Multi-input single-output seedling emergence device, transplanting equipment and application

Abstract

The invention discloses a multi-input and single-output type seedling emergence device and transplanting equipment. The multi-input and single-output type seedling emergence device comprises a seedling throwing cup, a cam, a transmission shaft, a seedling throwing guide cup and a cover plate, the seedling throwing cup is provided with an inlet and an outlet, the interior of the seedling throwing cup is divided into n channels through partition plates, and n cover plates corresponding to the n channels are arranged on the outlet side of the seedling throwing cup; n cams which are arranged at intervals in a staggered mode are installed on the transmission shaft, the cams are driven by the transmission shaft to rotate, and one of the n cover plates is in an open state through cooperation of the cams and the cover plates; when the cover plate is in an open state, crop seedlings are guided to the seedling throwing guide cup through the cover plate. The multi-input and single-output seedling emergence device provided by the invention can be used for outputting a plurality of fed crop seedlings in a single seedling manner; the transplanting equipment provided by the invention can be used for transplanting solanaceae crop seedlings.

Description

Technical Field

[0001] The invention relates to a multi-input and single-output seedling emergence device, transplanting equipment and application thereof, and belongs to the field of agricultural machinery. Background Art

[0002] The history of pepper seedling cultivation is long. In the core areas of pepper cultivation, the cultivation, breeding and sales of pepper seedlings are directly related to the livelihoods of thousands of households. The economic value and social significance behind them cannot be ignored. In many provinces in my country, pepper seedlings are the main source of income and play a vital role in regional economic development.

[0003] Transplanting pepper seedlings is an important manifestation of modern agricultural precision management, which significantly improves the robustness and stress resistance of seedlings. Transplanting technology can also accurately control the density and depth of planting, laying a solid foundation for the later growth of peppers. Compared with the traditional direct seeding method, transplanting can significantly shorten the growth cycle of peppers, allowing farmers to arrange farming time more flexibly and make efficient use of land resources.

[0004] At present, the mechanization level of existing transplanting equipment on the market is still low. Many devices still require manual cooperation to complete key links such as seedling picking and seedling supply during operation, and have not truly achieved complete automation. This has, to a certain extent, limited the further improvement of mechanized transplanting efficiency. Therefore, there is an urgent need to develop a new type of transplanting equipment that integrates automatic seedling picking, automatic seedling separation, and precise planting.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The present invention provides a multi-input and single-output seedling output device, which is used to output a plurality of crop seedlings as a single seedling; further, a transplanting device is provided, which can be used to realize the transplanting of Solanaceae crop seedlings.

[0007] The technical solution of the present invention is:

[0008] According to a first aspect of the present invention, a multi-input and single-output seedling ejection device is provided, comprising a seedling throwing cup 7-1, a cam 7-2, a transmission shaft 7-3, a seedling throwing guide cup 7-4, and a cover plate 7-7; the seedling throwing cup 7-1 is provided with an inlet and an outlet, the interior of the seedling throwing cup 7-1 is divided into n channels by a partition, and n cover plates 7-7 are provided on the outlet side of the seedling throwing cup 7-1 corresponding to the n channels; n cams 7-2 arranged at intervals and staggered are installed on the transmission shaft 7-3, the cams 7-2 are driven to rotate by the transmission shaft 7-3, and the cams 7-2 cooperate with the cover plate 7-7 to make one of the n cover plates 7-7 in an open state; when the cover plate 7-7 is in an open state, the crop seedlings are guided to the seedling throwing guide cup 7-4 by the cover plate 7-7.

