Full-automatic eggplant seedling transplanter

Abstract

The invention provides a full-automatic eggplant seedling transplanter, and belongs to the technical field of agricultural equipment. According to the soil preparation mechanism, motor rotation in the horizontal direction is converted into rotation in the vertical direction through a worm and gear reduction gearbox, and a soil preparation function is achieved by adding a soil loosening blade. The seedling taking mechanism is composed of a gear and rack mechanism, and vegetable seedlings are grabbed through a flexible assembly. The seedling releasing mechanism adopts a parallelogram-shaped four-bar mechanism and a duckbilled seedling cup, so that the seedling releasing mechanism can move up and down during seedling releasing, and the seedling releasing cup can be opened and closed. According to the soil covering mechanism, a crank sliding block mechanism is applied, and a soil raking crank is driven to rotate through rotation of a soil covering steering engine, so that the rotating motion of the soil raking crank is converted into linear motion of a soil raking sliding block, and the final soil covering function is achieved. The watering system adopts a cam mechanism, and when a gear motor rotates, a cam is driven to rotate, so that the watering task is completed by the system. The transplanting efficiency is improved, the transplanting quality is good, and the labor intensity is reduced.

Description

Technical Field

[0001] The invention provides a fully automatic eggplant seedling transplanter, belonging to the technical field of agricultural equipment. Background Art

[0002] With the development of modern agricultural technology, automation and intelligence have become the key to improving agricultural production efficiency and reducing labor costs. Vegetable seedling transplanting is an important part of vegetable planting. The traditional manual transplanting method is inefficient and labor-intensive. In addition, its working object is tender seedlings, with many parameters and many complex objectives to meet the trajectory and posture requirements of the working parts. The functional relationship between the series parameters and each objective is highly coupled, and the optimization design is difficult. At present, semi-automatic vegetable seedling pot transplanting machines have been widely used in my country. This type of machine has a simple structure, low price, and stable performance, but the seedling removal and placement are completed manually, and only the planting action is completed by machinery. Manual feeding of seedlings is required, the production efficiency is low, the labor intensity is high, and it is difficult to ensure uniform plant spacing.

[0003] Semi-automatic transplanters use manual seedling removal and then send them to the planting mechanism for mechanized planting. They are currently the most widely used and largest type of transplanter.

[0004] However, this device has the following problems:

[0005] Low transplanting efficiency: The actual transplanting efficiency of existing film transplanters does not exceed 2,800 plants per hour per row. Each transplanter requires at least two people to work at the same time, that is, the operating efficiency of each transplanter is about 2-3 times that of manual transplanting.

[0006] Low degree of automation: Most of the transplanters currently in use in my country are semi-automatic transplanters, and fully automatic transplanters are in the research and development stage. Semi-automatic transplanters require manual seedling placement and cannot liberate human labor to a high degree.

[0007] The reliability of transplanting is not high: the transplanting machines currently on the market can realize the transplanting function, but the reliability needs to be improved. During the transplanting process, there will be problems such as low transplanting uprightness, missing seedlings, carrying seedlings, seedling injury, and film hanging. Summary of the invention

[0008] In view of the above technical problems, the present invention provides a fully automatic eggplant seedling transplanter to achieve the following objectives:

[0009] 1. Automatically complete the vegetable seedling planting process.

[0010] The design includes soil preparation mechanism, seedling picking mechanism, seedling placing mechanism, soil covering mechanism and watering system, which organically integrate the above mechanisms and systems into one machine. The seedling picking mechanism is equipped with a high-definition camera, which can find the specific position of the vegetable seedlings in the seedling tray in real time, providing a good reference for seedling picking, and improving the success rate and speed of seedling picking. In addition, a pressure sensor is installed on the seedling picking mechanism. Through experiments and research, we have found that each seedling can withstand a pressure of about 5N. By setting the parameters of the pressure sensor, the claws of the seedling picking mechanism are made more flexible and stable. It can not only protect the seedlings well, but also improve the success rate of seedling picking. The seedling placing mechanism composed of a parallelogram mechanism completes the up and down movement and the opening and closing of the seedling placing cup when placing the seedlings through the rotation of the servo. The next step is soil covering and watering.

