A wheat-soybean intercropping device and its planting method

Abstract

This invention discloses a wheat-soybean intercropping device and its planting method. In this invention, a plowing device is located at the front end of a mounting plate; a soil-lifting device is located directly behind the plowing device, and the soil-lifting device has three equidistantly arranged soil-lifting grooves. When the moving device drives the mounting plate to move, it scoops out three trenches through the three soil-lifting grooves; a wheat planting device is located behind each soil-lifting groove, and the wheat planting device has two symmetrically arranged transplanting devices, with a pair of soil-lifting components in each transplanting device located between two adjacent soil-lifting grooves; a soybean planting device is located behind the wheat planting device, and has three equidistantly arranged planting mechanisms, each planting mechanism located directly behind a soil-lifting groove. This invention enables the intercropping of wheat and soybeans, improves planting efficiency, and ensures that the wheat root system and soybean seeds are at the same horizontal level after planting, while simultaneously meeting the different planting depth requirements of soybeans and wheat.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, specifically relating to a wheat and soybean intercropping device and its planting method. Background Technology

[0002] In agricultural production, intercropping technology has been widely used to improve land use efficiency and increase crop yield. Among them, the intercropping of spring wheat and spring soybeans can improve land utilization, increase crop yield and economic benefits. However, there is currently no planting equipment specifically designed for wheat and soybean intercropping. Wheat planting equipment and soybean planting equipment are used separately, which is costly, inefficient, and cannot meet the different planting depth requirements of soybeans and wheat. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a wheat and soybean intercropping device and its planting method.

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

[0005] The present invention provides a wheat and soybean intercropping device, comprising a mobile device, a plowing device, a soil-lifting device, a wheat planting device, a mounting plate, a wheat fertilization device, a soybean fertilization device, and a soybean planting device.

[0006] The plowing device is located at the front end of the mounting plate. Two symmetrically arranged wheels are hinged to the rear sides of the mounting plate, and a moving device drives the mounting plate to move. The soil pumping device is located directly behind the plowing device and includes a receiving box, a soil shovel, a soil pump, and guide blocks. The receiving box is fixed to the mounting plate. Behind the receiving box is a soil delivery chamber. The bottom plate of the soil delivery chamber is inclined backward, and two guide blocks are fixed on the bottom plate. The two guide blocks and the two side walls of the receiving box form three soil dropping channels. The front ends of the guide blocks are conical. The soil shovel is an L-shaped tube with three equidistantly arranged shovels. The three shovels are aligned with the three soil dropping channels, and the vertical section of each shovel is aligned with the mounting plate. The three holes on the plate are fixed, with the horizontal sections located below the mounting plate. The inlets of each shovel are located at the front end of the corresponding horizontal section and face forward. The outlets of each shovel are located at the top of the corresponding vertical section and face backward, and are connected to the three inlets at the front of the container. Each vertical section has a vertically mounted soil-lifting drill, and each drill is driven to rotate by a motor. The soil pump is fixed to the bottom plate at the front of the container, and the inlet of the soil pump is connected to each inlet of the container through a pipe.

[0007] The wheat planting device is located behind each shovel trough and includes a lifting mechanism and a transplanting device. The transplanting device includes a seedling guide tube, a second lifting mechanism, connecting parts, rocker arms, soil-dispensing parts, pots, a turntable, and seedling claws. The vertically arranged seedling guide tube is located in a square hole on the mounting plate, between two adjacent soil-dispensing grooves. Two connecting parts are symmetrically arranged at the front and rear of the seedling guide tube, and the two connecting parts are synchronously driven to rise and fall by two second lifting mechanisms. One end of the two symmetrically arranged rocker arms is hinged to the two connecting parts respectively, and is synchronously driven to rotate by two second motors. The other end is fixed to two symmetrically arranged soil-dispensing parts, and the seedling guide tube is located between the two soil-dispensing parts, with the lower end of the soil-dispensing parts being pointed. The horizontally arranged turntable is located above the seedling guide tube and forms a rotating pair with the second base plate, and is driven to rotate by a third motor. Multiple pots are fixed on the turntable, vertically arranged and evenly distributed around the circumference. Each pot has an opening at its lower end hinged to a baffle, which is driven to rotate by a driving component. The seedling claws are driven to move and rise and fall by a moving mechanism located on the lower surface of the second base plate. The transplanting device has two symmetrically arranged units, and the two seedling tubes of the two transplanting devices are simultaneously driven to rise and fall by a lifting mechanism.

[0008] The wheat fertilization device includes a rectangular frame, a connecting frame, a conveying pipe assembly, and a fertilizer box. The fertilizer box is fixed to the mounting plate; the horizontally arranged connecting frame and the mounting plate form a rotating pair and are driven to rotate by a motor. The conveying pipe assembly is fixed to the connecting frame and two rectangular frames, and the inlet of the conveying pipe assembly is connected to the fertilizer box via a water pump and a hose; the portion of the conveying pipe assembly located within the two rectangular frames has multiple equally spaced holes, each hole consisting of multiple equally spaced holes; each rectangular frame is located directly below a square hole.

[0009] The soybean fertilization device is located behind the wheat planting device, and there are three equidistantly arranged soybean fertilization devices, with each soybean fertilization device aligned with a soil-shoveling trough. The soybean planting device is located directly behind each soybean fertilization device and includes a seed box and a planting mechanism. The seed box is fixed to the mounting plate, the bottom surface of the seed box is inclined, and the front end of the seed box has three equidistantly arranged openings, each of which is equipped with a planting mechanism. The three planting mechanisms are aligned with the three soil-shoveling troughs. The planting mechanism includes a gear, a limiting groove, and a digging mechanism. The gear is hinged to the corresponding opening and driven to rotate by a motor. The limiting groove is fixed to a square hole on the mounting plate and located directly below the gear. The digging mechanism is located directly below the limiting groove. The excavation mechanism includes a push rod, a closed cover, two baffles, and sliders. The closed cover is located directly below the corresponding limiting groove and is driven to rise and fall by a lifting mechanism. The upper and lower ends of the closed cover are open, and the upper end of the closed cover is provided with an integrally formed crossbar. The upper ends of the two symmetrically arranged sliders are both connected to the crossbar to form a sliding pair, and the lower ends are hinged to the middle of the two symmetrically arranged baffles. The upper ends of the two baffles are hinged to one end of the two electric push rods, and the lower ends are connected by springs. The other ends of the two electric push rods are fixed to both ends of the closed cover. A pressure sensor is fixed on the closed cover. When the lower end of the baffle is in the lowest position, it is at the same horizontal plane as the lower end of the soil excavator.

