Automatic crop transplanter

Abstract

The present invention relates to the technical field of planting machinery, and specifically discloses an automatic crop transplanter, comprising a vehicle body, a seedling tray is placed on the top rear side of the vehicle body, and a displacement drive group for longitudinal and transverse movement is arranged at the bottom of the seedling tray; a transplanting duckbill is arranged at the bottom of the vehicle body, and the transplanting duckbill is connected to the vehicle body through a planting drive group; a seedling taking manipulator for putting the crop seedlings in the seedling tray into the transplanting duckbill is arranged between the seedling tray and the transplanting duckbill. The automatic crop transplanter integrates seedling taking, seedling throwing and transplanting, and the seedling taking component is used to accurately take out the pepper seedlings from the seedling tray and put them into the target position. It includes components such as a seedling taking manipulator and a seedling throwing device, and has precise seedling taking and seedling throwing functions, which can ensure accurate taking out and seedling throwing positioning of seedlings. The seedling planting component is responsible for accurately transplanting the taken out crop seedlings into the soil. It has the characteristics of high automation, can realize fast and accurate transplanting operations, and improve transplanting efficiency and consistency.

Description

Technical Field

[0001] The invention relates to the technical field of planting machinery, and in particular to an automatic crop transplanter. Background Art

[0002] Transplanting is an important part of the growth process of many crops. Due to the large amount of some crops, the intensity of transplanting operations also increases. For example, peppers are not only edible, but also widely used in industry, and have high economic benefits.

[0003] In order to improve work efficiency and reduce the work intensity of transplanting operations, some transplanting machines have gradually been developed. However, existing transplanting machines can generally only complete part of the work and still require a lot of people to cooperate in the transplanting operation. Summary of the invention

[0004] The object of the present invention is to provide an automatic crop transplanter to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic crop transplanter, comprising a vehicle body, a seedling tray is placed on the top rear side of the vehicle body, and a displacement drive group for longitudinal and transverse movement is arranged at the bottom of the seedling tray; a transplanting duckbill is arranged at the bottom of the vehicle body, and the transplanting duckbill is connected to the vehicle body through a planting drive group; a seedling taking mechanical hand for putting the crop seedlings in the seedling tray into the transplanting duckbill is arranged between the seedling tray and the transplanting duckbill;

[0006] The top of the seedling-picking manipulator is fixedly connected to a track guide rod, and the outer wall of the track guide rod is slidably connected to a limit slider rotatably connected to the vehicle body; the rear side of the seedling-picking manipulator is rotatably connected to a seedling-picking traction rod, and one end of the seedling-picking traction rod away from the seedling-picking manipulator is rotatably connected to a seedling-picking crank rotatably connected to the vehicle body, and both sides of the seedling-picking manipulator are rotatably connected to seedling-picking rockers rotatably connected to the vehicle body. Preferably, the displacement drive group includes a seedling-delivering frame connected to the vehicle body, a transmission shaft is transversely arranged on the inner side of the seedling-delivering frame, a carrier track parallel to the transmission shaft is transversely arranged on the inner side of the seedling-delivering frame, and a carrier track threadedly connected to the transmission shaft for supporting a seedling tray is arranged on the carrier track;

[0007] Seedling delivery support shafts are arranged at the upper and lower ends of the inner side of the seedling delivery frame, and the seedling delivery support shafts at the upper and lower ends are connected by a seedling delivery linkage chain, and the seedling delivery linkage chain is provided with a seedling tray shifting rod for shifting the seedling tray, and the end of the seedling delivery support shaft at the upper end is connected with a longitudinal driving component.

[0008] Preferably, the longitudinal drive assembly includes an output gear fixed to the end of the seedling support shaft at the upper end, the circumferential outer wall of the output gear is meshingly connected with the first transmission gear, the first transmission gear is coaxially provided with an outer groove wheel, the outer side of the outer groove wheel is cooperated with and connected with a dial for driving the outer groove wheel to move intermittently, a second transmission gear is coaxially provided with the dial, the circumferential outer wall of the second transmission gear is meshingly connected with an input gear, a planetary carrier is provided on the end face of one side of the input gear, wherein the input gear is driven to rotate by the planetary gear of the planetary carrier, and the sun gear on the inner side of the planetary carrier is fixedly connected to the transmission shaft.

