Intelligent control self-propelled radix pseudostellaria transplanting machine and method

Abstract

The present application relates to the technical fields of medicinal material planting and transplanting, and discloses an intelligent self-propelled radix pseudoginseng transplanting machine and method, which comprises a machine tool, a soil covering frame connected to the rear of the machine tool through a lifting mechanism, and a soil covering and ridging mechanism arranged on the soil covering frame. The machine can realize the transplanting of radix pseudoginseng, control the gap during transplanting, ensure the uniformity of the transplanting gap, and improve the efficiency of transplanting. The machine can also realize automatic transplanting, dig a ditch during transplanting, and facilitate subsequent better transplanting. The machine can realize soil covering and ridging for the transplanted radix pseudoginseng, compact the radix pseudoginseng during soil covering and ridging, prevent the movement of the radix pseudoginseng caused by soil covering operation, and change the spacing. The machine can realize the monitoring of the transplanted radix pseudoginseng, monitor whether there is a position without transplanting, timely supplement seedlings, prevent some positions from not being transplanted, and realize the spraying of the transplanted radix pseudoginseng.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medicinal material planting and transplanting, and particularly relates to an intelligent self-propelled Radix Pseudoginseng transplanting machine and method. BACKGROUND

[0002] In the field of Radix Pseudoginseng transplanting, the traditional transplanting method has problems such as low efficiency, high labor intensity, and low transplanting survival rate. With the development of modern agricultural technology, intelligent and automated agricultural equipment has become an important way to improve production efficiency and reduce labor costs. However, there is currently a lack of intelligent self-propelled transplanting machines specifically for Radix Pseudoginseng. Existing transplanting machines are mostly suitable for other crops and cannot effectively meet the transplanting needs of Radix Pseudoginseng, making it difficult to achieve precise control and efficient operation. Currently, Radix Pseudoginseng is basically transplanted by hand, which is inefficient and of poor quality, resulting in uneven spacing and gaps, affecting the yield of Radix Pseudoginseng and leading to low yield. Therefore, it is of great significance to develop an intelligent self-propelled Radix Pseudoginseng transplanting machine and method to improve the efficiency of Radix Pseudoginseng planting and reduce production costs. SUMMARY

[0003] The application provides the following technical scheme: an intelligent self-propelled Radix Pseudoginseng transplanting machine, comprising a machine tool, a soil covering frame connected to the rear of the machine tool through a lifting mechanism, a soil covering and ridging mechanism arranged on the soil covering frame, the soil covering and ridging mechanism comprising symmetrical fixed connection of a ridging cutter on the soil covering frame, symmetrical fixed connection of a height adjusting electric push rod at the lower part of the soil covering frame, fixed connection of a cross frame at the lower end of the height adjusting electric push rod, symmetrical fixed connection of a pressing electric push rod on the side wall of the cross frame, fixed connection of a pressing frame at the end of the pressing electric push rod away from the cross frame, symmetrical arrangement of a pressing gear cavity on the pressing frame, rotational connection of a pressing gear shaft between the end walls of the pressing gear cavity, power connection of the pressing gear shaft and a pressing motor, fixed installation of the pressing motor in the pressing frame, fixed connection of a pressing gear on the outer surface of the pressing gear shaft, meshing of the pressing gear and a pressing belt, rotational installation of the pressing belt on the pressing frame, rotational connection of a scraper connecting shaft between the end walls of the soil covering frame, fixed connection of an arc-shaped scraper on the outer surface of the scraper connecting shaft, connection of a torsion spring between the arc-shaped scraper and the soil covering frame, and arc-shaped processing of the lower part of the arc-shaped scraper.

[0004] Preferably, the front part of the machine is provided with a transplant feeding mechanism connected, the transplant feeding mechanism comprises a fixed frame fixedly connected with the front part of the machine, a moving chute is arranged on the fixed frame, a moving lead screw is rotatably connected between the end walls of the moving chute, the moving lead screw is power-connected with a moving motor, the moving motor is fixedly installed in the fixed frame, a nut block is threadedly connected with the outer surface of the moving lead screw, a moving frame is fixedly connected to the outer surface of the nut block, a connecting cross plate is fixedly connected to the lower part of the moving frame, symmetrical stable sliding blocks are fixedly connected to the moving frame, the stable sliding blocks are slidably connected with the fixed frame, a conveying frame is fixedly connected to the front part of the connecting cross plate, symmetrical conveying cavities are processed on the conveying frame, conveying shafts are uniformly rotatably connected between the end walls of the conveying cavities, one of the conveying shafts is power-connected with a conveying motor, the conveying motor is fixedly installed in the conveying frame, an output port is processed through the lower part of the conveying cavity, conveying pulleys are fixedly connected to the outer surfaces of the conveying shafts, the conveying pulleys are connected through a conveying belt, the conveying belt is slidably installed between the end walls of the conveying cavities, the outer surfaces of the conveying belt are uniformly and symmetrically fixedly connected with conveying plates, seat mounting plates are fixedly connected to the connecting cross plate, and seats are fixedly connected to the upper part of the seat mounting plates.

[0005] Preferably, the connecting cross plate is connected with a pesticide spraying mechanism, the pesticide spraying mechanism comprises a pesticide box fixedly connected to the upper part of the connecting cross plate, a liquid inlet pipe is fixedly connected to the pesticide box and communicates with the inside of the pesticide box, a liquid inlet head is fixedly connected to the distal end of the liquid inlet pipe away from the pesticide box, a pesticide spraying box is fixedly connected to the lower part of the connecting cross plate, an electric spraying head is fixedly connected to the lower part of the pesticide spraying box, the electric spraying head communicates with the inside of the pesticide spraying box, and the pesticide spraying box communicates with the inside of the pesticide box.

