A two-row rice transplanter and its transplanting method

Abstract

This invention discloses a two-row rice transplanter and its transplanting method. In the four-arm seedling-grabbing mechanism of this invention, the seedling-grabbing arm housing is fixedly connected to the seedling-grabbing shaft rotatably connected to the seedling-grabbing arm base. A partially non-circular gear is sleeved on the seedling-grabbing shaft and fixed to the seedling-grabbing arm base fixed to the frame. Four intermediate non-circular gears and four planetary shafts are hinged to the seedling-grabbing arm housing, evenly distributed circumferentially along the seedling-grabbing shaft. Planetary non-circular gears are fixed on the planetary shafts, and seedling-grabbing claws are provided. A convex locking arc is fixed at the toothless position on the partially non-circular gear, and a concave locking arc is fixed on each intermediate non-circular gear, meshing with one planetary non-circular gear. Funnels are fixed directly below the two four-arm seedling-grabbing mechanisms on the frame. Both seedling-grabbing shafts form a rotating pair with the frame. Each pair of accelerating cylinders, with their ends aligned, is located directly below the outlet of one funnel. This invention enables rapid rice transplanting with excellent transplanting trajectory.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a two-row rice transplanter and its transplanting method. Background Technology

[0002] Rice is my country's largest staple food crop, with a planting area exceeding 450 million mu (approximately 30 million hectares). More than 60% of my country's population relies on rice as their staple food, and over 85% of rice is consumed for food. Rice production is directly related to the national economy and people's livelihood, playing a vital role in ensuring my country's food security. Furthermore, with the development of agricultural mechanization, high-speed rice transplanting has become an inevitable trend. While existing fully automatic rice transplanters can automatically grab seedlings, the transplanting process is broken down into three actions using different mechanisms, resulting in a complex structure. At higher operating speeds, this leads to increased seedling damage and leakage rates, making it difficult to guarantee work quality. Moreover, the transplanting mechanism typically uses a two-arm structure, with the angle difference between the pushing and picking angles generally only reaching 46°. This results in poor verticality of the absolute movement trajectory, and the transplanting arm's return stroke easily pulls the seedlings back, thus hindering the high-speed development of rice transplanting in my country. In addition, the existing transplanting arm's trajectory often has loops, affecting the success rate of seedling picking and transplanting efficiency. This results in the planting point being too high, easily causing seedling collapse, and the pushing angle being too small, which is not conducive to seedling establishment. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and to propose a two-row rice transplanter and its transplanting method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The present invention provides a two-row rice transplanter, comprising a frame assembly, a seedling box assembly, a four-arm seedling picking mechanism, and a seedling shooting mechanism.

[0006] The frame assembly includes a frame, a seedling-picking shaft, a double-helix screw, and a power transmission mechanism. The double-helix screw and the frame form a revolute joint, and the seedling-picking shaft and the seedling-picking arm base vertically fixed on the frame form a revolute joint. The seedling-picking shaft and the double-helix screw are horizontally and parallel, and both are driven to rotate by the power transmission mechanism. The seedling box assembly includes a seedling box frame, a top tray frame, a seedling protection mechanism, and a longitudinal seedling delivery mechanism. The seedling box frame includes a frame assembly, a tray recovery assembly, a main tray delivery shaft, a driven tray delivery shaft, and an auxiliary tray delivery shaft. The middle part of the frame assembly forms a sliding joint with the frame, and the lower end forms a threaded joint with the double-helix screw. The frame assembly is arranged at an angle, with the front lower than the rear. The power transmission mechanism drives the double-helix screw to move the frame assembly back and forth horizontally. The auxiliary tray delivery shaft, the driven tray delivery shaft, and the main tray delivery shaft, parallel to the double-helix screw, form revolute joints with the lower, middle, and upper ends of the frame assembly, respectively. The auxiliary tray delivery shaft, the main tray delivery shaft, and the driven tray delivery shaft are connected to each other via two chain drive mechanisms. Next, the longitudinal seedling feeding mechanism is mounted on the main feeding tray shaft and driven by a longitudinal drive mechanism located at the bottom of the frame, causing the main feeding tray shaft to rotate intermittently; the pot tray recovery assembly is fixed to the frame assembly and located below the main feeding tray shaft, the driven feeding tray shaft, and the auxiliary feeding tray shaft; two top tray frames, parallel to the frame assembly and spaced apart, are both fixed to the frame assembly and located above the main feeding tray shaft, the auxiliary feeding tray shaft, and the driven feeding tray shaft; the auxiliary feeding tray shaft is fixed at the seedling feeding gap positions of each top tray frame. The main feed plate shaft and the driven feed plate shaft are respectively equipped with a dial mechanism one and a dial mechanism two; the seedling protection mechanism includes a pot plate pressing rod assembly and a pot plate guiding assembly. The pot plate pressing rod assembly is located on the frame assembly and above each top plate frame. The pot plate guiding assembly is located in front of the dial mechanism one. The pot plate pressing rod assembly presses the rice pot plates placed on each top plate frame onto the corresponding top plate frame. The pot plate guiding assembly guides the empty rice pot plate portion on the dial mechanism one to the pot plate recycling assembly.

[0007] The seedling-taking shaft has two symmetrically arranged four-arm seedling-taking mechanisms at both ends. Each four-arm seedling-taking mechanism includes a seedling-taking arm housing, an incomplete non-circular gear, an intermediate non-circular gear, a planetary non-circular gear, a planetary shaft, and seedling-taking claws. The seedling-taking arm housing is fixed to the seedling-taking shaft. The incomplete non-circular gear is sleeved on the seedling-taking shaft at a position inside the seedling-taking arm housing and fixed to the seedling-taking arm base. Four intermediate non-circular gears and four planetary shafts are hinged inside the seedling-taking arm housing and are evenly distributed along the circumference of the seedling-taking shaft. Each planetary shaft is parallel to the seedling-taking shaft. Each planetary shaft has a planetary non-circular gear fixed at a position inside the seedling-taking arm housing and a seedling-taking claw at a position outside the seedling-taking arm housing. Each planetary non-circular gear meshes with one intermediate non-circular gear. A convex locking arc is fixed at the toothless position on the incomplete non-circular gear, and a concave locking arc is fixed on each intermediate non-circular gear. When the incomplete non-circular gear is separated from a certain intermediate non-circular gear, the convex locking arc and the concave locking arc at the position of the intermediate non-circular gear are in frictional transmission. The seedling-collecting claw includes a cam rod, a seedling-collecting claw housing, and seedling needle rods. The cam rod is fitted onto a planetary shaft and fixed to the seedling-collecting arm housing, and two symmetrically arranged cam grooves are provided on the cylindrical surface of the cam rod. The seedling-collecting claw housing is fitted onto the outside of the cam rod and fixed to the planetary shaft. One end of the two symmetrically arranged seedling needle rods is located inside the seedling-collecting claw housing and is hinged to the seedling-collecting claw housing. The ends located outside the seedling-collecting claw housing are fixed with symmetrically arranged seedling needle one and seedling needle two. The ends of the two seedling needle rods located inside the seedling-collecting claw housing are each provided with an integrally formed hemisphere. The two hemispheres and the two cam grooves respectively form cam pairs.

[0008] The seedling-shooting mechanism includes a frame plate, funnels, seedling-shooting shafts, and acceleration cylinders. The horizontally arranged frame plate and the two vertically arranged funnels are fixed to the frame, and the two funnels are located directly below the two four-arm seedling-taking mechanisms. The two seedling-shooting shafts, which are parallel to the seedling-taking shafts and spaced apart, form a rotating pair with the lower surface of the frame plate. The two seedling-shooting shafts are connected by a transmission component, one of which is driven by a DC motor, and the two seedling-shooting shafts rotate in opposite directions. Acceleration cylinders are fixed at both ends of the seedling-shooting shafts, and the gap between every two acceleration cylinders with aligned ends of the two seedling-shooting shafts is located directly below the outlet of a corresponding funnel.

[0009] More preferably, the power transmission mechanism includes a first transmission shaft and a second transmission shaft. The first and second transmission shafts are parallel to the double helical screw and located between the double helical screw and the seedling picking shaft. Both of them form a rotating pair with the frame. The first transmission shaft is driven by a speed-regulating motor. One end of the first transmission shaft is connected to one end of the double helical screw through a first spur gear pair, and the other end is connected to the second transmission shaft through a second spur gear pair. The second transmission shaft is connected to the seedling picking shaft through a second chain drive mechanism. A rocker arm cam is fixed to the end of the double helical screw away from the first spur gear pair.

[0010] More preferably, the bowl recycling assembly includes a first fixing plate, a second fixing plate, a first steel wire, a second steel wire, and a third fixing plate. The third fixing plate, the second fixing plate, and the first fixing plate, which are parallel to the double helical screw, are located behind the auxiliary feeding shaft, the driven feeding shaft, and the main feeding shaft, respectively. The first fixing plate and the second fixing plate are both fixed to the frame assembly. The two ends of the third fixing plate are fixed to the two ends of the frame assembly by two vertical hanging plates. A plurality of first steel wires are arranged in parallel and at intervals between the first fixing plate and the second fixing plate. The two ends of the first steel wires are fixed to the first fixing plate and the second fixing plate. A plurality of second steel wires are arranged in parallel and at intervals between the second fixing plate and the third fixing plate. The two ends of the second steel wires are fixed to the second fixing plate and the third fixing plate.

[0011] More preferably, the dial mechanism includes an outer turntable, a middle turntable, and levers; two symmetrically arranged outer turntables are fixed to both ends of the main feed disc shaft and located on the outside of the two top disc frames, the middle turntable is fixed to the middle of the main feed disc shaft and located between the two top disc frames, and a plurality of levers are equidistantly arranged along the circumference of the main feed disc shaft between each outer turntable and the middle turntable, the two ends of the levers being fixed to the middle turntable and the corresponding outer turntable, wherein every two levers on both sides of the middle turntable are aligned.

