A flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings

Abstract

This invention discloses a flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings. It includes a seedling delivery frame, several horizontal feeding mechanisms, and a vertical flexible clamping and delivery mechanism. The horizontal feeding mechanisms are horizontally and symmetrically mounted on the seedling delivery frame, while the vertical flexible clamping and delivery mechanisms are mounted on the seedling delivery frame below the horizontal feeding mechanisms. This invention effectively performs posture changes and fixed-position seedling placement for naked rapeseed seedlings. During the clamping and delivery process, damage to the seedlings is minimal, ensuring a high survival rate after transplanting.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings. Background Technology

[0002] Rapeseed is an important economic and oilseed crop in my country, serving multiple purposes including as feed, vegetable, energy, and tourism. my country ranks among the world's largest rapeseed-growing countries, with winter rapeseed production concentrated in the Yangtze River basin, accounting for over 85% of the national planting area. It is mainly planted using rice-rapeseed or rice-rice-rapeseed rapeseed rotation patterns, leading to significant crop rotation conflicts. Rapeseed transplanting is an important way to alleviate crop rotation conflicts and address the issue of untimely direct seeding, while also increasing crop yield per unit area and improving the land's multiple cropping index. Compared to substrate block seedlings, mat seedlings, and plug seedlings, bare-root rapeseed transplanting has advantages such as simple seedling cultivation and low cost; however, manual transplanting of bare-root rapeseed is labor-intensive, costly, and inefficient.

[0003] Currently, the main types of machinery suitable for bare seedling transplanting include duckbill transplanters and flexible disc transplanters. These machines offer high planting uprightness and uniform plant spacing, but their complex structure and large size result in large planting row spacing, making them unsuitable for rapeseed transplanting agronomy. Furthermore, both planting frequency and planting efficiency need to be improved.

[0004] A rapid mechanical transplanting technology for bare rapeseed seedlings, comprising the steps of "preparing the seedling furrow - positioning and delivering the seedling - covering with soil and compacting," is proposed. This technology features simple procedures, low development costs, and effectively improves planting frequency and efficiency. The second step, "positioning and delivering the seedling," requires the bare rapeseed seedlings to fall smoothly into and be placed in the furrow opened by the furrow opener. The seedlings should lean against the sloping surface of the furrow, with the roots facing upwards and the leaves downwards. To achieve these delivery requirements while avoiding seedling damage, the seedlings are gently restrained so that their roots face downwards, allowing them to fall into the furrow at an angle. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the prior art by providing a flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings, comprising a seedling delivery device frame, a plurality of horizontal seedling feeding mechanisms and a vertical flexible clamping and delivery mechanism, wherein the plurality of horizontal seedling feeding mechanisms are horizontally and symmetrically installed on the seedling delivery device frame, and the plurality of horizontal seedling feeding mechanisms are used for planting naked rapeseed seedlings at different angles; wherein the plurality of vertical flexible clamping and delivery mechanisms are installed on the seedling delivery device frame relative to the lower part of the horizontal seedling feeding mechanisms, and the plurality of vertical flexible clamping and delivery mechanisms are used for vertical clamping and delivery of naked seedlings.

[0007] In the above technical solution, the seedling delivery device frame includes a left frame plate and a right frame plate installed opposite each other and whose spacing is fixed by steel pipes fixed by the plate spacing. The left frame plate and the right frame plate have the same shape and the slots and holes are basically the same. They are both provided with chain tensioning rod mounting holes for tensioning chain II of the vertical seedling delivery chain transmission mechanism, tilt adjustment holes for conveyor installation and tilt adjustment, and slots and holes required for installing the mechanisms or components mentioned in the text. In addition, they are also provided with mounting holes and mounting slots for devices related to transplanting processes such as trenching and soil covering.

[0008] Based on the above technical solutions, preferably, the transverse seedling feeding mechanism includes two conveyors on the left and right sides, a transverse seedling feeding chain transmission mechanism, a plum blossom coupling, and a transverse active pulley shaft. The transverse seedling feeding chain transmission mechanism is arranged above the two conveyors, and the two conveyors are connected coaxially to the two transverse active pulley shafts through the plum blossom coupling.

[0009] Based on the above technical solutions, preferably, the conveyor includes front and rear transverse drive pulleys and transverse driven pulleys. Each of the left and right end faces of the transverse drive pulley is equipped with a headstock bearing a bearing. The shaft of the transverse drive pulley passes through the transverse drive pulley and the headstock, and one end extends out to connect with the extended end of the transverse drive pulley shaft of the other conveyor via a perforated coupling, allowing the two conveyors to operate synchronously under the drive of the transverse feeding chain transmission mechanism. Each of the left and right end faces of the transverse driven pulley is equipped with a tailstock. The shaft of the transverse driven pulley passes through the transverse driven pulley and the tailstock, and is connected via a built-in bearing on the transverse driven pulley. The conveyor also includes a conveyor belt tensioning bolt and a limiting conveyor belt. A threaded hole is opened near the shaft end of the transverse driven pulley shaft, allowing for front-to-back adjustment of the transverse driven pulley via the conveyor belt tensioning bolt. The limiting conveyor belt is wound around the transverse drive pulley shaft and the transverse driven pulley.

