Self-propelled extended-range vegetable tobacco seedling transplanting machine and continuous tobacco seedling transplanting method

Abstract

The application provides a self-walking extended-range vegetable tobacco seedling transplanting machine and a tobacco seedling continuous transplanting method, which comprises a whole machine support, a walking mechanism, a seedling throwing mechanism, a seedling transplanting mechanism, a power assembly and a controller. The whole machine support is arranged on the walking mechanism, and the seedling throwing mechanism, the seedling transplanting mechanism, the power assembly and the controller are arranged on the whole machine support. The seedling throwing mechanism comprises a plurality of seedling throwing barrels which are distributed at equal intervals along the circumferential direction. The seedling transplanting mechanism comprises a seedling receiving guide hopper, a well type seedling transplanting nozzle and a seedling transplanting driving and executing assembly. The power assembly provides electric energy for the walking mechanism, the seedling throwing mechanism, the seedling transplanting mechanism and the controller. The transplanting machine has a simple structure and is convenient for subsequent maintenance and repair. When the transplanting operation is performed, the actions of each executing mechanism are independently executed by a separate motor, and the controller can flexibly control the operating states of the motors according to the requirements, so that the precise cooperation and flexible adjustment of the executable actions can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of crop seedling transplanting, in particular to a self-walking and range-increasing type vegetable and tobacco seedling transplanting machine and a method for continuously transplanting tobacco seedlings. BACKGROUND

[0002] Due to the high stacking rate and convenient management of transplanting, the transplanting method is basically used for transplanting seedlings in the fields of vegetable planting and tobacco seedling planting. At present, there are mainly two methods for transplanting tobacco seedlings, one is manual planting, and the other is mechanical planting. When manually transplanting, people need to bend down frequently, and long-time work leads to high labor intensity. Meanwhile, the manual transplanting efficiency is low. When mechanically transplanting tobacco seedlings, the labor intensity can be reduced and the planting efficiency can be improved. However, the existing tobacco seedling transplanting machine is composed of a motor and a pure mechanical transmission mechanism to realize the cooperation of each executing mechanism. This leads to a complex structure of the existing tobacco seedling transplanting machine, and the cooperation precision of each executing mechanism is low and cannot be flexibly adjusted, which leads to low quality of mechanical transplanting of tobacco seedlings. SUMMARY

[0003] The present application aims to provide a self-walking and range-increasing type vegetable and tobacco seedling transplanting machine and a method for continuously transplanting tobacco seedlings. The transplanting machine has a simple structure, and is convenient for subsequent maintenance and repair. When transplanting, each executing mechanism is independently executed by a separate motor, and the controller can flexibly control the operating state of each motor according to the demand, so as to realize the precise cooperation and flexible adjustment of the executable actions.

[0004] The technical scheme adopted by the present application to solve its technical problems is: a self-walking extended-range vegetable tobacco seedling transplanting machine, comprising a whole machine support, a walking mechanism, a seedling throwing mechanism, a seedling transplanting mechanism, a power assembly, a controller, the whole machine support is arranged on the walking mechanism, and the whole machine support can be adjusted up and down and positioned relative to the walking mechanism, the seedling throwing mechanism, the seedling transplanting mechanism, the power assembly and the controller are all arranged on the whole machine support, the seedling throwing mechanism comprises a plurality of seedling throwing barrels distributed at equal intervals along the circumferential direction, the bottom of the seedling throwing barrel can be automatically opened at a seedling throwing station, the seedling transplanting mechanism comprises a seedling receiving guide hopper, a well cellar type seedling transplanting nozzle and a seedling transplanting driving and executing assembly, the seedling receiving guide hopper is arranged directly below the seedling throwing station, the well cellar type seedling transplanting nozzle is arranged at the lower part of the seedling receiving guide hopper, and the seedling outlet of the seedling receiving guide hopper and the seedling inlet of the well cellar type seedling transplanting nozzle are in communication, the upper part of the well cellar type seedling transplanting nozzle is cylindrical and the lower part is conical, and the well cellar type seedling transplanting nozzle is composed of two left and right symmetrical seedling transplanting half nozzles, the seedling transplanting driving and executing assembly can drive the well cellar type seedling transplanting nozzle to move up and down reciprocally and can realize the opening of the bottom of the well cellar type seedling transplanting nozzle at a seedling transplanting station and the closing of the bottom of the well cellar type seedling transplanting nozzle at a seedling throwing station in turn, the power assembly provides electric energy for the walking mechanism, the seedling throwing mechanism, the seedling transplanting mechanism and the controller, and the controller can control the operation of the walking mechanism, the seedling throwing mechanism, the seedling transplanting driving and executing assembly and the power assembly.

[0005] Preferably, the seedling transplanting driving and executing assembly comprises a first driving motor, a transmission chain, a moving frame, an opening and closing transmission assembly, the transmission chain is arranged vertically rotatably on the front side of a first support plate of the whole machine support, the first driving motor is used to drive the transmission chain to rotate, a connecting rod is arranged on the transmission chain, the connecting rod penetrates through a first long circular hole arranged left and right on the moving frame, a first mounting plate is fixedly arranged on the lower front side of the moving frame, the well cellar type seedling transplanting nozzle is arranged on the lower part of the first mounting plate, the seedling receiving guide hopper is arranged on the upper part of the first mounting plate, the opening and closing transmission assembly is arranged on the inner front side of the moving frame, the opening and closing transmission assembly realizes the opening and closing of the bottom of the well cellar type seedling transplanting nozzle through the driving of the connecting rod, and the first driving motor is electrically connected with the controller.

[0006] Further, the opening and closing transmission assembly comprises a rotating connecting rod, a first hinged connecting rod and a second hinged connecting rod, the second long circular hole vertically arranged on the upper part of the rotating connecting rod is sleeved on the connecting rod, the lower part of the rotating connecting rod is rotatably sleeved on a first hinged shaft on the moving frame, a second hinged shaft is arranged on the lower part of the rotating connecting rod and located left to the first hinged shaft, the outer side of the upper part of each of the two seedling planting half mouths is hingedly connected with the lower part of the first mounting plate, a third hinged shaft is arranged on the inner side of the rear part of each of the two seedling planting half mouths, the upper ends of the first hinged connecting rod and the second hinged connecting rod are hingedly connected with the second hinged shaft, the lower end of the first hinged connecting rod is hingedly connected with the third hinged shaft located on the left side, and the lower end of the second hinged connecting rod is hingedly connected with the third hinged shaft located on the right side, so that the up-and-down swinging of the second hinged shaft can drive the mutual closing and mutual moving away of the lower parts of the two seedling planting half mouths.

[0007] Further, a connecting plate is fixedly arranged on the front side of the connecting rod, two moving sliding blocks are fixedly arranged on the connecting plate and distributed in the up-and-down direction, the two moving sliding blocks are respectively sleeved on a first guide rod, the first guide rod is horizontally fixedly arranged on the moving frame and distributed in the left-and-right direction, a positioning detection rod is vertically fixedly arranged on the upper part of the moving sliding block located on the upper side, a third long circular hole is arranged on the upper part of the moving frame and distributed in the left-and-right direction, a fourth long circular hole is arranged on the whole machine support and corresponds to the third long circular hole in the up-and-down direction, the upper part of the positioning detection rod penetrates through the fourth long circular hole, and a first inductive proximity switch is arranged on the whole machine support and located left to and behind the fourth long circular hole, and the first inductive proximity switch is electrically connected with the controller.