[0010] Preferably, the plowing device includes a plow and a mudguard. The mudguard is fixed to the front end of the mounting plate. The horizontally arranged plow and the mudguard form a rotating pair and are driven to rotate by a motor. A tie rod is fixed on the mudguard. The moving device drives the tie rod to move the mounting plate through the mudguard.

[0011] Preferably, the lifting mechanism includes a lead screw, a nut block, and a connecting rod. The vertically arranged lead screw and the mounting plate form a transmission pair and are driven to rotate by a motor. The nut block and the lead screw form a ball screw pair through balls, and two symmetrically arranged connecting rods are fixed at both ends of the nut block. The seedling guide tubes of the two transplanting devices are fixed to the two connecting rods.

[0012] Preferably, the second lifting mechanism includes a support frame, a lead screw, and a nut block. The support frame is vertically fixed on the corresponding square hole. The lead screw and the support frame form a rotating pair and are driven to rotate by a motor. The nut block and the lead screw form a threaded pair and a sliding pair with the support frame. The connecting piece is fixed on the nut block.

[0013] Preferably, the moving mechanism includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is fixed on the base plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate. The Z-axis linear module drives the seedling claw to lift and lower. The direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

[0014] Preferably, the soybean fertilization device includes a second fertilizer tank, nozzles, and a water distribution plate. The second fertilizer tank is fixed to the upper surface of the mounting plate, and the water distribution plate is fixed to the lower surface of the mounting plate. The second fertilizer tank is connected to the inlet of the water distribution plate through a second water pump and a water pipe. Multiple nozzles are fixed and connected to the water distribution plate and are evenly distributed along the circumference.

[0015] Preferably, two parallel and spaced support plates are fixed on both sides of the second opening, and the gear is located between the two support plates, with the two ends of the gear forming a rotating pair with the two support plates.

[0016] Preferably, the conveying pipe assembly includes U-shaped pipe one, U-shaped pipe two, and U-shaped pipe three. The middle part of U-shaped pipe one is fixed to the connecting frame, and the inlet in the middle of U-shaped pipe one is connected to fertilizer box one through water pump one and hose. The outlets of the two arms on U-shaped pipe one are fixed and connected to the inlets in the middle of the two U-shaped pipe two respectively. The outlets of the two arms on each U-shaped pipe two are fixed and connected to the inlets of the two arms on each U-shaped pipe three respectively. Each U-shaped pipe three is fixed to the inner wall of a rectangular frame, and each U-shaped pipe three has a plurality of holes arranged at equal intervals.

[0017] Preferably, the lifting mechanism three includes a lead screw three, a support frame two, a connecting rod two, and a nut block three. The two support frames two, which are arranged vertically and at intervals, are fixed on the mounting plate. The two vertically arranged lead screw three and the two support frames two respectively form a rotating pair and are driven to rotate by two motors nine respectively. The two nut blocks three and the two lead screw three respectively form a threaded pair and a sliding pair with the two support frames two respectively. The upper ends of the two connecting rods two are fixed to the two nut blocks three respectively, and the lower ends are fixed to the two ends of the closed cover.

[0018] The present invention discloses a planting method for a wheat-soybean intercropping device, the details of which are as follows:

[0019] Step 1: Place the seedling trays containing wheat seedlings on the mounting plate, and place wheat seedlings into each empty pot between the seedling claw and the seedling guide tube along the turntable of each transplanting device; place soybean seeds in the seed box; pour liquid fertilizer into fertilizer box 1 and each fertilizer box 2; then the plowing device starts working, the controller controls each motor 1 to drive each soil-pulling drill to start rotating, and the soil pump starts working at the same time.

[0020] Step 2: The moving device drives the installation plate forward in the field, moving the wheat planting device to the first planting area. During the forward movement of the installation plate, the plowing device turns over the soil it passes through. Then, each shovel trough scoops in some soil, and each soil pump transports the soil scooped into the corresponding shovel trough to the top of each shovel trough. At the same time, the soil pump transports the soil transported to the top of each shovel trough to the soil delivery bin and discharges it along each soil discharge channel to the rear of the installation plate. After each shovel trough scoops in some soil, three trenches are formed on the ground.

[0021] Step 3: The controller controls the four-motor drive connecting frame to rotate the conveying pipe assembly and two rectangular frames downwards, so that the lower ends of the two rectangular frames are inserted into the soil, and each rectangular frame is located between two adjacent trenches; the controller controls the two lifting mechanisms in each transplanting device to synchronously drive the two connecting parts through the two rockers to move the two combined soil-pulling parts downwards, so that the lower ends of the two soil-pulling parts are inserted into the soil and located in the corresponding rectangular frames, and the two soil-pulling parts dig a pit; then the water pump works, the liquid fertilizer in the fertilizer tank is transported to the conveying pipe assembly and sprinkled out from each hole; at the same time, the controller controls the two motors in each transplanting device to drive the two rockers to swing back and forth, the two rockers drive the two soil-pulling parts to open and close back and forth, and during the opening and closing of the two soil-pulling parts, the soil inside the rectangular frames located outside the two soil-pulling parts is turned over, and this soil is mixed with the liquid fertilizer transported from the fertilizer tank; after the mixing is completed, the controller controls each motor to stop working, and at this time the two soil-pulling parts in each transplanting device are in the open state.

[0022] Step 4: The lifting mechanism 1 drives the seedling guide tubes in the two transplanting devices to descend synchronously, allowing the seedling guide tubes to pass through the corresponding two soil-pulling components and insert into the corresponding pits. Simultaneously, on the pot directly above the seedling guide tube, the driving component drives the baffle 1 to rotate, causing the opening at the bottom of the pot 1 to open, allowing the wheat seedlings inside the pot to fall from the seedling guide tube into the pit 1. Next, the lifting mechanism 1 drives the seedling guide tubes in the two transplanting devices to rise synchronously to their original positions. At the same time, the two lifting mechanisms 2 in each transplanting device synchronously drive the two connecting components to move the two opened soil-pulling components upward to their original positions via two rockers. The two motors 2 in each transplanting device drive the two rockers to move the two soil-pulling components towards each other, causing the two soil-pulling components to close. As the seedling guide tubes in each transplanting device rise, and the two soil-pulling components rise and gradually close, the soil mixed with liquid fertilizer covers the roots of the corresponding wheat seedlings, completing the transplanting of the wheat seedlings. Then, the controller controls the motor 4 to drive the connecting frame to rotate the conveying pipe assembly upward, causing each rectangular frame to return to its original position.