[0010] The above technical solution also includes a screw, an angle adjustment bracket, and an angle adjustment plate. The conveyor is fixedly connected to the angle adjustment bracket via the screw and connected to the angle adjustment plate. The angle of the conveyor can be adjusted by adjusting the position of the angle adjustment plate at the angle adjustment row hole.

[0011] Based on the above technical solutions, preferably, the transverse seedling feeding chain transmission mechanism includes a stepper motor I, a transverse drive sprocket X, a chain I, a transverse driven sprocket Y, and a motor base. The stepper motor I is fixedly installed at the stepper motor I mounting hole of the seedling feeding device frame through the motor base. The transverse drive sprocket X is installed on the output shaft of the stepper motor I and drives the transverse driven sprocket Y, which is installed on the transverse drive pulley shaft, through the chain I, thereby driving the conveyors on the left and right sides of the seedling feeding device frame to operate.

[0012] Based on the above technical solutions, preferably, the vertical flexible clamping and feeding mechanism includes a flexible belt II, a flexible belt I, a vertical active pulley A assembly, a vertical feeding chain transmission mechanism, a vertical driven pulley adjustment device, a flexible belt clamping distance adjustment device, and a vertical active pulley B tension adjustment device. Each device or mechanism is fixedly installed inside the frame of the feeding device. The vertical active pulley A assembly is installed directly below the horizontal active pulley shaft at the mounting hole of the vertical active pulley A assembly. The vertical active pulley B tension adjustment device is installed at the upper front of the horizontal feeding mechanism 1 at the mounting slot of the vertical active pulley B tension adjustment device. The clamping gap adjustment device is installed below the tension adjustment device of the vertical drive pulley B, at the mounting slot of the flexible belt clamping gap adjustment device, and on the same horizontal plane as the assembly of the vertical drive pulley A. The vertical driven pulley adjustment device is installed at the lower part of the seedling feeding device frame, at the hole of the vertical driven pulley adjustment device. The flexible belt I is installed around the vertical drive pulley A of the vertical drive pulley A assembly and the vertical driven pulley on the same side as the vertical drive pulley A. The flexible belt II is installed around the vertical drive pulley B of the tension adjustment device of the vertical drive pulley B and the vertical driven pulley on the same side as the vertical drive pulley B.

[0013] In the above technical solution, the flexible belt I and flexible belt II are preferably made of PVC or PU material as the base belt. A layer of sponge is bonded to the surface of the base belt to avoid damage when clamping and transporting naked rapeseed seedlings. A guide strip is bonded to the bottom surface of the base belt to prevent belt deviation.

[0014] Based on the above technical solutions, preferably, the vertical active pulley A assembly includes a vertical active pulley shaft A, a pair of vertical active pulleys A installed at both ends of the vertical active pulley shaft A, a pair of diamond bearings installed inward, and a sprocket A. The diamond bearings are fixedly installed on the outer surface of the seedling delivery device frame by bolts, so that the vertical active pulley shaft A of the vertical active pulley A assembly passes through the vertical active pulley A assembly mounting hole on the seedling delivery device frame.

[0015] Based on the above technical solutions, preferably, the vertical driven pulley adjustment device includes an outer fixed seat E, and an upper and lower sliding seat that can be adjusted up and down by cooperating with the outer fixed seat E through an up and down adjustment knob, an up and down adjustment bolt and an up and down adjustment spring. The up and down adjustment bolt is fixed to the bottom of the upper and lower sliding seat, and the up and down adjustment spring is sleeved on the up and down adjustment bolt and passes through the top of the outer fixed seat E and is threadedly connected to the up and down adjustment knob.

[0016] In the above technical solution, four screw bearings are installed on each side of the long side of the upper and lower sliding seats. The screw bearings are arranged on the outer side of the upper and lower sliding seats. By rotating the up and down adjustment knob, the upper and lower sliding seats can move up and down, thereby achieving the tension of the flexible belt I and the flexible belt II. During the up and down movement of the upper and lower sliding seats, the screw bearings will roll on the inner wall of the outer fixed seat E, increasing the smoothness of the movement of the upper and lower sliding seats. Straight slots are opened on the two side plates of the long side of the upper and lower sliding seats. The straight slots pass through two vertical driven pulley shafts. Vertical driven pulleys are installed at both ends of the vertical driven pulley shafts. The driven pulley spacing adjustment bolt is connected to the threaded hole in the middle of the vertical driven pulley shaft, and a driven pulley spacing adjustment spring is fitted on it. It passes through the short side plate of the upper and lower sliding seats and is threadedly connected to the driven pulley spacing adjustment knob. By rotating the driven pulley spacing adjustment knob, the spacing between the two vertical driven pulley shafts can be adjusted.