[0008] Further, the seedling planting mechanism further comprises a second driving motor, a first speed reducer, a rotating shaft, a rotating circular plate and a supporting ring, the seedling planting barrel comprises an upper barrel body and a lower cover, one side of the lower cover is hingedly connected with one side of the lower part of the upper barrel body, the rotating shaft is vertically rotatably arranged on the whole machine support, the rotating circular plate is fixedly arranged on the upper part of the rotating shaft, six seedling planting barrels are equidistantly arranged on the rotating circular plate along the circumferential direction of the rotating shaft, and the corresponding seedling planting barrel can be located on the seedling planting position through the rotation of the rotating circular plate, the lower part of the rotating shaft is connected with the first speed reducer, the second driving motor is used for driving the rotation of the first speed reducer, the supporting ring is arranged on the whole machine support and located below the seedling planting barrels, the supporting ring is in an open state at the seedling planting position, the supporting of the lower cover by the supporting ring realizes the closing of the lower cover on the lower part of the upper barrel body, and the second driving motor is electrically connected with the controller.

[0009] Further, a circular detection plate is fixedly arranged on the rotating shaft, six detection blocks are arranged on the outer side of the circular detection plate and are equidistantly distributed along the circumferential direction of the rotating shaft, the six detection blocks correspond to the six seedling throwing cylinders one by one, a second inductive proximity switch for detecting the corresponding detection block is arranged on the whole machine support, when the second inductive proximity switch detects a detection block, one seedling throwing cylinder is located at the seedling throwing position, and the inductive proximity switch is electrically connected with the controller.

[0010] Further, the walking mechanism comprises a walking support, a third driving motor, a driving walking wheel, an auxiliary walking wheel and a second speed reducer, the walking support comprises a fixed pipe and telescopic rods, the two telescopic rods are left and right sleeved on the two ends of the fixed pipe, the telescopic rods can move leftward and rightward relative to the fixed pipe and can be positioned, a support frame is arranged on the outer end of the telescopic rod, the driving walking wheel and the auxiliary walking wheel are arranged on the lower part of each support frame and can rotate forward and backward, the second speed reducer is used for driving the driving walking wheel, the third driving motor is used for driving the second speed reducer, the fixed pipe can move upward and downward relative to the whole machine support and can be positioned, the telescopic rod can be adjusted upward and downward relative to the support frame and can be positioned, an adjusting screw rod is arranged on the whole machine support and rotates, a second guide rod is arranged on the two sides of the adjusting screw rod in parallel, an adjusting sliding block is sleeved on the adjusting screw rod and the second guide rod, the adjusting sliding block can move upward and downward relative to the adjusting screw rod by rotating the adjusting screw rod, and the fixed pipe is arranged on the adjusting sliding block.

[0011] Further, a forward-backward switching lever, a walking speed adjusting knob, a start-stop button, a power switch, an emergency stop switch, an indicator light and a seedling planting switch are arranged on the front side of the upper part of the whole machine support, a programming operation area and a timing counting area are arranged on the vertical side wall of the front side of the whole machine support, left and right distributed handrails are arranged on the front part of the whole machine support, a left turning control switch and a right turning control switch are arranged on the two handrails respectively, and a seedling placing disc is arranged on the upper part of the whole machine support.

[0012] Preferably, the power assembly comprises a small gasoline engine, a generator and a storage battery, the small gasoline engine is used for driving the generator to rotate, the generator is electrically connected with the storage battery, and the controller is electrically connected with the small gasoline engine and the storage battery.

[0013] A method for continuous transplanting of tobacco seedlings includes the aforementioned self-propelled range-extended vegetable and tobacco seedling transplanter. The inner diameter of the cylindrical portion of the well-type seedling nozzle is set to 10cm. Simultaneously, the vertical heights of the cylindrical and conical portions of the well-type seedling nozzle are set to 10cm and 11cm respectively. The distance from the starting position to the lowest downward position of the well-type seedling nozzle is set to 23cm. This method further includes the following steps:

[0014] S1. Move the transplanter to the starting planting end of the corresponding soil ridge and adjust the position of the transplanter so that it spans directly above the soil ridge.

[0015] S2. Position the well-type transplanting nozzle in the initial working position, position one of the seedling feeding tubes in the seedling feeding position, and ensure that a tobacco seedling has been placed in each of the remaining seedling feeding tubes. Place a tobacco seedling in the well-type transplanting nozzle.

[0016] S3. Rotate the adjusting screw to adjust the vertical height between the bottom of the well-type transplanting nozzle and the soil ridge, so that the bottom of the well-type transplanting nozzle is 5cm away from the top of the soil ridge.

[0017] S4. Set the duration of each movement of the transplanter through the timer counting operation area. Here, the duration of each movement of the transplanter is set to 1.5 seconds. Use the forward and reverse switching lever to make the transplanter move forward.

[0018] S5. Manually press the start / stop button to start the transplanter;

[0019] S6. The controller starts the first drive motor to drive the well-type transplanting nozzle to complete a reciprocating up-and-down motion, and the tobacco seedlings inside the well-type transplanting nozzle are transplanted into the soil ridge during the up-and-down motion of the well-type transplanting nozzle.

[0020] S7. After the well-type transplanting nozzle completes one up-and-down reciprocating motion, the controller starts the second drive motor to make the circular rotating plate rotate. When the circular rotating plate rotates 60 degrees clockwise, the rotation of the second drive motor stops, thereby realizing the placement of tobacco seedlings in the corresponding seedling tube into the well-type transplanting nozzle. After the second drive motor stops rotating, the tobacco seedlings are manually and synchronously placed back into the seedling tube that has been sealed at the bottom and is empty inside.

[0021] S8. When the second drive motor stops rotating, the controller starts the third drive motor according to the internally set walking control program. After the third drive motor runs continuously for a set time of 1.5 seconds, the controller stops the operation of the third drive motor.

[0022] S9. Repeat steps S6-S8 in sequence to achieve continuous transplanting of tobacco seedlings on a soil ridge.

[0023] The beneficial effects of the present application are:

[0024] 1、The present application has the advantages of high automation degree, long continuous operation endurance, strong walking power, small turning radius, flexible operation mode, etc.

[0025] 2、The power assembly of the present application is a range-extending power module, and the gasoline engine utilizes the high fuel energy density to generate electricity when the battery power is insufficient, thereby realizing continuous discharge of the battery, and the present application has a longer endurance operation time, which is beneficial for the grower to complete the concentrated transplanting of seedlings in the best planting period.

[0026] 3、Both active walking wheels are independently controlled by one motor, and the two active walking wheels rotate synchronously during walking, thereby making the walking power of the transplanting machine strong, and through the control of the corresponding motor, the flexible turning of the whole transplanting machine can be easily realized.

[0027] 4、The up-down reciprocating movement of the well cellar type seedling planting nozzle is controlled by the motor, thereby realizing flexible adjustment of the seedling planting frequency through the operation control of the controller on the motor.