[0023] Step 5: The moving device drives the installation plate forward a preset distance in the field, moving the wheat planting device to the next planting area and the soybean planting device to the trench position aligned with the previous planting area. During the forward movement of the installation plate, the controller controls the motor three in each transplanting device to drive the corresponding turntable to rotate at a preset angle, so that the next pot with wheat seedlings on the turntable rotates to be directly above the seedling guide tube, and the next empty pot rotates to be directly below the seedling picking claw. Each moving mechanism drives each seedling picking claw to move horizontally and vertically, so that each seedling picking claw picks up the wheat seedling from the seedling tray and places the picked wheat seedling into the corresponding next empty pot. At the same time, each soybean fertilization device works to fertilize the three trenches it passes through. The controller controls each motor five to drive each gear to rotate one revolution, and the soybean seeds at each opening two position are pushed into the corresponding limit groove by each gear and fall into the closed cover of the corresponding digging mechanism, and are located between the two baffles.

[0024] Step Six: Each lifting mechanism three drives each enclosed cover to descend, inserting each enclosed cover into the soil of a trench. A recess two is dug at the lower end of the two baffles two inside each enclosed cover, squeezing the soil outside the two baffles two to both sides. When the pressure sensors detect that the pressure exerted by the soil inside the corresponding enclosed cover exceeds a preset value, the corresponding lifting mechanism three stops working. The bottom of recess two is at the same level as the bottom of recess one. Then, the controller controls the piston rods of the two electric push rods in each planting mechanism to extend. The piston rods of the two electric push rods push the two sliders to move towards each other through the two baffles two, causing the upper ends of the two baffles two to move towards each other and the lower ends to move away from each other. The springs stretch, causing the soil outside the two baffles inside the enclosed enclosure to be pushed to both sides, while soybean seeds fall into the pit. Then, each lifting mechanism drives the enclosed enclosure to rise to its original position. The controller controls the piston rods of the two electric push rods in each planting mechanism to shorten. The piston rods of the two electric push rods pull the two sliders to rotate in opposite directions through the two baffles, causing the upper ends of the two baffles to rotate in opposite directions. The restoring force of the spring pulls the lower ends of the two baffles to move towards each other. As the enclosed enclosure rises and the lower ends of the two baffles move towards each other, the soil pushed to both sides inside the enclosed enclosure gathers towards the center and covers the soybean seeds, thus completing the sowing of soybean seeds in the trench aligned with the previous planting area. Steps three and four are repeated simultaneously with the sowing of soybean seeds to complete the wheat planting in the planting area where the wheat planting device is located.

[0025] Step 7: Repeat steps 5 and 6 until the wheat planting work in the last planting area is completed. The soil pump stops working, and the controller stops the plowing device and each motor. During this process, the soil discharged from the soil delivery chamber along each soil dropping channel to the back of the mounting plate will refill the trench.

[0026] The present invention has the following beneficial effects:

[0027] 1. This invention enables the intercropping of wheat and soybeans, saving planting costs and improving planting efficiency. It ensures that the wheat root system and soybean seeds remain at the same level after planting, while also meeting the different planting depth requirements of soybeans and wheat. Specifically, this invention uses a wheat fertilization device and a wheat planting device working together to achieve wheat seedling planting and fertilization, and a soybean fertilization device and a soybean planting device to achieve soybean seed fertilization and sowing, thus realizing the intercropping of wheat and soybeans. Furthermore, the soil-moving device of this invention has three equidistantly arranged soil-shoveling grooves. When the moving device moves the mounting plate, each soil-shoveling groove shovels soil, creating three trenches on the ground. Wheat seedlings are planted in the soil between adjacent trenches, and soybean seeds are planted in each trench. However, the wheat root system and soybean seeds remain at the same level after planting, thus meeting the different planting depth requirements of shallow soybean planting (easy emergence) and deep wheat planting (lodging resistance). The nitrogen-fixing effect of soybeans also promotes wheat root growth and lodging resistance, ensuring the complementary effect of intercropping.

[0028] 2. In the wheat fertilization device of the present invention, the motor-driven connecting frame drives the rectangular frame to rotate downwards through the conveying pipe assembly, causing the rectangular frame to insert into the soil. In the transplanting device, two lifting mechanisms drive two connecting parts, which in turn drive two closed soil-pulling parts to descend and insert into the soil, creating a pit. Then, the liquid fertilizer in the wheat fertilization device flows into the soil within the rectangular frame through the conveying pipe assembly. The two motors drive two rockers, which in turn drive the two soil-pulling parts to reciprocate and close, ensuring thorough mixing of the liquid fertilizer with the soil. This guarantees consistent fertilization around the wheat seedlings. Then, the lifting mechanism 1 drives the seedling guide tube to descend and pass through the two soil-pulling components that open after mixing the liquid fertilizer and soil. At the same time, the opening at the lower end of the pot directly above each seedling guide tube opens, allowing the wheat seedlings to fall from the pot through the corresponding seedling guide tube into the pit 1. Then, the lifting mechanism 1 drives the seedling guide tube to rise, and the two lifting mechanisms 2 in the transplanting device drive the two soil-pulling components to rise. At the same time, the two motors 2 drive the two rockers to close the two soil-pulling components, so that the soil outside the two soil-pulling components covers the roots of the wheat seedlings, thereby realizing the fertilization and planting of wheat seedlings.

[0029] 3. In this invention, when the mobile device drives the mounting plate forward, each soybean fertilization device fertilizes the soil it passes through. When the mobile device stops driving the mounting plate, the motor five of the soybean planting device drives the gear to rotate, pushing the soybean seeds into the limiting groove and falling between the two baffles two inside the closed cover. The lifting mechanism three drives the closed cover to descend, so that the closed cover is inserted into the soil that has been fertilized by the corresponding soybean fertilization device, and the two baffles two dig out the pits two. Then, the two electric push rods on the closed cover push the upper ends of the two baffles two to move towards each other, so that the lower ends of the two baffles two move away from each other, squeezing the soil inside the closed cover to both sides. At the same time, the soybean seeds fall into the pits two. Then, the two electric push rods pull the upper ends of the two baffles two to move away from each other, and at the same time, the lifting mechanism three drives the closed cover to rise, so that the soil squeezed to both sides gathers in between and covers the soybean seeds, thereby realizing the fertilization and sowing of soybean seeds. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the present invention after removing the moving device and the pull rod;

[0032] Figure 3 This is a schematic diagram of the moving device and the plowing device in this invention;

[0033] Figure 4 This is a front view of the soil extraction device in this invention;

[0034] Figure 5 This is a three-dimensional structural view of the soil extraction device in this invention;

[0035] Figure 6 This is a partially enlarged view of the wheat planting device in this invention;

[0036] Figure 7 This is a schematic diagram of the wheat fertilization device of the present invention;

[0037] Figure 8 This is a schematic diagram of the soybean fertilization device in this invention;

[0038] Figure 9 This is a front view of the soybean planting device and part of the mounting plate in this invention;

[0039] Figure 10 This is a three-dimensional structural view of the soybean planting device and part of the mounting plate in this invention;

[0040] Figure 11 This is a schematic diagram of the excavation 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 and Figure 2 As shown, the present invention provides a wheat and soybean intercropping device, comprising a moving device, a soil-lifting device 1, a plowing device 2, a wheat planting device 3, a wheat fertilization device 4, a mounting plate 5, a soybean fertilization device 6, and a soybean planting device 7.