[0012] More preferably, the dial mechanism 2 includes an outer turntable 2, a middle turntable 2, a lever 2, and a lever 3; the two symmetrically arranged outer turntables 2 are fixed at both ends of the driven feed shaft and located on the outside of the two top plate frames, the middle turntable 2 is fixed at the middle of the driven feed shaft and located between the two top plate frames, and a plurality of levers 3 are fixed on the inner side of each outer turntable 2 evenly distributed along the circumference, and a plurality of levers 2 are fixed on both sides of the middle turntable 2 evenly distributed along the circumference, wherein the two levers 3 aligned on each of the two outer turntables 2 are aligned with the two levers 2 aligned on each of the middle turntable 2.

[0013] More preferably, the potting tray pressure rod assembly includes a first connecting rod, a second connecting rod, a seedling protection horizontal plate, a pressure strip, a height adjustment block, and a stop pressure plate. Two symmetrically arranged stop pressure plates are hinged to the upper sides of the frame assembly and connected to the upper sides of the frame assembly via two torsion springs. The lower end faces of both stop pressure plates are provided with multiple slots arranged at intervals. The two ends of the first connecting rod are embedded in a pair of slots on the two stop pressure plates. Height adjustment adapter plates are fixed to both ends of the seedling protection horizontal plate, and the two height adjustment adapter plates are detachably fixed. On the longitudinal grooves opened on the two seedling protection vertical plates, the two seedling protection vertical plates are fixed to the lower two sides of the frame assembly; the two ends of the connecting rod two are fixed to the two height adjustment blocks through the two cover plates; the two height adjustment blocks are detachably fixed to the longitudinal grooves opened on the two height adjustment transition plates; between the connecting rod one and the connecting rod two, several parallel and spaced pressure strips are provided above each top plate frame, and the two ends of the pressure strips are fixed to the connecting rod one and the connecting rod two; among them, multiple seedling combs are fixed on the seedling protection horizontal plate and are equidistantly arranged along the axial direction.

[0014] More preferably, the pot tray guide assembly includes a protective plate baffle and an arc wire. Multiple protective plates baffles are fixed on the seedling protection horizontal plate and are equidistantly arranged along the axial direction. The front part of the dial mechanism one is surrounded by multiple arc wires that are equidistantly arranged along the axial direction and are equal in number to the protective plates baffles. The upper end of the arc wire is fixed to the seedling protection horizontal plate and the lower end is fixed to the fixing plate one.

[0015] More preferably, the longitudinal drive mechanism includes a rotating shaft and striking rods. The rotating shaft, which is parallel to the double helical screw, forms a rotating pair with the lower end of the frame assembly, and two striking rods arranged at intervals are fixed on the rotating shaft.

[0016] More preferably, the longitudinal seedling feeding mechanism includes an active rod, a frame rod, a swing rod, a drive pawl, a drive ratchet, a stop ratchet, a stop pawl, an unlocking rod, and a connecting rod; one end of the active rod is integrally formed with a hinge shaft at one end of the frame rod to form a revolute joint and is fixed to the shaft, and the other end is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to one end of the swing rod; the other ends of the frame rod and the swing rod are both sleeved on the main feeding disc shaft and form a revolute joint with the main feeding disc shaft; the drive ratchet and the stop ratchet are both fixed on the main feeding disc shaft, and the teeth of the drive ratchet and the stop ratchet are opposite; the drive pawl is hinged to the swing rod and connected to the swing rod through a torsion spring two; the stop pawl is hinged to the bent part in the middle of the frame rod and connected to the bent part in the middle of the frame rod through a torsion spring three, and the stop pawl is provided with an integrally formed push rod; one end of the unlocking rod is fixed to the middle of the connecting rod, and the other end contacts the side of the push rod near the stop pawl. In the initial state, the drive pawl and the stop pawl are respectively embedded in a ratchet groove of the drive ratchet and the stop ratchet.

[0017] The present invention discloses a rice seedling transplanting method using a two-row rice transplanter, as detailed below:

[0018] The frame is mounted on a mobile vehicle. Rice seedling trays are placed on each top plate frame, and the pressure bars in the seedling tray pressing rod assembly press each rice seedling tray onto its corresponding top plate frame. The mobile vehicle then moves the frame forward in the paddy field, while the power transmission mechanism drives the seedling-picking shaft and the double-helix screw to rotate. The controller controls the DC motor to drive the two seedling-shooting shafts to rotate relative to each other. The double-helix screw drives the frame assembly to reciprocate horizontally, which in turn drives the entire seedling box frame and each rice seedling tray to reciprocate horizontally. The seedling-picking shaft drives the seedling-picking arm housings of the two four-arm seedling-picking mechanisms to rotate forward synchronously.

[0019] When the seedling-collecting arm housing rotates, it drives the corresponding intermediate non-circular gears, planetary non-circular gears, planetary shafts, and seedling-collecting claws to rotate synchronously. As the seedling-collecting arm housing rotates, when one of the intermediate non-circular gears inside the seedling-collecting arm housing begins to mesh with the toothed part of the incomplete non-circular gear, the seedling-collecting claw corresponding to that intermediate non-circular gear enters the seedling-clamping stage. At this time, the intermediate non-circular gear rotates around its own rotation center axis and drives the planetary shaft to rotate through the corresponding planetary non-circular gear. The planetary shaft drives the two seedling needle rods to rotate around the cam rod through the seedling-collecting claw housing. The hemispheres of the two seedling needle rods slide along the push stroke section of the two cam grooves on the cam rod, causing the two seedling needle rods to drive seedling needle one and seedling needle two to move towards each other. When seedling needle one and seedling needle two rotate to the seedling-collecting point, seedling needle one and seedling needle two close and clamp the rice seedling in the seedling pot located at the seedling-collecting point; as the seedling-collecting arm housing rotates... As the rotation continues, the seedling-picking claw removes the rice seedling from the hole and carries it upwards towards the corresponding funnel. When the seedling-picking claw carries the rice seedling to the seedling placement point directly above the funnel, the hemispheres of the two seedling needle rods of the seedling-picking claw slide along the return section of the two cam grooves on the cam rod, causing the two seedling needle rods to drive seedling needle one and seedling needle two to move in opposite directions until they open, and the rice seedling falls down, completing the seedling placement action of the seedling-picking claw. As the seedling-picking arm housing continues to rotate, the seedling-picking claw that has completed the seedling placement action enters the return stage. The incomplete non-circular gear and the intermediate non-circular gear corresponding to the seedling-picking claw separate, and the concave locking arc and the convex locking arc corresponding to the seedling-picking claw engage in friction transmission. The corresponding intermediate non-circular gear stops rotating, thereby causing the seedling-picking claw housing to stop rotating around the cam rod, and the corresponding seedling needle one and seedling needle two remain in the open state.

[0020] After the rice seedlings are dropped into the corresponding funnels, they are corrected to an upright position by the funnels and then fall out of the funnels. At the same time, the two relatively rotating seed-shooting shafts drive the pairs of acceleration cylinders to rotate relative to each other. When the rice seedlings fall between the corresponding pair of acceleration cylinders, they are accelerated by the relatively rotating pair of acceleration cylinders, so that the rice seedlings are inserted into the field.

[0021] As the seedling box frame translates and the two seedling-picking arm housings rotate, each seedling-picking claw of each four-arm seedling-picking mechanism sequentially clamps and releases seedlings. When each four-arm seedling-picking mechanism has removed a row of rice seedlings from its corresponding rice pot, the frame assembly translates to one end of the double-helix screw. At this time, the frame assembly drives a striking rod of the longitudinal drive mechanism to align with the swing arm cam fixed to the end of the double-helix screw. The double-helix screw drives the swing arm cam to strike the striking rod, causing the longitudinal drive mechanism to... The struck rod drives the rotating shaft to rotate downwards, which in turn drives the active rod of the longitudinal seedling feeding mechanism to rotate backwards. The active rod in the longitudinal seedling feeding mechanism then drives the connecting rod and the swing rod to rotate backwards. The connecting rod, through the unlocking rod, pushes the push rod and the stop pawl to rotate backwards. The stop pawl disengages from the ratchet groove of the stop ratchet wheel, unlocking the main feeding disc shaft. The connecting rod, through the driving pawl, drives the driving ratchet wheel to rotate the main feeding disc shaft. The main feeding disc shaft, through two chain drive mechanisms, drives the driven feeding disc shaft and the auxiliary feeding disc shaft to rotate synchronously. The main feeding disc shaft, driven feeding disc shaft, and auxiliary feeding disc shaft respectively... The mechanism drives dial mechanism one, dial mechanism two, and each guide wheel to rotate downwards. A pair of aligned levers one in dial mechanism one, a pair of aligned levers two and three in dial mechanism two, and a set of aligned teeth in each guide wheel engage with the three pairs of transverse gaps in the two rows of rice seedling trays, thus shifting the two rows of rice seedling trays downwards by the width of one row of holes. When the swing arm cam disengages from the struck lever, the torsion spring two of the longitudinal seedling feeding mechanism drives the stop pawl and push rod to rotate forward. The push rod, through the unlocking rod and connecting rod, drives the drive rod and swing arm to rotate forward to... Initially, the stop pawl and drive pawl are engaged in the next groove of the stop ratchet and drive ratchet, respectively. After the downward movement of each rice pot tray is completed, the frame assembly moves in the opposite direction as the double helical screw rotates. With the reciprocating translation of the frame assembly and the intermittent downward movement of each rice pot tray, the arc wires of the pot tray guide assembly restrict the two rows of rice pot trays, causing each pair of levers to move the portion of the rice seedlings removed from the two rows of rice pot trays onto the steel wires of each pot tray recovery assembly.