[0028] 5、The overall structure of the transplanting machine is small, so that the required turning radius is small, thereby facilitating the turning of the present transplanting machine in a small space range at the head, thereby improving the flexible operation range of the transplanting machine.

[0029] 6、The inductive proximity switch can effectively realize the initial height position of the well cellar type seedling planting nozzle and the accurate control of the seedling throwing cylinder in the seedling throwing station, thereby enabling the present application to accurately realize the smooth transplanting of seedlings each time.

[0030] 7、Through reasonable setting of the reciprocating stroke of the well cellar type seedling planting nozzle, the height difference and overall height of the top of the soil ridge at the initial position, the well cellar type transplanting of tobacco seedlings can be realized, thereby improving the transplanting survival rate. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are part of the preferred embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0032] Figure 1 It is a schematic view of the overall structure of the present application.

[0033] Figure 2 It is a side view of the overall structure of the present application.

[0034] Figure 3 It is a schematic view of the connection between the fixed tube of the walking support and the overall support.

[0035] Figure 4 It is a schematic view of the structure of the seedling planting mechanism.

[0036] Figure 5 It is a side view of the structure of the seedling planting mechanism.

[0037] Figure 6 It is a bottom view of the seedling planting mechanism.

[0038] Figure 7 It is a schematic view of the structure of the seedling planting mechanism.

[0039] Figure 8 It is a schematic view of the structure of the seedling planting mechanism. Figure 1

[0040] It is a schematic view of the structure of the seedling planting mechanism. Figure 9 Figure 1 It is a schematic view of the structure of the seedling planting mechanism.

[0041] Figure 10 Figure 2 It is a schematic view of the structure of the seedling planting mechanism.

[0042] Figure 11 It is a schematic view of the structure of the seedling planting mechanism. Figure 4

[0043] It is a schematic view of the structure of the seedling planting mechanism. Figure 12 Figure 5 It is a schematic view of the structure of the seedling planting mechanism.

[0044] Figure 13 Figure 5 It is a schematic view of the structure of the seedling planting mechanism.

[0045] Figure 14 It is a schematic view of the structure of the seedling planting mechanism. Figure 7

[0046] It is a front view of the well cellar type seedling planting nozzle. Figure 15

[0047] ​​​​​Figure 16 Figure 1 is a schematic view of the state of tobacco seedlings on the soil ridge after well-kitchen type transplanting is realized;

[0048] In the figure: 1 whole machine support, 11 adjusting screw rod, 111 second guide rod, 12 first support plate, 13 second guide rod, 14 handrail, 141 left turning control switch, 142 right turning control switch, 143 second jacking bolt, 15 seedling placing disc, 16 handrail connecting rod, 161 sawtooth, 2 walking mechanism, 21 fixed pipe, 22 telescopic rod, 221 adjusting plate, 222 first jacking bolt, 23 support frame, 24 second reduction box, 25 third driving motor, 26 auxiliary walking wheel, 27 driving walking wheel, 3 seedling throwing mechanism, 31 seedling throwing cylinder, 311 upper cylinder, 312 lower cover, 32 second driving motor, 33 first reduction box, 34 rotating shaft, 341 circular detection plate, 342 detection block, 35 rotating circular plate, 36 support ring, 361 arc-shaped guide plate, 4 seedling transplanting mechanism, 41 seedling receiving guide hopper, 42 well-kitchen type seedling transplanting nozzle, 421 seedling transplanting half-nozzle, 4211 third hinged shaft, 4212 rotating support rod, 431 first driving motor, 432 transmission chain, 4321 upper sprocket, 4322 lower sprocket, 4323 connecting rod, 433 moving frame, 4331 first mounting plate, 4332 first hinged shaft, 4333 first long circular hole, 4334 third long circular hole, 434 rotating connecting rod, 4341 first hinged connecting rod, 4342 second hinged connecting rod, 4343 second long circular hole, 435 connecting plate, 436 moving slider, 437 positioning detection rod, 438 first guide rod, 5 power assembly, 61 first inductive proximity switch, 62 second inductive proximity switch, 71 forward and backward switching lever, 72 walking speed adjusting knob, 73 start and stop button, 74 power switch, 75 seedling transplanting switch, 76 indicator light, 77 emergency stop switch, 81 soil ridge, 811 well-kitchen type seedling hole, 82 tobacco seedling. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described below in conjunction with specific embodiments and drawings. Figures 1-16 The technical solutions in the embodiments of the present application will be described below in conjunction with specific embodiments and drawings.

[0050] The present application provides a self-walking range-increasing type vegetable and tobacco seedling transplanting machine (such as Figure 1 , Figure 2As shown, the transplanter includes a frame 1, a walking mechanism 2, a seedling feeding mechanism 3, a seedling planting mechanism 4, a power assembly 5, and a controller. The frame 1 is used to set up the various related structures on the transplanter while maintaining the overall structural strength of the transplanter. The frame 1 is mounted on the walking mechanism 2, and the frame 1 can be adjusted up and down and positioned relative to the walking mechanism 2. The walking mechanism 2 can drive the frame 1 to move. The seedling feeding mechanism 3, the seedling planting mechanism 4, the power assembly 5, and the controller are all mounted on the frame 1. In this specific embodiment, the controller can be a PLC controller commonly used in the field of industrial automation. The seedling feeding mechanism includes several seedling feeding cylinders 3 evenly spaced along the circumference. The bottom of the seedling cylinder 3 can automatically open at the seedling placement station. In practical applications, when the seedling cylinder 3 containing seedlings rotates and moves to the seedling placement station, the seedlings inside the seedling cylinder 3 will automatically detach from the bottom of the seedling cylinder 3 under the action of gravity. When several seedling cylinders 3 stop intermittently at the seedling placement station, intermittent seedling placement at the seedling placement station is achieved. The seedling planting mechanism 4 includes a seedling receiving guide hopper 41, a well-type seedling planting nozzle 42, and a seedling driving execution component. The seedling receiving guide hopper 41 is located directly below the seedling placement station. In practical applications, seedlings falling from the seedling placement station enter the seedling receiving guide hopper 41. The well-type seedling planting nozzle 42 is located at the lower part of the seedling receiving guide hopper 41, and the seedling receiving guide hopper 41... The seedling outlet is connected to the seedling inlet of the well-type seedling nozzle 42. Seedlings entering the seedling guide hopper 41 are directly fed into the well-type seedling nozzle 42 under gravity. To ensure stable seedling reception and guidance, the upper part of the seedling guide head 4 is square, with its length and width approximately 3cm larger than the outer diameter of the seedling feeding tube 3. The bottom outlet of the seedling guide hopper 41 is circular, and its inner diameter is smaller than the inner diameter of the inlet at the top of the well-type seedling nozzle 42. The upper part of the well-type seedling nozzle 42 is cylindrical, and the lower part is conical. In practical applications, when the well-type seedling nozzle 42 is vertically inserted into the top of a relatively moist soil mound, it forms a cone-shaped base and a cylindrical top in the soil. The seedling planting nozzle 42 is a shaped well-like structure consisting of two symmetrically distributed planting half-nozzles 421. Each planting half-nozzle 421 is composed of a semi-annular shell and a semi-conical shell, fixedly connected vertically. When the bottoms of the two planting half-nozzles 421 are closed, the seedling is received; when the bottoms of the two planting half-nozzles 421 are opened away from each other, the seedling is released, allowing it to settle smoothly in the soil well-like structure. The planting drive actuator can drive the well-like planting nozzle 42 to reciprocate up and down, and can sequentially open the bottom of the well-like planting nozzle 42 at the planting position and close it at the seedling placement position. The reciprocating movement of the well-like planting nozzle 42 enables the intermittent downward transport of seedlings.Transplanting seedlings on the raised beds is achieved by intermittently closing and opening the well-type seedling nozzle 42. The power system provides electrical energy to the walking mechanism 2, seedling dispensing mechanism 3, seedling planting mechanism 4, and controller. The controller controls the operation of the walking mechanism 2, seedling dispensing mechanism 3, seedling driving actuator, and power system. In practical applications, by coordinating the operation logic of the walking mechanism 2, seedling dispensing mechanism 3, and seedling driving actuator with the controller, fixed-distance transplanting of seedlings on the raised beds can be achieved, thereby realizing mechanized transplanting and planting of seedlings and improving transplanting efficiency. In practical applications, this invention can be used for transplanting vegetable seedlings such as eggplant seedlings, pepper seedlings, and tobacco seedlings.