[0043] like Figure 3 As shown, the plowing device 2 includes a plow 21 and a mudguard 22. The mudguard 22 is fixed to the front end of the mounting plate 5. The horizontally arranged plow 21 and the mudguard 22 form a rotating pair and are driven to rotate by a motor 6 24. The mudguard 22 is used to block the soil that splashes backward when the plow 21 plows. A tie rod 23 is fixed on the mudguard 22. Two symmetrically arranged wheels are hinged to both sides of the rear end of the mounting plate 5. The moving device drives the tie rod 23 to move the mounting plate 5 through the mudguard 22.

[0044] like Figure 4 and Figure 5 As shown, the soil pumping device 1 is located directly behind the mudguard 22 and includes a receiving box 11, a soil shovel 12, a soil pump 13, a soil pump 14, and guide blocks 15. The receiving box 11 is fixed on the mounting plate 5. Behind the receiving box 11 is a soil delivery chamber. The bottom plate of the soil delivery chamber is arranged to tilt backward, and two guide blocks 15 are fixed on the bottom plate. The two guide blocks 15 and the two side walls of the receiving box 11 form three soil dropping channels 17. The front end of the guide blocks is conical 18. The soil shovel 12 is an L-shaped pipe with three equidistantly arranged shovels 12. The three soil shovels 12 are aligned with the three soil dropping channels 17 one by one, and the soil shovels 12 are... The vertical section is fixed to the three holes opened on the mounting plate 5, and the horizontal sections are all located below the mounting plate 5. The inlet of each shovel trough 12 is opened at the front end of the corresponding horizontal section and is set forward. The outlet of each shovel trough 12 is opened at the upper end of the corresponding vertical section and is set backward. It is connected to the three inlets opened at the front end of the receiving box 11. Each vertical section is hinged with a vertically set soil pump 13. Each soil pump 13 is driven to rotate by a motor 16. The soil pump 14 is fixed on the bottom plate 2 at the front end of the receiving box 11, and the inlet of the soil pump 14 is connected to each inlet of the receiving box 11 through a pipe.

[0045] like Figure 6As shown, the wheat planting device 3 is located behind each soil-shoveling trough 12 and includes a lifting mechanism and a transplanting device. The lifting mechanism includes a lead screw 33, a nut block, and a connecting rod 35. The vertically arranged lead screw 33 and the mounting plate 5 form a transmission pair and are driven to rotate by a motor 32. The nut block and the lead screw 33 form a ball screw pair through ball bearings, and two symmetrically arranged connecting rods 35 are fixed at both ends of the nut block. Two symmetrically arranged transplanting devices are provided on the two connecting rods 35. The transplanting device includes a seedling guide tube 31, a second lifting mechanism, connecting parts, rocker arms 38, a soil-moving component 39, a pot body 310, a turntable 311, and a seedling-grabbing claw 314. The vertically arranged seedling guide tube 31 is located in a square hole 1 on the mounting plate 5, between two adjacent soil-moving troughs 12, and is fixed to the corresponding connecting rod 35. Two connecting parts are symmetrically arranged in front of and behind the seedling guide tube 31, and the two connecting parts are synchronously driven to rise and fall by two second lifting mechanisms. One end of the two symmetrically arranged rocker arms 38 is hinged to the two connecting parts respectively, and is synchronously driven by two second motors 37. The rotating mechanism has two ends fixed to two symmetrically arranged soil-pulling components 39, with the seedling guide tube 31 located between the two soil-pulling components 39. The lower end of the soil-pulling component 39 is a pointed tip. A horizontally arranged turntable 311 is located above the seedling guide tube 31 and forms a rotating pair with the base plate 2. It is driven to rotate by a motor 3. Multiple vertically arranged pots 310 are fixed on the turntable and are evenly distributed around the circumference. Each pot 310 has an opening 1 at its lower end that is hinged to a baffle 1. The baffle 1 is driven to rotate by a drive component 312. The seedling claw 314 (with its own power source to open and close) is driven to move and lift by a moving mechanism located on the lower surface of the base plate 2.

[0046] like Figure 7 As shown, the wheat fertilization device 4 includes a rectangular frame 41, a connecting frame, a conveying pipe assembly 42, and a fertilizer box 44. The fertilizer box 44 is fixed to the mounting plate 5; the horizontally arranged connecting frame and the mounting plate 5 form a rotating pair and are driven to rotate by a motor 43. The conveying pipe assembly 42 includes a U-shaped pipe 1, a U-shaped pipe 2, and a U-shaped pipe 3. The middle part of the U-shaped pipe 1 is fixed to the connecting frame, and the inlet in the middle of the U-shaped pipe 1 is connected to the fertilizer box 44 through a water pump 1 and a hose. The outlets of the two arms on the U-shaped pipe 1 are fixed and connected to the inlets in the middle of the two U-shaped pipe 2 respectively. The outlets of the two arms on each U-shaped pipe 2 are fixed and connected to the inlets of the two arms on each U-shaped pipe 3 respectively. Each U-shaped pipe 3 is fixed to the inner wall of a rectangular frame 41, and each U-shaped pipe 3 has multiple holes arranged at equal intervals, each hole group consisting of multiple holes 2 arranged at equal intervals. Each rectangular frame 41 is located directly below a square hole 1.

[0047] like Figure 8As shown, the soybean fertilization device 6 includes a fertilizer tank 61, nozzles 63, and a water distribution plate 64. The fertilizer tank 61 is fixed to the upper surface of the mounting plate 5, and the water distribution plate 64 is fixed to the lower surface of the mounting plate 5. The fertilizer tank 61 is connected to the inlet of the water distribution plate 64 through a water pump 62 and a water pipe 65. Multiple nozzles 63 are fixed and connected to the water distribution plate 64 and are evenly distributed around the circumference. Three soybean fertilization devices 6 are equidistantly arranged behind the wheat planting device 3, and the water distribution plate 64 of each soybean fertilization device 6 is aligned with a soil shovel trough 12.