[0022] Among them, the movement trajectory of the ends of seedling needle one and seedling needle two on the seedling picking claw is a "bird" shaped trajectory without loops, and the angle difference between the pushing angle of the seedling picking claw at the seedling release point and the picking angle at the seedling picking point is 52°.

[0023] The present invention has the following beneficial effects:

[0024] 1. This invention enables rapid rice transplanting with a good transplanting trajectory, and the angle difference between the pushing angle and the picking angle in the transplanting trajectory is relatively large. Specifically, this invention drives the picking shaft through a power transmission mechanism, which in turn drives two four-arm picking mechanisms to rotate. Each four-arm picking mechanism has four picking claws, so that the four-arm picking mechanism can perform four rice seedling transplanting operations in one rotation, resulting in high transplanting efficiency. Furthermore, the four-arm picking mechanism uses a non-circular gear planetary system to drive the four picking claws to rotate intermittently around four planetary axes. This, combined with the picking arm housing driving the continuous rotation of each picking claw around the picking shaft, results in the movement trajectory of the ends of the first and second picking needles in each picking claw forming a "bird"-shaped trajectory. The transplanting trajectory is continuous and smooth, without loops. Compared with traditional transplanting trajectories, the "bird"-shaped trajectory can achieve faster and more efficient rice seedling transplanting during the picking process, improving transplanting efficiency. In addition, the angle difference between the pushing angle and the picking angle in the "bird"-shaped trajectory of this invention can reach 5 degrees. The 2° angle reduces the possibility of seedlings being carried back during the transplanting process, improving transplanting quality and efficiency. Furthermore, in this invention, after the seedling picker carries the rice seedlings to the seedling release point and releases them, the rice seedlings fall into a corresponding funnel in the seedling-shooting mechanism. The funnel corrects the posture of the rice seedlings to an upright position, ensuring the uprightness of the rice seedlings after transplanting. Two high-speed, relatively moving acceleration cylinders accelerate the rice seedlings falling from the funnel outlet, allowing them to be quickly inserted into the field. This allows for a faster forward speed without lodging (the shorter the falling time of the rice seedlings, the smaller the horizontal displacement at the same horizontal movement speed, preventing them from deviating too far from the set transplanting position and reducing the likelihood of lodging), further improving transplanting efficiency and ensuring that the roots of the rice seedlings are in full contact with the soil, thus increasing the survival rate of the rice seedlings.

[0025] 2. The present invention uses two cam grooves on the cylindrical surface of the cam rod to realize the opening and closing of the seedling needle one and seedling needle two on the seedling picking claw. The structure is simple and reliable, and the size of the seedling picking claw is greatly reduced.

[0026] 3. In this invention, the reciprocating translation of the frame assembly in the horizontal direction, the longitudinal seedling feeding operation of the longitudinal seedling feeding mechanism, the rotation of each seedling arm housing around the corresponding seedling feeding axis, the intermittent rotation of each seedling claw housing around the corresponding planetary axis, and the opening and closing actions of seedling needle one and seedling needle two in each seedling claw are all powered by a single motor, resulting in low energy consumption. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the rack assembly in this invention;

[0029] Figure 3 This is a schematic diagram of the seedling box assembly in this invention;

[0030] Figure 4 This is a schematic diagram of the seedling box frame in this invention;

[0031] Figure 5 This is a schematic diagram of the top plate frame and rice pot in this invention;

[0032] Figure 6 This is a schematic diagram of the dial mechanism one in this invention;

[0033] Figure 7 This is a schematic diagram of the second dial mechanism in this invention;

[0034] Figure 8 This is a schematic diagram of the seedling protection mechanism in this invention;

[0035] Figure 9 This is a schematic diagram of the longitudinal seedling delivery mechanism in this invention;

[0036] Figure 10 This is a schematic diagram of the longitudinal drive mechanism in this invention;

[0037] Figure 11 This is a schematic diagram of the four-arm seedling-collecting mechanism in this invention;

[0038] Figure 12 This is a schematic diagram of the four-arm seedling picking mechanism of the present invention after removing the seedling picking arm shells;

[0039] Figure 13 This is a diagram showing the motion trajectories of the ends of seedling needle one and seedling needle two in this invention;

[0040] Figure 14 This is a schematic diagram of the seedling-shooting mechanism in this invention. Detailed Implementation

[0041] The present invention will now be further described with reference to the accompanying drawings.

[0042] like Figure 1 As shown, the present invention provides a two-row rice transplanter comprising a frame assembly 1, a seedling box assembly 2, a four-arm seedling picking mechanism 3, and a seedling shooting mechanism 4.

[0043] like Figure 2As shown, the frame assembly 1 includes a frame 101, a seedling arm base 114, a seedling arm 116, a double helical screw 126, and a power transmission mechanism. The power transmission mechanism includes a first drive shaft 106 and a second drive shaft 112. The first drive shaft 106, the second drive shaft 112, the seedling arm 116, and the double helical screw 126 are arranged horizontally and parallel to each other. The double helical screw 126, the first drive shaft 106, and the second drive shaft 112 are arranged at intervals and each forms a rotating pair with the frame 101. Driven by a speed-regulating motor 102, one end of the transmission shaft 106 is connected to the double helical screw 126 via a spur gear pair 1, and the other end is connected to the transmission shaft 112 via a spur gear pair 2. The vertically arranged seedling arm base 114 is detachably fixed to the frame 101. The seedling shaft 116 and the seedling arm base 114 form a rotating pair and are connected to the transmission shaft 112 via a chain drive mechanism 2. The end of the double helical screw 126 away from the spur gear pair 1 is fixed with a rocker arm cam 133.

[0044] like Figure 3 As shown, the seedling box assembly 2 includes a seedling box frame 21, a top plate frame 22, a first dial mechanism 23, a second dial mechanism 24, a seedling protection mechanism 25, a longitudinal seedling delivery mechanism 26, a longitudinal drive mechanism 27, and a guide wheel 28; Figure 4 As shown, the seedling box frame 21 includes a frame assembly, a seedling tray recovery assembly, a main feeding tray shaft 2112, a driven feeding tray shaft 2113, and an auxiliary feeding tray shaft 2115. The middle part of the frame assembly forms a sliding pair with the frame frame 101, and the lower end forms a threaded pair with the double helical screw 126. The frame assembly is arranged at an angle, with the front part lower than the rear part. The main feeding tray shaft 2112, the driven feeding tray shaft 2113, and the auxiliary feeding tray shaft 2115 are all parallel to the double helical screw 126 and form rotating pairs with the lower, middle, and upper ends of the frame assembly, respectively. The auxiliary feeding tray shaft 2115 and the main feeding tray shaft 2112 are connected to the driven feeding tray shaft 2113 through two chain drive mechanisms. The seedling tray recovery assembly includes a first fixing plate 2104, a second fixing plate 2105, a first steel wire strip 2106, a second steel wire strip 2107, and a third fixing plate 2109, which are parallel to the double helical screw 126. The fixing plates 2109, 2105, and 2104 of the screw 126 are located behind the auxiliary feed plate shaft 2115, the driven feed plate shaft 2113, and the main feed plate shaft 2112, respectively. The fixing plates 2104 and 2105 are fixed to the frame assembly. The two ends of the fixing plate 2109 are fixed to the two ends of the frame assembly by two vertical hanging plates 2108. There are multiple parallel and spaced steel wires 2106 between the fixing plates 2104 and 2105. The two ends of the steel wires 2106 are fixed to the fixing plates 2104 and 2105. There are multiple parallel and spaced steel wires 2107 between the fixing plates 2105 and 2109. The two ends of the steel wires 2107 are fixed to the fixing plates 2105 and 3109.

[0045] Two top plate frames 22, parallel to and spaced apart from the frame assembly, are fixed to the frame assembly and are both located above the main feed plate shaft 2112, the auxiliary feed plate shaft 2115, and the driven feed plate shaft 2113. Each top plate frame 22 has several seedling feeding gaps, and guide wheels 28 are fixed to each seedling feeding gap on the auxiliary feed plate shaft 2115. A first dial mechanism 23 and a second dial mechanism 24 are respectively mounted on the main feed plate shaft 2112 and the driven feed plate shaft 2113.

[0046] like Figure 6 As shown, the dial mechanism 23 includes an outer turntable, a middle turntable, and levers 235. Two symmetrically arranged outer turntables are fixed to both ends of the main feed shaft 2112 and located on the outside of the two top plate frames 22. The middle turntable is fixed to the middle of the main feed shaft 2112 and located between the two top plate frames 22. Each outer turntable and the middle turntable are provided with multiple levers 235 equidistantly arranged along the circumference of the main feed shaft 2112. The two ends of the levers 235 are fixed to the middle turntable and the corresponding outer turntable. Among them, every two levers 235 on both sides of the middle turntable are aligned.

[0047] like Figure 7 As shown, the dial mechanism 24 includes an outer turntable 2, a middle turntable 2, a lever 245, and a lever 3 246. The two symmetrically arranged outer turntables 2 are fixed at both ends of the driven feed shaft 2113 and are located outside the two top plate frames 22. The middle turntable 2 is fixed at the middle part of the driven feed shaft 2113 and is located between the two top plate frames 22. Each outer turntable 2 has a plurality of levers 3 246 evenly distributed circumferentially fixed on its inner side. Both sides of the middle turntable 2 have a plurality of levers 245 evenly distributed circumferentially fixed on its sides. The levers 3 246 on the two outer turntables 2 and the levers 245 on both sides of the middle turntable 2 are aligned one by one.