[0017] Based on the above technical solutions, preferably, the flexible belt clamping distance adjustment device includes an outer fixed base C, a clamping distance adjustment knob, a clamping distance adjustment bolt, a clamping distance adjustment spring, and an inner slide C that can be adjusted back and forth. The clamping distance adjustment bolt is fixed to the end of the inner slide C, the clamping distance adjustment bolt is fitted with the clamping distance adjustment spring, and passes through the end face of the outer fixed base C and is threadedly connected to the clamping distance adjustment knob.

[0018] In the above technical solution, four screw bearings are installed on each side of the inner slide C, and the screw bearings are arranged on the outer side of the inner slide C. A shaft with adjustable clamping distance pulleys is fixedly installed on the inner slide C. Adjustable clamping distance pulleys are rotatably mounted at both ends of the shaft, and a sprocket C is installed in the middle. By rotating the clamping distance adjustment knob, the adjustable clamping distance pulleys can move back and forth with the inner slide C, thereby adjusting the distance between the flexible belt II and the flexible belt I.

[0019] Based on the above technical solutions, preferably, the vertical active pulley B tension adjustment device is basically the same as the flexible belt clamping distance adjustment device, the only difference being that the flexible belt clamping distance adjustment device's clamping distance adjustment pulley is connected to the shaft through a bearing and is a passive pulley, while the vertical active pulley B of the vertical active pulley B tension adjustment device is connected to the shaft through a flat key and is an active pulley.

[0020] Based on the above technical solutions, preferably, the vertical seedling delivery chain transmission mechanism includes a motor base II, a stepper motor II, a chain tensioning rod, a chain II, a vertical drive sprocket D, and a sprocket assembly. The stepper motor II is fixedly installed at the stepper motor II mounting hole of the seedling delivery device frame via the motor base II. The vertical drive sprocket D is installed on the output shaft of the stepper motor II. The sprocket assembly includes sprocket C, sprocket A, and sprocket B. The chain II passes sequentially around the vertical drive sprocket D, sprocket C, sprocket A, and sprocket B. The chain tensioning rod is composed of multiple miniature bearings joined together and looped around bolts, and is installed at the chain tensioning rod mounting hole. By adjusting the vertical position of the chain tensioning rod at the chain tensioning rod mounting hole, the tension of the chain II can be adjusted.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. The rapeseed bare seedling flexible posture-fixing seedling delivery device designed in this invention can effectively change the posture of rapeseed bare seedlings and fix their posture for placement. Through experimental verification, the posture change success rate is higher than 98%.

[0023] 2. By changing the shape and position parameters such as the material, hardness, height, diameter, spacing, row spacing, and tilt angle of the limiting soft nails, the flexible posture-fixing seedling delivery device designed in this invention can be universally applied to bare seedlings of different types (sweet potato, licorice, scallion, cotton, etc.) and at different seedling stages, and can meet the needs of seedling placement with different tilt angles.

[0024] 3. The flexible clamping and positioning seedling delivery device for naked rapeseed seedlings of the present invention causes minimal damage to the naked seedlings during the clamping and delivery process, which can ensure a high survival rate of naked seedlings after transplanting. Attached Figure Description

[0025] Figure 1 This is a three-dimensional diagram illustrating the working principle of the flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to the present invention.

[0026] Figure 2 This is a top view of the working principle of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed-position seedling delivery device of the present invention;

[0027] Figure 3 This is a side view of the working principle of the flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to the present invention.

[0028] Figure 4 This is a three-dimensional diagram of the flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to the present invention;

[0029] Figure 5 This is a right view of the flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to the present invention.

[0030] Figure 6This is a three-dimensional schematic diagram of the transverse seedling feeding mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed-position seedling delivery device of the present invention;

[0031] Figure 7 This is a front view of the transverse seedling feeding mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and posture-fixing seedling delivery device of the present invention;

[0032] Figure 8 This is a left view of the vertical flexible clamping and feeding mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed-position feeding device of the present invention;

[0033] Figure 9 This is a three-dimensional view of the vertical flexible clamping and feeding mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed-position feeding device of the present invention;

[0034] Figure 10 This is a three-dimensional view of the frame of the seedling delivery device of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed posture seedling delivery device of the present invention;

[0035] Figure 11 This is a right view of the frame of the seedling delivery device of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed posture seedling delivery device of the present invention;