[0048] like Figure 9 and Figure 10 As shown, the soybean planting device 7 is located directly behind each soybean fertilization device 6, and includes a seed box 71 and a planting mechanism. The seed box 71 is fixed on the mounting plate 5. The bottom surface of the seed box 71 is inclined, and the front end of the seed box 71 has three equally spaced openings. Each opening has a planting mechanism, and the three planting mechanisms are aligned with three soil-digging grooves 12. The planting mechanism includes a support plate, a gear 72, a limiting groove 73, a soil-digging mechanism 74, and a motor 78. Two parallel and spaced support plates are fixed on both sides of the corresponding openings. The gear 72 is located between the two support plates, and the two ends of the gear 72 form a rotating pair with the two support plates. The motor 78 drives the gear 72 to rotate. The limiting groove 73 is fixed to a square hole 2 opened on the mounting plate 5 and is located directly below the gear 72. The soil-digging mechanism 74 is located directly below the limiting groove 73. The gear 72 is made of a flexible material (such as rubber) to avoid damaging the soybean seeds.

[0049] like Figure 11 As shown, the excavation mechanism 74 includes an electric push rod 741, a closed cover 742, a second baffle 743, a spring 744, a pressure sensor 745, and a slider 746. The closed cover 742 is located directly below the corresponding limiting groove 73 and is driven to rise and fall by the lifting mechanism 3. The upper and lower ends of the closed cover 742 are open, and the upper end of the closed cover 742 is provided with an integrally formed crossbar. The upper ends of the two symmetrically arranged sliders 746 are both connected to the crossbar to form a sliding pair, and the lower ends are hinged to the middle of the two symmetrically arranged second baffles 743. The upper ends of the two second baffles 743 are hinged to one end of the two electric push rods 741, and the lower ends are connected by the spring 744. The other ends of the two electric push rods 741 are fixed to both ends of the closed cover 742. The pressure sensor 745 is fixed on the closed cover 742. When the lower end of the second baffle 743 is in the lowest position, it is at the same horizontal plane as the lower end of the soil-moving component 39 when it is in the lowest position.

[0050] In a preferred embodiment, the lifting mechanism 2 includes a support frame 1, a lead screw 2 36, and a nut block 2. The support frame 1 is vertically fixed on the corresponding square hole 1. The lead screw 2 36 and the support frame 1 form a rotating pair and are driven to rotate by the motor 8 34. The nut block 2 and the lead screw 2 36 form a threaded pair and a sliding pair with the support frame 1. Each nut block 2 is fixed with a connecting piece.

[0051] In a preferred embodiment, a placement rack is fixed on the mounting plate 5 for placing the seedling tray 313.

[0052] In a preferred embodiment, the moving mechanism includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is fixed on the base plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate. The Z-axis linear module drives the seedling claw 314 to lift and lower. The direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

[0053] In a preferred embodiment, the lifting mechanism three includes a lead screw three 75, a support frame two, a connecting rod two 76, and a nut block three. The two support frames two, which are arranged vertically and at intervals, are fixed on the mounting plate 5. The two vertically arranged lead screw three 75 and the two support frames two respectively form a rotating pair, and are driven to rotate by two motors nine 77 respectively. The two nut blocks three and the two lead screw three 75 respectively form a threaded pair, and with the two support frames two respectively form a sliding pair. The upper ends of the two connecting rods two 76 are fixed to the two nut blocks three respectively, and the lower ends are fixed to both ends of the enclosure 742.

[0054] Among them, the mobile device, soil pump 14, water pump 1, motor 3, motor 43, motor 6 24, motor 7 32, each motor 1 16, each motor 2 37, each motor 5 78, each motor 8 34, each motor 9 77, each water pump 2 62, each X-axis linear module, each Y-axis linear module, each Z-axis linear module, each drive component 312, each seedling claw 314 and their own power source, and each electric push rod 741 are all controlled by the controller, and the signal output terminal of each pressure sensor 745 is connected to the controller.

[0055] The present invention discloses a planting method for a wheat-soybean intercropping device, the details of which are as follows:

[0056] Step 1: In the initial state, the two soil-pulling parts 39 of each transplanting device are closed, the upper ends of the two baffles 743 of each digging mechanism 74 are open, and the lower ends are closed; the opening at the lower end of each pot 310 is closed, and there is a pot 310 directly below the seedling claw 314 and directly above the seedling guide tube 31 in each transplanting device. Place the seedling tray 313 containing wheat seedlings on the mounting plate 5, and place wheat seedlings into each pot 310 between the seedling claw 314 and the seedling guide tube 31 along the turntable of each transplanting device; place soybean seeds in the seed box 71; pour liquid fertilizer into the fertilizer box 44 and each fertilizer box 61; then the controller controls the motor 24 to drive the plow 21 to start rotating, and controls each motor 16 to drive each soil-pulling drill 13 to start rotating, while the soil pump 14 starts working.

[0057] Step 2: The moving device drives the pull rod 23 to move the mounting plate 5 forward in the field via the mudguard 22, so that the wheat planting device 3 moves to the first planting area. During the forward movement of the mounting plate 5, the rotating plow 21 turns over the soil it passes through, making the soil loose. Then, each shovel trough 12 shovels in some of the loose soil, and each soil pump 13 transports the soil shoveled into the corresponding shovel trough 12 to the top of each shovel trough 12. At the same time, the soil pump 14 transports the soil transported to the top of each shovel trough 12 to the soil delivery chamber and discharges it along each soil discharge channel 17 to the rear of the mounting plate 5. After each shovel trough 12 shovels in some of the loose soil, three trenches are formed on the ground.

[0058] Step 3: The controller controls motor 43 to drive the connecting frame, causing U-shaped tube 1 to rotate downwards. U-shaped tube 1, through each U-shaped tube 2 and each U-shaped tube 3, drives two rectangular frames 41 to rotate downwards, so that the lower ends of the two rectangular frames 41 are inserted into the soil, and each rectangular frame 41 is located between two adjacent trenches. The controller controls two motors 8 34 in each transplanting device to drive two lead screws 2 36 to rotate forwards. The two lead screws 2 36, through two nut blocks 2, drive two connecting parts to move downwards. The two connecting parts, through two rockers 38, drive two merged soil-pulling parts 39 to move downwards, so that the tips of the two soil-pulling parts 39 are inserted into the soil and located within the corresponding rectangular frames 41, and the two soil-pulling parts 39 are positioned... 9. Dig a pit; then pump 1 starts working, and the liquid fertilizer in fertilizer tank 44 is transported through U-shaped pipe 1 and each U-shaped pipe 2 to each U-shaped pipe 3, and is sprayed out from each hole 2. At the same time, the controller controls the two motors 37 in each transplanting device to drive the two rockers 38 to swing back and forth. The two rockers 38 drive the two soil-pulling parts 39 to open and close back and forth. During the opening and closing of the two soil-pulling parts 39, the soil inside the rectangular frame 41 located outside the two soil-pulling parts 39 is turned over, so that the soil is fully mixed with the liquid fertilizer transported from fertilizer tank 44. After the mixing is completed, the controller controls each motor 37 to stop working, and at this time the two soil-pulling parts 39 in each transplanting device are in the open state.