[0009] Furthermore, the cam 7-2 includes an arcuate surface and a straight surface connecting the arcuate surface; the upper end surface of the cover plate 7-7 serves as a guide surface for seedling output, and the lower end of the cover plate 7-7 is provided with a first supporting surface 7-7-1 and a first supporting surface 7-7-2 connected to cooperate with the cam 7-2; the first supporting surface 7-7-1 and the first supporting surface 7-7-2 are in a state of being in contact with the cam 7-2, and when the straight surface of the cam 7-2 is in contact with the first supporting surface 7-7-1, the angle at which the cover plate 7-7 is opened around the rotating axis is a first angle, and when the straight surface of the cam 7-2 is in contact with the second supporting surface 7-7-2, the angle at which the cover plate 7-7 is opened around the rotating axis is a second angle, satisfying that the first angle is less than the second angle and the second angle is the maximum opening angle of the cover plate 7-7.

[0010] Furthermore, the installation method of the n cams 7-2 is: by installing the first cam at any preset installation position of the transmission shaft 7-3, then rotating the second cam 360 / n degrees relative to the previous one to install the third cam, and then rotating the third cam 360 / n degrees in the same direction relative to the second one to install the third cam, and so on.

[0011] According to a second aspect of the present invention, the multi-input and single-output seedling output device described above is used for outputting single seedlings of Solanaceae crop seedlings.

[0012] According to a third aspect of the present invention, there is provided a transplanting device, comprising a walking and steering device 4, a seedling tray conveying device 1, a seedling tray collecting box 2, a seedling picking device 5, a multi-input single-output seedling emergence device 7, a seedling transplanting device 6, and a depth adjustment and compaction device 8; the walking and steering device 4 is used for walking and steering; the seedling tray conveying device 1 is used for conveying the seedling tray 8 to be taken to the seedling taking position, and for conveying the empty seedling tray 8 after taking the seedlings to the seedling tray collecting box 2 for collection; the seedling picking device 5 is used for grabbing the crop seedlings on the seedling tray 8 conveyed to the seedling taking position, and releasing the grabbed crop seedlings to be sent to the multi-input single-output seedling emergence device 7; the multi-input single-output seedling emergence device 7 is used for outputting the multiple crop seedlings sent by the seedling picking device 5 as single seedlings to the seedling transplanting device 6; the seedling transplanting device 6 is used for inserting the crop seedlings conveyed by the multi-input single-output seedling emergence device 7; the depth adjustment and compaction device 8 is used for covering the inserted crop seedlings with soil.

[0013] Furthermore, the seedling retrieval device 5 includes a seedling clamping mechanism 5-1, a first driving unit 5-8 and two groups of second preset direction transmission components, a front and rear movable slider 5-7, and also includes a second driving unit 5-4, a third preset direction transmission component, and a left and right movable slider 5-9; the first driving unit 5-8 is used to drive the two groups of second preset direction transmission components to move, and the front and rear movable slider 5-7 installed thereon is driven to move along the second preset direction through the movement of the two groups of second preset direction transmission components; the third preset direction transmission component is installed between the two front and rear movable sliders 5-7, and the third preset direction transmission component is driven to move by the second driving unit 5-4, and the left and right movable slider 5-9 installed thereon is driven to move along the third preset direction through the movement of the third preset direction transmission component; the seedling clamping mechanism 5-1 is installed on the left and right movable slider 5-9.

[0014] Furthermore, the seedling transplanting device 6 includes a transplanting tray stepper motor 6-1, a seedling planting rotating disk 6-2, a duckbill mechanism 6-3, a duckbill fixing plate 6-4, a transplanting tray synchronous wheel 6-5, a transplanting tray drive motor coupling 6-6, a synchronous disk 6-7, a synchronous disk connecting plate 6-8, a roller 6-9, and an eccentric disk 6-10; wherein, the output shaft of the transplanting tray stepper motor 6-1 is connected to one end of a rotating shaft arranged along a third preset direction, and the other end of the rotating shaft is installed on a frame, and the rotating shaft is fixedly installed with a transplanting tray synchronous wheel 6-5, two seedling planting rotating disks 6-2 arranged at intervals, and passes through the synchronous disk 6-7 and the eccentric disk. The eccentric disk 6-10 has a plurality of rollers 6-9 arranged in a circular array circumferentially installed on the inner side of the eccentric disk 6-10, which are rollingly matched with the inner ring of the synchronous disk 6-7 through the rollers 6-9; one end of a plurality of synchronous disk connecting plates 6-8 arranged along the second preset direction are respectively rotationally matched with the inner side of the synchronous disk 6-7, and the other end of the synchronous disk connecting plate 6-8 is fixed to the outer side of the seedling planting rotating disk 6-2 away from the side of the transplanting disk stepper motor 6-1; the two seedling planting rotating disks 6-2 are provided with duckbill fixing plates 6-4 extending in the radial direction on the circumferential side, one end of the duckbill fixing plate 6-4 is fixed to the seedling planting rotating disk 6-2, and the other end of the two correspondingly arranged duckbill fixing plates 6-4 are rotationally matched with the duckbill mechanism 6-3.