[0051] Based on the above embodiments, the specific implementation of the seedling planting drive execution component is as follows: The seedling planting drive execution component includes a first drive motor 431, a transmission chain 432, a moving frame 433, and an opening and closing transmission component. The transmission chain 432 is vertically rotatably disposed on the front side of a first support plate 11 of the whole machine bracket 1. Specifically, an upper sprocket 4321 and a lower sprocket 4322 are disposed vertically on the front side of the first support plate 11, and the transmission chain 432 is sleeved on the upper sprocket 4321 and the lower sprocket 4322. The first drive motor 431 is used to drive the transmission chain 432 to rotate. Specifically, the first drive motor 431 is disposed on the rear side of the first support plate 11, and the first drive motor 431 drives the upper sprocket 4321 to rotate. A connecting rod 4323 is provided on the transmission chain 432. Specifically, a connecting plate can be fixedly provided on the outside of a connecting pin of the transmission chain 432, and the connecting rod 4323 is fixedly provided on the connecting plate. The connecting rod 4323 passes through a first elongated hole 4333 provided on the left and right sides of the moving frame 433. During the rotation of the transmission chain 432, the connecting rod 4323 moves up and down, and the up and down movement of the connecting rod 4323 synchronously realizes the up and down movement of the moving frame 433. When the connecting rod 4323 moves left and right with the transmission chain 432, it moves relative to the moving frame 433 within the first elongated hole 4333, so that the left and right movement of the connecting rod 4323 does not drive the moving frame 432 to move left and right. Therefore, during the reciprocating rotation of the transmission chain 432, only the up-and-down reciprocating motion of the moving frame 432 is realized. To improve the reliability of the up-and-down reciprocating motion of the moving frame 432, two second guide rods 13 are provided behind the moving frame 432. The guide plate provided at the rear of the moving frame 432 is fitted inside the corresponding second guide rod 13. The upper and lower ends of the second guide rods 13 are fixedly set on the machine support 1. The up-and-down reciprocating motion of the moving frame 432 is realized by the guiding action of the two second guide rods 13. A first mounting plate 4331 is fixedly set on the lower front side of the moving frame 432. The well-type seedling nozzle 42 is set at the lower part of the first mounting plate 4331, and the seedling receiving guide bucket 41 is set at the upper part of the first mounting plate 4331. The opening and closing transmission assembly is located inside the front side of the movable frame 42. Driven by the connecting rod 4323, the bottom of the well-type seedling nozzle 42 opens and closes. Specifically, the opening and closing transmission assembly includes a rotating connecting rod 434, a first hinged connecting rod 4341, and a second hinged connecting rod 4342. A second elongated hole 4343 vertically arranged on the upper part of the rotating connecting rod 434 is fitted onto the connecting rod 4323. The lower part of the rotating connecting rod 434 is rotatably fitted onto a first hinge shaft 4332 on the movable frame 433. In practical applications, when the connecting rod 4323 moves from one side of the upper sprocket 4321 or the lower sprocket 4322 to the other side, the upper part of the rotating connecting rod 434 moves left and right.This allows the rotating connecting rod 434 to rotate around the first hinge axis 4332. The second elongated hole 4343 ensures that the upper part of the rotating connecting rod 434 does not affect the left-right swinging of the connecting rod 4323. A second hinge axis 4344 is located to the left of the first hinge axis 4332 at the lower part of the rotating connecting rod 434. During the rotation of the rotating connecting rod 434 around the first hinge axis 4332 driven by the connecting rod 4323, the second hinge axis 4344 simultaneously rotates around the first hinge axis 4332. The outer sides of the two seedling half-nozzles 421... Each part is hinged to the lower part of the first mounting plate 4331. Specifically, a rotating support shaft 4212 is provided on the outer side of the planting half-spout 421. The rotating support shaft 4212 is rotatably mounted on the first mounting plate 4331. The rotation of the planting half-spout 421 can be realized by the rotational support of the rotating support shaft 4212. A third hinge shaft 4211 is provided on the inner rear part of each of the two planting half-spouts 421. The upper ends of the first hinge connecting rod 4341 and the second hinge connecting rod 4342 are hinged to the second hinge shaft 4344. The lower end of the first hinge connecting rod 4341... The second hinge shaft 4342 is hinged to the third hinge shaft 4211 located on the left side, and the lower end of the second hinge shaft 4342 is hinged to the third hinge shaft 4211 located on the right side. The up-and-down swinging of the second hinge shaft 4342 can cause the lower parts of the two planting half-mouths 42 to close and move away from each other. That is, through the above arrangement, within one rotation cycle of the transmission chain 432, the reciprocating up-and-down movement of the well-type planting mouth 42 can be achieved. Simultaneously, the opening and closing of the two planting half-mouths 42 can be achieved near the lower limit movement position and near the upper limit position. Specifically, when the third hinge... When shaft 4344 swings upward to its upper limit, the two seedling planting nozzles 421 close. When the third hinge shaft 4344 swings downward to its lower limit, the two seedling planting nozzles 421 open. When the two seedling planting nozzles 421 are open, the seedlings inside fall smoothly. When the two seedling planting nozzles 421 are closed, it facilitates the receiving and downward transport of seedlings. The first drive motor 431 is electrically connected to the controller, which can control the frequency of the first drive motor 431, thereby adjusting the up-and-down movement speed of the well-type seedling planting nozzle 42. The up-and-down reciprocating stroke of the well-type seedling planting nozzle 42 is determined by the vertical distribution distance and outer diameter of the upper sprocket 4321 and the lower sprocket 4322. Therefore, in practical applications, the position and outer diameter of the upper sprocket 4321 and the lower sprocket 4322 can be set according to actual needs.