[0059] Step 4: The controller controls motor 7 32 to drive screw 1 33 to rotate forward. Screw 1 33, through nut block 1 and each connecting rod 1 35, drives the seedling guide tube 31 in the two transplanting devices to descend synchronously, so that the seedling guide tube 31 passes through the corresponding two soil-pulling parts 39 and is inserted into the corresponding pit 1. At the same time, on the pot 310 located directly above the seedling guide tube 31, the drive component 312 drives the baffle 1 to rotate, so that the opening at the lower end of the pot 310 opens, and the wheat seedling in the pot 310 falls and from the seedling guide tube 31 into the pit 1. Then, the controller controls motor 7 32 to drive screw 1 33 to rotate in reverse. Screw 1 33, through nut block 1 and each connecting rod 1 35, drives the seedling guide tube 31 in the two transplanting devices to rise synchronously to the original position. At the same time, the controller controls each transplanting device to rotate in reverse. Two motors 34 drive two lead screws 36 to reverse, causing the two lead screws 36 to drive two connecting parts upward to their original positions via two nut blocks 36. The two connecting parts drive two soil-pulling parts 39 to their original positions via two rockers 38. The controller also controls two motors 37 in each transplanting device to drive two rockers 38 to drive two soil-pulling parts 39 to move towards each other, causing the two soil-pulling parts 39 to close. As the seedling tube 31 in each transplanting device rises, and the two soil-pulling parts 39 rise and gradually close, the soil mixed with liquid fertilizer covers the roots of the corresponding wheat seedlings, thus realizing the transplanting of wheat seedlings. Then, the controller controls motor 43 to drive the connecting frame to rotate the U-shaped tube 1 upward, so that each rectangular frame 41 returns to its original position.

[0060] Step 5: The moving device drives the pull rod 23 to move the mounting plate 5 forward a preset distance in the field via the mudguard 22, so that the wheat planting device 3 moves to the next planting area, and the soybean planting device 7 moves to the trench position aligned with the previous planting area. During the forward movement of the mounting plate 5, the controller controls the motor three in each transplanting device to drive the corresponding turntable 311 to rotate by a preset angle, so that the next pot 310 with wheat seedlings on the turntable 311 rotates to be directly above the seedling guide tube 31, and the next empty pot 310 rotates to be directly below the seedling claw 314. Each moving mechanism drives each seedling claw 314 to translate and lift, so that each... The seedling picker 314 picks up wheat seedlings from the seedling tray 313 and places them into the next empty pot 310. At the same time, each water pump 62 operates, and the liquid fertilizer in each fertilizer tank 61 is transported by each water pump 62 to each water distribution plate 64 and sprayed out from each nozzle of the corresponding water distribution plate 64 to fertilize the soil in each trench. The controller controls each motor 78 to drive each gear 72 to rotate one revolution. The (multiple) soybean seeds at each opening position are pushed into the corresponding limiting groove 73 by each gear 72 and fall into the closed cover 742 of the corresponding digging mechanism 74, and are located between the two baffles 743.

[0061] Step Six: The controller controls two motors 77 in each planting mechanism to drive two lead screws 75 to rotate forward. The two lead screws 75, through two nut blocks 76, drive two connecting rods 76 to descend. The two connecting rods 76 drive the enclosure 742 to descend, causing the enclosure 742 to insert into the soil. The lower ends of the two baffles 743 dig a pit, squeezing the soil outside the baffles 743 inside the enclosure 742 to both sides. When the pressure sensor 745 detects that the pressure exerted by the soil on the enclosure 742 exceeds a preset value, the controller controls the two motors 77 to stop working. At this time, the enclosure 742 of each planting mechanism is located in a trench; the bottom of pit 2 is at the same level as the bottom of pit 1. Next, the controller controls the piston rods of the two electric push rods 741 in each planting mechanism to extend. The piston rods of the two electric push rods 741 push the two sliders 746 towards each other through the two baffles 743, causing the upper surfaces of the two baffles 743 to... The two ends of the two baffles 743 move towards each other, and the lower ends of the baffles 743 move away from each other. The spring 744 is stretched, which causes the soil inside the closed cover 742 located outside the two baffles 743 to be pushed to both sides, while the soybean seeds fall into the pit 2. Then the controller controls the two motors 77 in each planting mechanism to drive the two lead screws 75 to reverse, so that the connecting rods 76 drive the closed cover 742 to rise to its original position, and controls the piston rods of the two electric push rods 741 to shorten, and the pistons of the two electric push rods 741... The rod pulls two sliders 746 to rotate in opposite directions via two baffles 743, causing the upper ends of the two baffles 743 to move in opposite directions. Meanwhile, the restoring force of the spring 744 pulls the lower ends of the two baffles 743 to move towards each other. As the enclosed cover 742 rises and the lower ends of the two baffles 743 move towards each other, the soil pushed to the sides inside the enclosed cover 742 gathers towards the center and covers the soybean seeds, thus completing the sowing of soybean seeds in the furrow aligned with the previous planting area. Steps three and four are repeated simultaneously with the soybean seed sowing to complete the wheat planting in the planting area of ​​the wheat planting device 3.

[0062] Step 7: Repeat steps 5 and 6 until the wheat planting work in the last planting area is completed. The soil pump 14 stops working, and the controller controls motor 6 24 and each motor 1 16 to stop working. During this process, the soil discharged from the soil delivery chamber along each soil dropping channel 17 to the back of the mounting plate 5 will refill the trench.