[0015] Furthermore, the duckbill mechanism 6-3 includes a seedling receiving port 6-3-1, left and right duckbills 6-3-2, and the left and right duckbills 6-3-2 include a left duckbill and a right duckbill; wherein, the seedling receiving port 6-3-1 is provided with connecting shafts on two opposite sides along a third preset direction, and the connecting shafts on both sides pass through the corresponding left duckbill and right duckbill and then rotate and cooperate with the planting duckbill fixing plate 6-4; the left and right duckbills are respectively rotated and cooperate with the lower part of the seedling receiving port 6-3-1; the left duckbill is provided with a first working part on the upper part of the side through which the connecting shaft passes, and the right duckbill is provided with a second working part corresponding to the first working part on the upper part of the side through which the connecting shaft passes, and the spacing between the first working part and the second working part increases successively from the exit to the entrance of the seedling receiving port 6-3-1, and through the cooperation of the first working part, the second working part and the planting duckbill fixing plate 6-4, the left duckbill and the right duckbill have a first closed state and a second open state.

[0016] According to a fourth aspect of the present invention, the above-mentioned transplanting device is used for transplanting Solanaceae crop seedlings.

[0017] The beneficial effects of the present invention are:

[0018] The front end of the transplanting mechanical platform provided by the present invention is integrated with a walking and steering device, which gives the machine excellent terrain adaptability, enabling it to move smoothly and flexibly turn in various field environments. Its steering mechanism innovatively adopts a stepper motor to drive a gear rack mode to achieve precise steering control. This high-precision steering ability is crucial to ensuring the straightness of the transplanting operation and reducing missed planting and misplanting. The design of the seedling tray conveying device can not only compactly and orderly store the seedling trays to be transplanted, significantly reducing the floor space, but also flexibly change the movement direction of the seedling tray, so as to achieve seamless connection with the subsequent seedling removal device and the seedling tray collection box, and efficiently complete the removal of the pepper seedlings and the automatic recovery of the used empty seedling trays. More importantly, the seedling removal device and the multi-input single-output seedling removal device achieve perfect coordination, and can transfer the pepper seedlings released by the seedling removal device in a multi-input single-output manner to achieve plant spacing adjustment, providing sufficient space for subsequent growth. Finally, the crop seedlings with adjusted plant spacing are safely transplanted into the soil through an efficient and reliable seedling transplanting mechanism, and the whole process is smooth and natural. In summary, the transplanting machinery platform has a compact structure, exquisite design, and an integrated highly automated control system. It can significantly reduce dependence on manual labor and greatly reduce the planting cost of pepper seedlings, laying a solid foundation for realizing large-scale and efficient production in the pepper industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an axial view of the three-dimensional structure of the present invention;

[0020] Figure 2 It is an axial view of the integral frame of the present invention;

[0021] Figure 3 This is a front axial view of the seedling tray conveying device of the present invention;

[0022] Figure 4 This is a back axial view of the seedling tray conveying device of the present invention;

[0023] Figure 5 A three-dimensional view of the seedling delivery flat plate of the present invention;

[0024] Figure 6 A front perspective view of the walking and steering device of the present invention;

[0025] Figure 7 A rear perspective view of the walking and steering device of the present invention;