[0011] The project completed the whole process of vegetable seedling transplanting by cleverly combining soil preparation mechanism, seedling taking mechanism, seedling placing mechanism, soil covering mechanism and watering system.

[0012] 2. Improve transplanting efficiency and reduce labor costs.

[0013] The transplanter integrates the functions of soil preparation, seedling removal, seedling placement, soil covering and watering. It does not require manual assistance, reducing the time and labor intensity of manual operation. It can also accurately control the spacing between plants, rows and depth to ensure that each seedling can get the appropriate growth space and soil depth, which is conducive to improving the growth quality and yield of vegetables. Compared with manual transplanting, the fully automatic transplanter can significantly improve work efficiency. For example, one machine can complete the vegetable transplanting work of three acres of land in one hour, which is equivalent to 30 manual workers, greatly saving time and labor costs. In addition, machine operation can ensure the standardization and consistency of transplanting operations, which is conducive to subsequent field management and mechanized operations.

[0014] The fully automatic vegetable seedling transplanter significantly improves transplanting efficiency and reduces labor costs through automation, precise control, high efficiency, reduced labor demand, lower costs, wide applicability, reduced damage and standardized operations.

[0015] 3. Ensure the quality of transplanting and improve the survival rate of vegetable seedlings.

[0016] In the process of transplanting vegetable seedlings, the most important and difficult part is the seedling removal and seedling placement. Our team solved this pain point by using a flexible seedling removal mechanism equipped with a camera and a pressure sensor to monitor the mechanism's operation in real time and provide feedback, ultimately adjusting the seedling removal parameters better. This ensures that the vegetable seedlings are well protected during the two processes of seedling removal and seedling placement, ensuring the quality of transplantation and improving the survival rate of vegetable seedlings.

[0017] 4. Simple design, easy operation and low maintenance cost.

[0018] Although this machine has many mechanisms and systems, its mechanism design is simple, which makes it easy for people to operate and has a relatively low maintenance cost.

[0019] The present invention provides the following specific technical solutions:

[0020] A fully automatic eggplant seedling transplanter comprises a soil preparation mechanism, a seedling taking mechanism, a seedling placing mechanism and a soil covering and watering mechanism.

[0021] The soil leveling mechanism converts the horizontal rotation of the motor into vertical rotation through a worm gear reducer, and together with a blade for loosening the soil, the function of soil leveling is achieved.

[0022] The seedling picking mechanism is composed of a gear rack mechanism, and a flexible component is used to pick up the vegetable seedlings;

[0023] The seedling placing mechanism adopts a parallelogram four-bar mechanism and a duckbill seedling cup, and realizes the up and down movement when the seedlings are placed and completes the opening and closing of the seedling placing cup through the rotation of the motor.

[0024] The soil covering and watering mechanism comprises:

[0025] The soil covering mechanism uses a crank slider mechanism. The rotation of the soil covering servo drives the rotary motion of the soil holding crank, thereby converting the rotary motion of the soil holding crank into the linear motion of the soil holding slider to achieve the final soil covering function.

[0026] Watering system: It adopts a cam mechanism. When the reduction motor rotates, it will drive the cam to rotate, so that the system can complete the watering task.

[0027] Also includes:

[0028] Visual recognition system on the seedling picking mechanism: used to identify the specific position of the vegetable seedlings in the seedling tray, as well as the shape and status of their placement.

[0029] Pressure sensor system on the seedling picking mechanism: mainly for real-time monitoring of the pressure exerted by the seedling picking mechanism on the vegetable seedlings when picking the seedlings, so as to avoid damage to the vegetable seedlings.

[0030] Transplanter control system: used to control the automated operation of the entire transplanting process.

[0031] Specific:

[0032] The soil leveling mechanism comprises a fixed bracket, a soil leveling screw, a rotary cutter shaft, a worm gear reduction box, a soil loosening rotary cutter, and a reduction box base;

[0033] The soil leveling screw is fixed on the fixed bracket, the slider cooperates with the soil leveling screw, the reduction box base is fixedly connected with the slider, the worm gear reduction box is installed on the reduction box base, the rotary cutter shaft is cooperated and fixed with the worm gear reduction box, and a plurality of loosening rotary cutters are installed on the rotary cutter shaft;

[0034] The motor drives the soil leveling screw to control the lifting and lowering of the loosening blade. The motor drives the worm gear reducer, which rotates the loosening blade to finally achieve the function of soil leveling and loosening.