[0006] Preferably, the front part of the conveying frame is connected with a ditching mechanism, the ditching mechanism comprises fixed blocks which are detachably connected to the front part of the conveying frame through bolts, and ditching cutters are fixedly connected between the fixed blocks.

[0007] Preferably, the upper and lower parts of the machine are provided with a movement mechanism, the movement mechanism comprises a movement support plate fixedly connected to the lower part of the machine, a movement frame is fixedly connected to the distal end of the movement support plate, a movement gear cavity is arranged in the movement frame, movement gear shafts are rotatably connected between the end walls of the movement gear cavity, the movement gear shafts are power-connected with a movement motor, the movement motor is fixedly installed in the movement frame, movement gears are fixedly installed on the outer surfaces of the movement gear shafts, the movement gears are engaged with movement toothed belts, the movement toothed belts are rotatably installed on the outer surfaces of the movement frame, and movement plates are uniformly fixedly connected to the outer surfaces of the movement toothed belts.

[0008] Preferably, the machine is provided with a seedling filling mechanism, the seedling filling mechanism comprises a seedling filling cavity provided in the machine, a first electric screw rod is rotatably connected between the end walls of the seedling filling cavity, a moving nut block is threadedly connected to the outer surface of the first electric screw rod, a moving plate is fixedly connected to the lower part of the moving nut block, a second electric screw rod is rotatably connected to the moving plate, a seedling filling nut block is threadedly connected to the outer surface of the second electric screw rod, a seedling filling electric push rod is fixedly connected to the lower part of the seedling filling nut block, a seedling filling electric clamp jaw is fixedly connected to the lower end of the seedling filling electric push rod, a radix pseudoginseng placing box is slidably connected to the bottom wall of the seedling filling cavity, the radix pseudoginseng placing box extends out of the seedling filling cavity, a handle is fixedly connected to the end wall of the radix pseudoginseng placing box, a radix pseudoginseng limiting clamp is fixedly connected to the bottom wall of the radix pseudoginseng placing box, and an opening is arranged in the bottom wall of the seedling filling cavity.

[0009] Preferably, the lifting mechanism comprises a lifting frame fixedly connected to the rear part of the machine, a lifting sliding groove is arranged on the lifting frame, a lifting screw rod is rotatably connected between the end walls of the lifting sliding groove, the lifting screw rod is power-connected with a lifting motor, the lifting motor is fixedly installed on the lifting frame, a lifting nut plate is threadedly connected to the outer surface of the lifting screw rod, and the covering frame is fixedly connected to the end of the lifting nut plate.

[0010] Preferably, the covering frame is provided with a supporting mechanism at the rear part, the supporting mechanism comprises supporting plates fixedly connected to the rear part of the covering frame in a symmetrical manner, a supporting sliding rod is slidably connected to the supporting plates, a groove frame is fixedly connected to the lower part of the supporting sliding rod, a supporting wheel mounting shaft is rotatably connected to the groove frame, a supporting wheel is fixedly connected to the outer surface of the supporting wheel mounting shaft, and a supporting spring is connected between the supporting plate and the groove frame.

[0011] Preferably, the machine is provided with a monitoring mechanism, the monitoring mechanism comprises a monitoring probe fixedly connected to the lower part of the machine, the monitoring probe is signal connected with a control processor, the control processor is installed in a control panel, the control panel is fixedly installed on the upper part of the machine, the control processor is provided with a corresponding control program, the control panel is provided with a start button, a quick switch and an emergency stop button, the control processor is signal connected with a movement mechanism control module, a transplanting supply mechanism control module, a pesticide spraying mechanism control module, a seedling supplement mechanism control module and a soil covering and ridging mechanism control module; the movement mechanism control module is signal connected with a moving motor and a movement motor; the transplanting supply mechanism control module is signal connected with a conveying motor; the pesticide spraying mechanism control module is signal connected with an electric spray head; the seedling supplement mechanism control module is signal connected with a first electric lead screw, a second electric lead screw, a seedling supplement electric push rod and a seedling supplement electric clamping jaw; the soil covering and ridging mechanism control module is signal connected with a lifting motor, a height adjusting electric push rod, a compacting electric push rod and a compacting motor.

[0012] The application provides a self-propelled ginseng radish transplanting method with intelligent control.

[0013] Step one: the movement mechanism moves, thereby driving the machine to move, thereby driving the whole to move;

[0014] Step two: during the movement of the machine, the transplanting supply mechanism moves, thereby realizing the supply of ginseng radish during transplanting, and facilitating better transplanting;

[0015] Step three: during the movement of the machine, the ditching mechanism moves, thereby realizing ditching, and facilitating the falling of the supplied ginseng radish into the planted ditch;

[0016] Step four: the pesticide spraying mechanism moves, thereby realizing the pesticide spraying on the surface of the ginseng radish falling in the planted ditch;

[0017] Step five: the monitoring mechanism moves, thereby monitoring the falling ginseng radish and monitoring the distance between the ginseng radishes;

[0018] Step six: the seedling supplement mechanism moves, thereby realizing the supplement of ginseng radish to the position where the ginseng radish is missing in the planted ditch, and preventing the missing of ginseng radish in some positions and the non-transplanting;

[0019] Step seven: after the seedling supplement, the lifting mechanism moves, thereby driving the soil covering frame to move downward and contact with the land;

[0020] Step eight: the soil covering frame is in contact with the land, the soil covering and ridging mechanism moves, thereby realizing soil covering and ridging of the transplanted radix pseudoginseng, and the radix pseudoginseng can be compacted before soil covering during the soil covering operation, thereby preventing the position from moving during the soil covering operation;

[0021] Step nine: the supporting mechanism moves when the soil covering frame moves, thereby supporting the soil covering frame.

