanism according to the present application.

[0034] Figure 8 A schematic view of the row spacing adjustment of the semi-automatic transplanter according to the present application.

[0035] In the figure:

[0036] 1 - walking chassis; 2 - driving mechanism; 3 - planting mechanism; 1-1 - slide rail; 3-1 - planting mechanism frame; 3-2 - lead screw; 3-3 - lead screw nut; 3-4 - seedling cup moving plate; 3-5 - seedling cup lifting rod; 3-6 - planting mechanism hoop; 3-7 - planting mechanism moving plate; 3-8 - cam; 3-9 - roller; 3-10 - guide column; 3-11 - movable plate; 3-12 - pull wire moving plate; 3-13 - planting motor; 3-14 - belt; 3-15 - small pulley; 3-16 - large pulley; 3-17 - duckbill; 3-18 - duckbill pull wire; 3-19 - spring; 3-20 - speed reduction motor; 3-21 - planting cylinder; 3-22 - planting up and down slide rail; 3-23 - seedling cup. DETAILED DESCRIPTION

[0037] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0038] In the description of the present application, it is to be understood by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can be explicitly or implicitly included one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0039] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] As shown in Figure 1 The self-propelled semi-automatic vegetable transplanting machine described in the present application comprises a walking chassis 1, a driving mechanism 2 and a planting mechanism 3; two planting mechanisms 3 are symmetrically arranged on the walking chassis 1, and each planting mechanism 3 is movably installed on the walking chassis 1 for adjusting the row spacing between the two planting mechanisms 3; the driving mechanism 2 is located at the front of the walking chassis 1 and is used to drive the walking chassis 1 to move and turn;

[0041] As shown in Figure 3As shown, the planting mechanism 3 comprises a planter frame 3-1, a seedling cup moving plate 3-4, a seedling cup top rod 3-5, a planter moving plate 3-7, a duckbill 3-17, a planting cylinder 3-21, a planting up-down slide rail 3-22 and a seedling cup 3-23; the planter frame 3-1 is installed on the walking chassis 1, the planting up-down slide rail 3-22 is installed on the planter frame 3-1, and the planter moving plate 3-7 is movably installed on the planting up-down slide rail 3-22; two planting cylinders 3-21 are installed on the planter moving plate 3-7; the planter moving plate 3-7 is connected with a lead screw 3-2 through a screw nut 3-3; one end of the lead screw 3-2 is connected with a large pulley 3-16, and the output end of a planting motor 3-13 is connected with a small pulley 3-15; the large pulley 3-16 and the small pulley 3-15 constitute a belt drive through a belt 3-14. The planting motor 3-13 drives the lead screw 3-2 to rotate through the belt drive, so as to realize the movement of the planter moving plate 3-7 along the planting up-down slide rail 3-22; the seedling cup moving plate 3-4 is installed on the planter frame 3-1; two seedling cups 3-23 are installed on the seedling cup moving plate 3-4, and each seedling cup 3-23 is located above the corresponding planting cylinder 3-21; the bottom of the seedling cup 3-23 is provided with the duckbill 3-17, and the duckbill 3-17 is opened and closed through a pull line mechanism.

[0042] The pull line mechanism comprises a cam 3-8, a roller 3-9, a movable plate 3-11, a duckbill pull line 3-18, a spring 3-19 and a speed reducer motor 3-20; the speed reducer motor 3-20 is installed on the planting cylinder 3-21, and the cam 3-8 is connected with the output shaft of the speed reducer motor 3-20; the movable plate 3-11 is movably installed on the planting cylinder 3-21, the roller 3-9 is installed on the movable plate 3-11 and contacts with the cam 3-8, and the movable plate 3-11 reciprocates along the cylinder wall of the planting cylinder 3-21 through the rotation of the cam 3-8; the pull line moving plate 3-12 is intermittently matched with the cylinder wall of the planting cylinder 3-21, and a plurality of guide columns 3-10 are arranged between the pull line moving plate 3-12 and the movable plate 3-11, and each guide column 3-10 penetrates through the spring 3-19; the duckbill 3-17 is composed of at least three duckbill pieces, each duckbill piece is connected with the bottom of the seedling cup 3-23 through a rotary pair, and each duckbill piece is connected with the pull line moving plate 3-12 through the duckbill pull line 3-18; the duckbill 3-17 is opened and closed through the reciprocating movement of the pull line moving plate 3-12.

[0043] As Figure 3As shown in the drawings, the seedling cup moving plate 3-4 is provided with a first groove perpendicular to the direction of planting, and the seedling cup 3-23 is installed on the first groove and moves on the first groove by manual or actuator; the planter moving plate 3-7 is provided with a second groove perpendicular to the direction of planting, and the first groove and the second groove correspond to each other; the planting cylinder 3-21 is installed on the second groove and moves on the second groove by manual or actuator.