[0035] The seedling taking mechanism comprises a first seedling taking screw, a second seedling taking screw, a third seedling taking screw, a fourth seedling taking screw, a trough guide plate, a seedling taking steering gear, a seedling taking clamp and a seedling placing platform;

[0036] The first horizontal seedling taking screw rod and the second horizontal seedling taking screw rod are fixed on the supporting profile in parallel, and the first slider and the second slider are matched with the first seedling taking screw rod and the second seedling taking screw rod respectively; the head and tail of the third seedling taking screw rod are respectively fixed with the first slider and the second slider, the third slider is matched with the third seedling taking screw rod, the third slider is fixed with the head of the vertical fourth seedling taking screw rod, and the fourth slider is matched with the fourth seedling taking screw rod;

[0037] A pair of mutually symmetrical guide grooves are provided on the guide groove plate, with the lower half of the pair of guide grooves being close in distance and the upper half being far in distance; the guide groove plate is installed behind the fourth slider, and the square shaft is installed on the front of the fourth slider, and a servo slider is respectively matched on the left and right of the square shaft, and the long straight part of the servo slider is inserted into the guide groove on the guide groove plate and matched therewith. A seedling servo is fixed on the front of each servo slider, and a seedling servo is installed on the seedling servo.

[0038] The first and second seedling taking screws cooperate with the first and second sliders to control the movement of the main body of the seedling taking mechanism in the front-back direction, the third seedling taking screw cooperates with the third slider to determine the movement in the left-right direction, and the fourth seedling taking screw cooperates with the fourth slider to control the movement in the up-down direction. The guide groove plate provides a specific movement track for the seedling taking clamp. When the seedling taking clamp starts to take the seedling, the fourth slider moves downward, and the two steering gear sliders are restricted by the guide groove and move closer to each other to achieve accurate seedling taking. After taking the seedling, the fourth slider moves upward, and the steering gear sliders move away from each other to achieve accurate delivery.

[0039] The seedling placing mechanism comprises a first crank, a second crank, a rocker, a seedling placing duckbill cup, and a driving gear;

[0040] The transmission shaft passes through the frame and cooperates with the driving gear. The first transmission gear is installed on the frame and meshes with the driving gear. The second transmission gear is installed on the frame and meshes with the first transmission gear. The third transmission gear and the fourth transmission gear are of the same size. The third transmission gear and the fourth transmission gear are respectively meshed with the second transmission gear to achieve synchronous rotation. The third transmission gear and the fourth transmission gear are respectively transmitted with the first crank and the second crank through the connecting rod. The first crank and the second crank are connected to the rocker through a rotating pair to form a parallelogram mechanism. The seedling duckbill cup is installed on the extension of the rocker. The parallelogram mechanism has two sections, distributed on both sides of the frame, forming a symmetrical structure.

[0041] The motion is input to the driving gear through the transmission shaft, and the driving gear transmits the motion to the third transmission gear and the fourth transmission gear through the first transmission gear and the first transmission gear. The third transmission gear and the fourth transmission gear are fixed to the first crank and the second crank, so that the parallelogram mechanism can operate normally and finally realize the seedling release work.

[0042] The soil covering and watering mechanism comprises a water tank, a soil covering steering gear, a soil raking crank, a simulation hand, and a soil covering plate;

[0043] The soil covering servo is fixed on the base, the soil hugging crank is connected to the soil covering servo through a rotating pair, the soil hugging slider is connected to the soil hugging crank through a rotating pair, the soil hugging slider cooperates with the limit groove on the base, the soil hugging slider is connected to the connecting rod through a rotating pair, the connecting rod is connected to the simulation hand, the simulation hand node cooperates with the base through a rotating pair, and a soil covering plate is installed at the end of the simulation hand.