[0022] Compared with the prior art, the present application has the following beneficial effects:

[0023] 1. The intelligent control self-propelled radix pseudoginseng transplanting machine provided by the present application can realize transplanting of radix pseudoginseng, control of the gap during transplanting, uniformity of the transplanting gap, relatively high transplanting efficiency, automatic transplanting, and ditching during transplanting, thereby facilitating better subsequent transplanting.

[0024] 2. The intelligent control self-propelled radix pseudoginseng transplanting machine provided by the present application can realize soil covering and ridging of the transplanted radix pseudoginseng, compacting of the radix pseudoginseng during soil covering and ridging, prevention of movement of the radix pseudoginseng due to burying of the soil, and prevention of changes in the gap.

[0025] 3. The intelligent control self-propelled radix pseudoginseng transplanting machine provided by the present application can realize monitoring of the transplanted radix pseudoginseng, monitoring of whether there is a position without transplanted radix pseudoginseng, timely replanting, prevention of some positions without transplanted radix pseudoginseng, and spraying of the transplanted radix pseudoginseng. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation of the present application.

[0027] In the drawings:

[0028] Figure 1 FIG. 1 is a first direction structural schematic diagram of the intelligent control self-propelled radix pseudoginseng transplanting machine in the present application;

[0029] Figure 2 FIG. 2 is a second direction structural schematic diagram of the intelligent control self-propelled radix pseudoginseng transplanting machine in the present application;

[0030] Figure 3 FIG. 3 is a third direction structural schematic diagram of the intelligent control self-propelled radix pseudoginseng transplanting machine in the present application;

[0031] Figure 4 FIG. 4 is a fourth direction structural schematic diagram of the intelligent control self-propelled radix pseudoginseng transplanting machine in the present application;

[0032] Figure 5 Figure 5 is a schematic diagram of a fifth direction structure of the self-propelled too-son ginseng transplanting machine with intelligent control in the present application;

[0033] Figure 6 Figure 6 is a schematic diagram of a sixth direction structure of the self-propelled too-son ginseng transplanting machine with intelligent control in the present application

[0034] Figure 7 Figure 7 is a schematic diagram of a cross-sectional structure at A-A in the present application; Figure 6

[0035] Figure 8 Figure 8 is a schematic diagram of a cross-sectional structure at B-B in the present application; Figure 6

[0036] Figure 9 Figure 9 is a schematic diagram of a cross-sectional structure at C-C in the present application; Figure 7

[0037] Figure 10 Figure 10 is a schematic diagram of a cross-sectional structure at D-D in the present application; Figure 9

[0038] Figure 11 Figure 11 is a schematic diagram of a cross-sectional structure at E-E in the present application; Figure 10

[0039] Figure 12 Figure 12 is a schematic diagram of an enlarged structure at F in the present application; Figure 11

[0040] Figure 13 Figure 13 is a schematic diagram of seedling flat planting requirements;

[0041] Figure 14 Figure 14 is a schematic diagram of ditching planting requirements;

[0042] Figure 15 Figure 15 is a schematic diagram of ridging requirements;

[0043] Figure 16 Figure 16 is a schematic diagram of control system connection.

[0044] ​​​​​​In the figure: 1 - machine tool, 2 - stabilizing plate, 3 - stabilizing rod, 4 - covering frame, 5 - support plate, 6 - support slide rod, 7 - lifting nut plate, 8 - lifting frame, 9 - lifting motor, 10 - movement support plate, 11 - movement toothed track, 12 - movement plate, 13 - movement frame, 14 - seat, 15 - seat mounting plate, 16 - conveying frame, 17 - conveying belt, 18 - furrow opener, 19 - conveying plate, 20 - infusion head, 21 - infusion tube, 22 - fixing frame, 23 - connecting cross plate, 24 - pesticide box, 25 - electric spray head, 26 - monitoring probe, 27 - fixing block, 28 - bolt, 29 - ridging tool, 30 - cross frame, 31 - pressing frame, 32 - groove frame, 33 - arc-shaped scraper, 34 - support wheel, 35 - support wheel mounting shaft, 36 - height adjustment electric push rod, 37 - nut block, 38 - moving frame, 39 - stabilizing slide block, 40 - lifting slide groove, 41 - lifting lead screw, 42 - pressing belt, 43 - pressing electric push rod, 44 - pesticide box, 45 - moving lead screw, 46 - moving slide groove, 47 - prince seng's placing box, 48 - handle, 49 - reseeding cavity, 50 - moving plate, 51 - second electric lead screw, 52 - moving nut block, 53 - first electric lead screw, 54 - reseeding nut block, 55 - reseeding electric push rod, 56 - reseeding electric clamping jaw, 57 - conveying cavity, 58 - conveying rotating shaft, 59 - conveying pulley, 60 - prince seng's limiting clamp, 61 - scraper connecting shaft, 62 - torsion spring, 63 - output port, 64 - movement gear cavity, 65 - movement gear, 66 - movement gear shaft, 67 - pressing gear cavity, 68 - pressing gear shaft, 69 - pressing gear, 70 - support spring. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] As Figures 1-15As shown, the present application provides a self-propelled intelligent control of ginseng transplanting machine, the component materials of the device are made of corrosion-resistant, pressure-resistant and wear-resistant materials, including machine 1, the rear of the machine 1 is connected with the soil covering frame 4 through the lifting mechanism, the soil covering frame 4 is provided with a soil covering and ridging mechanism, the soil covering and ridging mechanism is used for covering soil and forming ridges for ginseng after transplanting, the soil covering and ridging mechanism comprises symmetrical fixed connection of the soil covering frame 4, the soil covering and ridging mechanism comprises symmetrical fixed connection of the soil covering frame 4, the lower part of the soil covering frame 4 is fixedly connected with the height adjusting electric push rod 36, the lower side of the height adjusting electric push rod 36 is fixedly connected with the cross frame 30, the side wall of the cross frame 30 is fixedly connected with the compression electric push rod 43, the compression electric push rod 43 is fixedly connected with the compression frame 31 away from the side end of the cross frame 30, the compression frame 31 is provided with the compression gear cavity 67, the compression gear cavity 67 is rotatably connected with the compression gear shaft 68 between the end walls, the compression gear shaft 68 is connected with the compression motor, the compression motor is fixedly installed in the compression frame 31, the outer surface of the compression gear shaft 68 is fixedly connected with the compression gear 69, the compression gear 69 is engaged with the compression belt 42, the compression belt 42 is rotatably installed on the compression frame 31, the soil covering frame 4 is rotatably connected with the scraper connecting shaft 61 between the end walls, the outer surface of the scraper connecting shaft 61 is fixedly connected with the arc-shaped scraper 33, the arc-shaped scraper 33 is connected with the soil covering frame 4 through the torsional spring 62, and the lower part of the arc-shaped scraper 33 is processed into an arc shape.