[0048] like Figure 8As shown, the seedling protection mechanism 25 includes a pot tray pressure rod assembly and a pot tray guide assembly; the pot tray pressure rod assembly includes a connecting rod one, a connecting rod two, a seedling protection horizontal plate 2503, a pressure strip 2504, a height adjustment block 2505, and a stop pressure plate 2512. Two symmetrically arranged stop pressure plates 2512 are hinged to the upper sides of the frame assembly and connected to the upper sides of the frame assembly via two torsion springs one 2513. The lower end faces of both stop pressure plates 2512 are provided with multiple slots arranged at intervals. The two ends of the connecting rod one are embedded in a pair of slots on the two stop pressure plates 2512; both ends of the seedling protection horizontal plate 2503 are... A height adjustment adapter plate 2502 is fixedly installed. Two height adjustment adapter plates 2502 are detachably fixed to the longitudinal sliding grooves opened on the two seedling protection vertical plates 2501. The two seedling protection vertical plates 2501 are fixed to the lower ends of the frame assembly. The two ends of the connecting rod 2 are fixed to two height adjustment blocks 2505 through two cover plates 2506. The two height adjustment blocks 2505 are detachably fixed to the longitudinal sliding grooves opened on the two height adjustment adapter plates 2502. Between the connecting rod 1 and the connecting rod 2, above each top plate frame 22, there are several parallel and spaced pressure strips 2504. The two sides of the pressure strips 2504 are... The ends are fixed to connecting rod one and connecting rod two. Each pressure strip 2504 is used to press each rice pot tray 2201 onto the corresponding top plate frame 22. The pot tray guide assembly includes a protective plate baffle 2507 and arc wires 2509. Multiple protective plates baffles 2507 are fixed on the seedling protection horizontal plate 2503 and are arranged equidistantly along the axial direction. The front part of the dial mechanism 23 is surrounded by multiple arc wires 2509 arranged equidistantly along the axial direction and equal in number to the protective plates baffles 2507. The upper end of each arc wire 2509 is fixed to a protective plate baffle 2507, and the lower end is fixed to the fixing plate 2104. 9 is used to guide each rice seedling tray 2201 to turn and guide each rice seedling tray 2201 to each steel wire strip 2106; wherein, multiple seedling combing rods are fixed on the seedling protection plate 2503 and are arranged equidistantly along the axial direction. Each seedling combing rod is used to comb the rice seedlings that pass through and prevent the seedlings from intertwining and knotting. By adjusting the position of the two height adjustment transition plates 2502 on the corresponding longitudinal slide grooves, the distance between each pressure strip 2504 and the top plate frame 22 can be adjusted. By adjusting the two ends of the connecting rod in different slots on the corresponding pressure plate 2512, the pressure of each pressure strip 2504 on each rice seedling tray 2201 can be adjusted.

[0049] like Figure 10 As shown, the longitudinal drive mechanism 27 includes a rotating shaft 274 and striking rods 275. The rotating shaft 274, parallel to the double helical screw 126, forms a rotating pair with the lower end of the frame assembly, and two striking rods 275 arranged at intervals are fixed on the rotating shaft 274. Figure 9As shown, the longitudinal seedling feeding mechanism 26 includes a drive rod 2601, a frame rod 2602, a swing rod 2603, a drive pawl 2604, a drive ratchet 2605, a stop ratchet 2606, a stop pawl 2607, an unlocking rod 2608, and a connecting rod 2610. One end of the drive rod 2601 forms a rotating pair with a hinge shaft integrally formed with one end of the frame rod 2602, and is fixed to the rotating shaft 274. The other end is hinged to one end of the connecting rod 2610, and the other end of the connecting rod 2610 is hinged to one end of the swing rod 2603. The other ends of the frame rod 2602 and the swing rod 2603 are both sleeved on the main feeding disc shaft 2112, and connected to the main feeding disc shaft 2112. 12 forms a rotating pair; both the drive ratchet 2605 and the stop ratchet 2606 are fixed on the main feed disc shaft 2112, and the teeth of the drive ratchet 2605 and the stop ratchet 2606 are opposite in direction; the drive pawl 2604 is hinged to the rocker arm 2603 and connected to the rocker arm 2603 through a torsion spring; the stop pawl 2607 is hinged to the bent part in the middle of the frame rod 2602 and connected to the bent part in the middle of the frame rod 2602 through a torsion spring, and the stop pawl 2607 is provided with an integrally formed push rod; one end of the unlocking rod 2608 is fixed to the middle of the connecting rod 2610, and the other end contacts the side of the push rod near the stop pawl 2607. In the initial state, the drive pawl 2604 and the stop pawl 2607 are respectively embedded in one ratchet groove of the drive ratchet 2605 and the stop ratchet 2606.

[0050] The seedling-taking shaft 116 has two symmetrically arranged four-arm seedling-taking mechanisms 3 at both ends, such as... Figure 11 , Figure 12 and Figure 13As shown, the four-arm seedling-collecting mechanism 3 includes a seedling-collecting arm housing, an incomplete non-circular gear 304, a convex locking arc 305, an intermediate non-circular gear 306, a concave locking arc 307, a planetary non-circular gear 308, a planetary shaft 312, and seedling-collecting claws. The seedling-collecting arm housing is sleeved on the seedling-collecting shaft 116 and fixed to it. The incomplete non-circular gear 304 is sleeved on the seedling-collecting shaft 116 at a position inside the seedling-collecting arm housing and is fixed to the seedling-collecting arm base 114. Four intermediate non-circular gears 306 and four planetary shafts 312 are hinged inside the seedling-collecting arm housing, evenly distributed along the circumference of the seedling-collecting shaft 116, and each planetary shaft 312 is parallel to the seedling-collecting shaft 116. 6. Each planetary non-circular gear 308 is fixed at a position inside the seedling arm housing on each planetary shaft 312, and a seedling claw is provided at a position outside the seedling arm housing. Each planetary non-circular gear 308 meshes with an intermediate non-circular gear 306. A convex locking arc 305 is coaxially fixed with an incomplete non-circular gear 304 and is located at the toothless position of the incomplete non-circular gear 304. Each intermediate non-circular gear 306 is fixed with a concave locking arc 307. When the incomplete non-circular gear 304 is separated from a certain intermediate non-circular gear 306, the convex locking arc 305 and the concave locking arc 307 at the position of the intermediate non-circular gear 306 are in frictional transmission. The seedling-collecting claw includes a cam rod 309, a seedling-collecting claw housing 310, seedling needle rods 313, seedling needle one 314, and seedling needle two 315. The cam rod 309 is sleeved on the planetary shaft 312 and fixed to the seedling-collecting arm housing. Two symmetrically arranged cam grooves are provided on the cylindrical surface of the cam rod 309. The seedling-collecting claw housing 310 is sleeved on the outside of the cam rod 309 and fixed to the planetary shaft 312. One end of the two symmetrically arranged seedling needle rods 313 is located inside the seedling-collecting claw housing 310 and is hinged to the seedling-collecting claw housing 310. The ends of the two seedling needle rods 313 located inside the seedling-collecting claw housing 310 are provided with an integrally formed hemisphere. The two hemispheres and the two cam grooves respectively form cam pairs. The ends of the two seedling needle rods 313 located outside the seedling-collecting claw housing 310 are fixed with symmetrically arranged seedling needle one 314 and seedling needle two 315.

[0051] like Figure 14 As shown, the seedling shooting mechanism 4 includes a frame plate 401, a funnel 403, a seedling shooting shaft 408, and an acceleration cylinder 409. The horizontally arranged frame plate 401 and the two vertically arranged funnels 403 are both fixed on the frame 101, and the two funnels 403 are located directly below the two four-arm seedling picking mechanisms 3. The two seedling shooting shafts 408, which are parallel to the seedling picking shaft 116 and arranged at intervals, form a rotating pair with the lower surface of the frame plate 401. The two seedling shooting shafts 408 are connected by a transmission component, one of which is driven by a DC motor 404, and the two seedling shooting shafts 408 rotate in opposite directions. Acceleration cylinders 409 are fixed at both ends of the seedling shooting shaft 408, and the gap between each pair of acceleration cylinders 409 with the ends of the two seedling shooting shafts 408 aligned is located directly below the outlet of the corresponding funnel 403.

[0052] In a preferred embodiment, the frame 101 is fixed together by multiple aluminum profiles.

[0053] More preferably, each pair of adjacent aluminum profiles in the frame 101 is fixed by a built-in connector 131, and the vertically arranged aluminum profiles are fixed to the adjacent horizontally arranged aluminum profiles by a 135° profile connecting plate 132. The 135° profile connecting plate 132 is used to improve the stability of the frame 101.

[0054] In a preferred embodiment, casters 130 are hinged to the four corners of the bottom of the frame 101 to facilitate the movement of the frame 101.

[0055] In a preferred embodiment, a horizontally arranged frame plate 104 is fixed on the frame frame 101; the double helical screw 126 and the second transmission shaft 112 both form a rotating pair with the frame plate 104; the two ends of the first transmission shaft 106 form a rotating pair with the frame frame 101 and the frame plate 104.

[0056] More preferably, the two ends of the drive shaft 106 are supported on the frame frame 101 and the frame plate 104 by two bearing seats 105.

[0057] In a preferred embodiment, the spur gear pair includes a first spur gear 109 and a second spur gear 125, which are respectively fixed on a first transmission shaft 106 and a double helical screw 126, and the transmission ratio between the first spur gear 109 and the second spur gear 125 is 1:1.