[0036] Figure 12 This is a three-dimensional view of the vertical active pulley A assembly of the vertical flexible clamping and seedling delivery mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and seedling delivery device of the present invention;

[0037] Figure 13 This is a three-dimensional schematic diagram of the vertical driven pulley adjustment device of the vertical flexible clamping and seedling delivery mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and seedling delivery device of the present invention;

[0038] Figure 14 This is a side view of the vertical driven pulley adjustment device of the vertical flexible clamping and seedling delivery mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and seedling delivery device of the present invention;

[0039] Figure 15 This is a three-dimensional view of the flexible belt clamping spacing adjustment device of the vertical flexible clamping and seedling delivery mechanism of the rapeseed naked seedling mechanical transplanting flexible clamping and seedling delivery device of the present invention;

[0040] Figure 16 This is a three-dimensional schematic diagram of the vertical active pulley B adjustment device of the vertical flexible clamping and seedling delivery mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and seedling delivery device of the present invention;

[0041] Figure 17 This is a top view of the vertical active pulley B adjustment device of the vertical flexible clamping and seedling delivery mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and seedling delivery device of the present invention;

[0042] Figure 18This is a three-dimensional schematic diagram of the chain drive mechanism of the vertical flexible clamping and feeding mechanism of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed-position feeding device of the present invention.

[0043] Figure 19 This is a three-dimensional schematic diagram of the limiting conveyor belt of the transverse feeding mechanism conveyor of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed posture seedling delivery device of the present invention;

[0044] Figure 20 This is a top view of the limiting conveyor belt of the transverse feeding mechanism conveyor of the rapeseed bare seedling mechanical transplanting flexible clamping and fixed-position seedling delivery device of the present invention.

[0045] In the diagram: 1. Horizontal seedling feeding mechanism; 2. Vertical flexible clamping and feeding mechanism; 3. Seedling feeding device frame; 4. Rapeseed bare seedlings; 5. Conveyor; 6. Horizontal seedling feeding chain drive mechanism; 7. Plum blossom coupling; 8. Inclination adjustment plate; 9. Inclination adjustment bracket; 100. Screw; 101. Flexible belt II; 202. Flexible belt I; 203. Vertical active pulley A assembly; 204. Vertical seedling feeding chain drive mechanism; 205. Vertical driven pulley adjustment device; 206. Flexible belt clamping spacing adjustment device; 207. Vertical active pulley B tension adjustment device; 301. Left frame plate; 302. Right frame plate; 303. Plate spacing fixing steel pipe; 304. Stepper motor I mounting hole; 305. Inclination adjustment row hole; 6. Vertical active belt. Mounting slot 306 for tension adjustment device of wheel B, mounting slot 307 for flexible belt clamping spacing adjustment device, mounting holes 308 for chain tensioning rod, hole 309 for vertical driven pulley adjustment device, mounting hole 310 for stepper motor II, mounting hole 311 for vertical drive pulley A assembly, limiting conveyor belt 101a, transverse drive pulley shaft 101b, transverse drive pulley 101c, headstock 101d, 2040 aluminum profile 101e, transverse driven pulley shaft 101f, conveyor belt tensioning bolt 101g, transverse driven pulley 101h, tailstock 101i, stepper motor I 102a, motor base I 102b, transverse drive sprocket X 102c, chain I 102d, transverse driven sprocket Y 102e. Vertical drive pulley A203a, rhomboid bearing 203b, sprocket A203c, vertical drive pulley shaft A203d, motor base II 204a, stepper motor II 204b, chain tension rod 204c, chain II 204d, vertical drive sprocket D204e, vertical driven pulley 205a, external fixed base E205b, up / down adjustment knob 205c, up / down adjustment bolt 205d, up / down adjustment spring 205e, driven pulley spacing adjustment spring 205f, vertical driven pulley shaft 205g, upper / lower slide block 205h, bearing with screw 205i, driven pulley spacing adjustment knob 205j, driven pulley spacing adjustment bolt 205k, pulley with clamping spacing adjustment 206a. Components include: a pulley shaft 206b with adjustable clamping distance, an outer fixed seat C206c, a clamping distance adjustment knob 206d, a clamping distance adjustment bolt 206e, a clamping distance adjustment spring 206f, an inner slide C206g, a sprocket C206h, a screw bearing 206i, a vertical drive pulley B207a, a vertical drive pulley shaft B207b, a sprocket B207c, a screw bearing 207d, a miniature bearing 207e, an inner slide B207f, an outer fixed seat B207g, a pulley B tension adjustment knob 207h, a pulley B tension adjustment bolt 207i, a pulley B tension adjustment spring 207j, a limit pin 101a-1, a guide bar 101a-2, and a conveyor belt 101a-3. Detailed Implementation

[0046] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] like Figure 1-20 As shown, the present invention provides a flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings, comprising a seedling delivery device frame 3, several horizontal seedling feeding mechanisms 1 and vertical flexible clamping and delivery mechanisms 2. The several horizontal seedling feeding mechanisms 1 are horizontally and symmetrically installed on the seedling delivery device frame 3, and the several vertical flexible clamping and delivery mechanisms 2 are installed on the seedling delivery device frame 3 below the horizontal seedling feeding mechanisms 1.