[0026] Figure 8 The axial view of the seedling taking device of the present invention is Figure 1 ;

[0027] Fig. 9 The axial view of the seedling taking device of the present invention is Figure 2 ;

[0028] Fig.10 This is a front view of the seedling clamping mechanism in the seedling taking device of the present invention;

[0029] Fig.11 This is a back view of the seedling clamping mechanism in the seedling taking device of the present invention;

[0030] Fig.12 A partial view of a clamping claw component in a seedling clamping mechanism of a seedling taking device of the present invention;

[0031] Fig.13 It is a front axial view of the multi-input and single-output seedling ejection device of the present invention;

[0032] Fig.14 It is a back axial view of the multi-input and single-output seedling ejection device of the present invention;

[0033] Fig.15 It is a schematic diagram of the multi-input and single-output seedling device of the present invention when planting seedlings;

[0034] Fig.16 The cover plate and the cam of the present invention are shown in the figure. Figure 1 ;

[0035] Fig.17 The cover plate and the cam of the present invention are shown in the figure. Figure 2 ;

[0036] Fig.18 The cover plate and the cam of the present invention are shown in the figure. Figure 3 ;

[0037] Fig.19The front axial view of the seedling transplanting device of the present invention is Figure 1 ;

[0038] Fig. 20 The front axial view of the seedling transplanting device of the present invention is Figure 2 ;

[0039] Fig.21 It is a partial view of the seedling transplanting device of the present invention. Figure 1 ;

[0040] Fig. 22 It is a partial view of the seedling transplanting device of the present invention. Figure 2 ;

[0041] Fig.23 It is an axial view of the eccentric disc in the seedling transplanting device of the present invention;

[0042] Fig.24 It is an axial view of the duckbill mechanism of the present invention;

[0043] Fig.25 An exploded view of the duckbill mechanism of the present invention;

[0044] Fig.26 It is a partial schematic diagram of the contact between the seedling planting rotating disk and the duckbill in the duckbill mechanism of the present invention;

[0045] Fig. 27 The axial view of the compacting device of the present invention is Figure 1 ;

[0046] Fig.28 The axial view of the compacting device of the present invention is Figure 2 ;

[0047] Fig.29 It is the motion flow chart of the present invention;

[0048] The numbers in the figure are: 1-seedling tray conveying device, 2-seedling tray collecting box, 3-battery pack, 4-walking and steering device, 5-seedling device, 6-seedling planting device, 7-multi-input single-output seedling device, 8-depth adjustment and compaction device, 1-1 lifting structure screw rod, 1-2 seedling tray support rod, 1-3 seedling delivery plate, 1-4 seedling tray backstop, 1-5 plate drive gear, 1-6 platform drive stepper motor, 1-7 platform drive rack, 1-8 seedling tray, 1-9 lifting beam, 1-10 screw slider, 1-11 buffer spring, 1-12 stepper motor coupling, 1-13 lifting screw drive motor, 1-14 plate moving slide rail, 4-1 forward output gear, 4-2 Steering rack, 4-3 tire, 4-4 universal joint, 4-5 forward output shaft, 4-6 forward input gear, 4-7 forward stepper motor, 4-8 steering gear, 4-9 steering stepper motor, 4-10 walking and steering frame, 4-11 tire axle head, 4-12 output shaft bearing seat, 4-13 steering stepper motor fixed support, 5-1 seedling clamping mechanism, 5-2 trapezoidal lead screw nut, 5-3 left and right moving lead screw coupling, 5-4 second drive unit, 5-5 front and rear moving synchronous wheel, 5-6 front and rear moving lead screw, 5-7 front and rear moving slider, 5-8 first drive unit, 5-9 left and right moving slider, 5-10 left and right moving lead screw, 5-11 front and rear moving synchronous belt, 5-1 -1 Left and right separation screw rod, 5-1-2 left and right separation slider, 5-1-3 servo drive motor, 5-1-4 clamping jaw component, 5-1-5 left and right separation screw rod coupling, 5-1-6 left and right separation drive motor, 5-1-7 clamping jaw lifting screw rod, 5-1-8 clamping jaw lifting screw rod coupling, 5-1-9 up and down moving stepping motor, 5-1-10 clamping jaw bracket, 5-1-11 servo rotating arm, 5-1-12 right clamping jaw, 5-1-13 left clamping jaw, 5-1-14 clamping jaw connecting rod, 7-1 seedling cup, 7-2 cam, 7-3 transmission shaft, 7-4 seedling guide cup, 7-5 cam transplanting tray synchronous belt, 7-6 cam transmission shaft synchronous wheel, 7-7 cover plate, 7- 7-1 first supporting surface, 7-7-2 second supporting surface, 6-1 transplanting tray stepper motor, 6-2 seedling rotating disk, 6-3 duckbill mechanism, 6-4 duckbill fixing plate, 6-5 transplanting tray synchronous wheel, 6-6 transplanting tray drive motor coupling, 6-7 synchronous disk, 6-8 synchronous disk connecting plate, 6-9 roller, 6-10 eccentric disk, 6-3-1 seedling receiving port, 6-3-2 left and right duckbill, 8-1 depth adjustment screw rod, 8-2 covering wheel, 8-3 depth adjustment handle, 8-4 trapezoidal nut, 9-1 main frame, 9-2 seedling tray conveying device frame, 9-3 plant spacing adjustment frame, 9-4 seedling transplanting frame, 9-5 depth adjustment and compaction mechanism frame, 9-6 seedling removal device frame. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily without conflict.