[0044] The water tank is fixed to the frame. The water tank is connected to a water pipe, a water discharge cam is arranged at the water inlet of the water pipe, and the water discharge cam is controlled to rotate by a reduction motor; and a water outlet of the water pipe is located between a pair of soil covering plates.

[0045] The soil covering servo rotates, driving the soil raking crank to rotate, which transmits the soil raking slider to make linear motion, realizing the normal operation of the crank slider mechanism. The movement of the soil raking slider is transmitted to the simulation hand through the connecting rod, driving the soil covering plate to close. When the water tank is drained, the water discharge cam is driven to rotate through the reduction motor to realize intermittent water discharge.

[0046] Beneficial effects brought by the technical solution of the present invention:

[0047] First, it improves transplanting efficiency. It can transplant a large number of eggplant seedlings per unit time, which is many times faster than manual transplanting. In large-scale planting scenarios, manual transplanting may only complete a few acres of land a day, while the automatic transplanter can complete the transplanting of several acres of land in the same time.

[0048] Second, the quality of transplanting is good. The automatic transplanter can ensure that the parameters such as the depth and spacing of eggplant seedlings are relatively consistent. Accurate transplanting depth helps the root system of eggplant seedlings grow better and absorb nutrients. Appropriate spacing can ensure that there is sufficient space, light and ventilation conditions during the growth of eggplant, thereby improving the yield and quality of eggplant.

[0049] The third is to reduce labor intensity. Using automatic transplanters instead of manual transplanting, farmers do not need to bend over for a long time, which greatly reduces the physical burden, reduces labor input, and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural schematic diagram of the present invention;

[0051] Figure 2 It is a schematic diagram of the overall side view structure of the present invention;

[0052] Figure 3 It is a schematic diagram of the soil preparation structure of the present invention;

[0053] Figure 4 It is a front view structural schematic diagram of the seedling taking mechanism of the present invention;

[0054] Figure 5 It is a schematic diagram of the three-dimensional structure of the seedling taking mechanism of the present invention;

[0055] Figure 6 It is a schematic diagram of the main structure of the seedling placing mechanism of the present invention;

[0056] Figure 7 It is a top view and a cross-sectional structural schematic diagram of the seedling placing mechanism of the present invention;

[0057] Figure 8 This is a schematic diagram of the front structure of the soil covering and watering mechanism of the present invention;

[0058] Fig. 9 It is a schematic diagram of the back structure of the soil covering and watering mechanism of the present invention. DETAILED DESCRIPTION

[0059] like Figure 1 and Figure 2 As shown, the fully automatic eggplant seedling transplanter includes a soil preparation mechanism 1, a seedling taking mechanism 2, a seedling placing mechanism 3 and a soil covering and watering mechanism 4.

[0060] The soil leveling mechanism 1 converts the horizontal rotation of the motor into vertical rotation through a worm gear reducer, and is coupled with a blade for loosening the soil to achieve the function of soil leveling.

[0061] The soil leveling mechanism 1 includes a fixed bracket 11, a soil leveling screw 12, a rotary cutter shaft 13, a worm gear reducer 14, a soil loosening rotary cutter 15, and a reducer base 16; Figure 3shown.

[0062] The soil leveling screw 12 is fixed on the fixed bracket 11, the slider cooperates with the soil leveling screw 12, the reduction box base 16 is fixedly connected to the slider, the worm gear reduction box 14 is installed on the reduction box base 16, the cutter shaft 13 is cooperated and fixed with the worm gear reduction box 14, and a plurality of loosening cutters 15 are installed on the cutter shaft 13 and fixed by bolts.

[0063] When the equipment is running, the motor drives the soil leveling screw 12 to control the lifting and lowering of the soil loosening rotary cutter 15. The motor drives the worm gear reducer 14, and the worm gear reducer 14 rotates through the soil loosening rotary cutter 15, thereby finally achieving the function of soil leveling and loosening.

[0064] The seedling picking mechanism 2 is mainly composed of a gear rack mechanism, and a flexible component is added to realize the grabbing of vegetable seedlings without causing damage to the seedlings.