Claims

1. A wheat-soybean intercropping device, comprising a mobile device, a plowing device, a mounting plate, a wheat fertilization device, and a wheat planting device, characterized in that: It also includes a soil-lifting device, a soybean fertilization device, and a soybean planting device; the plowing device is located at the front end of the mounting plate, and two symmetrically arranged wheels are hinged to the rear sides of the mounting plate, with a moving device driving the mounting plate to move; the soil-lifting device is located directly behind the plowing device, and includes a receiving box, a soil-shoveling trough, a soil-lifting drill, a soil pump, and guide blocks; the receiving box is fixed to the mounting plate; behind the receiving box is a soil-feeding chamber; the bottom plate of the soil-feeding chamber is arranged to tilt backward, and two guide blocks are fixed on the bottom plate, forming three soil-feeding channels with the two guide blocks and the side walls of the receiving box; the front end of the guide blocks... It is conical in shape; the shovel is an L-shaped tube with three equidistant shovels, each aligned with a soil discharge channel. The vertical section of each shovel is fixed to one of the three holes on the mounting plate, and the horizontal sections are all located below the mounting plate. The inlet of each shovel is located at the front end of the corresponding horizontal section and faces forward, while the outlet of each shovel is located at the top end of the corresponding vertical section and faces backward, and is connected to the three inlets at the front end of the receiving box. Each vertical section is hinged with a vertically installed soil-lifting drill, and each drill is driven to rotate by a motor. The soil pump is fixed on the bottom plate 2 at the front end of the container, and the inlet of the soil pump is connected to each inlet of the container through a pipe. The wheat planting device is located behind each shovel trough and includes a lifting mechanism and a transplanting device. The transplanting device includes a seedling guide tube, a second lifting mechanism, connecting parts, rockers, soil-dispensing parts, a pot, a turntable, and seedling claws. The vertically arranged seedling guide tube is located within a square hole in the mounting plate, between two adjacent shovel troughs. Two symmetrically arranged connecting parts are located directly in front of and behind the seedling guide tube, and these two connecting parts are synchronously driven to rise and fall by two second lifting mechanisms. One end of each of the two symmetrically arranged rockers is hinged to one of the two connecting parts and is synchronously driven to rotate by two second motors; the other end is connected to... Two symmetrically arranged soil-pulling components are fixed, and the seedling guide tube is located between the two soil-pulling components, with the lower end of the soil-pulling components being a pointed tip; the horizontally arranged turntable is located above the seedling guide tube and forms a rotating pair with the base plate two, and is driven to rotate by the motor three; multiple vertically arranged pots are fixed on the turntable, and each pot has a baffle one hinged to its lower opening one, which is driven to rotate by the driving component; the seedling claw is driven to move and lift by a moving mechanism located on the lower surface of the base plate two; the transplanting device has two symmetrically arranged components, and the two seedling guide tubes of the two transplanting devices are synchronously driven to lift and lower by the lifting mechanism one; The wheat fertilization device includes a rectangular frame, a connecting frame, a conveying pipe assembly, and a fertilizer box 1. The fertilizer box 1 is fixed to the mounting plate. The horizontally arranged connecting frame and the mounting plate form a rotating pair and are driven to rotate by a motor. The conveying pipe assembly is fixed to the connecting frame and two rectangular frames, and the inlet of the conveying pipe assembly is connected to the fertilizer box 1 through a water pump 1 and a hose. The portion of the conveying pipe assembly located within the two rectangular frames has multiple equally spaced holes, each hole consisting of multiple equally spaced holes 2. Each rectangular frame is located directly below a square hole 1. The soybean fertilization device is located behind the wheat planting device, and there are three of them arranged at equal intervals, with each soybean fertilization device aligned with a soil shovel trough; the soybean planting device is located directly behind each soybean fertilization device, and includes a seed box and a planting mechanism. The seed box is fixed to the mounting plate. The bottom surface of the seed box is sloped, and the front end of the seed box has three equally spaced openings (2). Each opening (2) is equipped with a planting mechanism, and the three planting mechanisms are aligned with three soil-digging grooves. The planting mechanism includes a gear, a limiting groove, and a digging mechanism. The gear is hinged to the corresponding opening (2) and driven to rotate by a motor (5). The limiting groove is fixed to a square hole (2) on the mounting plate and is located directly below the gear. The digging mechanism is located directly below the limiting groove. The digging mechanism includes a push rod, a closed cover, a baffle (2), and a slider. The closed cover (2) is positioned... Directly below the corresponding limiting groove, and driven by the lifting mechanism, the upper and lower ends of the enclosure are open, and the upper end of the enclosure is provided with an integrally formed crossbar. The upper ends of the two symmetrically arranged sliders form a sliding pair with the crossbar, and the lower ends are hinged to the middle of the two symmetrically arranged baffles. The upper ends of the two baffles are hinged to one end of the two electric push rods, and the lower ends are connected by springs. The other ends of the two electric push rods are fixed to both ends of the enclosure. A pressure sensor is fixed on the enclosure. When the lower end of the baffle is in the lowest position, it is at the same horizontal plane as the lower end of the soil-moving component.

2. The wheat and soybean intercropping device according to claim 1, characterized in that: The plowing device includes a plow and a mudguard. The mudguard is fixed to the front end of the mounting plate. The horizontally arranged plow and the mudguard form a rotating pair and are driven to rotate by a motor. A tie rod is fixed on the mudguard. The moving device drives the tie rod to move the mounting plate through the mudguard.

3. The wheat and soybean intercropping device according to claim 1, characterized in that: The lifting mechanism includes a lead screw, a nut block, and a connecting rod. The vertically arranged lead screw and the mounting plate form a transmission pair and are driven to rotate by a motor. The nut block and the lead screw form a ball screw pair through balls, and two symmetrically arranged connecting rods are fixed at both ends of the nut block. The seedling guide tubes of the two transplanting devices are fixed to the two connecting rods.

4. The wheat and soybean intercropping device according to claim 1, characterized in that: The second lifting mechanism includes a support frame, a lead screw, and a nut block. The support frame is vertically fixed on the corresponding square hole. The lead screw and the support frame form a rotating pair and are driven to rotate by a motor. The nut block and the lead screw form a threaded pair and a sliding pair with the support frame. The connecting piece is fixed on the nut block.

5. The wheat and soybean intercropping device according to claim 1, characterized in that: The moving mechanism includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is fixed on the base plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate. The Z-axis linear module drives the seedling claw to lift and lower. The direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

6. The wheat and soybean intercropping device according to claim 1, characterized in that: The soybean fertilization device includes a fertilizer tank, nozzles, and a water distribution plate. The fertilizer tank is fixed to the upper surface of the mounting plate, and the water distribution plate is fixed to the lower surface of the mounting plate. The fertilizer tank is connected to the inlet of the water distribution plate through a water pump and a water pipe. Multiple nozzles are fixed and connected to the water distribution plate and are evenly distributed along the circumference.

7. The wheat and soybean intercropping device according to claim 1, characterized in that: Two parallel and spaced support plates are fixed on both sides of the second opening. The gear is located between the two support plates, and the two ends of the gear and the two support plates form a rotating pair.

8. The wheat and soybean intercropping device according to claim 1, characterized in that: The conveying pipe assembly includes U-shaped pipe one, U-shaped pipe two, and U-shaped pipe three. The middle part of U-shaped pipe one is fixed to the connecting frame, and the inlet in the middle of U-shaped pipe one is connected to fertilizer box one through water pump one and hose. The outlets of the two arms on U-shaped pipe one are fixed and connected to the inlets in the middle of the two U-shaped pipes two respectively. The outlets of the two arms on each U-shaped pipe two are fixed and connected to the inlets of the two arms on each U-shaped pipe three respectively. Each U-shaped pipe three is fixed to the inner wall of a rectangular frame, and each U-shaped pipe three has multiple holes arranged at equal intervals.