[0050] Example 1: Figure 13-18 As shown, according to the first aspect of an embodiment of the present invention, a multi-input and single-output seedling ejection device 7 is provided, comprising a seedling throwing cup 7-1, a cam 7-2, a transmission shaft 7-3, a seedling throwing guide cup 7-4, and a cover plate 7-7; the seedling throwing cup 7-1 is provided with an inlet and an outlet, the interior of the seedling throwing cup 7-1 is divided into n channels by a partition, and n cover plates 7-7 are provided on the outlet side of the seedling throwing cup 7-1 corresponding to the n channels; n cams 7-2 arranged at intervals and staggered are installed on the transmission shaft 7-3, the cams 7-2 are driven to rotate by the transmission shaft 7-3, and the cams 7-2 cooperate with the cover plate 7-7 to make one of the n cover plates 7-7 in an open state; when the cover plate 7-7 is in an open state, the crop seedlings are guided to the seedling throwing guide cup 7-4 by the cover plate 7-7.

[0051] Furthermore, the cam 7-2 includes an arcuate surface and a straight surface connecting the arcuate surfaces, and the straight surfaces of n cams 7-2 are regular n-gons in the orthographic projection view; the upper end surface of the cover plate 7-7 serves as a guide surface for seedling output, and the lower end of the cover plate 7-7 is provided with a first supporting surface 7-7-1 connected to each other, and the first supporting surface 7-7-2 cooperates with the cam 7-2, and the first supporting surface 7-7-1 is arranged on the side away from the guide outlet of the guide surface; the first supporting surface 7-7-1 and the first supporting surface 7-7-2 are in a state of being in contact with the cam 7-2, and when the straight surface of the cam 7-2 is in contact with the first supporting surface 7-7-1, the angle at which the cover plate 7-7 is opened around the rotation axis is a first angle, and when the straight surface of the cam 7-2 is in contact with the second supporting surface 7-7-2, the angle at which the cover plate 7-7 is opened around the rotation axis is a second angle, satisfying that the first angle is less than the second angle and the second angle is the maximum opening angle of the cover plate 7-7.

[0052] Furthermore, the curved surface and the connecting curved surfaces have a rounded corner design at their junctions.