[0065] The seedling taking mechanism 2 is composed of a first seedling taking screw 21, a second seedling taking screw 22, a third seedling taking screw 23, a fourth seedling taking screw 24, a first slider 201, a second slider 202, a third slider 203, a fourth slider 204, a groove guide plate 26, a square shaft 27, a seedling taking steering gear 28, a seedling taking clamp 29, a steering gear slider 208, a seedling placing platform 20, and a supporting profile 25. Figure 4 and Figure 5 shown.

[0066] The horizontal first seedling taking screw rod 21 and the second seedling taking screw rod 22 are fixed in parallel on the supporting profile 25, and the first slider 201 and the second slider 202 are matched with the first seedling taking screw rod 21 and the second seedling taking screw rod 22 respectively; the head and tail of the third seedling taking screw rod 23 are fixed with the first slider 201 and the second slider 202 respectively, the third slider 203 is matched with the third seedling taking screw rod 23, the third slider 203 is fixed with the head of the vertical fourth seedling taking screw rod 24, and the fourth slider 204 is matched with the fourth seedling taking screw rod 24;

[0067] A pair of mutually symmetrical guide grooves are provided on the guide groove plate 26, with the lower half of the pair of guide grooves being closer and the upper half being farther; the guide groove plate 26 is installed behind the fourth slider 204, and the square shaft 27 is installed on the front of the fourth slider 204, and a servo slider 208 is respectively matched on the left and right of the square shaft 27, and the long straight part of the servo slider 208 is inserted into the guide groove on the guide groove plate 26, and cooperates with it. A seedling servo 28 is fixed on the front of each servo slider 208, and a seedling clamp 29 is installed on the seedling servo 28.

[0068] When the mechanism is working, the first seedling taking screw 21 and the second seedling taking screw 22 cooperate with the first slider 201 and the second slider 202 to control the movement of the main body of the seedling taking mechanism 2 in the front-back direction, the third seedling taking screw 23 cooperates with the third slider 203 to determine the movement in the left-right direction, and the fourth seedling taking screw 24 cooperates with the fourth slider 204 to control the movement in the up-down direction. The guide groove of the guide groove plate 26 can provide a specific movement track for the seedling taking clamp 29. When the seedling taking clamp 29 starts to take seedlings, the fourth slider 204 moves downward, and the two steering engine sliders 208 are restricted by the guide groove and move closer to each other, so that accurate seedling taking can be achieved. After taking seedlings, the fourth slider 204 moves upward, and the steering engine sliders 208 are pulled away from each other, and cooperate with other components to achieve accurate delivery.

[0069] The seedling placing mechanism 3 adopts a parallelogram four-bar mechanism and a duckbill seedling cup, and realizes the up and down movement when placing the seedlings and completes the opening and closing of the seedling placing cup through the rotation of the motor.

[0070] The seedling placing mechanism 3 is composed of a first crank 31, a second crank 32, a rocker 33, a seedling placing duckbill cup 34, a transmission shaft 35, a driving gear 36, a first transmission gear 371, a second transmission gear 372, a third transmission gear 373, a fourth transmission gear 374, and a frame 30. Figure 6 and Figure 7 shown.

[0071] The transmission shaft 35 passes through the frame 30 and cooperates with the driving gear 36. The first transmission gear 371 is installed on the frame 30 and meshes with the driving gear 36. The second transmission gear 372 is installed on the frame 30 and meshes with the first transmission gear 371. The third transmission gear 373 and the fourth transmission gear 374 are of the same size. The third transmission gear 373 and the fourth transmission gear 374 are respectively meshed with the second transmission gear 372 to achieve synchronous rotation; the third transmission gear 373 and the fourth transmission gear 374 are respectively transmitted with the first crank 31 and the second crank 32 through the connecting rod; the first crank 31 and the second crank 32 are connected to the rocker 33 through the rotating pair to form a parallelogram mechanism, and the seedling placing duckbill cup 34 is installed on the extension of the rocker 33. The parallelogram mechanism has two sections, distributed on both sides of the frame 30, forming a symmetrical structure.

[0072] When the mechanism is working, the motion is input to the driving gear 36 through the transmission shaft 35, and the driving gear 36 transmits the motion to the third transmission gear 373 and the fourth transmission gear 374 through the first transmission gear 371 and the first transmission gear 371. The third transmission gear 373 and the fourth transmission gear 374 are fixed to the first crank 31 and the second crank 32, so that the parallelogram mechanism can operate normally and finally realize the seedling release work.