[0058] More preferably, the second spur gear pair includes a third spur gear 110 and a fourth spur gear 111, which are fixed on a first transmission shaft 106 and a second transmission shaft 112, respectively, and the transmission ratio between the third spur gear 110 and the fourth spur gear 111 is 2:1.

[0059] More preferably, the chain drive mechanism 2 includes a first sprocket 113, a second sprocket 117 and a first chain 118. The first sprocket 113 and the second sprocket 117 are respectively fixed on the second drive shaft 112 and the seedling shaft 116, and are connected by the first chain 118. The transmission ratio of the first sprocket 113 and the second sprocket 117 is 2:1.

[0060] More preferably, the seedling-picking shaft 116 is supported by two bearings on two spaced bearing supports 115. The two bearing supports 115 are detachably fixed to two vertical sliding grooves on the seedling-picking arm base 114. A horizontal sliding groove perpendicular to the transmission shaft 112 is provided on the frame 101. The seedling-picking arm base 114 is detachably fixed to the horizontal sliding groove. A transverse moving plate 124 is also detachably fixed to the horizontal sliding groove between the transmission shaft 112 and the seedling-picking arm base 114. A tension sprocket 123 is hinged to the movable plate 124. The tension sprocket 123 meshes with the lower part of the chain 118. The height of the seedling-taking shaft 116 can be adjusted by adjusting the position of each bearing support 115 on the corresponding vertical slide groove. The distance between the seedling-taking shaft 116 and the transmission shaft 112 can be adjusted by adjusting the position of the seedling-taking arm base 114 on the horizontal slide groove. The tension of the chain 118 can be adjusted by adjusting the position of the transverse movable plate 124 on the horizontal slide groove.

[0061] More preferably, two flanges 128 are symmetrically arranged on the outside of the two bearing supports 115 on the seedling shaft 116, and the two flanges 128 are fixed to the two bearing supports 115.

[0062] More preferably, the seedling arm housing includes an upper housing 301 and a lower housing 302, the upper housing 301 and the lower housing 302 are fixed, and the grooves opened on the upper housing 301 and the lower housing 302 form the inner cavity of the seedling arm housing; a steel sleeve 303 is fixed in the through hole opened on the upper housing 301, the seedling shaft 116 passes through the steel sleeve 303 and is fixed to the inner wall of the lower housing 302; the integrally formed pipe on the flange 128 passes through the steel sleeve 303 and is fixed to the incomplete non-circular gear 304.

[0063] In a preferred embodiment, the motor housing of the speed-regulating motor 102 is fixed on the frame 101, and the output shaft of the speed-regulating motor 102 is connected to the transmission shaft 106 through the chain drive mechanism 3.

[0064] More preferably, the chain drive mechanism three includes sprocket three 103, sprocket four 107 and chain two 108. Sprocket three 103 and sprocket four 107 are respectively fixed on the output shaft of speed regulating motor 102 and transmission shaft one 106, and are connected by chain two 108. The transmission ratio between sprocket three 103 and sprocket four 107 is 1:1.

[0065] More preferably, tensioning sprockets 119 and 121 are provided between sprocket 3 103 and sprocket 4 107. Tensioning sprockets 119 and 121 are respectively hinged to tensioning translation plate 120 and vertical moving plate 122. A horizontal slide groove 2 perpendicular to the drive shaft 1 106 is provided on the frame 101. Tensioning translation plate 120 is detachably fixed to the horizontal slide groove 2. Two vertical slide grooves 2 are provided on the vertical moving plate 122 at intervals. Both vertical slide grooves 2 are detachably fixed to the frame 101. Tensioning sprocket 119 meshes with the lower part of chain 2 108, and tensioning sprocket 121 meshes with the upper part of chain 2 108. The tension of chain 2 108 can be adjusted by adjusting the position of tensioning translation plate 120 on the horizontal slide groove 2 and the fixed position of the two vertical slide grooves 2 to the frame 101.

[0066] In a preferred embodiment, the frame assembly includes side plates 2101, profile beam assemblies, and four fixing rods 2111. The two side plates 2101 are arranged in parallel and spaced apart, and are inclined. The four fixing rods 2111 are provided with two parallel to the main feed disc shaft 2112. The two ends of one fixing rod 2111 are fixed to the upper ends of the two side plates 2101, and the two ends of the other fixing rod 2111 are fixed to the middle of the two side plates 2101. The lower ends of the two side plates 2101 are connected by two profile beam assemblies arranged at a distance. The profile beam assemblies are composed of two profile beams 2102 arranged vertically, and the two ends of the profile beams 2102 are fixed to the two side plates 2101.

[0067] More preferably, the middle part of the two side plates 2101 is fixed to both ends of the optical axis 2114 parallel to the main feed plate axis 2112 by two optical axis seats 2122. The optical axis 2114 and the slider 2123 form a sliding pair. The slider 2123 is fixed to the frame 101 by the slider fixing plate 127.

[0068] More preferably, the lower ends of the two side plates 2101 are fixed to two symmetrically arranged slider base plates 271, and the two slider base plates 271 and the two slider guide rails 272 fixed on the frame 101 respectively form a sliding pair; the two ends of the rotating shaft 274 are supported on the two slider base plates 271 by two bearing seats 276, and a connecting nut block is fixed at one end of one slider base plate 271 away from the rotating shaft 274, and the connecting nut block and the double helical screw 126 form a threaded pair.

[0069] More preferably, each of the two slider base plates 271 is fixed with a shaft end support 273, and the rotating shaft 274 and the two shaft end support 273 form a rotating pair.

[0070] More preferably, both ends of the auxiliary feed shaft 2115, the driven feed shaft 2113 and the main feed shaft 2112 are supported on the two side plates 2101 by bearing housings 2116.

[0071] More preferably, two vertical sliding grooves are provided on each of the two side plates 2101 at intervals. Each side plate 2101 has two vertical sliding grooves 3 detachably fixed with an upper and lower adjustment plate 2121. The two ends of the auxiliary feeding shaft 2115 are supported on the two upper and lower adjustment plates 2121 by two corresponding bearing seats 3 2116. The height of the auxiliary feeding shaft 2115 can be adjusted by adjusting each upper and lower adjustment plate 2121 at the corresponding vertical sliding groove 3 position.

[0072] More preferably, the two ends of the profile beam 2102 are fixed to the two side plates 2101 by two profile brackets 2103.

[0073] More preferably, the two ends of the fixing plate 2109 are fixed to one end of the two parallel vertical hanging plates 2108 by two L-shaped plates 2110, and the other ends of the two vertical hanging plates 2108 are fixed to the two side plates 2101.

[0074] More preferably, the chain drive mechanism includes a fifth sprocket 2118, a sixth sprocket 2117, and a third chain 2119. The fifth sprocket 2118 is fixed on the driven feed shaft 2113, and the sixth sprocket 2117 is fixed on the main feed shaft 2112 or the auxiliary feed shaft 2115 and is connected to the fifth sprocket 2118 through the third chain 2119. The transmission ratio between the sixth sprocket 2117 and the fifth sprocket 2118 is 1:1.

[0075] More preferably, a tension sprocket four 2120 is hinged on the side plate 2101 near the chain drive mechanism one between sprocket five 2118 and sprocket six 2117, and the tension sprocket four 2120 engages with chain three 2119.

[0076] More preferably, such as Figure 5 As shown, the top plate frame 22 includes a right top plate guide L-shaped profile 222, a left top plate guide L-shaped profile 223, and a middle tray plate 224. Between the right top plate guide L-shaped profile 222 and the left top plate guide L-shaped profile 223, which are parallel to the side plate 2101 and arranged opposite to each other, are several middle tray plates 224 arranged parallel to the side plate 2101 and at equal intervals. The right top plate guide L-shaped profile 222, the left top plate guide L-shaped profile 223, and each middle tray plate 224 are all fixed to each fixed rod 2111 and the upper profile beam 2102 in each profile beam group. The gap between the right top plate guide L-shaped profile 222 and the left top plate guide L-shaped profile 223 is divided into several seedling feeding gaps by the corresponding middle tray plates 224.

[0077] More preferably, the middle of the right top plate guide L-shaped profile 222, the left top plate guide L-shaped profile 223 and each intermediate tray thin plate 224 are all fixed to an empty tray discharge baffle 225. The empty tray discharge baffle 225 is used to limit the movement of the empty rice pot trays 221 guided to each steel wire strip 2107, so as to prevent the rice pot trays 221 from tilting up.

[0078] More preferably, two symmetrically arranged shaft fixing plates 2510 are fixed on the two side plates 2101, and the two stop pressure plates 2512 and the two torsion spring shafts 2511 integrally formed on the two shaft fixing plates 2510 respectively form a rotating pair, and are connected to the two shaft fixing plates 2510 through two torsion springs 2513 sleeved on the two torsion spring shafts 2511.

[0079] In a preferred embodiment, the arc-shaped iron wire 2509 is fixed to the guard plate baffle 2507 by the iron wire end plate 2508.

[0080] In a preferred embodiment, the outer turntable 1 includes an outer upper turntable 231 and an outer lower turntable 232. The outer upper turntable 231 and the outer lower turntable 232 are fixed, and the semi-circular grooves on the outer upper turntable 231 and the outer lower turntable 232 form a circular hole. The outer lower turntable 232 is circumferentially limited to the main feed plate shaft 2112 by a semi-circular key, and the circular hole is axially limited to the main feed plate shaft 2112 by a retaining spring. The outer upper turntable 1 and the outer lower turntable 232 are fixed to levers 235 at corresponding circumferential positions.