[0048] The seedling delivery device frame 3 includes a left frame plate 301 and a right frame plate 302 installed opposite each other and fixed at a distance by a steel pipe 303. The left frame plate 301 and the right frame plate 302 have the same shape and the slots and holes are basically the same. They are both provided with chain tensioning rod mounting holes 308 for tensioning the chain II 204d of the vertical seedling delivery chain drive mechanism 204, tilt adjustment holes 305 for installing and tilting the conveyor 101, and slots and holes for installing the mechanisms or components mentioned in the text. They are also provided with mounting holes and slots for devices related to transplanting processes such as trenching and soil covering.

[0049] The transverse seedling feeding mechanism 1 includes two conveyors 101 on the left and right sides, and a transverse seedling feeding chain drive mechanism 102 located above the two conveyors 101. The two conveyors 101 are connected by a plum blossom coupling 103 to make the two transverse active pulley shafts 101b coaxial.

[0050] In a preferred embodiment, the conveyor 101 includes front and rear transverse drive pulleys 101c and transverse driven pulleys 101h. Bearing-equipped headstocks 101d are mounted on the left and right end faces of the transverse drive pulley 101c. The transverse drive pulley shaft 101b passes through the transverse drive pulley 101c and the headstock 101d, and one end extends out and is connected to the extended end of the transverse drive pulley shaft 101b of the other conveyor 101 via a perforated coupling 103. This allows the two conveyors 101 to operate synchronously under the drive of the transverse seedling feeding chain transmission mechanism 102. In operation, a tailstock 101i is installed on the left and right end faces of the transverse driven pulley 101h, respectively. The transverse driven pulley shaft 101f passes through the transverse driven pulley 101h and the tailstock 101i, and is connected by the built-in bearing of the transverse driven pulley 101h. The transverse driven pulley shaft 101f has a threaded hole near the shaft end. The transverse driven pulley 101h can be adjusted back and forth by the conveyor belt tensioning bolt 101g, thereby adjusting the tension of the limiting conveyor belt 101a that is mounted around the transverse drive pulley shaft 101b and the transverse driven pulley 101h.

[0051] In a preferred embodiment, the conveyor 101 is fixedly connected to the tilt adjustment bracket 105 via the screw 106 and connected to the tilt adjustment plate 104. The tilt angle of the conveyor 101 can be adjusted by adjusting the position of the tilt adjustment plate 104 at the tilt adjustment hole 305.

[0052] In a preferred embodiment, the transverse seedling feeding chain transmission mechanism 102 includes a stepper motor I 102a, a transverse drive sprocket X 102c, a chain I 102d, and a transverse driven sprocket Y 102e. The stepper motor I 102a is fixedly installed at the stepper motor I mounting hole 304 of the seedling feeding device frame 3 via a motor mount I 102b. The transverse drive sprocket X 102c is installed on the output shaft of the stepper motor I 102a and drives the transverse driven sprocket Y 102e, which is installed on the transverse drive pulley shaft 101b, via the chain I 102d, thereby driving the conveyors 101 on the left and right sides of the seedling feeding device frame 3 to operate.

[0053] In a preferred embodiment, the limiting conveyor belt 101a is preferably made of PVC or PU material, and limiting soft nails 101a-1 are bonded to its surface. The limiting soft nails 101a-1 have a diameter d and a height h, are arranged at a certain interval s, and are placed obliquely on the conveyor belt 101a-3 with an oblique angle of α, a row spacing of l, and a number of n per row. During the seedling delivery process, the limiting soft nails 101a-1 present an inclined angle and drive the bare seedlings to be transported in a curved dynamic manner from top to bottom.

[0054] The experiment was conducted using naked rapeseed seedlings of Huayouza 62 with a seedling stage of 25-35 days. Preferably, the following parameters were used: d = 4 mm, h = 60 mm, s = 20 mm, α = 45°, l = 55 mm, and n = 8. Adjacent rows of restraining soft nails 101a-1 formed a restraining interval for the naked rapeseed seedlings 4, ensuring the safety of each seedling 4 during transport. Figure 1 (IV, V, VI and VI) do not affect each other; a guide strip 101a-2 is bonded to the center of the reverse side of the limiting conveyor belt 101a. When the conveyor 101 is running, the guide strip 101a-2 is precisely engaged with the annular grooves opened on the transverse driving pulley 101c and the transverse driven pulley 101h to avoid the limiting conveyor belt 101a from running off-center.