[0073] The soil covering and watering mechanism 4 comprises:

[0074] The soil covering mechanism uses a crank slider mechanism. The rotation of the soil covering servo 43 drives the rotary motion of the soil holding crank 44, thereby converting the rotary motion of the soil holding crank 44 into the linear motion of the soil holding slider 45 to achieve the final soil covering function.

[0075] Watering system: A cam mechanism is used. When the reduction motor 41 rotates, the cam is driven to rotate, so that the system completes the watering task.

[0076] The soil covering and watering mechanism 4 is composed of a water tank 42, a reduction motor 41, a soil covering steering gear 43, a soil rubbing crank 44, a soil rubbing slider 45, a simulation hand 46, a soil covering plate 47, a connecting rod 48, a base 40, a water discharge cam 410, and a water guide pipe 49. Figure 8 and Fig. 9 .

[0077] The soil covering servo 43 is fixed on the base 40, the soil collecting crank 44 is connected to the soil covering servo 43 through a rotating pair, the soil collecting slider 45 is connected to the soil collecting crank 44 through a rotating pair, the soil collecting slider 45 cooperates with the limit groove on the base 40, the soil collecting slider 45 is connected to the connecting rod 48 through a rotating pair, the connecting rod 48 is connected to the simulation hand 46, the node of the simulation hand 46 cooperates with the base 40 through a rotating pair, and a soil covering plate 47 is installed at the end of the simulation hand 46.

[0078] The water tank 42 is fixed to the frame 30 . The water tank 42 is connected to a water pipe 49 , a water discharge cam 410 is provided at the water inlet of the water pipe 49 , and the water discharge cam 410 is controlled to rotate by a reduction motor 41 ; the water outlet of the water pipe 49 is located between a pair of soil covering plates 47 .

[0079] When the mechanism is working, the soil covering servo 43 rotates, driving the soil raking crank 44 to rotate, and transmitting the soil raking slider 45 to make a linear motion, so as to realize the normal operation of the crank slider mechanism. The movement of the soil raking slider 45 is transmitted to the simulation hand 46 through the connecting rod 48, driving the soil covering plate 47 to make a closing motion. When the water tank 42 is drained, the water discharge cam 410 is driven to rotate through the reduction motor 41 to realize intermittent water discharge, so as to achieve the purpose of precise irrigation.

[0080] Also includes:

[0081] The visual recognition system on the seedling picking mechanism 2 is used to identify the specific position of the vegetable seedlings in the seedling tray, as well as the shape and state of placement.

[0082] The pressure sensor system on the seedling picking mechanism 2 is mainly used for real-time monitoring of the pressure applied by the seedling picking mechanism 2 to the vegetable seedlings when picking the seedlings, so as to avoid damage to the vegetable seedlings.

[0083] Transplanter control system: used to control the automated operation of the entire transplanting process.

[0084] Key technical points of the present invention:

[0085] 1. The worm gear reducer converts the horizontal motor rotation into vertical rotation. With the unique four-blade system, the soil leveling function is finally achieved.

[0086] 2. The screws are rotated in three directions by the gear rack mechanism to realize spatial positioning, and the seedlings are taken by the seedling taking clamp 29. The pressure sensor monitors the pressure applied by the seedling taking mechanism 2 to the vegetable seedlings in real time to avoid damage to the vegetable seedlings. The seedling taking function is realized.

[0087] 3. The parallelogram four-bar mechanism and the duckbill seedling cup constitute the seedling placing mechanism 3. Through the rotation of the motor, it can realize the up and down movement when placing the seedlings and complete the opening and closing of the seedling placing cup.

[0088] 4. A crank slider mechanism is used, and the rotation of the soil covering servo 43 drives the rotary motion of the crank, thereby converting the rotary motion of the crank into the linear motion of the slider to achieve the final soil covering function.

[0089] 5. Using a cam mechanism, when the reduction motor 41 rotates, it will drive the cam to rotate, so that the system completes the watering task.