[0052] Based on the above embodiments, to accurately catch seedlings falling from the seedling cylinder 3 using the well-type seedling nozzle 42, the well-type seedling nozzle 42 needs to be in a closed state. Therefore, the initial position of the connecting rod 4323 should be located at the right vertical end of the transmission chain 432. At this time, the rotating connecting rod 434 is in the right limit position of swinging to the right, and the third hinge shaft 4344 is in the upper limit position of swinging upward, so that the two seedling half nozzles 421 are in a close closed state. To facilitate the effective positioning of the connecting rod 4323 in the right vertical section of the transmission chain 432, a connecting plate 435 is fixedly installed on the front side of the connecting rod 4323. Two vertically distributed movable sliders 436 are fixedly installed on the connecting plate 435. The two movable sliders 436 are respectively sleeved on a first guide rod 438. The first guide rod 438 is horizontally fixed on the moving frame 433. A vertically fixed part is installed on the upper part of the movable slider 436. The positioning detection rod 437 has a third elongated hole 4334 distributed horizontally on the upper part of the moving frame 433, and a fourth elongated hole corresponding vertically to the third elongated hole 4334 on the whole machine bracket 1. The upper part of the positioning detection rod 437 passes through the fourth elongated hole. A first inductive proximity switch 61 is located on the left rear of the fourth elongated hole on the whole machine bracket 1. The first inductive proximity switch 61 is electrically connected to the controller. During the rotation of the transmission chain 432, the positioning detection rod 437 is synchronously driven to move vertically and horizontally. During the movement of the positioning detection rod 437, when the first inductive proximity switch 61 detects the positioning detection rod 437, it sends a detection signal to the controller. After receiving the detection signal, the controller stops the operation of the first drive motor 431, thereby realizing the initial positioning of the well-type seedling nozzle 42. To improve the initial positioning accuracy of the well-type seedling nozzle 42, the first drive motor 431 can be a stepper motor with a brake.

[0053] Based on the above embodiments, the specific implementation of the seedling feeding mechanism is as follows: The seedling feeding mechanism 3 further includes a second drive motor 32, a first reduction gearbox 33, a rotating shaft 34, a rotating circular plate 35, and a support ring 36. The seedling feeding cylinder 31 includes an upper cylinder 311 and a lower cover 312. One side of the lower cover 312 is hinged to the lower side of the upper cylinder 311. When the seedling feeding cylinder 31 rotates to the seedling feeding position, the lower cover 312 can automatically open under its own weight and the weight of the seedling, thereby allowing the seedlings in the upper cylinder 311 to fall down. The rotating shaft 34 is vertically rotatably mounted on the machine support 1, and the rotating circular plate 35 is fixedly mounted on the upper part of the rotating shaft 34. The six seedling feeding cylinders 31 are arranged along... The rotating shafts 34 are evenly spaced on the rotating circular plate 35 in the circumferential direction. The rotation of the rotating circular plate 35 allows the corresponding seedling cylinder 31 to be positioned at the seedling feeding station. The lower part of the rotating shafts 34 is connected to the first reduction gearbox 33. The second drive motor 32 drives the first reduction gearbox 33 to rotate. The support ring 36 is mounted on the machine support 1 and located below the seedling cylinder 31. The support ring 36 is open at the seedling feeding station. The support ring 36 supports the lower cover 312, enabling the lower cover 312 to close at the lower part of the upper cylinder 311. In this specific embodiment, the clockwise rotation of the rotating circular plate 35 drives the seedling cylinder 31 to rotate clockwise. During the clockwise rotation, the lower cover 312 is finally closed under the guidance and support of the support ring 36. The second drive motor 32 is electrically connected to the controller. In practical applications, the controller can realize intermittent motion control of the rotating circular plate 35 according to the angle after time, so that each seedling cylinder 31 can accurately stop at the seedling position. To further improve the accurate positioning of the seedling cylinder 31 at the seedling position, a circular detection plate 341 is fixedly set on the rotating shaft 34. Six detection blocks 342 are equally spaced along the circumference of the rotating shaft 34 on the outer side of the circular detection plate 341. The six detection blocks 342 correspond one-to-one with the six seedling cylinders 31. A device is set on the machine support 1. The second inductive proximity switch 62, which detects the corresponding detection block 342, is used to detect a detection block 342. When the second inductive proximity switch 62 detects a detection block 342, one of the seedling feeding tubes 31 is located at the seedling feeding station. The inductive proximity switch 62 is electrically connected to the controller. When the inductive proximity switch 62 detects a detection block 342, it sends a detection signal to the controller. The controller stops the operation of the second drive motor 32 based on the received detection signal. When the second drive motor 32 stops running, a seedling feeding tube 31 is precisely positioned at the seedling feeding station. After the seedling feeding tube 31 stops at the seedling feeding station, the lower cover 312 opens, allowing the seedlings in the seedling feeding tube 31 to fall directly into the seedling receiving guide hopper 41 under the action of gravity.Guided by the seedling guide head 41, the seedlings directly enter the well-type seedling nozzle 42. Once the well-type seedling nozzle 42 receives the seedlings, subsequent planting is facilitated.

[0054] Based on the above embodiments, the specific implementation of the walking mechanism is as follows: The walking mechanism 2 includes a walking bracket, a third drive motor 25, an active walking wheel 27, an auxiliary walking wheel 26, and a second reduction gearbox 24. The walking bracket includes a fixed tube 21 and telescopic rods 22. The two telescopic rods 22 are sleeved on both ends of the fixed tube 21, and the telescopic rods 22 can move left and right and be positioned relative to the fixed tube 21. Specifically, a pressing bolt for pressing the telescopic rods 22 is provided on the fixed tube 21. The telescopic rods 22 are positioned on the fixed tube 21 by pressing the telescopic rods 22 with the pressing bolts. A support frame 23 is provided at the outer end of the telescopic rods 22. Each of the support frames 23 has a drive wheel 27 and an auxiliary wheel 26 rotatably mounted on its lower part. A second reduction gearbox 24 drives the drive wheel 27, and a third drive motor 25 drives the second reduction gearbox 24. Specifically, the second reduction gearbox 24 is fixedly mounted on the lower part of the support frame 23, and the third drive motor 25 is mounted on the second reduction gearbox 24. The third drive motor 25 drives the rotation of the drive wheel 27. The fixed tube 21 can move up and down and be positioned relative to the machine frame 1, and the telescopic rod 22 can be adjusted up and down and positioned relative to the support frame 23. An adjusting screw 11 is rotatably mounted on the machine frame 1. A second guide rod 111 is arranged parallel to each other on both sides of the adjusting screw 11. An adjusting slider 28 is sleeved on the adjusting screw 11 and the second guide rod 111. By rotating the adjusting screw 11, the adjusting slider 28 can move up and down relative to the adjusting screw 11. A fixed tube 21 is set on the adjusting slider 28. Since the adjusting screw 11 is rotatably mounted on the machine support 1, and the adjusting slider 28 is connected to the fixed tube 21, rotating the adjusting screw 11 realizes the up and down adjustment of the machine support relative to the ground, thereby realizing the height adjustment of the well-type seedling nozzle 42 relative to the ground. Furthermore, in order to realize the up and down adjustment of the telescopic rod 22 relative to the support frame 23 and Positioning is used to further adjust the height of the well-type seedling nozzle 42 relative to the ground. Here, a vertical through groove is set on the support frame 23, and the end of the telescopic rod 22 is fitted into the vertical through groove. Adjustment plates 221 located on the left and right sides of the support frame 23 are fitted on the telescopic rod 22. The two sides of the adjustment plates 221 are fixed to the support frame 23 with bolts. Several threaded holes are set on the support frame 23. By adjusting the position of the adjustment plates 221 on the support frame 23, the height of the whole machine bracket 1 can be adjusted. A support plate is set on the adjustment plate 221, and a first pressing bolt 222 is set on the support plate. The telescopic rod 22 is pressed and fixed to the adjustment plate 221 by the first pressing bolt 222.