[0047] When working, the machine 1 moves, thereby driving the soil covering frame 4 to move, thereby driving the ridging cutter 29 to move, so that the soil outside the transplanting trench is scraped into the transplanting trench, the height adjusting electric push rod 36 moves downward, thereby driving the cross frame 30 to move downward, at the same time, the compression electric push rod 43 moves, thereby driving the compression frame 31 to move, thereby driving the compression belt 42 to contact the transplanted ginseng and compress, the compression motor is started, thereby driving the compression gear shaft 68 to rotate, thereby driving the compression gear 69 to rotate, the compression gear 69 is engaged with the compression belt 42, thereby driving the compression belt 42 to rotate, thereby realizing the compression of the ginseng when the ginseng is buried in the soil, and preventing the ginseng from moving, the soil covering frame 4 moves, thereby driving the scraper connecting shaft 61 to move, thereby driving the arc-shaped scraper 33 to move, due to the action of the torsional spring 62, the arc-shaped scraper 33 scrapes the soil generated when the trench is opened into the planting trench to form ridges.

[0048] Beneficially, the front of the machine 1 is provided with a connection with a transplant feeding mechanism, the transplant feeding mechanism is used for feeding the radix pseudoginseng, the transplant feeding mechanism comprises a fixed frame 22 fixedly connected to the front of the machine 1, a moving chute 46 is arranged on the fixed frame 22, a moving lead screw 45 is rotatably connected between the end walls of the moving chute 46, the moving lead screw 45 is power-connected with a moving motor, the moving motor is fixedly installed in the fixed frame 22, a nut block 37 is threadedly connected to the outer surface of the moving lead screw 45, a moving frame 38 is fixedly connected to the outer surface of the nut block 37, a connecting cross plate 23 is fixedly connected to the lower part of the moving frame 38, a stable sliding block 39 is symmetrically fixedly connected to the moving frame 38, the stable sliding block 39 is slidably connected with the fixed frame 22, a conveying frame 16 is fixedly connected to the front of the connecting cross plate 23, conveying cavities 57 are symmetrically processed on the conveying frame 16, conveying shafts 58 are uniformly rotatably connected between the end walls of the conveying cavities 57, one of the conveying shafts 58 is power-connected with a conveying motor, the conveying motor is fixedly installed in the conveying frame 16, an output port 63 is processed through the lower part of the conveying cavity 57, conveying pulleys 59 are fixedly connected to the outer surface of the conveying shafts 58, the conveying pulleys 59 are connected through a conveying belt 17, the conveying belt 17 is slidably installed between the end walls of the conveying cavities 57, conveying plates 19 are uniformly and symmetrically fixedly connected to the outer surface of the conveying belt 17, seat mounting plates 15 are symmetrically fixedly connected to the connecting cross plate 23, seats 14 are fixedly connected to the upper part of the seat mounting plates 15.

[0049] In work, the machine 1 moves, thereby driving the fixed frame 22 to move, starting the moving motor, thereby driving the moving lead screw 45 to rotate, thereby driving the nut block 37 to move downward, thereby driving the moving frame 38 to move, thereby driving the connecting cross plate 23 to move, thereby driving the conveying frame 16 to move downward, close to the ground, a person sits on the upper part of the seat 14, puts the radix pseudoginseng between the conveying plates 19, starts the conveying motor, thereby driving the conveying shafts 58 to rotate, thereby driving the conveying pulleys 59 to rotate, thereby driving the conveying belt 17 to move, thereby driving the conveying plates 19 to move, thereby making the radix pseudoginseng be conveyed out through the output port 63, thereby entering into the transplanting planting ditch.