Claims

1. Fully automatic eggplant seedling transplanter, characterized in that: It comprises a soil preparation mechanism (1), a seedling taking mechanism (2), a seedling placing mechanism (3) and a soil covering and watering mechanism (4); The soil leveling mechanism (1) converts the horizontal rotation of the motor into vertical rotation through a worm gear reducer; coupled with a soil loosening blade, the function of soil leveling is achieved; The seedling picking mechanism (2) is composed of a gear rack mechanism, and adopts a flexible component to realize the grabbing of the vegetable seedlings; The seedling placing mechanism (3) adopts a parallelogram four-bar mechanism and a duckbill seedling cup, and realizes the up and down movement when placing the seedlings and completes the opening and closing of the seedling placing cup through the rotation of the motor; The soil covering and watering mechanism (4) comprises: The soil covering mechanism uses a crank slider mechanism, and the rotation of the soil covering steering gear (43) drives the rotary motion of the soil holding crank (44), thereby converting the rotary motion of the soil holding crank (44) into the linear motion of the soil holding slider (45), so as to realize the final soil covering function; Watering system: A cam mechanism is used. When the reduction motor (41) rotates, the cam is driven to rotate, so that the system completes the watering task.

2. The fully automatic eggplant seedling transplanter according to claim 1, characterized in that: Also includes: The visual recognition system on the seedling picking mechanism (2) is used to identify the specific position of the vegetable seedlings in the seedling tray, as well as the shape and state of placement; The pressure sensor system on the seedling picking mechanism (2) is mainly used for real-time monitoring of the pressure applied by the seedling picking mechanism (2) to the vegetable seedlings when picking the seedlings, so as to avoid the vegetable seedlings from being damaged; Transplanter control system: used to control the automated operation of the entire transplanting process.

3. The fully automatic eggplant seedling transplanter according to claim 1, characterized in that: The soil leveling mechanism (1) comprises a fixed bracket (11), a soil leveling screw (12), a rotary cutter shaft (13), a worm gear reduction box (14), a soil loosening rotary cutter (15), and a reduction box base (16); The soil leveling screw (12) is fixed on the fixed bracket (11), the slider cooperates with the soil leveling screw (12), the reduction box base (16) is fixedly connected with the slider, the worm gear reduction box (14) is installed on the reduction box base (16), the rotary cutter shaft (13) cooperates with and is fixed to the worm gear reduction box (14), and a plurality of soil loosening rotary cutters (15) are installed on the rotary cutter shaft (13); The motor drives the soil leveling screw (12) to control the lifting and lowering of the soil loosening rotary cutter (15); the motor drives the worm gear reduction box (14), and the worm gear reduction box (14) rotates through the soil loosening rotary cutter (15), thereby finally achieving the function of soil leveling and loosening.

4. The fully automatic eggplant seedling transplanter according to claim 1, characterized in that: The seedling taking mechanism (2) comprises a first seedling taking screw (21), a second seedling taking screw (22), a third seedling taking screw (23), a fourth seedling taking screw (24), a trough guide plate (26), a seedling taking steering gear (28), a seedling taking clamp (29) and a seedling placing platform (20); The first horizontal seedling taking screw rod (21) and the second horizontal seedling taking screw rod (22) are fixed in parallel on the supporting profile (25); the first slider (201) and the second slider (202) are matched with the first seedling taking screw rod (21) and the second seedling taking screw rod (22) respectively; the head and tail of the third seedling taking screw rod (23) are fixed with the first slider (201) and the second slider (202) respectively; the third slider (203) is matched with the third seedling taking screw rod (23); the third slider (203) is fixed with the head of the fourth vertical seedling taking screw rod (24); the fourth slider (204) is matched with the fourth seedling taking screw rod (24); A pair of mutually symmetrical guide grooves are provided on the guide groove plate (26), the lower half of the pair of guide grooves are spaced closer, and the upper half are spaced farther; the guide groove plate (26) is installed behind the fourth slider (204), and the square shaft (27) is installed on the front of the fourth slider (204), and a steering engine slider (208) is respectively matched on the left and right of the square shaft (27), and the long straight part of the steering engine slider (208) is inserted into the guide groove on the guide groove plate (26) to cooperate with it, and a seedling taking steering engine (28) is fixed on the front of each steering engine slider (208), and a seedling taking clamp (29) is installed on the seedling taking steering engine (28); The first seedling taking screw (21) and the second seedling taking screw (22) cooperate with the first slider (201) and the second slider (202) to control the movement of the main body of the seedling taking mechanism (2) in the front-back direction; the third seedling taking screw (23) and the third slider (203) cooperate to determine the movement in the left-right direction; the fourth seedling taking screw (24) and the fourth slider (204) cooperate to control the movement in the up-down direction; the guide groove of the guide groove plate (26) provides a specific movement track for the seedling taking clamp (29); when the seedling taking clamp (29) starts to take the seedlings, the fourth slider (204) moves downward, and the two steering engine sliders (208) are restricted by the guide groove and move closer to each other to achieve accurate seedling taking; after the seedlings are taken, the fourth slider (204) moves upward, and the steering engine sliders (208) move away from each other to achieve accurate delivery.