9. The wheat and soybean intercropping device according to claim 1, characterized in that: The lifting mechanism three includes a lead screw three, a support frame two, a connecting rod two, and a nut block three. The two support frames two, which are arranged vertically and at intervals, are fixed on the mounting plate. The two vertically arranged lead screw three and the two support frames two respectively form a rotating pair, which is driven to rotate by two motors nine respectively. The two nut blocks three and the two lead screw three respectively form a threaded pair, and with the two support frames two respectively form a sliding pair. The upper ends of the two connecting rods two are fixed to the two nut blocks three respectively, and the lower ends are fixed to the two ends of the closed cover.

10. A planting method for a wheat-soybean intercropping device according to any one of claims 1 to 9, characterized in that: Specifically as follows: Step 1: Place the seedling trays containing wheat seedlings on the mounting plate, and place wheat seedlings into each empty pot between the seedling claw and the seedling guide tube along the turntable of each transplanting device; place soybean seeds in the seed box; pour liquid fertilizer into fertilizer box 1 and each fertilizer box 2; then the plowing device starts working, the controller controls each motor 1 to drive each soil-pulling drill to start rotating, and the soil pump starts working at the same time. Step 2: The moving device drives the installation plate forward in the field, moving the wheat planting device to the first planting area. During the forward movement of the installation plate, the plowing device turns over the soil it passes through. Then, each shovel trough scoops in some soil, and each soil pump transports the soil scooped into the corresponding shovel trough to the top of each shovel trough. At the same time, the soil pump transports the soil transported to the top of each shovel trough to the soil delivery bin and discharges it along each soil discharge channel to the rear of the installation plate. After each shovel trough scoops in some soil, three trenches are formed on the ground. Step 3: The controller controls the four motors to drive the connecting frame, which in turn drives the conveying pipe assembly and the two rectangular frames to rotate downwards, so that the lower ends of the two rectangular frames are inserted into the soil, and each rectangular frame is located between two adjacent trenches. The controller controls the two lifting mechanisms in each transplanting device to synchronously drive the two connecting parts through the two rockers to move the two combined soil-pulling parts downwards, so that the lower ends of the two soil-pulling parts are inserted into the soil and located in the corresponding rectangular frames, and the two soil-pulling parts dig a pit. Then, the water pump starts, and the liquid fertilizer in the fertilizer tank is transported to the conveying pipe assembly and sprinkled out from each hole. At the same time, the controller controls the two motors in each transplanting device to drive the two rockers to swing back and forth. The two rockers drive the two soil-pulling parts to open and close back and forth. During the opening and closing of the two soil-pulling parts, the soil inside the rectangular frames located outside the two soil-pulling parts is turned over, and this soil is mixed with the liquid fertilizer transported from the fertilizer tank. After the mixing is completed, the controller controls each motor to stop working, and at this time, the two soil-pulling parts in each transplanting device are in the open state. Step 4: The lifting mechanism 1 drives the seedling guide tubes in the two transplanting devices to descend synchronously, allowing the seedling guide tubes to pass through the corresponding two soil-pulling components and insert into the corresponding pits. Simultaneously, on the pot directly above the seedling guide tube, the driving component drives the baffle 1 to rotate, causing the opening at the bottom of the pot 1 to open, allowing the wheat seedlings inside the pot to fall from the seedling guide tube into the pit 1. Next, the lifting mechanism 1 drives the seedling guide tubes in the two transplanting devices to rise synchronously to their original positions. At the same time, the two lifting mechanisms 2 in each transplanting device synchronously drive the two connecting components to move the two opened soil-pulling components upward to their original positions via two rockers. The two motors 2 in each transplanting device drive the two rockers to move the two soil-pulling components towards each other, causing the two soil-pulling components to close. As the seedling guide tubes in each transplanting device rise, and the two soil-pulling components rise and gradually close, the soil mixed with liquid fertilizer covers the roots of the corresponding wheat seedlings, completing the transplanting of the wheat seedlings. Then, the controller controls the motor 4 to drive the connecting frame to rotate the conveying pipe assembly upward, causing each rectangular frame to return to its original position. Step 5: The moving device drives the installation plate forward a preset distance in the field, moving the wheat planting device to the next planting area and the soybean planting device to the trench position aligned with the previous planting area. During the forward movement of the installation plate, the controller controls the motor three in each transplanting device to drive the corresponding turntable to rotate at a preset angle, so that the next pot with wheat seedlings on the turntable rotates to the top of the seedling guide tube, and the next empty pot rotates to the bottom of the seedling picking claw. Each moving mechanism drives each seedling picking claw to move horizontally and vertically, so that each seedling picking claw picks up the wheat seedling from the seedling tray and places the picked wheat seedling into the next empty pot. At the same time, each soybean fertilization device works to fertilize the three trenches it passes through. The controller controls each motor five to drive each gear to rotate one revolution, and the soybean seeds at each opening two position are pushed into the corresponding limit groove by each gear and fall into the closed cover of the corresponding digging mechanism, and are located between the two baffles. Step Six: Each lifting mechanism three drives each enclosed cover to descend, inserting each enclosed cover into the soil of a trench. A recess two is dug at the lower end of the two baffles two inside each enclosed cover, squeezing the soil outside the two baffles two inside the corresponding enclosed cover to both sides. When each pressure sensor detects that the pressure exerted by the soil inside the corresponding enclosed cover exceeds a preset value, the corresponding lifting mechanism three stops working. The bottom of recess two is at the same level as the bottom of recess one. Then, the controller controls the piston rods of the two electric push rods in each planting mechanism to extend. The piston rods of the two electric push rods push the two sliders to move towards each other through the two baffles two, causing the upper ends of the two baffles two to move towards each other and the lower ends to move away from each other. The springs stretch, thus causing the soil inside the enclosed cover located outside the two baffles two to... The outer soil is pushed to both sides, and soybean seeds fall into the second depression. Then, each lifting mechanism drives each enclosed cover to rise to its original position. The controller controls the piston rods of the two electric push rods in each planting mechanism to shorten. The piston rods of the two electric push rods pull the two sliders to rotate in opposite directions through the two baffles. This causes the upper ends of the two baffles to rotate in opposite directions, and the restoring force of the spring pulls the lower ends of the two baffles to move towards each other. As the enclosed cover rises and the lower ends of the two baffles move towards each other, the soil pushed to both sides inside the enclosed cover gathers in the middle and covers the soybean seeds, thus completing the sowing of soybean seeds in the trench position aligned with the previous planting area. While the soybean seeds are being sown, steps three and four are repeated to complete the wheat planting work in the planting area where the wheat planting device is located. Step 7: Repeat steps 5 and 6 until the wheat planting work in the last planting area is completed. The soil pump stops working, and the controller stops the plowing device and each motor. During this process, the soil discharged from the soil delivery chamber along each soil dropping channel to the back of the mounting plate will refill the trench.

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