[0050] Beneficially, the connecting horizontal plate 23 is connected with a pesticide spraying mechanism, which is used for spraying pesticide on the surface of the transplanted Radix Pseudoginseng, the pesticide spraying mechanism comprises a pesticide box 44 fixedly connected to the upper part of the connecting horizontal plate 23, a liquid delivery pipe 21 fixedly connected to the pesticide box 44 and in communication with the pesticide box 44, a liquid delivery head 20 fixedly connected to the distal end of the liquid delivery pipe 21 away from the pesticide box 44, a pesticide spraying box 24 fixedly connected to the lower part of the connecting horizontal plate 23, an electric spraying head 25 fixedly connected to the lower part of the pesticide spraying box 24 and in communication with the pesticide spraying box 24, and the pesticide spraying box 24 is in communication with the pesticide box 44;

[0051] In operation, the pesticide liquid is poured into the liquid delivery head 20, enters the pesticide box 44 through the liquid delivery pipe 21, and then enters the pesticide spraying box 24, and the electric spraying head 25 is turned on, so that the pesticide liquid in the pesticide spraying box 24 is sprayed out and sprayed on the surface of the Radix Pseudoginseng.

[0052] Beneficially, the front part of the conveying frame 16 is connected with a ditching mechanism, which is used for ditching and facilitating the transplanting, the ditching mechanism comprises fixed blocks 27 detachably connected to the front part of the conveying frame 16 through bolts 28, and ditching cutters 18 fixedly connected between the fixed blocks 27.

[0053] In operation, the conveying frame 16 moves, thereby driving the fixed blocks 27 to move, and driving the ditching cutters 18 to move for ditching.

[0054] Beneficially, the machine tool 1 is provided with a movement mechanism at the upper and lower parts, which is used for driving the whole machine tool 1 to move, the movement mechanism comprises a movement support plate 10 fixedly connected to the lower part of the machine tool 1, a movement frame 13 fixedly connected to the distal end of the movement support plate 10, a movement gear cavity 64 arranged in the movement frame 13, a movement gear shaft 66 rotatably connected between the end walls of the movement gear cavity 64, a movement motor power-connected with the movement gear shaft 66 and fixedly installed in the movement frame 13, a movement gear 65 fixedly installed on the outer surface of the movement gear shaft 66, and a movement toothed belt 11 rotatably installed on the outer surface of the movement frame 13 and engaged with the movement gear 65, and movement plates 12 uniformly fixedly connected to the outer surface of the movement toothed belt 11.

[0055] In operation, the movement motor is started, thereby driving the movement gear shaft 66 to rotate, driving the movement gear 65 to rotate, driving the movement toothed belt 11 to rotate through the engagement between the movement gear 65 and the movement toothed belt 11, driving the movement plates 12 to move, and driving the machine tool 1 to move.

[0056] Beneficially, the machine 1 is provided with a seedling filling mechanism, which is used for filling seedlings and preventing the distance between transplanted seedlings in some positions from being too large. The seedling filling mechanism comprises a seedling filling cavity 49 provided in the machine 1, a first electric lead screw 53 rotatably connected between end walls of the seedling filling cavity 49, a moving nut block 52 threadedly connected to an outer surface of the first electric lead screw 53, a moving plate 50 fixedly connected to a lower portion of the moving nut block 52, a second electric lead screw 51 rotatably connected to the moving plate 50, a seedling filling nut block 54 threadedly connected to an outer surface of the second electric lead screw 51, a seedling filling electric push rod 55 fixedly connected to a lower portion of the seedling filling nut block 54, a seedling filling electric clamp jaw 56 fixedly connected to a lower end of the seedling filling electric push rod 55, a radix pseudoginseng placing box 47 slidably connected to a bottom wall of the seedling filling cavity 49, the radix pseudoginseng placing box 47 extending out of the seedling filling cavity 49, a handle 48 fixedly connected to an end wall of the radix pseudoginseng placing box 47, and a radix pseudoginseng limiting clamp 60 fixedly connected to a bottom wall of the radix pseudoginseng placing box 47. An opening is formed in the bottom wall of the seedling filling cavity 49.

[0057] During operation, the second electric lead screw 51 is rotated, thereby driving the seedling filling nut block 54 to move, driving the seedling filling electric push rod 55 to move, and driving the seedling filling electric clamp jaw 56 to move to the upper side of the corresponding radix pseudoginseng limiting clamp 60. The seedling filling electric push rod 55 moves downward, and after moving to the corresponding position, the seedling filling electric clamp jaw 56 clamps the radix pseudoginseng on the radix pseudoginseng limiting clamp 60. After clamping, the seedling filling electric push rod 55 is reset, the second electric lead screw 51 is reversely rotated to drive the seedling filling nut block 54 to reset, and the opening on the upper side of the seedling filling electric clamp jaw 56 is driven to rotate the first electric lead screw 53, thereby driving the moving nut block 52 to move, driving the moving plate 50 to move, driving the seedling filling nut block 54 to move, driving the seedling filling electric push rod 55 to move, and driving the seedling filling electric clamp jaw 56 to move to a position where seedlings need to be filled. The seedling filling electric push rod 55 moves downward, thereby driving the seedling filling electric clamp jaw 56 to move downward, and driving the radix pseudoginseng to move downward to approach the position with a gap in the planting trench. The seedling filling electric clamp jaw 56 is loosened, and the radix pseudoginseng falls into the planting trench, thereby completing the filling of seedlings.