[0009] Preferably, the planting drive group includes a duckbill support rod rotatably connected to the vehicle body, the end of the duckbill support rod away from the vehicle body is connected to a duckbill frame, the transplanting duckbill is arranged on the inner side of the duckbill frame, a duckbill driving rod is rotatably connected to the outer wall of the duckbill support rod, and the end of the duckbill driving rod away from the connection with the duckbill support rod is rotatably connected to a planting crank; the planting crank is rotatably connected to the vehicle body, and the planting crank is connected to a driving source.

[0010] Preferably, a duckbill drive component for independently controlling the opening and closing of the transplanting duckbill is fixedly connected to the duckbill frame, and the duckbill drive component includes a steering gear and two mutually meshing gears fixed on the transplanting duckbill.

[0011] Preferably, a compacting wheel support frame connected to the vehicle body is provided at the rear side of the transplanting duckbill, and two left and right opposite compacting wheels are provided on the inner side of the compacting wheel support frame.

[0012] Preferably, the up and down movement of the seedling retrieval robot and the transplanting duckbill uses the same seedling transplanting power group.

[0013] Preferably, a film laying mechanism is provided on the front side of the vehicle body, and the film laying mechanism includes a film laying bracket, a ground film roller is provided on the inner wall of the film laying bracket, a driven roller rotatably connected to the film laying bracket is provided below the ground film roller, film pressing wheels are provided on both ends of the film laying bracket, and a soil covering device connected to the film laying bracket is provided at the rear side of the film pressing wheel.

[0014] Preferably, a front wheel steering group for independently controlling the steering of the front wheels is provided on the front wheels of the vehicle body.

[0015] Compared with the prior art, the invention has the following beneficial effects: the automatic crop transplanter,

[0016] 1. Film laying process before transplanting

[0017] The film laying mechanism is used to lay plastic film or ground film before transplanting to provide a good environment for the growth of pepper seedlings. It includes parts such as ground film rollers and film pressing wheels. The thickness of the ground film can be adjusted as needed to ensure that the ground film is evenly laid and closely fits the soil surface. At the same time, it is a modular design, and you can decide whether to install a film laying mechanism according to your needs.

[0018] 2. Integrated operation of seedling picking, planting and transplanting

[0019] The seedling retrieval component is used to accurately take out the pepper seedlings from the seedling tray and place them in the target position. It includes components such as the seedling retrieval manipulator and the seedling placement device, and has precise seedling retrieval and placement functions, which can ensure the accurate retrieval and placement of seedlings.

[0020] The seedling transplanting component is responsible for accurately transplanting the removed crop seedlings into the soil. It is highly automated and can achieve fast and accurate transplanting operations, improving transplanting efficiency and consistency.

[0021] 3. Compaction process after transplanting

[0022] The compacting wheel structure is used to compact the soil after transplanting to ensure good contact between the pepper seedlings and the soil. Designed as an adjustable structure, the compacting force can be adjusted according to the properties of the soil and the needs of the seedlings to ensure moderate compaction of the soil.

[0023] 4. Automatic seedling delivery component

[0024] The seedling delivery component is used to provide the seedling supply position of the crop seedlings and assist in moving the seedling tray during transplanting to ensure the accuracy of seedling retrieval. It has the function of horizontal and vertical movement, and can adjust the position of the seedling tray according to the needs of seedling retrieval and transplanting, improving the efficiency and accuracy of transplanting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the front three-dimensional structure of a transplanter in a preferred embodiment of the present invention;

[0026] Figure 2 It is a schematic diagram of the rear three-dimensional structure of a transplanter in a preferred embodiment of the present invention;

[0027] Figure 3 It is a schematic diagram of the inner three-dimensional structure of a transplanter in a preferred embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the front three-dimensional structure of a seedling delivery assembly in a preferred embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the rear three-dimensional structure of the seedling delivery assembly in a preferred embodiment of the present invention;

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of a longitudinal linkage assembly in a preferred embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the planar structure of a longitudinal linkage assembly in a preferred embodiment of the present invention;

[0032] Figure 8 It is a structural schematic diagram of the seedling picking form of the seedling picking component in a preferred embodiment of the present invention;

[0033] Fig. 9 It is a structural schematic diagram of the seedling placing form of the seedling taking component in a preferred embodiment of the present invention;

[0034] Fig.10 A schematic diagram of the side view structure of a seedling planting assembly in a preferred embodiment of the present invention;

[0035] Fig.11 It is a front structural schematic diagram of a seedling planting assembly in a preferred embodiment of the present invention;

[0036] Fig.12 A schematic diagram of the structure of a compacting wheel in a preferred embodiment of the present invention;

[0037] Fig.13 It is a structural schematic diagram of a film laying mechanism in a preferred embodiment of the present invention;

[0038] Fig.14 It is a schematic structural diagram of a front wheel steering group in a preferred embodiment of the present invention.