[0055] Based on the above embodiments, to facilitate the operation of the transplanter, the upper front side of the machine frame 1 is equipped with a forward / reverse switching lever 71, a travel speed control knob 72, a start / stop button 73, a power switch 74, an emergency stop switch 77, an indicator light 76, and a seedling switch 75. A programming operation area and a timing counter area are provided on the front vertical side wall of the machine frame 1. The forward / reverse switching lever 71, travel speed control knob 72, start / stop button 73, power switch 74, emergency stop switch 77, indicator light 76, seedling switch 75, programming operation area, and timing counter area are all electrically connected to the controller. The forward / reverse switching lever 71, travel speed control knob 72, start / stop button 73, power switch 74, emergency stop switch 77, indicator light 76, seedling switch 75, programming operation area, and timing counter area are all electrically connected to the controller. The lever 71 controls the forward, stop, and reverse movement of the walking mechanism. The walking speed control knob 72 allows for secondary speed adjustment. The start / stop button 73 starts and stops the transplanting operation. The power switch 74 connects the battery. The emergency stop switch 77 cuts off the main power in emergencies. The indicator light 76 displays the power status. The seedling switch 75 connects and disconnects the power to the first drive motor 431. The programming area allows direct control of the various actuators' operation logic, enabling coordinated operation and ensuring smooth transplanting. The timing and counting area directly displays the number of seedlings planted. The duration of each transplanter movement, controlled by adjusting the movement time and the rotation speed of the third drive motor 25, facilitates the spacing control of the seedlings. To facilitate manual adjustment of the machine's support frame 1, two left-right handrails 14 are provided at the front of the support frame 1. A left-turn control switch 141 and a right-turn control switch 142 are respectively installed on each handrail 14. The left-turn control switch 141 is located on the left handrail, and the right-turn control switch 142 is located on the right handrail. Pressing the left-turn control switch 141 or the right-turn control switch 142 cuts off the power to the corresponding left or right third drive motor 25. To achieve left or right turns, when the left turn control switch 141 or right turn control switch 142 is released, the corresponding third drive motor 25 restarts, and the machine continues to move in a straight line. To facilitate the angle adjustment of the handrail 14, a ring-shaped serration 161 is provided on the end face of the handrail connecting rod 16 connecting the machine frame 1 and the handrail 14. A serration corresponding to the serration 161 is provided on the connecting end of the handrail 14. A second pressing bolt 143 is fitted on the connecting end of the handrail 14, and the second pressing bolt 143 is threadedly connected to the handrail connecting rod 16. Tightening the second pressing bolt 143 fixes the handrail 14 on the handrail connecting rod 16. A seedling placement tray 15 is provided on the upper part of the machine frame 1. During actual operation, a certain number of seedlings are placed on the seedling placement tray 15 so that seedlings can be continuously placed into the seedling container 31 manually during transplanting.

[0056] Based on the above embodiments, the specific implementation of the powertrain is as follows: The powertrain includes a small gasoline engine, a generator, and a battery. The small gasoline engine drives the generator to rotate. The generator is electrically connected to the battery. The controller is electrically connected to the small gasoline engine and the battery. The controller has a battery charge detection module. When the controller detects that the battery charge is lower than a set value, the controller directly starts the small gasoline engine. After the small gasoline engine starts, it drives the generator to generate electricity and charge the battery. When the battery charge reaches the set detection upper limit, the controller shuts off the small gasoline engine, thereby completing the battery charging process. In this invention, the battery provides power to all electrical components.

[0057] Since the power actuators in the walking mechanism 2, the seedling feeding mechanism 3, and the seedling planting mechanism 4 are all independently controlled by a single motor, the independent control of each motor by the controller can achieve effective coordination between the walking mechanism 2, the seedling feeding mechanism 3, and the seedling planting mechanism 4. At the same time, it facilitates the simplified design of the overall structure of the transplanter.

[0058] This invention also provides a method for continuous transplanting of tobacco seedlings, including the aforementioned self-propelled range-extended vegetable and tobacco seedling transplanter. To facilitate well-cell transplanting of tobacco seedlings and improve their survival rate, the inner diameter of the cylindrical portion of the well-cell transplanting nozzle 42 is set to 10cm. Simultaneously, the vertical heights of the cylindrical and conical portions of the well-cell transplanting nozzle 42 are set to 10cm and 11cm respectively. Figure 15 The value of L1 is set to 10cm, the value of L2 is set to 11cm, and the distance of the well-type seedling nozzle 42 from the starting position to the lowest position is set to 23cm. This tobacco seedling transplanting method also includes the following steps:

[0059] S1. Move the transplanter to the starting planting end of the corresponding soil ridge 81 and adjust the position of the transplanter so that the transplanter is directly above the soil ridge 81.

[0060] S2. Position the well-cellar transplanting nozzle 42 in the initial working position, position one of the seedling feeding tubes 31 in the seedling feeding position, and at the same time, ensure that a tobacco seedling 82 has been placed in each of the remaining seedling feeding tubes 31, and place a tobacco seedling 82 in the well-cellar transplanting nozzle 42.

[0061] S3. Rotate the adjusting screw 11 to adjust the vertical height between the bottom of the well-type transplanting nozzle 42 and the soil ridge 81, so that the bottom of the well-type transplanting nozzle 42 is 5cm away from the top of the soil ridge 81; the tobacco seedlings are thus placed in a well-type cultivation state within the soil ridge 81. Figure 16As shown, the tobacco seedling 82 is located in the well-type seedling hole 811, and the distance L3 between the top of the tobacco seedling 82 and the top of the soil mound 81 is maintained at about 4cm. In this specific embodiment, the height of the tobacco seedling 82 is basically about 10cm. When the tobacco seedling 82 is placed in the well-type seedling nozzle 42, the distance between the bottom of the tobacco seedling 82 and the bottom of the well-type seedling nozzle 42 is about 3cm.

[0062] S4. Set the duration of each movement of the transplanter through the timer counting operation area. Here, the duration of each movement of the transplanter is set to 1.5 seconds. Use the forward / backward switching lever 71 to put the transplanter in forward movement mode.