[0058] Beneficially, the lifting mechanism is used to drive the soil cover frame 4 to lift, the lifting mechanism comprises a lifting frame 8 fixedly connected to the rear of the machine 1, a lifting chute 40 is arranged on the lifting frame 8, a lifting lead screw 41 is rotatably connected between the end walls of the lifting chute 40, the lifting lead screw 41 is power-connected with a lifting motor 9, the lifting motor 9 is fixedly installed on the lifting frame 8, a lifting nut plate 7 is threadedly connected to the outer surface of the lifting lead screw 41, the soil cover frame 4 is fixedly connected to the end of the lifting nut plate 7, a stabilizing rod 3 is symmetrically fixedly connected to the front of the soil cover frame 4, a stabilizing plate 2 is fixedly connected to the end of the stabilizing rod 3, the stabilizing plate 2 is slidingly connected with the lifting frame 8;

[0059] When working, the lifting motor 9 is started, thereby driving the lifting lead screw 41 to rotate, thereby driving the lifting nut plate 7 to move downward, thereby driving the soil cover frame 4 to move downward, the stabilizing plate 2 and the stabilizing rod 3 increase the stability of the soil cover frame 4.

[0060] Beneficially, the soil cover frame 4 is provided with a supporting mechanism at the rear, the supporting mechanism is used to support the soil cover frame 4, the supporting mechanism comprises a supporting plate 5 symmetrically fixedly connected to the rear of the soil cover frame 4, a supporting slide rod 6 is slidingly connected to the supporting plate 5, a groove frame 32 is fixedly connected to the lower part of the supporting slide rod 6, a supporting wheel mounting shaft 35 is rotatably connected to the groove frame 32, a supporting wheel 34 is fixedly connected to the outer surface of the supporting wheel mounting shaft 35, a supporting spring 70 is connected between the supporting plate 5 and the groove frame 32;

[0061] When working, the soil cover frame 4 moves, thereby driving the supporting plate 5 to move, thereby driving the supporting slide rod 6 to move, thereby driving the groove frame 32 to move, thereby driving the supporting wheel 34 to rotate in contact with the ground, thereby driving the supporting wheel mounting shaft 35 to rotate, thereby realizing stable support for the soil cover frame 4.

[0062] Beneficially, the machine 1 is provided with a monitoring mechanism for monitoring the position where replanting is needed, the monitoring mechanism comprising a monitoring probe 26 fixedly connected to the lower part of the machine 1, the monitoring probe 26 being signal-connected with a control processor installed in a control panel fixedly installed on the upper part of the machine 1, the control processor being provided with a corresponding control program, the control panel being provided with a start button, a quick switch and an emergency stop button, the control processor being signal-connected with a movement mechanism control module, a transplanting supply mechanism control module, a pesticide spraying mechanism control module, a replanting mechanism control module and a soil covering and ridging mechanism control module; the movement mechanism control module being signal-connected with a moving motor and a movement motor; the transplanting supply mechanism control module being signal-connected with a conveying motor; the pesticide spraying mechanism control module being signal-connected with an electric spray head 25; the replanting mechanism control module being signal-connected with a first electric lead screw 53, a second electric lead screw 51, a replanting electric push rod 55 and a replanting electric clamping jaw 56; the soil covering and ridging mechanism control module being signal-connected with a lifting motor 9, a height adjusting electric push rod 36, a compacting electric push rod 43 and a compacting motor;

[0063] In operation, the monitoring probe 26 sends the monitored information to the control processor, the control processor sends the information to the control panel after processing, the information is displayed on the control panel, corresponding operation instructions are input on the control panel and transmitted to the control processor, the control processor sends corresponding signals to the lifting motor 9, the electric spray head 25, the height adjusting electric push rod 36, the moving motor, the movement motor, the conveying motor, the first electric lead screw 53, the second electric lead screw 51, the replanting electric push rod 55, the replanting electric clamping jaw 56, the compacting electric push rod 43 and the compacting motor after processing, so that the lifting motor 9, the electric spray head 25, the height adjusting electric push rod 36, the moving motor, the movement motor, the conveying motor, the first electric lead screw 53, the second electric lead screw 51, the replanting electric push rod 55, the replanting electric clamping jaw 56, the compacting electric push rod 43 and the compacting motor move.

[0064] The application provides a self-propelled ginseng rootlet transplanting method with intelligent control, which is based on the self-propelled ginseng rootlet transplanting machine with intelligent control.

[0065] Step one: the movement mechanism moves, thereby driving the machine 1 to move, thereby driving the whole to move;

[0066] Step two: during the movement of the machine 1, the transplanting supply mechanism moves, thereby realizing the supply of ginseng rootlets during transplanting, and facilitating better transplanting;

[0067] Step three: during the movement of the machine 1, the ditching mechanism moves, thereby realizing the ditching, so as to facilitate the falling of the supplied radix pseudoginseng into the planted ditch;

[0068] Step four: the pesticide spraying mechanism moves, thereby realizing the pesticide spraying on the surface of the radix pseudoginseng falling in the planted ditch;

[0069] Step five: the monitoring mechanism moves, thereby monitoring the falling radix pseudoginseng and monitoring the spacing between the radix pseudoginseng;

[0070] Step six: the seedling supplementing mechanism moves, thereby realizing the supplement of radix pseudoginseng to the position where the radix pseudoginseng is missing in the planted ditch, so as to prevent the radix pseudoginseng from being missing in some positions and not being transplanted;

[0071] Step seven: after the seedling supplementing, the lifting mechanism moves, thereby driving the covering frame 4 to move downward and contact with the land;

[0072] Step eight: after the covering frame 4 contacts with the land, the covering and ridging mechanism moves, thereby realizing the covering and ridging of the transplanted radix pseudoginseng, and realizing the compacting of the radix pseudoginseng before the covering operation, so as to prevent the movement of the position during the covering operation;

[0073] Step nine: during the movement of the covering frame 4, the supporting mechanism moves, thereby realizing the supporting of the covering frame 4.