[0081] In a preferred embodiment, the intermediate turntable 1 includes an upper intermediate turntable 233 and a lower intermediate turntable 234. The upper intermediate turntable 233 and the lower intermediate turntable 234 are fixed, and the semi-circular grooves 2 on the upper intermediate turntable 233 and the lower intermediate turntable 234 form a circular hole 2. The lower intermediate turntable 234 is circumferentially limited to the main feed disc shaft 2112 by a semi-circular key 237, and the circular hole 2 is axially limited to the main feed disc shaft 2112 by a retaining ring 236. The upper intermediate turntable 233 and the lower intermediate turntable 234 are fixed to levers 235 at corresponding circumferential positions.

[0082] In a preferred embodiment, the outer turntable 2 includes an outer upper turntable 241 and an outer lower turntable 242. The outer upper turntable 241 and the outer lower turntable 242 are fixed together, and the semi-circular grooves 3 opened on the outer upper turntable 241 and the outer lower turntable 242 form a circular hole 3. The outer lower turntable 242 and the driven feeding shaft 2113 are circumferentially limited by a semi-circular key 3, and the circular hole 3 and the driven feeding shaft 2113 are axially limited by a retaining spring 3. The outer upper turntable 241 and the outer lower turntable 242 are fixed to the lever 3 246 at the corresponding circumferential positions.

[0083] In a preferred embodiment, the intermediate turntable 2 includes an upper intermediate turntable 243 and a lower intermediate turntable 244. The upper intermediate turntable 243 and the lower intermediate turntable 244 are fixed, and the semi-circular grooves 4 opened on the upper intermediate turntable 243 and the lower intermediate turntable 244 form a circular hole 4. The lower intermediate turntable 244 and the driven feeding shaft 2113 are circumferentially limited by a semi-circular key, and the circular hole 4 and the driven feeding shaft 2113 are axially limited by a retaining spring 4. The upper intermediate turntable 243 or the lower intermediate turntable 244 is fixed to a lever 245 at a corresponding circumferential position.

[0084] In a preferred embodiment, the two ends of the connecting rod 2610 are hinged to the connecting shaft integrally formed on the active rod 2601 and the swing rod 2603, the stop pawl 2607 is hinged to the connecting shaft integrally formed on the middle bent part of the frame rod 2602, and the two ends of the connecting rod 2610 and the stop pawl 2607 are axially limited by the boss and cotter pin 2609 on the corresponding connecting shaft.

[0085] In a preferred embodiment, a seedling arm flange cover 311 is fixed on the planetary shaft 312, and a seedling claw housing 310 is fixed on the seedling arm flange cover 311.

[0086] In a preferred embodiment, the seed-shooting shaft 408 is supported on the frame plate 401 by bearing seat 410.

[0087] In a preferred embodiment, the motor housing of the DC motor 404 is fixed to the lower surface of the frame plate 401 by a motor mounting bracket. The output shaft of the DC motor 404 is connected to the short shaft 407 by a coupling 405. The short shaft 407 and the motor mounting bracket form a rotating pair and are connected to one of the seed-shooting shafts 408 by a bevel gear pair 406. The two seed-shooting shafts 408 are connected by a spur gear pair 3 411, that is, the transmission component is a spur gear pair 3 411.

[0088] In a preferred embodiment, the funnel 403 is detachably fixed to a vertical slide groove on the funnel adjustment plate 402, which is fixed to the frame 101. The height of the funnel 403 can be adjusted by adjusting the position of the funnel 403 on the vertical slide groove.

[0089] Both the speed-regulating motor 102 and the DC motor 404 are controlled by a controller located in the electrical cabinet 129 on the frame 101.

[0090] The present invention discloses a transplanting method for a two-row rice transplanter, as detailed below:

[0091] The frame 101 is mounted on the mobile vehicle. Rice seedling trays 221 are placed on each top plate frame 22, and each pressing strip 2504 presses each rice seedling tray 221 onto the corresponding top plate frame 22. Then, the mobile vehicle moves the frame 101 forward in the paddy field. At the same time, the controller controls the speed-regulating motor 102 to drive the transmission shaft 106 to rotate, and controls the DC motor 404 to drive the two seedling-shooting shafts 408 to rotate relative to each other. The transmission shaft 106 drives the double helical screw 126 to rotate through the first spur gear pair. The double helical screw 126 drives the frame assembly to reciprocate horizontally, thereby driving the entire seedling box frame 21 and each rice seedling tray to reciprocate horizontally. The transmission shaft 106 also drives the second transmission shaft 112 to rotate through the second spur gear pair. The second transmission shaft 112 drives the seedling-picking shaft 116 to rotate through the first chain drive mechanism. The seedling-picking shaft 116 drives the seedling-picking arm housings of the two four-arm seedling-picking mechanisms 3 to rotate forward synchronously. Figure 11 (Rotate counterclockwise).

[0092] When the seedling arm housing rotates, it drives the corresponding intermediate non-circular gears 306, planetary non-circular gears 308, planetary shafts 312, and seedling claws to rotate synchronously. As the seedling arm housing rotates, when an intermediate non-circular gear 306 inside the seedling arm housing begins to mesh with the toothed part of an incomplete non-circular gear 304, the seedling claw corresponding to that intermediate non-circular gear 306 enters the seedling clamping stage. At this time, the intermediate non-circular gear 306 rotates around its own rotation center axis and passes through the corresponding planetary non-circular gears 312. Gear 308 drives planetary shaft 312 to rotate. Planetary shaft 312 drives two seedling needle rods 313 to rotate around cam rod 309 via seedling claw housing 310. The hemispheres of the two seedling needle rods 313 slide along the push stroke section of the two cam grooves on cam rod 309, causing the two seedling needle rods 313 to drive seedling needle one 314 and seedling needle two 315 to move towards each other. When seedling needle one 314 and seedling needle two 315 rotate to the seedling picking point, seedling needle one 314 and seedling needle two 315 close and clamp the rice seedling located at the seedling picking point. As the seedling-collecting arm continues to rotate, the seedling-collecting claw removes the rice seedling from the hole and carries it towards the top of the corresponding funnel 403. When the seedling-collecting claw moves to the seedling placement point directly above the funnel 403, the hemispheres of the two seedling needle rods 313 of the seedling-collecting claw slide along the return section of the two cam grooves on the cam rod 309, causing the two seedling needle rods 313 to drive the first seedling needle 314 and the second seedling needle 315 to move in opposite directions until they open, and the rice seedling falls down. The seedling-collecting claw completes its operation. Seedling release action; as the seedling arm housing continues to rotate, the seedling claw that has completed the seedling release action enters the return stage. The incomplete non-circular gear 304 and the intermediate non-circular gear 306 corresponding to the seedling claw separate. The concave locking arc 307 and the convex locking arc 305 corresponding to the seedling claw are driven by friction. The corresponding intermediate non-circular gear 306 stops rotating, thereby causing the seedling claw housing of the seedling claw to stop rotating around the cam rod 309. The corresponding seedling needle one 314 and seedling needle two 315 remain in the open state.

[0093] After the rice seedlings fall into the corresponding funnel 403, they are corrected to a vertical position by the funnel 403 and fall out of the outlet of the funnel 403. At the same time, the two relatively rotating seed-shooting shafts 408 drive the pairs of acceleration cylinders 409 to rotate relative to each other. When the rice seedlings fall between the corresponding pair of acceleration cylinders 409, they are accelerated by the relatively rotating pair of acceleration cylinders 409, so that the rice seedlings are inserted into the field at high speed.

[0094] As the seedling box frame 21 translates and the two seedling-picking arm housings rotate, each seedling-picking claw of each four-arm seedling-picking mechanism 3 sequentially clamps and releases seedlings. When each four-arm seedling-picking mechanism 3 has removed a row of rice seedlings from its corresponding rice pot, the seedling box frame 21 translates to the end of the double helical screw 126. At this time, the seedling box frame 21 drives one of the striking rods 275 of the longitudinal drive mechanism 27 to align with the swing arm cam 133. The double helical screw 126 drives the swing arm cam 133 to rotate, and the swing arm cam 133 strikes the striking rod 275, causing the striking rod 275 to drive the rotating shaft 274 to rotate downwards. Shaft 274 drives connecting rod 2610 and swing rod 2603 to rotate backward via drive rod 2601. Connecting rod 2610 pushes push rod and stop pawl 2607 to rotate backward via unlocking rod 2608. Stop pawl 2607 disengages from the ratchet groove of stop ratchet 2606, unlocking main feed disc shaft 2112. Connecting rod 2610 drives drive ratchet 2605 via drive pawl 2604, driving main feed disc shaft 2112 to rotate. Main feed disc shaft 2112 drives driven feed disc shaft 2113 and auxiliary feed disc shaft 2115 to rotate synchronously via two chain drive mechanisms. Main feed disc shaft 2112, driven feed disc shaft 2113, and auxiliary feed disc shaft 2115 are all rotated simultaneously. 2115 respectively drives the dial mechanism 1 23, dial mechanism 24 and each guide wheel 28 to rotate downwards. A pair of levers 1 235 aligned in dial mechanism 1, a pair of levers 245 aligned in dial mechanism 2, a pair of levers 3 246 aligned in dial mechanism 2, and a set of teeth aligned in each guide wheel are engaged in the three pairs of transverse gaps of the two rows of rice pots, and move the two rows of rice pots downwards by the width of one row of holes. When the rocker arm cam 133 disengages from the struck rod 275, the torsion spring 2 drives the stop pawl 2607 and the push rod to rotate forward. The push rod drives the drive rod 2601 and the rocker arm 2603 to rotate forward through the unlocking rod 2608 and the connecting rod 2610. The mechanism rotates forward to its initial position, and simultaneously, the stop pawl 2607 and the drive pawl 2604 engage in the next ratchet groove of the stop ratchet 2606 and the drive ratchet 2605, respectively. After the downward movement of each rice pot tray is completed, the frame assembly moves in the opposite direction as the double helical screw 126 rotates. With the reciprocating translation of the frame assembly and the intermittent downward movement of each rice pot tray, and due to the limiting effect of the arc wires 2509 of the pot tray guide assembly on the two rows of rice pot trays, each pair of levers 235 intermittently moves the portion of the rice seedlings that have been removed from the two rows of rice pot trays to the steel wires 2106 of each pot tray recycling assembly.