[0039] In the figure: 1, vehicle body; 2, film laying mechanism, 21, film laying support, 22, ground film roller, 23, driven roller, 24, film pressing wheel, 25, soil covering device; 3, seedling transplanting power group, 31, seedling picking linkage chain, 32, seedling planting linkage chain; 4, seedling picking assembly, 41, seedling picking manipulator, 42, limit slider, 43, track guide rod, 44, seedling picking rocker, 45, seedling picking traction rod, 46, seedling picking crank, 47, seedling picking sprocket; 5, seedling delivery assembly, 51, seedling delivery frame, 52, transmission shaft, 53, seedling delivery support shaft, 54, seedling tray lever, 55, seedling tray, 56, carrier Car track, 57, seedling delivery linkage chain, 58, carrier car, 59, longitudinal drive assembly, 591, output gear, 592, first transmission gear, 593, outer groove wheel, 594, second transmission gear, 595, planetary carrier, 596, input gear, 597, dial; 6, seedling planting assembly, 61, transplanting duckbill, 62, duckbill frame, 63, duckbill support rod, 64, duckbill drive rod, 65, compaction wheel, 66, duckbill traction rod, 67, planting crank, 68, planting sprocket, 69, duckbill drive part, 610, compaction wheel support frame; 7, front wheel steering group. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] See also Figure 1-14 , the present invention provides a technical solution:

[0042] Reference Figure 1-3 An automatic crop transplanter includes a vehicle body 1, wherein a seedling delivery assembly 5 for placing crop seedlings is disposed on the top of the rear side of the vehicle body 1, wherein the seedling delivery assembly 5 can deliver the crop seedlings one by one to corresponding positions. A seedling picking assembly 4 is disposed on the top of the vehicle body 1 adjacent to the seedling delivery assembly 5, wherein the seedling picking assembly 4 reciprocates to clamp the crop seedlings in the seedling delivery assembly 5 and then delivers them to the inside of a seedling planting assembly 6. A seedling planting assembly 6 connected to the vehicle body 1 is disposed at the bottom of the seedling picking assembly 4, wherein the seedling planting assembly 6 also reciprocates to be inserted into the soil to place the crop seedlings in the soil.

[0043] Reference Figure 4-6 The seedling delivery assembly 5 includes a seedling tray 55 and a displacement drive group arranged on the top rear side of the vehicle body 1. The seedling tray 55 is used to place crop seedlings. The displacement drive group is arranged at the bottom of the seedling tray 55 and is connected to the vehicle body 1. At the same time, the displacement drive group can drive the seedling tray 55 to move vertically and horizontally.

[0044] Among them, the displacement drive group includes a seedling delivery frame 51 connected to the vehicle body 1, a transmission shaft 52 is laterally arranged on the inner side of the seedling delivery frame 51, the transmission shaft 52 is connected to the output end of the motor, and a thread is arranged in the middle of the outer wall of the transmission shaft 52.

[0045] A carrier track 56 fixedly connected to the seedling delivery frame 51 is provided on the upper and lower sides of the transmission shaft 52, and the transmission shaft 52 is kept parallel to the carrier track 56. The carrier track 56 is provided with a carrier 58, and the carrier track 56 is used for the carrier 58 to move horizontally left and right, and the carrier 58 carries the seedling tray 55. The carrier 58 is threadedly connected to the transmission shaft 52, and the transmission shaft 52 rotates to control the carrier 58 to drive the seedling tray 55 to move left and right.

[0046] The seedling delivery frame 51 is provided with seedling delivery support shafts 53 at both ends of the inner side, and the seedling delivery support shafts 53 at both ends are connected by seedling delivery linkage chains 57, and the seedling delivery support shafts 53 at both ends support the seedling delivery linkage chains 57. The seedling delivery linkage chains 57 are provided with seedling tray levers 54 for moving the seedling trays 55, and the seedling delivery linkage chains 57 are evenly distributed with T-shaped plates, and the T-shaped plates are pre-set with holes, and the seedling tray levers 54 are inserted into the pre-set holes on the T-shaped plates. When the seedling delivery linkage chain 57 moves, the levers 54 are driven to move, and the levers 54 are located at the top of the carrier 58 and inserted between the concave grids of the seedling tray 55, and then the levers 54 move to drive the seedling tray 55 to move longitudinally. One end of the seedling delivery support shaft 53 located at the upper end of the seedling delivery frame 51 is connected to the output end of the longitudinal drive component 59, and the power input end of the longitudinal drive component 59 is the transmission shaft 52, thereby realizing the longitudinal and transverse movement of the seedling tray 55 using a motor linkage.