[0074] It should be noted that the relational terms such as first and second and the like are used merely to distinguish one entity or action from another, without necessarily requiring or implying that the entities or actions are in any way mutually exclusive or directional. In addition, the terms "comprises", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0075] Although the embodiments of the present application have been shown and described, it should be understood by those ordinary skilled in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A self-propelled, intelligently controlled *Codonopsis pilosula* transplanter, characterized in that: Including machine tool (1), machine tool (1) rear is connected with the lander (4) through the lifting mechanism, the lander (4) is equipped with lander ridging mechanism, the lander ridging mechanism includes the ridging tool (29) that is fixedly connected symmetrically on the lander (4), the lander (4) lower part is fixedly connected with height adjustment electric push rod (36) symmetrically, the height adjustment electric push rod (36) lower side terminal fixedly connected with crosspiece (30), the crosspiece (30) side wall is fixedly connected with the pressing electric push rod (43) symmetrically, the pressing electric push rod (43) is fixedly connected with the pressing frame (31) away from the crosspiece (30) one side terminal, the pressing frame (31) is equipped with pressing gear cavity (67) symmetrically, the pressing gear cavity (67) end wall rotation is connected with the pressing gear shaft (68), the pressing gear shaft (68) is connected with pressing motor power, the pressing motor is fixedly installed in the pressing frame (31), the outer surface of the pressing gear shaft (68) is fixedly connected with the pressing gear (69), the pressing gear (69) is engaged with pressing belt (42), the pressing belt (42) rotation is installed in the pressing frame (31), the lander (4) end wall rotation is connected with the scraper connecting shaft (61), the outer surface of the scraper connecting shaft (61) is fixedly connected with the arc-shaped scraper (33), the arc-shaped scraper (33) is connected with the lander (4) between the torsion spring (62), the arc-shaped scraper (33) lower part is processed into arc shape; The machine tool (1) is equipped with the seedling supplementing mechanism, the seedling supplementing mechanism includes the seedling supplementing cavity (49) in the machine tool (1), the seedling supplementing cavity (49) end wall rotation is connected with the first electric screw rod (53), the first electric screw rod (53) outer surface is connected with the moving nut block (52) threadedly, the moving nut block (52) lower part is fixedly connected with the moving plate (50), the moving plate (50) rotation is connected with the second electric screw rod (51), the second electric screw rod (51) outer surface is connected with the seedling supplementing nut block (54) threadedly, the seedling supplementing nut block (54) lower part is fixedly connected with the seedling supplementing electric push rod (55), the seedling supplementing electric push rod (55) lower side terminal fixedly connected with the seedling supplementing electric clamping jaw (56), the seedling supplementing cavity (49) bottom wall is connected with the radix pseudoginseng placing box (47) slidingly, the radix pseudoginseng placing box (47) extends to the seedling supplementing cavity (49) outside, the radix pseudoginseng placing box (47) end wall is fixedly connected with the handle (48), the radix pseudoginseng placing box (47) bottom wall is fixedly connected with radix pseudoginseng limiting clamp (60), the seedling supplementing cavity (49) bottom wall is equipped with opening.

2. The self-propelled ginseng transplanting machine with intelligent control according to claim 1, characterized in that: The machine tool (1) is provided with a transplanting feeding mechanism connected to the front part of the machine tool (1), the transplanting feeding mechanism comprises a fixed frame (22) fixedly connected to the front part of the machine tool (1), a movable chute (46) is arranged on the fixed frame (22), a movable lead screw (45) is rotatably connected between the end walls of the movable chute (46), the movable lead screw (45) is power-connected with a movable motor, the movable motor is fixedly installed in the fixed frame (22), a nut block (37) is threadedly connected to the outer surface of the movable lead screw (45), a movable frame (38) is fixedly connected to the outer surface of the nut block (37), a connecting cross plate (23) is fixedly connected to the lower part of the movable frame (38), a stable sliding block (39) is symmetrically fixedly connected to the movable frame (38), the stable sliding block (39) is slidably connected with the fixed frame (22), a conveying frame (16) is fixedly connected to the front part of the connecting cross plate (23), conveying cavities (57) are symmetrically processed on the conveying frame (16), conveying shafts (58) are uniformly rotatably connected between the end walls of the conveying cavities (57), one of the conveying shafts (58) is power-connected with a conveying motor, the conveying motor is fixedly installed in the conveying frame (16), an output port (63) is processed through the lower part of the conveying cavity (57), conveying pulleys (59) are fixedly connected to the outer surfaces of the conveying shafts (58), conveying belts (17) are connected between the conveying pulleys (59), the conveying belts (17) are slidably installed between the end walls of the conveying cavities (57), conveying plates (19) are uniformly and symmetrically fixedly connected to the outer surfaces of the conveying belts (17), seat mounting plates (15) are symmetrically fixedly connected to the connecting cross plate (23), seats (14) are fixedly connected to the upper parts of the seat mounting plates (15).

3. The self-propelled ginseng transplanting machine with intelligent control according to claim 2, characterized in that: The connecting cross plate (23) is connected with a pesticide spraying mechanism, the pesticide spraying mechanism comprises a pesticide box (44) fixedly connected to the upper part of the connecting cross plate (23), a liquid inlet pipe (21) fixedly connected with the pesticide box (44) is fixedly connected to the pesticide box (44), a liquid inlet head (20) is fixedly connected to the distal end of the liquid inlet pipe (21) away from the pesticide box (44), a pesticide spraying box (24) is fixedly connected to the lower part of the connecting cross plate (23), an electric spraying head (25) is fixedly connected to the lower part of the pesticide spraying box (24), the electric spraying head (25) is in communication with the pesticide spraying box (24), and the pesticide spraying box (24) is in communication with the pesticide box (44).