[0095] Among them, such as Figure 13As shown, the movement trajectory of the ends of seedling needles 314 and 315 on the seedling picker is a "bird"-shaped trajectory. The transplanting trajectory is continuous and smooth, and compared with the traditional transplanting trajectory which usually has loops, the "bird"-shaped trajectory can be faster and more efficient in the seedling picking process. In the "bird"-shaped trajectory, segment AB, located at the lower edge of the beak, is the seedling clamping stage; segment BC, located at the upper edge of the beak, is the seedling picking stage; segment CD, located on the back of the bird, is the seedling delivery stage; and segment DE, located on the tail of the bird, is the seedling releasing stage (segment DE is approximately a straight line segment). The EA segment of the bird's abdomen is the return stage, with point B being the seedling collection point and point E being the seedling release point. The angle between the seedling collection claw at point A and the horizontal plane is the seedling collection angle β, and the angle at point E and the horizontal plane is the seedling pushing angle α. The seedling collection angle β is 22.62°, and the seedling pushing angle α is 88.03°. The angle difference between the seedling pushing angle α and the seedling collection angle β is 52°. Currently, the angle difference between the seedling pushing angle α and the seedling collection angle β is generally only 46°. The larger the angle difference between the seedling pushing angle α and the seedling collection angle β, the better the actual movement trajectory during transplanting.

Claims

1. A two-row rice transplanter, comprising a frame assembly, a seedling box assembly, and a four-arm seedling picking mechanism, characterized in that: It also includes a seedling-shooting mechanism; the frame assembly includes a frame, a seedling-picking shaft, a double-helix screw, and a power transmission mechanism. The double-helix screw and the frame form a rotating joint, and the seedling-picking shaft and the seedling-picking arm base vertically fixed on the frame form a rotating joint. The seedling-picking shaft and the double-helix screw are horizontally and parallelly arranged, and both are driven to rotate by the power transmission mechanism; the seedling box assembly includes a seedling box frame, a top plate frame, a seedling protection mechanism, and a longitudinal seedling delivery mechanism; the seedling box frame includes a frame assembly, a pot tray recovery assembly, and a main delivery tray shaft. The frame assembly consists of a driven feed shaft and an auxiliary feed shaft; the middle part of the frame assembly forms a sliding pair with the machine frame, and the lower end forms a threaded pair with the double helical screw; the frame assembly is arranged at an angle, with the front lower than the rear; the power transmission mechanism drives the double helical screw to move the frame assembly reciprocally in the horizontal direction; the auxiliary feed shaft, driven feed shaft, and main feed shaft, parallel to the double helical screw, form rotating pairs with the lower, middle, and upper ends of the frame assembly, respectively, and the auxiliary feed shaft and main feed shaft are connected to the driven feed shaft via two chain drive mechanisms. The main feeding mechanism is connected to the frame assembly. It is mounted on the main feeding tray shaft and driven by a longitudinal drive mechanism located at the bottom of the frame, causing the main feeding tray shaft to rotate intermittently. The seedling tray recovery assembly is fixed to the frame assembly and located below the main feeding tray shaft, the driven feeding tray shaft, and the auxiliary feeding tray shaft. Two top tray frames, parallel to the frame assembly and spaced apart, are fixed to the frame assembly and located above the main feeding tray shaft, the auxiliary feeding tray shaft, and the driven feeding tray shaft. The auxiliary feeding tray shaft is positioned at the feeding gaps between each top tray frame. Each is fixed with a guide wheel. The main feeding disc shaft and the driven feeding disc shaft are respectively equipped with a dial mechanism one and a dial mechanism two. The seedling protection mechanism includes a pot plate pressing rod assembly and a pot plate guiding assembly. The pot plate pressing rod assembly is set on the frame assembly and located above each top plate frame. The pot plate guiding assembly is located in front of the dial mechanism one. The pot plate pressing rod assembly presses the rice pot plates placed on each top plate frame onto the corresponding top plate frame. The pot plate guiding assembly guides the empty rice pot plate portion located on the dial mechanism one to the pot plate recycling assembly. The seedling-collecting shaft has two symmetrically arranged four-arm seedling-collecting mechanisms at both ends. Each four-arm seedling-collecting mechanism includes a seedling-collecting arm housing, an incomplete non-circular gear, intermediate non-circular gears, planetary non-circular gears, planetary shafts, and seedling-collecting claws. The seedling-collecting arm housing is fixed to the seedling-collecting shaft. The incomplete non-circular gears are fitted onto the seedling-collecting shaft at a position inside the seedling-collecting arm housing and fixed to the seedling-collecting arm base. Four intermediate non-circular gears and four planetary shafts are hinged within the seedling-collecting arm housing, evenly distributed along the circumference of the seedling-collecting shaft. Each planetary shaft is parallel to the seedling-collecting shaft. A planetary non-circular gear is fixed at a position inside the seedling-collecting arm housing on each planetary shaft, and a seedling-collecting claw is provided at a position outside the seedling-collecting arm housing. Each planetary non-circular gear meshes with one intermediate non-circular gear. A coaxially arranged convex locking arc is fixed at the toothless position on the incomplete non-circular gear. Each intermediate non-circular gear is fixed with a concave locking arc; in the state where the incomplete non-circular gear is separated from a certain intermediate non-circular gear, the convex locking arc and the concave locking arc at the position of the intermediate non-circular gear are in frictional transmission; the seedling claw includes a cam rod, a seedling claw housing and a seedling needle rod; the cam rod is sleeved on the planetary shaft and fixed to the seedling arm housing, and two symmetrically arranged cam grooves are opened on the cylindrical surface of the cam rod; the seedling claw housing is sleeved on the outside of the cam rod and fixed to the planetary shaft, one end of the two symmetrically arranged seedling needle rods is located inside the seedling claw housing and is hinged to the seedling claw housing, and the end located outside the seedling claw housing is fixed with symmetrically arranged seedling needle one and seedling needle two, and the ends of the two seedling needle rods located inside the seedling claw housing are provided with an integrally formed hemisphere, and the two hemispheres and the two cam grooves respectively form a cam pair; The seedling-shooting mechanism includes a frame plate, funnels, seedling-shooting shafts, and acceleration cylinders. The horizontally arranged frame plate and the two vertically arranged funnels are fixed to the frame, and the two funnels are located directly below the two four-arm seedling-taking mechanisms. The two seedling-shooting shafts, which are parallel to the seedling-taking shafts and spaced apart, form a rotating pair with the lower surface of the frame plate. The two seedling-shooting shafts are connected by a transmission component, one of which is driven by a DC motor, and the two seedling-shooting shafts rotate in opposite directions. Acceleration cylinders are fixed at both ends of the seedling-shooting shafts, and the gap between every two acceleration cylinders with aligned ends of the two seedling-shooting shafts is located directly below the outlet of a corresponding funnel.

2. The rice two-row transplanting machine according to claim 1, characterized in that: The power transmission mechanism includes a first transmission shaft and a second transmission shaft. The first and second transmission shafts are parallel to the double helical screw and located between the double helical screw and the seedling picking shaft. Both of them form a rotating pair with the frame. The first transmission shaft is driven by a speed-regulating motor. One end of the first transmission shaft is connected to one end of the double helical screw through a spur gear pair, and the other end is connected to the second transmission shaft through a spur gear pair. The second transmission shaft is connected to the seedling picking shaft through a chain drive mechanism. A rocker arm cam is fixed to the end of the double helical screw away from the spur gear pair.

3. The rice two-row transplanting machine according to claim 2, characterized in that: The bowl-collecting assembly includes a first fixing plate, a second fixing plate, a first steel wire, a second steel wire, and a third fixing plate. The third fixing plate, the second fixing plate, and the first fixing plate, which are parallel to the double-helix screw, are located behind the auxiliary feeding shaft, the driven feeding shaft, and the main feeding shaft, respectively. The first fixing plate and the second fixing plate are both fixed to the frame assembly. The two ends of the third fixing plate are fixed to the two ends of the frame assembly by two vertical hanging plates. A plurality of first steel wires are arranged in parallel and at intervals between the first fixing plate and the second fixing plate. The two ends of the first steel wires are fixed to the first fixing plate and the second fixing plate. A plurality of second steel wires are arranged in parallel and at intervals between the second fixing plate and the third fixing plate. The two ends of the second steel wires are fixed to the second fixing plate and the third fixing plate.

4. The rice two-row transplanting machine according to claim 3, characterized in that: The dial mechanism includes an outer turntable, a middle turntable, and levers. Two symmetrically arranged outer turntables are fixed to both ends of the main feed disc shaft and located on the outside of the two top disc frames. The middle turntable is fixed to the middle of the main feed disc shaft and located between the two top disc frames. Each outer turntable and the middle turntable are provided with multiple levers equidistantly arranged along the circumference of the main feed disc shaft. The two ends of the levers are fixed to the middle turntable and the corresponding outer turntable. Among the levers on both sides of the middle turntable, every two levers are aligned.