5. The fully automatic eggplant seedling transplanter according to claim 1, characterized in that: The seedling placing mechanism (3) comprises a first crank (31), a second crank (32), a rocker (33), a seedling placing duckbill cup (34), and a driving gear (36); The transmission shaft (35) passes through the frame (30) and cooperates with the driving gear (36). The first transmission gear (371) is installed on the frame (30) and meshes with the driving gear (36). The second transmission gear (372) is installed on the frame (30) and meshes with the first transmission gear (371). The third transmission gear (373) and the fourth transmission gear (374) are of the same size. The third transmission gear (373) and the fourth transmission gear (374) are respectively connected to the second transmission gear ( 372) meshes to realize synchronous rotation; the third transmission gear (373) and the fourth transmission gear (374) respectively cooperate with the first crank (31) and the second crank (32) through the connecting rod for transmission; the first crank (31) and the second crank (32) are connected to the rocker (33) through a rotating pair to form a parallelogram mechanism, and the seedling placing duckbill cup (34) is installed on the extension section of the rocker (33); the parallelogram mechanism has two sections, which are distributed on both sides of the frame (30) to form a symmetrical structure; The motion is input to the driving gear (36) through the transmission shaft (35), and the driving gear (36) transmits the motion to the third transmission gear (373) and the fourth transmission gear (374) through the first transmission gear (371). The third transmission gear (373) and the fourth transmission gear (374) are fixed to the first crank (31) and the second crank (32), so that the parallelogram mechanism operates normally, and finally the seedling planting work is realized.

6. The fully automatic eggplant seedling transplanter according to claim 1, characterized in that: The soil covering and watering mechanism (4) comprises a water tank (42), a soil covering steering gear (43), a soil pulling crank (44), a simulation hand (46), and a soil covering plate (47); The soil covering steering gear (43) is fixed on the base (40), the soil collecting crank (44) is connected to the soil covering steering gear (43) through a rotating pair, the soil collecting slider (45) is connected to the soil collecting crank (44) through a rotating pair, the soil collecting slider (45) is matched with the limit groove on the base (40), the soil collecting slider (45) is connected to the connecting rod (48) through a rotating pair, the connecting rod (48) is connected to the simulation hand (46), the node of the simulation hand (46) is matched with the base (40) through a rotating pair, and a soil covering plate (47) is installed at the end of the simulation hand (46); The water tank (42) is fixed to the frame (30); the water tank (42) is connected to a water pipe (49); a water discharge cam (410) is provided at a water inlet of the water pipe (49); the water discharge cam (410) is controlled to rotate by a reduction motor (41); the water outlet of the water pipe (49) is located between a pair of soil covering plates (47); The soil covering steering gear (43) rotates, driving the soil collecting crank (44) to rotate, transmitting the soil collecting slider (45) to perform linear motion, thereby realizing the normal operation of the crank slider mechanism; the motion of the soil collecting slider (45) is transmitted to the simulation hand (46) through the connecting rod (48), driving the soil covering plate (47) to perform closing motion; when the water tank (42) is drained, the water draining cam (410) is driven to rotate through the reduction motor (41), thereby realizing intermittent water draining.

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