[0055] The vertical flexible clamping and feeding mechanism 2 includes a flexible belt II 201, a flexible belt I 202, a vertical active pulley A assembly 203, a vertical feeding chain drive mechanism 204, a vertical driven pulley adjustment device 205, a flexible belt clamping distance adjustment device 206, and a vertical active pulley B tension adjustment device 207. Each device or mechanism is fixedly installed inside the feeding device frame 3. The vertical active pulley A assembly 203 is installed directly below the horizontal active pulley shaft 101b at the vertical active pulley A assembly mounting hole 311. The vertical active pulley B tension adjustment device 207 is installed at the upper front of the horizontal feeding mechanism 1 at the vertical active pulley B tension adjustment device mounting groove 306. The flexible belt clamping distance adjustment device 206 is installed on the vertical active pulley... Below the tension adjustment device 207 of the driving pulley B, at the mounting groove 307 of the flexible belt clamping gap adjustment device, and on the same horizontal plane as the vertical driving pulley A assembly 203, the vertical driven pulley adjustment device 205 is installed at the lower part of the seedling feeding device frame 3, at the vertical driven pulley adjustment device hole 309, the flexible belt I 202 is installed around the vertical driving pulley A203a of the vertical driving pulley A assembly 203 and the vertical driven pulley 205a on the same side as the vertical driving pulley A203a of the vertical driven pulley A assembly 203, and the flexible belt II 201 is installed around the vertical driving pulley B207a of the tension adjustment device 207 of the vertical driving pulley B and the vertical driven pulley 205a on the same side as the vertical driving pulley B207a.

[0056] In a preferred embodiment, flexible belt I 202 and flexible belt II 201 are preferably made of PVC or PU material as the base belt. A layer of sponge is bonded to the surface of the base belt to avoid damage when clamping and transporting naked rapeseed seedlings. Guide strips are bonded to the bottom surface of the base belt to prevent belt deviation.

[0057] In a preferred embodiment, the vertical active pulley A assembly 203 includes a vertical active pulley shaft A203d, a pair of vertical active pulleys A203a mounted at both ends of the vertical active pulley shaft A203d, a pair of diamond bearings 203b mounted inward, and a sprocket A203c. The diamond bearings 203b are fixedly mounted to the outer surface of the seedling delivery device frame 3 by bolts, so that the vertical active pulley shaft A203d of the vertical active pulley A assembly 203 passes through the vertical active pulley A assembly mounting hole 311 on the seedling delivery device frame 3.

[0058] In a preferred embodiment, the vertical driven pulley adjustment device 205 includes an outer fixed seat E205b and an upper and lower sliding seat 205h that is adjustable up and down by cooperating with the outer fixed seat E205b through an up and down adjustment knob 205c, an up and down adjustment bolt 205d, and an up and down adjustment spring 205e. The up and down adjustment bolt 205d is fixed to the bottom of the upper and lower sliding seat 205h, and the up and down adjustment spring 205e is sleeved on the up and down adjustment bolt 205d and passes through the top of the outer fixed seat E205b and is threadedly connected to the up and down adjustment knob 205c.

[0059] In a preferred embodiment, four screw bearings 205i are installed on each side of the long side of the upper and lower slide seats 205h. The screw bearings 205i are arranged on the outside of the upper and lower slide seats 205h. The upper and lower slide seats 205h can be moved up and down by rotating the up and down adjustment knob 205c, thereby achieving the tension of the flexible belt I 202 and the flexible belt II 201. During the up and down movement of the upper and lower slide seats 205h, the screw bearings 205i will roll on the inner wall of the outer fixed seat E205b, increasing the smoothness of the movement of the upper and lower slide seats 205h. The upper and lower sliding base 205h has straight slots on both sides of its long side plate. Two vertical driven pulley shafts 205g pass through the straight slots. Vertical driven pulleys 205a are installed at both ends of the vertical driven pulley shafts 205g. The driven pulley spacing adjustment bolt 205k is connected to the threaded hole in the middle of the vertical driven pulley shaft 205g and is fitted with a driven pulley spacing adjustment spring 205f. The spring passes through the short side plate of the upper and lower sliding base 205h and is threadedly connected to the driven pulley spacing adjustment knob 205j. By rotating the driven pulley spacing adjustment knob 205j, the spacing between the two vertical driven pulley shafts 205g can be adjusted.

[0060] In a preferred embodiment, the flexible belt clamping gap adjustment device 206 includes an outer fixed seat C206c and an inner slide C206g that is adjustable back and forth by cooperating with the outer fixed seat C206c through a clamping gap adjustment knob 206d, a clamping gap adjustment bolt 206e, and a clamping gap adjustment spring 206f. The clamping gap adjustment bolt 206e is fixed to the end of the inner slide C206g, and the clamping gap adjustment bolt 206e is fitted with the clamping gap adjustment spring 206f and passes through the end face of the outer fixed seat C206c and is threadedly connected to the clamping gap adjustment knob 206d.