[0063] S5. Manually press the start / stop button 73 to start the transplanter;

[0064] S6. The controller starts the first drive motor 431, which drives the well-type transplanting nozzle 42 to complete a reciprocating up-and-down motion. During the up-and-down motion of the well-type transplanting nozzle 42, the tobacco seedlings 82 inside it are transplanted into the soil ridge 81. During the downward movement of the well-type transplanting nozzle 42 by 23cm, the well-type transplanting nozzle 42 initially remains in a closed downward movement state, so that it can smoothly penetrate into the soil ridge 81. As the connecting rod 4323 continues to descend vertically, the well-type transplanting nozzle 42 continues to move vertically into the soil ridge 81. As the connecting rod 4323 begins to rotate around the lower sprocket 4322, the descent speed of the pit-type transplanting nozzle 42 slows down, and the two transplanting half-nozzles 421 begin to open slowly. When the connecting rod 4323 moves directly below the lower sprocket 4322, the pit-type transplanting nozzle 42 moves downward to its limit position. At this point, the pit-type transplanting nozzle 42 is inserted into the soil mound 81 to a depth of about 18cm. Simultaneously, the tobacco seedling 82 has not yet detached from the pit-type transplanting nozzle 42. With the reverse upward movement of the connecting rod 4323... As the two seedling spouts 421 continue to open, the tobacco seedlings 82 fall out of the well-type transplanting spouts 42. Before the seedlings 82 fall out, the opening action of the seedling spouts 421 has a certain agitating effect on the soil, causing some soil to flow to the area below the seedlings 82. After the seedlings 82 have completely fallen out, the bottom of the seedlings 82 is about 3-4 cm deep into the soil from the lower limit of the well-type transplanting spouts 42. Consequently, the top of the seedlings 82 is about 4-5 cm away from the top of the soil mound 81, thus effectively achieving the desired seedling growth. 82. Well-cellar transplanting: After the well-cellar transplanting nozzle 42 is inserted into the soil mound 81, the upper diameter of the well-cellar seedling hole 811 formed by it is about 10cm. Because the soil is relatively moist, even if the bottom of the seedling half nozzle 421 has a flexing effect on the side wall soil of the well-cellar seedling hole 811 during the process of the well-cellar seedling nozzle 42 opening and moving upward, the entire well-cellar seedling hole 811 will not be completely filled by the soil. Therefore, there is no situation where the tobacco seedling 82 is completely submerged by the soil, so that the well-cellar transplanting of tobacco seedling 82 can be carried out smoothly.

[0065] S7. After the well-type transplanting nozzle 42 completes one up-and-down reciprocating motion, the controller starts the second drive motor 32 to make the circular rotating plate 35 rotate. After the circular rotating plate 35 rotates 60 degrees clockwise, the rotation of the second drive motor 32 stops, thereby realizing the placement of tobacco seedlings 82 in the corresponding seedling tube 31 into the well-type transplanting nozzle 42. After the second drive motor 32 stops rotating, the tobacco seedlings 82 are manually and synchronously placed back into the seedling tube 31, which has been sealed at the bottom and is empty inside.

[0066] S8. When the second drive motor 32 stops rotating, the controller starts the third drive motor 25 according to the internally set walking control program. After the third drive motor 25 runs continuously for a set time of 1.5 seconds, the controller stops the operation of the third drive motor 25.

[0067] S9. Repeat steps S6-S8 in sequence to achieve continuous transplanting of tobacco seedlings 82 on a soil ridge 81.

[0068] In this invention, "upper," "lower," "front," "back," "left," and "right" are all relative positions used for the convenience of describing positional relationships, and therefore cannot be understood as absolute positions as limitations on the scope of protection.

[0069] Except for the technical features described in the specification, all other technologies are known to those skilled in the art.

[0070] The preferred embodiments and examples of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments and examples. For those skilled in the art, several improvements and modifications can be made without departing from the concept of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A self-propelled extended-range vegetable tobacco seedling transplanting machine, characterized in that, The whole machine support, walking mechanism, seedling throwing mechanism, seedling planting mechanism, power assembly and controller are arranged on the whole machine support, and the whole machine support can be adjusted up and down and positioned relative to the walking mechanism, the seedling throwing mechanism, seedling planting mechanism, power assembly and controller are arranged on the whole machine support, the seedling throwing mechanism comprises a plurality of seedling throwing barrels which are distributed at equal intervals along the circumferential direction, the bottom of the seedling throwing barrel can be automatically opened at the seedling throwing position, the seedling planting mechanism comprises a seedling receiving guide hopper, a well cellar type seedling planting nozzle and a seedling planting driving and executing assembly, the seedling receiving guide hopper is arranged directly below the seedling throwing position, the well cellar type seedling planting nozzle is arranged at the lower part of the seedling receiving guide hopper, and the seedling outlet of the seedling receiving guide hopper and the seedling inlet of the well cellar type seedling planting nozzle are in communication, the upper part of the well cellar type seedling planting nozzle is in a cylindrical shape, the lower part is in a conical shape, the well cellar type seedling planting nozzle is composed of two left and right symmetrical seedling planting half nozzles, the seedling planting driving and executing assembly can drive the well cellar type seedling planting nozzle to move up and down reciprocally and can realize the opening of the bottom of the well cellar type seedling planting nozzle at the seedling throwing position and the closing of the well cellar type seedling planting nozzle at the seedling planting position in sequence, the power assembly provides electric energy for the walking mechanism, seedling throwing mechanism, seedling planting mechanism and controller, and the controller can control the operation of the walking mechanism, seedling throwing mechanism, seedling planting driving and executing assembly and power assembly.

2. The self-propelled extended-range vegetable tobacco seedling transplanting machine according to claim 1, characterized by, The seedling planting driving and executing assembly comprises a first driving motor, a transmission chain, a moving frame, an opening and closing transmission assembly, the transmission chain is arranged vertically on the front side of a first support plate of the whole machine support, the first driving motor is used to drive the transmission chain to rotate, a connecting rod is arranged on the transmission chain, the connecting rod is arranged in a first long circular hole arranged on the moving frame, a first mounting plate is fixedly arranged at the lower part of the front side of the moving frame, the well cellar type seedling planting nozzle is arranged at the lower part of the first mounting plate, the seedling receiving guide hopper is arranged at the upper part of the first mounting plate, the opening and closing transmission assembly is arranged at the front side of the inside of the moving frame, the opening and closing transmission assembly drives the bottom of the well cellar type seedling planting nozzle to open and close through the connecting rod, and the first driving motor is electrically connected with the controller. The opening and closing transmission assembly comprises a rotating connecting rod, a first hinged connecting rod and a second hinged connecting rod, the second long circular hole arranged vertically on the upper part of the rotating connecting rod is sleeved on the connecting rod, the lower part of the rotating connecting rod is rotatably sleeved on a first hinged shaft of the moving frame, a second hinged shaft is arranged at the left side of the lower part of the rotating connecting rod, the outer upper parts of the two seedling planting half nozzles are hingedly connected with the lower part of the first mounting plate, a third hinged shaft is arranged at the inner rear part of each of the two seedling planting half nozzles, the upper ends of the first hinged connecting rod and the second hinged connecting rod are hingedly connected with the second hinged shaft, the lower end of the first hinged connecting rod is hingedly connected with the third hinged shaft arranged at the left side, the lower end of the second hinged shaft is hingedly connected with the third hinged shaft arranged at the right side, and the up and down swinging of the second hinged shaft can drive the mutual closing and mutual separation of the lower parts of the two seedling planting half nozzles.