[0044] As shown in the drawings, Figure 3 The seedling cup 3-23 is provided with a mechanical valve at the bottom; the planting cylinder 3-21 is provided with a seedling cup top rod 3-5 at the top, and the seedling cup top rod 3-5 is in contact with the mechanical valve when the planting cylinder 3-21 moves upward, so as to make the seedling in the seedling cup 3-23 enter the planting cylinder 3-21; when the seedling cup top rod 3-5 leaves the mechanical valve, the mechanical valve resets. The mechanical valve here can be a plate valve with reset function, and the handle of the plate valve is touched by the seedling cup top rod 3-5 to open the plate valve; when the seedling cup top rod 3-5 is not in contact with the handle of the plate valve, the plate valve is closed by the spring. The mechanical valve can be an electric valve with control, and the electric valve is provided with a proximity switch, and the electric valve is opened when the seedling cup top rod 3-5 is in contact with the proximity switch; the electric valve is closed when the seedling cup top rod 3-5 leaves the proximity switch.

[0045] As shown in the drawings, Figure 2 and Figure 7 Two parallel slide rails 1-1 are installed on the walking chassis 1; the slide rails 1-1 are perpendicular to the forward direction; the planter racks 3-1 of the two planting mechanisms 3 are respectively movably installed on the two slide rails 1-1, and the planter racks 3-1 are respectively moved to change the row spacing of transplanting.

[0046] A controller and a sensor are further included; the sensor is installed on the walking chassis 1 to obtain the ridge height of the planting operation; the sensor can be an image recognition sensor or a distance sensor, or the image recognition sensor and the distance sensor are used together to more accurately identify the ridge height of the planting operation. The specific identification is realized by using the existing image processing technology. The controller determines the planting depth according to the ridge height of the planting operation and the plant parameters. For example, when the obtained ridge height of the planting operation is h, the ridge height refers to the vertical distance from the ridge surface to the sensor on the walking chassis 1. The planting depth H is the distance from the sensor on the walking chassis 1 to the planting point; H = h + 50k, wherein k is the plant parameter, and k is between 0.8 and 1.3.

[0047] As shown in the drawings, Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the transplanting method of the self-propelled semi-automatic vegetable transplanter provided by the present application comprises the following steps:

[0048] S01: the driving mechanism 2 drives the movement of the walking chassis 1; the operator puts the seedling into the seedling cup 3-23; the sensor of the walking chassis 1 obtains the ridge height h of the transplanting operation;

[0049] S02: the transplanting motor 3-13 drives the upward movement of the transplanting mobile plate 3-7 along the transplanting up-and-down slide rail 3-22; after the upward movement of the transplanting mobile plate 3-7 makes the seedling cup top rod 3-5 contact with the mechanical valve, the mechanical valve is opened, and the seedling in the seedling cup 3-23 enters the transplanting cylinder 3-21; generally, after the transplanting seedling cylinder 3-21 moves upward by L1 from the initial position, the seedling is transplanted, and the seedling falls into the transplanting seedling cylinder. L1 is 50 mm.

[0050] S03: the transplanting motor 3-13 drives the downward movement of the transplanting mobile plate 3-7 along the transplanting up-and-down slide rail 3-22, and after the seedling cup top rod 3-5 is separated from the mechanical valve, the mechanical valve is reset; after the mechanical valve is reset, the operator puts another seedling into the seedling cup 3-23;

[0051] S04: the controller determines the transplanting depth H according to the obtained ridge height h of the transplanting operation; the transplanting motor 3-13 drives the downward movement of the transplanting mobile plate 3-7 along the transplanting up-and-down slide rail 3-22, so that the transplanting cylinder 3-21 reaches the transplanting depth; the depth of the downward movement of the transplanting cylinder 3-21 is determined according to the actual position of the transplanting cylinder 3-21 and the transplanting depth H.

[0052] S05: the duckbill 3-17 is opened by the pull line mechanism, and the seedling is transplanted; the transplanting mobile plate 3-7 is driven by the actuator to move upward along the transplanting up-and-down slide rail 3-22, and when the transplanting cylinder 3-21 is located above the ridge height, the duckbill 3-17 is closed by the pull line mechanism. Generally, when the transplanting cylinder 3-21 is located above the ridge height by a distance L2, the duckbill 3-17 is closed by the pull line mechanism. L2 is 200 mm.

[0053] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be combined appropriately to form other embodiments that can be understood by those skilled in the art.