[0061] In a preferred embodiment, four screw bearings 206i are installed on each side of the inner slide C206g. The bearings 206i are arranged on the outer side of the inner slide C206g. A shaft 206b with clamping gap adjustment pulleys is fixedly installed on the inner slide C206g. Clamping gap adjustment pulleys 206a are rotatably installed at both ends of the shaft, and a sprocket C206h is installed in the middle. By rotating the clamping gap adjustment knob 206d, the clamping gap adjustment pulleys 206a can move back and forth with the inner slide C206g, thereby adjusting the gap between the flexible belt II 201 and the flexible belt I 202.

[0062] In a preferred embodiment, the vertical active pulley B tension adjustment device 207 is basically the same as the flexible belt clamping distance adjustment device 206, except that the clamping distance adjustment pulley 206a of the flexible belt clamping distance adjustment device 206 is connected to the shaft through a bearing and is a passive pulley, while the vertical active pulley B 207a of the vertical active pulley B tension adjustment device 207 is connected to the shaft through a flat key and is an active pulley.

[0063] In a preferred embodiment, the vertical seedling delivery chain transmission mechanism 204 includes a motor base II 204a, a stepper motor II 204b, a chain tensioning rod 204c, a chain II 204d, a vertical drive sprocket D204e, and a sprocket assembly. The stepper motor II 204b is fixedly mounted on the stepper motor II mounting hole 310 of the seedling delivery device frame 3 via the motor base II 204a. The vertical drive sprocket D204e is mounted on the output shaft of the stepper motor II 204b. The sprocket assembly includes sprocket C206h, sprocket A203, and sprocket B207c. The chain II 204d sequentially winds around the vertical drive sprocket D204e, sprocket C206h, sprocket A203, and sprocket B207c, with the specific winding method as follows: Figure 15 As shown, the chain tensioning rod 204c is composed of multiple miniature bearings arranged side by side and looped around a bolt. It is installed at the chain tensioning rod mounting hole 308. By adjusting the vertical position of the chain tensioning rod 204c in the chain tensioning rod mounting hole 308, the tension of the chain II 204d can be adjusted.

[0064] During field transplanting, the specific workflow of the rapeseed seedling flexible clamping and positioning device is as follows: Stepper motor I 102a and stepper motor II 204b are started, the horizontal seedling feeding chain drive mechanism 102 and the vertical seedling delivery chain drive mechanism 204 operate, and chain I 102d rotates clockwise. Figure 6 (Viewpoint) drives the limiting conveyor belt 101a to rotate, and chain II 204d rotates counterclockwise ( Figure 9 (From a perspective) The flexible belts II 201 and I 202 rotate in opposite directions at the same speed. Rapeseed seedlings are placed by the seedling feeder between adjacent rows of limiting soft nails 101a-1 on the limiting conveyor belt 101a, and then conveyed forward. As the limiting conveyor belt 101a changes from linear motion to rotational motion, the single row of limiting soft nails 101a-1 (as shown in the image)... Figure 19 ①, ②, ③, ④, ⑤, ⑥, ⑦, and ⑧ will form a smooth dynamic surface to support the naked rapeseed seedlings 4 (e.g. Figure 1 (VII) The seedling transitions stably from a horizontal posture to a posture with a certain angle β (30°≤β≤90°) relative to the direction of the plumb bob, and falls into the vertical flexible clamping and seedling delivery mechanism 2. It is then clamped and transported downward by the flexible belt I 202 and the flexible belt II 201. Finally, the rapeseed seedling 4 (i) in the figure falls with its roots facing down at an angle β, completing the fixed-posture seedling placement.