[0047] Reference Figure 1-2 A plurality of holes for cultivating seedlings are evenly arranged on the upper surface of the seedling tray 55, and the bottom of the holes is in a trapezoidal shape. Then, a certain gap will appear between the outer walls of every two adjacent holes, and the seedling tray lever 54 will be stuck in this gap, and then the seedling tray lever 54 moves to drive the seedling tray 55.

[0048] Reference Figure 5-7 The longitudinal drive assembly 59 includes an output gear 591, which is fixed to the end of the seedling delivery support shaft 53 located at the upper end of the seedling delivery frame 51. The circumferential outer wall of the output gear 591 is meshed with a first transmission gear 592. The first transmission gear 592 is coaxially provided with an outer groove wheel 593, and the outer groove wheel 593 rotates to drive the first transmission gear 592 on the coaxial axis to rotate. The outer side of the outer groove wheel 593 is connected to a dial 597 for driving the intermittent motion of the outer groove wheel 593. The rotation of the dial 597 drives the outer groove wheel 593 to rotate in stages. The second transmission gear 594 is coaxially provided on the dial 597, and the rotation of the second transmission gear 594 drives the dial 597 to rotate. The circumferential outer wall of the second transmission gear 594 is meshedly connected with an input gear 596 , and a planet carrier 595 is provided on the end face of one side of the input gear 596 , wherein the input gear 596 is driven to rotate by the planetary gears of the planet carrier 595 , and the sun gear inside the planet carrier 595 is fixedly connected to the transmission shaft 52 .

[0049] Reference Figure 10-12 The seedling planting assembly 6 includes a transplanting duckbill 61 and a planting drive group arranged at the bottom of the vehicle body 1, and the transplanting duckbill 61 is connected to the vehicle body 1 through the planting drive group.

[0050] The planting drive group includes a duckbill support rod 63 rotatably connected to the vehicle body 1, and the end of the duckbill support rod 63 away from the vehicle body 1 is connected to a duckbill frame 62. The duckbill support rod 63 is rotatably connected to the duckbill frame 62, and a duckbill traction rod 66 rotatably connected to the vehicle body 1 and the duckbill frame 62 is arranged above the duckbill support rod 63, and the duckbill traction rod is used to control the horizontal stability effect of the duckbill frame 62.

[0051] The duckbill frame 62 is used to support the transplanting duckbill 61, and the transplanting duckbill 61 is arranged on the inner side of the duckbill frame 62. The outer wall of the duckbill support rod 63 is rotatably connected with a duckbill driving rod 64. The up and down movement of the duckbill driving rod 64 can drive the free end of the duckbill support rod 63 to swing up and down, so that the duckbill frame 62 located at the free end of the duckbill support rod 63 moves up and down, thereby driving the transplanting duckbill 61 to move up and down.

[0052] The end of the duckbill driving rod 64 away from the duckbill supporting rod 63 is rotatably connected to a planting crank 67; the planting crank 67 is rotatably connected to the vehicle body 1, and the planting crank 67 is coaxially connected to a planting sprocket 68 connected to the seedling transplanting power group 3, the sprocket 68 obtains power to drive the planting crank 67 to rotate, thereby driving the duckbill driving rod 64 to move up and down.

[0053] A duckbill drive 69 for independently controlling the opening and closing of the transplanting duckbill 61 is fixedly connected to the duckbill frame 62. The duckbill drive 69 includes a servo and two mutually meshing gears fixed on the transplanting duckbill 61, one of which is connected to the output end of the servo.

[0054] A compacting wheel support frame 610 connected to the vehicle body 1 is disposed at the rear side of the transplanting duckbill 61 , and two left and right opposite compacting wheels 65 are disposed inside the compacting wheel support frame 610 .

[0055] Reference Figure 8-9 The seedling retrieval assembly 4 includes a seedling retrieval robot 41 for placing the crop seedlings in the seedling tray 55 into the transplanting duckbill 61, wherein the seedling retrieval robot 41 is arranged between the seedling tray 55 and the transplanting duckbill 61.