[0054] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present application, and are not intended to limit the protection scope of the present application. Any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A self-propelled semi-automatic vegetable transplanter, characterized in that, It includes a walking chassis (1), a drive mechanism (2), and a planting mechanism (3); two planting mechanisms (3) are symmetrically arranged on the walking chassis (1), and each planting mechanism (3) is movably installed on the walking chassis (1) to adjust the row spacing between the two planting mechanisms (3); the drive mechanism (2) is located at the front of the walking chassis (1) and is used to drive the walking chassis (1) to move and turn; The planting mechanism (3) includes a planting device frame (3-1), a seedling cup moving plate (3-4), a planting device moving plate (3-7), a duckbill (3-17), a planting cylinder (3-21), planting upper and lower sliding rails (3-22), and a seedling cup (3-23); the planting device frame (3-1) is mounted on a walking chassis (1), the planting upper and lower sliding rails (3-22) are mounted on the planting device frame (3-1), and the planting device moving plate (3-7) is movably mounted on the planting upper and lower sliding rails (3-22); two planting devices are mounted on the planting device moving plate (3-7). Cylinder (3-21); The planter moving plate (3-7) is connected to the actuator and is used to drive the planter moving plate (3-7) to move along the planting upper and lower sliding rails (3-22); The seedling cup moving plate (3-4) is installed on the planter frame (3-1); Two seedling cups (3-23) are installed on the seedling cup moving plate (3-4), and each seedling cup (3-23) is located above its corresponding planting cylinder (3-21); A duckbill (3-17) is installed at the bottom of the seedling cup (3-23), and the duckbill (3-17) is opened and closed by a pull wire mechanism; The wire-pulling mechanism includes a cam (3-8), a roller (3-9), a movable plate (3-11), a duckbill wire (3-18), a spring (3-19), and a geared motor (3-20). The geared motor (3-20) is mounted on the planting cylinder (3-21), and the cam (3-8) is connected to the output shaft of the geared motor (3-20). The movable plate (3-11) is movably mounted on the planting cylinder (3-21), and the roller (3-9) is mounted on the movable plate (3-11) to contact the cam (3-8). The rotation of the cam (3-8) causes the movable plate (3-11) to move along the cylinder of the planting cylinder (3-21). The wall moves back and forth; the pull-wire moving plate (3-12) and the cylinder wall of the planting cylinder (3-21) are intermittently engaged; a number of guide posts (3-10) are provided between the pull-wire moving plate (3-12) and the movable plate (3-11), and each guide post (3-10) passes through a spring (3-19); the duckbill (3-17) is composed of at least 3 duckbill pieces, each duckbill piece is connected to the bottom of the seedling cup (3-23) through a rotating joint; each duckbill piece is connected to the pull-wire moving plate (3-12) through a duckbill pull wire (3-18), and the duckbill (3-17) opens and closes by the reciprocating movement of the pull-wire moving plate (3-12); Two parallel slide rails (1-1) are installed on the walking chassis (1); the slide rails (1-1) are perpendicular to the forward direction; the planter frames (3-1) of the two planting mechanisms (3) are respectively movably installed on the two slide rails (1-1), and the row spacing of transplanting can be changed by moving the planter frames (3-1) respectively. The seedling cup moving plate (3-4) is provided with a first groove perpendicular to the inoculation direction. The seedling cup (3-23) is installed on the first groove and can be moved on the first groove manually or by an actuator. The planter moving plate (3-7) is provided with a second groove perpendicular to the inoculation direction, and the first groove and the second groove correspond one-to-one. The planting cylinder (3-21) is installed on the second groove and can be moved on the second groove manually or by an actuator. The two planting mechanisms (3) are controlled by the actuators to achieve asynchronous transplanting of the two planting mechanisms, and the two planting mechanisms independently adjust the plant spacing, row spacing and transplanting depth.

2. The self-propelled semi-automatic vegetable transplanter according to claim 1, characterized in that, A mechanical valve is installed at the bottom of the seedling cup (3-23); a seedling cup top rod (3-5) is installed at the top of the planting cylinder (3-21). The planting cylinder (3-21) moves upward, causing the seedling cup top rod (3-5) to contact the mechanical valve, so that the seedling in the seedling cup (3-23) can enter the planting cylinder (3-21); when the seedling cup top rod (3-5) leaves the mechanical valve, the mechanical valve resets.

3. The self-propelled semi-automatic vegetable transplanter according to claim 1, characterized in that, It also includes a controller and sensors; sensors are installed on the walking chassis (1) to obtain the ridge height for planting operations; the controller determines the planting depth based on the ridge height for planting operations and the plant parameters.

4. A transplanting method for a self-propelled semi-automatic vegetable transplanter according to claim 2, characterized in that, Includes the following steps: S01: The drive mechanism (2) drives the walking chassis (1) to move; the operator puts the seedlings into the seedling cups (3-23); Sensors are installed on the walking chassis (1) to obtain the ridge height for planting operations. S02: The planter moving plate (3-7) is driven by the actuator to move upward along the planting upper and lower sliding rail (3-22); when the planter moving plate (3-7) moves upward and the seedling cup top rod (3-5) contacts the mechanical valve, the mechanical valve opens, allowing the seedling in the seedling cup (3-23) to enter the planting cylinder (3-21). S03: The actuator drives the planter moving plate (3-7) to move downward along the planting upper and lower sliding rails (3-22). When the top rod of the seedling cup (3-5) separates from the mechanical valve, the mechanical valve resets. After the mechanical valve resets, the operator puts another seedling into the seedling cup (3-23). S04: The controller determines the planting depth based on the ridge height of the planting operation; and drives the planter moving plate (3-7) to move downward along the planting upper and lower sliding rails (3-22) through the actuator, so that the planting cylinder (3-21) reaches the planting depth. S05: The duckbill (3-17) is opened by the pull-wire mechanism to plant the seedling in the ground; the planter moving plate (3-7) is driven to move upward along the planting upper and lower slide rail (3-22) by the actuator. When the planting cylinder (3-21) is above the ridge height, the duckbill (3-17) is closed by the pull-wire mechanism.

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