4. The self-propelled ginseng transplanting machine with intelligent control according to claim 3, characterized in that: The conveying frame (16) is connected with a ditching mechanism, the ditching mechanism comprises fixed blocks (27) detachably connected to the front part of the conveying frame (16) through bolts (28), and ditching cutters (18) are fixedly connected between the fixed blocks (27).

5. The self-propelled ginseng transplanting machine with intelligent control according to claim 4, characterized in that: The machine tool (1) upper and lower parts are provided with movement mechanism, the movement mechanism includes the movement support plate (10) fixedly connected with the machine tool (1) lower part, the movement support plate (10) end fixedly connected with movement frame (13), the movement frame (13) is equipped with movement gear cavity (64), the movement gear cavity (64) end wall rotationally connected with movement gear shaft (66), the movement gear shaft (66) is connected with movement motor power, the movement motor is fixedly installed in the movement frame (13), the outer surface of the movement gear shaft (66) is fixedly installed with movement gear (65), the movement gear (65) is engaged with movement toothed track (11), the movement toothed track (11) is rotatably installed on the outer surface of the movement frame (13), the outer surface of the movement toothed track (11) is uniformly fixedly connected with movement plate (12).

6. The self-propelled ginseng transplanting machine with intelligent control according to claim 5, characterized in that: The lifting mechanism includes the lifting frame (8) fixedly connected with the rear part of the machine tool (1), the lifting frame (8) is provided with lifting chute (40), the lifting chute (40) end wall rotationally connected with lifting lead screw (41), the lifting lead screw (41) is connected with lifting motor (9) power, the lifting motor (9) is fixedly installed on the lifting frame (8), the outer surface of the lifting lead screw (41) is threadedly connected with lifting nut plate (7), the lifting nut plate (7) end fixedly connected with the soil covering frame (4), the soil covering frame (4) front part is fixedly connected with stabilizing rod (3), the stabilizing rod (3) end fixedly connected with stabilizing plate (2), the stabilizing plate (2) is connected between the lifting frame (8) and the lifting chute (40).

7. The self-propelled ginseng transplanting machine with intelligent control according to claim 6, characterized in that: The soil covering frame (4) rear part is provided with support mechanism, the support mechanism includes the support plate (5) fixedly connected with the rear part of the soil covering frame (4), the support plate (5) is slidably connected with support slide rod (6), the support slide rod (6) lower part fixedly connected with groove frame (32), the groove frame (32) is rotatably connected with support wheel mounting shaft (35), the support wheel mounting shaft (35) outer surface fixedly connected with support wheel (34), the support plate (5) and the groove frame (32) are connected with support spring (70).

8. The self-propelled ginseng transplanting machine with intelligent control according to claim 7, characterized in that: The machine tool (1) is provided with a monitoring mechanism, the monitoring mechanism includes the monitoring probe (26) fixedly connected to the lower part of the machine tool (1), the monitoring probe (26) is signal connected with the control processor, the control processor is installed in the control panel, the control panel is fixedly installed on the upper part of the machine tool (1), the control processor is provided with corresponding control program, the control panel is provided with start button, quick switch and emergency stop button, the control processor is signal connected between motion mechanism control module, transplanting supply mechanism control module, pesticide spraying mechanism control module, seedling supplement mechanism control module and soil covering and ridging mechanism control module; the motion mechanism control module is signal connected between the moving motor and the motion motor; the transplanting supply mechanism control module is signal connected with the conveying motor; the pesticide spraying mechanism control module is signal connected with the electric nozzle (25); the seedling supplement mechanism control module is signal connected with the first electric lead screw (53), the second electric lead screw (51), the seedling electric push rod (55) and the seedling electric clamping jaw (56); the soil covering and ridging mechanism control module is signal connected with the lifting motor (9), the height adjusting electric push rod (36), the compacting electric push rod (43) and the compacting motor.

9. An intelligent control self-propelled Pseudostellaria heterophylla transplanting method, based on the intelligent control self-propelled Pseudostellaria heterophylla transplanting machine of claim 8, characterized in that the steps of It comprises: Step one: the motion mechanism moves, thereby driving the machine tool (1) to move, thereby driving the whole to move; Step two: during the movement of the machine tool (1), the transplanting supply mechanism moves, thereby realizing the supply of taizishen during transplanting, facilitating better transplanting; Step three: during the movement of the machine tool (1), the ditching mechanism moves, thereby realizing ditching, facilitating the falling of the supplied taizishen into the planted ditch; Step four: the pesticide spraying mechanism moves, thereby realizing the pesticide spraying on the surface of the taizishen falling in the planted ditch; Step five: the monitoring mechanism moves, thereby monitoring the falling taizishen and monitoring the distance between the taizishen; Step six: the seedling supplement mechanism moves, thereby realizing the supplement of taizishen to the position where taizishen is missing in the planted ditch, preventing the missing of taizishen in some positions and the non-transplanting; Step seven: after the seedling supplement, the lifting mechanism moves, thereby driving the soil covering frame (4) to move downward and contact with the land; Step eight: after the soil covering frame (4) contacts with the land, the soil covering and ridging mechanism moves, thereby realizing the soil covering and ridging of the transplanted taizishen and the compacting and burying of the taizishen after the soil covering, preventing the movement of the position during the soil covering; Step nine: during the movement of the soil covering frame (4), the supporting mechanism moves, thereby realizing the support of the soil covering frame (4).

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