[0056] The top of the seedling picking robot 41 is fixedly connected with a track guide rod 43, and the outer wall of the track guide rod 43 is slidably connected with a limit slider 42 which is rotatably connected with the vehicle body 1. Figure 3 A boss is arranged on the top of the vehicle body 1 , and a limit slider 42 is rotatably arranged inside the boss. The track guide rod 43 can move inside the limit slider 42 .

[0057] The rear side of the seedling picking manipulator 41 is rotatably connected with a seedling picking traction rod 45, and the other end of the seedling picking traction rod 45 is rotatably connected with a seedling picking crank 46 rotatably connected to the vehicle body 1, and the rotation of the seedling picking crank 46 drives the seedling picking traction rod 45 to move forward and backward. The two sides of the seedling picking manipulator 41 are rotatably connected with a seedling picking rocker 44 rotatably connected to the vehicle body 1, one end of the seedling picking rocker 44 is rotatably connected to the vehicle body 1, and the free end of the seedling picking rocker 44 is connected to the seedling picking manipulator 41, and the swing trajectory of the seedling picking rocker 44 defines the moving trajectory of the seedling picking manipulator 41. When the seedling picking traction rod 45 moves, it drives the seedling picking manipulator 41, and the seedling picking manipulator 41 moves along the moving trajectory of the free end of the seedling picking rocker 44, and moves back and forth between the seedling tray 55 and the transplanting duckbill 61. The seedling picking manipulator 41 is provided with an independently operated drive motor to control the seedling picking manipulator 41 to clamp or release the seedlings. A seedling sprocket 47 connected to the drive is coaxially arranged on the seedling retrieval crank 46, and the seedling retrieval sprocket 47 is used to connect to the drive source.

[0058] The up and down movement of the seedling manipulator 41 and the transplanting duckbill 61 uses the same seedling transplanting power group 3. The output shaft of the seedling transplanting power group 3 is meshed with a seedling removal linkage chain 31 and a seedling planting linkage chain 32, the seedling removal linkage chain 31 is meshed and connected with the seedling removal sprocket 47, and the seedling planting linkage chain 32 is meshed and connected with the planting sprocket 68.

[0059] Reference Fig.13 The film-laying structure in the transplanter is an auxiliary device, which is mainly used to lay plastic film or ground film before transplanting. Its main functions are to keep the soil warm and moist, inhibit weed growth, and protect soil quality. It is often used in transplanting machines in cold environments. Therefore, a modular film-laying mechanism is designed, which can be easily disassembled and used as needed.

[0060] A film laying mechanism 2 is arranged on the front side of the vehicle body 1, and the film laying mechanism 2 includes a film laying bracket 21, a ground film roller 22 is arranged on the inner wall of the film laying bracket 21, a driven roller 23 rotatably connected to the film laying bracket 21 is arranged below the ground film roller 22, film pressing wheels 24 are arranged on the left and right ends of the film laying bracket 21, and a soil covering device 25 connected to the film laying bracket 21 is arranged on the rear side of the film pressing wheel 24.

[0061] When the transplanter starts to move, the mulch roller 22 rolls and gradually lays the mulch on the land surface of the planting area. Behind the mulch roller 22, the mulch pressing wheel 24 and the soil cover 25 begin to work. The mulch pressing wheel 22 fully contacts the laid mulch with the soil surface through downward pressure, ensuring that the mulch fits the soil and will not be blown up or moved by the wind. The soil cover 25 is used to rotate the soil at the edge of the mulch and cover the side of the mulch to prevent the mulch from falling off or moving due to wind or other factors, and at the same time helps to strengthen the combination of the mulch and the soil.

[0062] Reference Fig.14 The front wheel of the vehicle body 1 is provided with a front wheel steering group 7 for independently controlling the steering of the front wheel. The front wheel steering group 7 includes a motor, and the output end of the motor is meshedly connected with a gear fixedly connected to the front wheel support arm. The front wheel support arm is rotatably connected to the vehicle body 1. The front wheel adopts a non-driven steering wheel, and only one motor is used to control the steering of the tire to realize the steering of the vehicle.

[0063] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0064] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features.