3. The self-propelled extended-range vegetable tobacco seedling transplanting machine according to claim 2, characterized in that, A connecting plate is fixedly arranged on the front side of the connecting rod, two moving sliders are fixedly arranged on the connecting plate and are distributed vertically, the two moving sliders are respectively sleeved on a first guide rod, the first guide rod is fixedly arranged horizontally on the moving frame, a positioning detection rod is fixedly arranged vertically on the upper part of the moving slider on the upper side, a third long circular hole is arranged on the upper part of the moving frame and is distributed horizontally, a fourth long circular hole is arranged on the whole machine support and corresponds to the third long circular hole vertically, the upper part of the positioning detection rod penetrates through the fourth long circular hole, a first inductive proximity switch is arranged on the whole machine support and is located behind the left side of the fourth long circular hole, and the first inductive proximity switch is electrically connected with the controller.

4. The self-propelled extended-range vegetable tobacco seedling transplanting machine according to claim 2, characterized by, The seedling throwing mechanism further comprises a second driving motor, a first speed reducer, a rotating shaft, a rotating circular plate and a supporting ring. The seedling throwing cylinder comprises an upper cylinder body and a lower cover, one side of the lower cover is hingedly connected with one side of the lower part of the upper cylinder body, the rotating shaft is vertically arranged on the whole machine support, the rotating circular plate is fixedly arranged on the upper part of the rotating shaft, six seedling throwing cylinders are equidistantly arranged on the rotating circular plate along the circumferential direction of the rotating shaft, and the corresponding seedling throwing cylinder can be located on the seedling throwing station through the rotation of the rotating circular plate. The lower part of the rotating shaft is connected with the first speed reducer, the second driving motor is used for driving the first speed reducer to rotate, the supporting ring is arranged on the whole machine support and is located below the seedling throwing cylinder, the supporting ring is in an open state at the seedling throwing station, the supporting ring supports the lower cover to realize the closing of the lower cover on the lower part of the upper cylinder body, and the second driving motor is electrically connected with the controller.

5. The self-propelled extended-range vegetable tobacco seedling transplanting machine according to claim 4, wherein the plurality of wheels are arranged in a line in the front and rear of the body. A circular detection plate is fixedly arranged on the rotating shaft, six detection blocks are arranged on the outer side of the circular detection plate and are equidistantly distributed along the circumferential direction of the rotating shaft, the six detection blocks correspond to the six seedling throwing cylinders one by one vertically, a second inductive proximity switch is arranged on the whole machine support and is used for detecting the corresponding detection block, when the second inductive proximity switch detects a detection block, one seedling throwing cylinder is located on the seedling throwing station, and the inductive proximity switch is electrically connected with the controller.

6. The self-propelled extended-range vegetable tobacco seedling transplanting machine according to claim 4, characterized by, The walking mechanism comprises a walking support, a third driving motor, a main walking wheel, an auxiliary walking wheel and a second speed reducer, the walking support comprises a fixed tube and telescopic rods, two telescopic rods are arranged on the two ends of the fixed tube and can move leftward and rightward and be positioned relative to the fixed tube, a support frame is arranged on the outer end of the telescopic rod, the main walking wheel and the auxiliary walking wheel are arranged on the lower part of each support frame and can rotate forward and backward, the second speed reducer is used for driving the main walking wheel, the third driving motor is used for driving the second speed reducer, the fixed tube can move upward and downward and be positioned relative to the whole machine support, the telescopic rod can be adjusted upward and downward and be positioned relative to the support frame, an adjusting screw is arranged on the whole machine support and rotates, a second guide rod is arranged on the two sides of the adjusting screw in parallel, an adjusting sliding block is arranged on the adjusting screw and the second guide rod, the adjusting sliding block can move upward and downward relative to the adjusting screw by rotating the adjusting screw, and the fixed tube is arranged on the adjusting sliding block.

7. The self-propelled range extended vegetable tobacco seedling transplanter according to claim 6, wherein The front side upper part of the whole machine support is respectively provided with a forward and backward switching gear lever, a walking speed regulating knob, a start and stop button, a power switch, an emergency stop switch, an indicator light and a seedling planting switch, a programming operation area and a timing counting area are arranged on the vertical side wall of the front side of the whole machine support, two handrails are arranged on the front part of the whole machine support and are distributed leftward and rightward, a left turning control switch and a right turning control switch are arranged on the two handrails respectively, and a seedling placing disc is arranged on the upper part of the whole machine support.

8. The self-propelled extended-range vegetable tobacco seedling transplanting machine according to claim 1, characterized by, The power assembly comprises a small gasoline engine, a generator and a storage battery, the small gasoline engine is used for driving the generator to rotate, the generator is electrically connected with the storage battery, and the controller is electrically connected with the small gasoline engine and the storage battery.

9. A method for continuous transplanting of tobacco seedlings, characterized by, The self-propelled range-extending vegetable tobacco seedling transplanting machine comprises the self-propelled range-extending vegetable tobacco seedling transplanting machine according to claim 7, the inner diameter of the cylindrical part of the well cellar type seedling planting nozzle is 10 cm, the vertical heights of the cylindrical part and the conical part of the well cellar type seedling planting nozzle are 10 cm and 11 cm respectively, the distance from the starting position to the lowest position of the well cellar type seedling planting nozzle is 23 cm, and the continuous tobacco seedling transplanting method further comprises the following steps. S1, moving the transplanting machine to the starting planting end of the corresponding soil ridge and adjusting the orientation of the transplanting machine so that the transplanting machine is transverse above the soil ridge; S2, making the well cellar type transplanting nozzle be located at the initial working position, making one of the seedling planting barrels be located at the seedling planting position, and ensuring that one tobacco seedling is placed in each of the remaining seedling planting barrels; S3, rotating the adjusting screw to adjust the vertical height between the bottom of the well cellar type transplanting nozzle and the soil ridge, so that the bottom of the well cellar type transplanting nozzle is 5 cm away from the top of the soil ridge; S4, setting the time length of each movement of the transplanting machine through the timing counting operation area, in this case, the time length of each movement of the transplanting machine is set to 1.5 s, and the forward and backward switching gear lever is used to make the transplanting machine be in the forward movement mode; S5, manually pressing the start and stop button to start the transplanting machine. S6, the controller starts the first drive motor to drive the well cellar type transplanting nozzle to complete a reciprocating motion, and the tobacco seedlings in the well cellar type transplanting nozzle are transplanted into the soil ridge during the reciprocating motion of the well cellar type transplanting nozzle; S7, after the well cellar type transplanting nozzle completes a reciprocating motion, the controller starts the second drive motor to drive the circular rotating plate to rotate, and stops the rotation of the second drive motor when the circular rotating plate rotates 60 degrees clockwise, thereby realizing the tobacco seedlings in the corresponding seedling throwing cylinder into the well cellar type transplanting nozzle; after the second drive motor stops rotating, the tobacco seedlings are manually placed into the bottom sealed and empty inside seedling throwing cylinder; S8, after the second drive motor stops rotating, the controller starts the third drive motor according to the internal setting of the walking control program, and stops the operation of the third drive motor after the third drive motor runs for a set time of 1.5 seconds; S9, steps S6-S8 are repeated in sequence to realize continuous transplantation and planting of tobacco seedlings on a soil ridge.

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