[0065] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings, characterized in that, It includes a seedling feeding device frame, several horizontal seedling feeding mechanisms and a vertical flexible clamping seedling feeding mechanism. Several horizontal seedling feeding mechanisms are horizontally and symmetrically installed on the seedling feeding device frame. Several horizontal seedling feeding mechanisms are used for rapeseed seedlings at different angles of inclination. Several vertical flexible clamping seedling feeding mechanisms are installed on the seedling feeding device frame below the horizontal seedling feeding mechanisms. The transverse seedling feeding mechanism includes two conveyors on the left and right sides. Each conveyor includes a front and rear transverse active pulley and a transverse driven pulley, as well as a limiting conveyor belt mounted around the shafts of the transverse active pulley and the transverse driven pulley. Several limiting soft nails are adhered to the surface of the limiting conveyor belt. The limiting soft nails have a diameter of 4mm and a height of 60mm. These limiting soft nails are arranged at 20mm intervals and obliquely placed on the limiting conveyor belt. During seedling feeding, the limiting soft nails present an inclined angle and move the bare seedlings in a dynamic, curved manner from top to bottom. Adjacent rows of limiting soft nails form a constrained area for the rapeseed seedlings, ensuring that each rapeseed seedling does not interfere with the others during transport. The multiple limiting soft nails are arranged at equal intervals to form a smooth, dynamic curved surface, used to support the rapeseed seedlings during transport, allowing them to stably transition from a horizontal to an inclined posture. The vertical flexible clamping and feeding mechanism includes a flexible belt II, a flexible belt I, a vertical active pulley A assembly, a vertical feeding chain transmission mechanism, a vertical driven pulley adjustment device, a flexible belt clamping spacing adjustment device, and a vertical active pulley B tension adjustment device. Several of these vertical flexible clamping and feeding mechanisms are used for vertical clamping and feeding of bare seedlings.

2. The flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to claim 1, characterized in that, The seedling delivery device frame includes a left frame plate and a right frame plate installed opposite each other and whose spacing is fixed by steel pipes with plate spacing. Both the left frame plate and the right frame plate are provided with chain tension rod mounting holes and tilt angle adjustment holes.

3. The flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to claim 1, characterized in that, The transverse seedling feeding mechanism includes a transverse seedling feeding chain drive mechanism, a plum blossom coupling, and a transverse drive pulley shaft. The transverse seedling feeding chain drive mechanism is located above the two conveyors, and the two conveyors are connected coaxially to the two transverse drive pulley shafts through the plum blossom coupling.

4. The flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to claim 3, characterized in that, The left and right end faces of the transverse drive pulley are respectively equipped with head seats with bearings. The shaft of the transverse drive pulley passes through the transverse drive pulley and the head seat, and one end extends out and is connected to the extended end of the transverse drive pulley shaft of another conveyor through a boucle coupling. The left and right end faces of the transverse driven pulley are respectively equipped with tail seats. The shaft of the transverse driven pulley passes through the transverse driven pulley and the tail seat, and is connected through the built-in bearing of the transverse driven pulley.

5. The flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to claim 4, characterized in that, It also includes a conveyor belt tensioning bolt and a limiting conveyor belt. The transverse driven pulley shaft has a threaded hole near the shaft end, and the transverse driven pulley can be adjusted back and forth by means of the conveyor belt tensioning bolt.

6. The flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to claim 1, characterized in that, The vertical active pulley A assembly is installed directly below the horizontal active pulley shaft. The flexible belt clamping distance adjustment device is installed below the vertical active pulley B tension adjustment device and is on the same horizontal plane as the vertical active pulley A assembly. The vertical driven pulley adjustment device is installed at the lower part of the seedling delivery device frame. The flexible belt I is installed around the vertical active pulley A assembly and the vertical driven pulley adjustment device. The flexible belt II is installed around the vertical active pulley B tension adjustment device.

7. The flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to claim 6, characterized in that, The vertical seedling delivery chain transmission mechanism includes a motor base II, a stepper motor II, a chain tensioning rod, a chain II, a vertical drive sprocket D, and a sprocket assembly. The stepper motor II is fixedly installed on the frame of the seedling delivery device via the motor base II. The vertical drive sprocket D is installed on the output shaft of the stepper motor II. The chain II passes sequentially around the vertical drive sprocket D and the sprocket assembly. The chain tensioning rod adjusts the tension of the chain II.

8. The rapeseed bare seedling mechanical transplanting flexible clamping and positioning seedling delivery device according to claim 6, characterized in that, The vertical driven pulley adjustment device includes an outer fixed seat E and an upper and lower sliding seat that can be adjusted up and down by cooperating with the outer fixed seat E through an upper and lower adjustment knob, an upper and lower adjustment bolt and an upper and lower adjustment spring. The upper and lower adjustment bolt is fixed to the bottom of the upper and lower sliding seat, and the upper and lower adjustment spring is sleeved on the upper and lower adjustment bolt and passes through the top of the outer fixed seat E and is threadedly connected to the upper and lower adjustment knob.

9. A flexible clamping and positioning seedling delivery device for mechanical transplanting of naked rapeseed seedlings according to claim 6, characterized in that, The flexible belt clamping distance adjustment device includes an outer fixed base C, a clamping distance adjustment knob, a clamping distance adjustment bolt, a clamping distance adjustment spring, and an inner slide C that can be adjusted back and forth. The clamping distance adjustment bolt is fixed to the end of the inner slide C. The clamping distance adjustment bolt is fitted with the clamping distance adjustment spring and passes through the end face of the outer fixed base C and is threadedly connected to the clamping distance adjustment knob.

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