5. A two-row rice transplanter according to claim 4, characterized in that: The dial mechanism 2 includes an outer turntable 2, a middle turntable 2, a lever 2, and a lever 3. The two symmetrically arranged outer turntables 2 are fixed at both ends of the driven feed shaft and are located outside the two top plate frames. The middle turntable 2 is fixed at the middle of the driven feed shaft and is located between the two top plate frames. Each outer turntable 2 has a plurality of levers 3 evenly distributed circumferentially fixed on its inner side. Both sides of the middle turntable 2 have a plurality of levers 2 evenly distributed circumferentially fixed on their sides. The two levers 3 aligned on each of the two outer turntables 2 are aligned with the two levers 2 aligned on each of the two middle turntables 2.

6. The rice two-row transplanting machine according to claim 5, characterized in that: The potting tray pressure rod assembly includes a first connecting rod, a second connecting rod, a seedling protection horizontal plate, a pressure strip, a height adjustment block, and a stop pressure plate. Two symmetrically arranged stop pressure plates are hinged to the upper sides of the frame assembly and connected to the upper sides of the frame assembly via two torsion springs. The lower end face of each stop pressure plate has multiple spaced slots. Both ends of the first connecting rod are embedded in a pair of slots on the two stop pressure plates. Height adjustment adapter plates are fixed to both ends of the seedling protection horizontal plate, and the two height adjustment adapter plates are detachably fixed to two… On the longitudinal groove of the seedling protection vertical plate, two seedling protection vertical plates are fixed to the lower sides of the frame assembly; the two ends of the connecting rod two are fixed to two height adjustment blocks through two cover plates; the two height adjustment blocks are detachably fixed to the longitudinal groove of the two height adjustment transition plates; several parallel and spaced pressure strips are provided above each top plate frame between connecting rod one and connecting rod two, and the two ends of the pressure strips are fixed to connecting rod one and connecting rod two; among them, multiple seedling combs are fixed on the seedling protection horizontal plate and arranged equidistantly along the axial direction.

7. A two-row rice transplanter according to claim 6, characterized in that: The pot tray guide assembly includes a protective plate baffle and an arc wire. Multiple protective plates baffles are fixed on the seedling protection horizontal plate and are equidistantly arranged along the axial direction. The front part of the dial mechanism is surrounded by multiple arc wires that are equidistantly arranged along the axial direction and are equal in number to the protective plates baffles. The upper end of the arc wire is fixed to the seedling protection horizontal plate and the lower end is fixed to the fixing plate.

8. A two-row rice transplanter according to claim 7, characterized in that: The longitudinal drive mechanism includes a rotating shaft and striking rods. The rotating shaft, which is parallel to the double helical screw, forms a rotating pair with the lower end of the frame assembly, and two striking rods arranged at intervals are fixed on the rotating shaft.

9. A two-row rice transplanter according to claim 8, characterized in that: The longitudinal seedling feeding mechanism includes a drive rod, a frame rod, a swing rod, a drive pawl, a drive ratchet, a stop ratchet, a stop pawl, an unlocking rod, and a connecting rod. One end of the drive rod is integrally formed with a hinged shaft at one end of the frame rod, forming a revolute joint and fixed to the shaft. The other end of the drive rod is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to one end of the swing rod. The other ends of the frame rod and the swing rod are both sleeved on the main feeding disc shaft, forming a revolute joint with the main feeding disc shaft. The drive ratchet and the stop ratchet are both fixed to the main feeding disc shaft. Furthermore, the drive ratchet and the stop ratchet have opposite tooth directions; the drive pawl is hinged to the swing arm and connected to the swing arm through torsion spring two; the stop pawl is hinged to the bent part in the middle of the frame rod and connected to the bent part in the middle of the frame rod through torsion spring three, and the stop pawl is provided with an integrally formed push rod; one end of the unlocking rod is fixed to the middle of the connecting rod, and the other end contacts the side of the push rod near the stop pawl; in the initial state, the drive pawl and the stop pawl are respectively embedded in a ratchet groove of the drive ratchet and the stop ratchet.

10. The rice transplanting method of a two-row rice transplanter according to claim 9, characterized in that: Specifically as follows: The frame is installed on the mobile vehicle. Rice seedling trays are placed on each top plate frame, and the pressure strips in the seedling tray pressure rod assembly press each rice seedling tray onto the corresponding top plate frame. Then, the mobile vehicle moves the frame forward in the paddy field. At the same time, the power transmission mechanism drives the seedling picking shaft and the double helical screw to rotate, and the controller controls the DC motor to drive the two seedling shooting shafts to rotate relative to each other. The double helical screw drives the frame assembly to reciprocate horizontally, which in turn drives the entire seedling box frame and each rice seedling tray to reciprocate horizontally. The seedling picking shaft drives the seedling picking arm housings of the two four-arm seedling picking mechanisms to rotate forward synchronously. When the seedling-collecting arm housing rotates, it drives the corresponding intermediate non-circular gears, planetary non-circular gears, planetary shafts, and seedling-collecting claws to rotate synchronously. As the seedling-collecting arm housing rotates, when one of the intermediate non-circular gears inside the seedling-collecting arm housing begins to mesh with the toothed part of the incomplete non-circular gear, the seedling-collecting claw corresponding to that intermediate non-circular gear enters the seedling-clamping stage. At this time, the intermediate non-circular gear rotates around its own rotation center axis and drives the planetary shaft to rotate through the corresponding planetary non-circular gear. The planetary shaft drives the two seedling needle rods to rotate around the cam rod through the seedling-collecting claw housing. The hemispheres of the two seedling needle rods slide along the push stroke section of the two cam grooves on the cam rod, causing the two seedling needle rods to drive seedling needle one and seedling needle two to move towards each other. When seedling needle one and seedling needle two rotate to the seedling-collecting point, seedling needle one and seedling needle two close and clamp the rice seedling in the seedling pot located at the seedling-collecting point; as the seedling-collecting arm housing rotates... As the rotation continues, the seedling-picking claw removes the rice seedling from the hole and carries it upwards towards the corresponding funnel. When the seedling-picking claw carries the rice seedling to the seedling placement point directly above the funnel, the hemispheres of the two seedling needle rods of the seedling-picking claw slide along the return section of the two cam grooves on the cam rod, causing the two seedling needle rods to drive seedling needle one and seedling needle two to move in opposite directions until they open, and the rice seedling falls down. The seedling-picking claw completes the seedling placement action. As the seedling-picking arm housing continues to rotate, the seedling-picking claw that has completed the seedling placement action enters the return stage. The incomplete non-circular gear corresponding to the seedling-picking claw separates from the intermediate non-circular gear, and the concave locking arc and convex locking arc corresponding to the seedling-picking claw undergo friction transmission. The corresponding intermediate non-circular gear stops rotating, thereby causing the seedling-picking claw housing to stop rotating around the cam rod, and the corresponding seedling needle one and seedling needle two remain in the open state. After the rice seedlings are dropped into the corresponding funnels, they are corrected to a vertical position by the funnels and then fall out of the funnels. At the same time, the two relatively rotating seed-shooting shafts drive the pairs of acceleration cylinders to rotate relative to each other. When the rice seedlings fall between the corresponding pair of acceleration cylinders, they are accelerated by the relatively rotating pair of acceleration cylinders, so that the rice seedlings are inserted into the field. As the seedling box frame translates and the two seedling-picking arm housings rotate, each seedling-picking claw of each four-arm seedling-picking mechanism sequentially clamps and releases seedlings. When each four-arm seedling-picking mechanism has removed a row of rice seedlings from its corresponding rice pot, the frame assembly translates to one end of the double-helix screw. At this time, the frame assembly drives a striking rod of the longitudinal drive mechanism to align with the swing arm cam fixed to the end of the double-helix screw. The double-helix screw drives the swing arm cam to strike the striking rod, causing the longitudinal drive mechanism to... The struck rod drives the rotating shaft to rotate downwards, which in turn drives the active rod of the longitudinal seedling feeding mechanism to rotate backwards. The active rod in the longitudinal seedling feeding mechanism then drives the connecting rod and the swing rod to rotate backwards. The connecting rod, through the unlocking rod, pushes the push rod and the stop pawl to rotate backwards. The stop pawl disengages from the ratchet groove of the stop ratchet wheel, unlocking the main feeding disc shaft. The connecting rod, through the driving pawl, drives the driving ratchet wheel to rotate the main feeding disc shaft. The main feeding disc shaft, through two chain drive mechanisms, drives the driven feeding disc shaft and the auxiliary feeding disc shaft to rotate synchronously. The main feeding disc shaft, driven feeding disc shaft, and auxiliary feeding disc shaft respectively... The mechanism drives dial mechanism one, dial mechanism two, and each guide wheel to rotate downwards. A pair of aligned levers one in dial mechanism one, a pair of aligned levers two and three in dial mechanism two, and a set of aligned teeth in each guide wheel engage with the three pairs of transverse gaps in the two rows of rice seedling trays, thus shifting the two rows of rice seedling trays downwards by the width of one row of holes. When the swing arm cam disengages from the struck lever, the torsion spring two of the longitudinal seedling feeding mechanism drives the stop pawl and push rod to rotate forward. The push rod, through the unlocking rod and connecting rod, drives the drive rod and swing arm to rotate forward to... Initially, the stop pawl and drive pawl are engaged in the next groove of the stop ratchet and drive ratchet, respectively; after the downward movement of each rice seedling tray is completed, the frame assembly moves in the opposite direction as the double helix screw rotates; as the frame assembly moves back and forth and the rice seedling trays move downward intermittently, the arc wires of the tray guide assembly restrict the two rows of rice trays, causing each pair of levers to move the portion of the rice seedlings that have been removed from the two rows of rice trays to the wire strips of each tray recovery assembly; Among them, the movement trajectory of the ends of seedling needle one and seedling needle two on the seedling picking claw is a "bird"-shaped trajectory without loops, and the angle difference between the pushing angle of the seedling picking claw at the seedling release point and the picking angle at the seedling picking point is 52°.

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