[0065] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0066] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic crop transplanter, comprising a vehicle body (1), characterized in that: A seedling tray (55) is placed on the rear side of the top of the vehicle body (1), and a displacement drive group for longitudinal and transverse movement is arranged at the bottom of the seedling tray (55); a transplanting duckbill (61) is arranged at the bottom of the vehicle body (1), and the transplanting duckbill (61) is connected to the vehicle body (1) via a planting drive group; and a seedling removal robot (41) is arranged between the seedling tray (55) and the transplanting duckbill (61) for placing the crop seedlings in the seedling tray (55) into the transplanting duckbill (61); The top of the seedling picking manipulator (41) is fixedly connected to a track guide rod (43), and the outer wall of the track guide rod (43) is slidably connected to a limit slider (42) rotatably connected to the vehicle body (1); the rear side of the seedling picking manipulator (41) is rotatably connected to a seedling picking traction rod (45), and one end of the seedling picking traction rod (45) away from the seedling picking manipulator (41) is rotatably connected to a seedling picking crank (46) rotatably connected to the vehicle body (1); and both sides of the seedling picking manipulator (41) are rotatably connected to seedling picking rockers (44) rotatably connected to the vehicle body (1); The displacement drive group comprises a seedling delivery frame (51) connected to the vehicle body (1), a transmission shaft (52) is transversely arranged on the inner side of the seedling delivery frame (51), a carrier track (56) parallel to the transmission shaft (52) is transversely arranged on the inner side of the seedling delivery frame (51), and a carrier (58) threadedly connected to the transmission shaft (52) for supporting a seedling tray (55) is arranged on the carrier track (56); The seedling delivery frame (51) is provided with seedling delivery support shafts (53) at the upper and lower ends of the inner side, and the seedling delivery support shafts (53) at the upper and lower ends are connected by a seedling delivery linkage chain (57), and the seedling delivery linkage chain (57) is provided with a seedling tray shifting rod (54) for shifting the seedling tray (55) to move, and the end of the seedling delivery support shaft (53) at the upper end is connected to a longitudinal driving assembly (59); The longitudinal drive assembly (59) comprises an output gear (591) fixed to the end of the seedling support shaft (53) at the upper end, the circumferential outer wall of the output gear (591) being meshedly connected with a first transmission gear (592), an outer groove wheel (593) being coaxially arranged on the first transmission gear (592), a dial (597) for shifting the outer groove wheel (593) to intermittently move being matched and connected to the outer side of the outer groove wheel (593), a second transmission gear (594) being coaxially arranged on the dial (597), an input gear (596) being meshedly connected to the circumferential outer wall of the second transmission gear (594), a planet carrier (595) being arranged on the end surface of one side of the input gear (596), wherein the input gear (596) is driven to rotate by the planet wheels of the planet carrier (595), and a sun gear on the inner side of the planet carrier (595) is fixedly connected to the transmission shaft (52).

2. The automatic crop transplanter according to claim 1, characterized in that: The planting drive group includes a duckbill support rod (63) rotatably connected to the vehicle body (1); the end of the duckbill support rod (63) away from the vehicle body (1) is connected to a duckbill frame (62); the transplanting duckbill (61) is arranged on the inner side of the duckbill frame (62); a duckbill drive rod (64) is rotatably connected to the outer wall of the duckbill support rod (63); the end of the duckbill drive rod (64) away from the duckbill support rod (63) is rotatably connected to a planting crank (67); the planting crank (67) is rotatably connected to the vehicle body (1), and the planting crank (67) is connected to a driving source.

3. The automatic crop transplanter according to claim 2, characterized in that: A duckbill drive component (69) for independently controlling the opening and closing of the transplanting duckbill (61) is fixedly connected to the duckbill frame (62). The duckbill drive component (69) comprises a steering gear and two mutually meshing gears fixed on the transplanting duckbill (61).

4. The automatic crop transplanter according to claim 1, characterized in that: A compacting wheel support frame (610) connected to the vehicle body (1) is provided at the rear side of the transplanting duckbill (61), and two left and right compacting wheels (65) facing each other are provided inside the compacting wheel support frame (610).

5. The automatic crop transplanter according to claim 1, characterized in that: The up and down movement of the seedling taking robot (41) and the transplanting duckbill (61) uses the same seedling transplanting power group (3).

6. The automatic crop transplanter according to claim 1, characterized in that: A film laying mechanism (2) is arranged at the front side of the vehicle body (1), and the film laying mechanism (2) comprises a film laying support (21), a ground film roller (22) is arranged on the inner wall of the ground film roller (22), a driven roller (23) rotatably connected to the film laying support (21) is arranged below the ground film roller (22), film pressing wheels (24) are arranged at both left and right ends of the film laying support (21), and a soil covering device (25) connected to the film laying support (21) is arranged at the rear side of the film pressing wheel (24).

7. The automatic crop transplanter according to claim 1, characterized in that: The front wheels of the vehicle body (1) are provided with a front wheel steering group (7) for independently controlling the steering of the front wheels.

Images