[0053] Furthermore, the n cams 7-2 are installed in the following manner: the transmission shaft is provided with n cam 7-2 installation positions, and the first cam is installed at any installation position preset on the transmission shaft 7-3, and then the second cam is installed by rotating 360 / n degrees relative to the previous one, and then the third cam is installed by rotating 360 / n degrees in the same direction relative to the second one, and so on, until the cams 7-2 are installed at the n installation positions. It should be noted that the value of n is greater than or equal to 2. If it is equal to 2, the first cam is installed at any installation position preset on the transmission shaft 7-3, and then the second cam is installed by rotating 180 degrees relative to the previous one.

[0054] For example, if three cams 7-2 are used, the first cam is installed at any preset position of the transmission shaft 7-3, and then the second cam is installed by rotating 360 / 3 degrees relative to the previous one (i.e., installing by rotating 120 degrees), and then the third cam is installed by rotating 360 / 3 degrees in the same direction relative to the second one. Through this installation method, the straight line segments of the three cams 7-2 appear as equilateral triangles in the orthographic projection view, and the same applies to the others. The upper end surface of the cover plate 7-7 is a plane, which is used to guide the crop seedlings after opening; the lower end of the cover plate 7-7 is provided with a first supporting surface 7-7-2 and a second supporting surface 7-7-1, and the first supporting surface 7-7-2 and the second supporting surface 7-7-1 are used to make the first supporting surface 7-7-2 and the second supporting surface 7-7-1 fit with the straight surface of the cam 7-2 when the cover plate 7-7 is opened at different angles; when the cam 7-2 rotates, the intersection line of the arc surface that first contacts the cover plate 7-7 and the straight surface is used as the first intersection line, and the other intersection line is used as the second intersection line, when the cam 7-2 rotates from the first intersection line to the second intersection line and contacts the cover plate 7-7, the opening angle of the cover plate 7-7 is gradually increased; when the cover plate 7-7 is opened at the maximum angle, the first supporting surface 7-7-2 of the cover plate 7-7 contacts the straight surface to support the cover plate 7-7. Through the above design, each time the transmission shaft 7-3 rotates one circle, the three cams 7-2 lower the cover plate 7-7 once to ensure that only one crop seedling is dropped at a time and enters the seedling planting device 6 through the seedling guide cup 7-4.

[0055] In specific application, the transmission shaft 7-3 is used to obtain external power. When it is applied to the following transplanting equipment, the synchronous belt wheel on the transmission shaft 7-3 is connected to the transplanting disk synchronous wheel in the seedling transplanting device through the cam transplanting disk synchronous belt 7-5 to obtain power.

[0056] According to a second aspect of the embodiment of the present invention, the multi-input and single-output seedling output device described above is used for outputting single seedlings of Solanaceae crop seedlings.

[0057] like Figure 1-Figure 29As shown, according to a third aspect of an embodiment of the present invention, a transplanting device is provided, including a walking and steering device 4, a seedling tray conveying device 1, a seedling tray collecting box 2, a seedling taking device 5, a multi-input single-output seedling device 7, a seedling planting device 6, and a depth adjustment and compacting device 8;

[0058] The walking and steering device 4 is used for walking and steering;

[0059] The seedling tray conveying device 1 is used to convey the seedling tray 8 to be taken to the seedling taking position, and to convey the empty seedling tray 8 after the seedlings are taken to the seedling tray collecting box 2 for collection;

[0060] The seedling picking device 5 is used to grab the crop seedlings on the seedling tray 8 transported to the seedling picking position, and release the grabbed crop seedlings to be sent to the multi-input single-output seedling picking device 7;

[0061] The multi-input and single-output seedling device 7 is used to output the multiple crop seedlings sent by the seedling taking device 5 to the seedling planting device 6 as single seedlings;

[0062] The seedling inserting device 6 is used to insert the crop seedlings transported by the multi-input and single-output seedling ejecting device 7;

[0063] The depth adjustment and compaction device 8 is used to cover the inserted crop seedlings with soil.

[0064] Furthermore, if Figure 2 As shown, it also includes a battery pack 3 and an integral frame 9, such as Figure 2 As shown, the overall frame 9 includes a main frame 9-1, a seedling tray conveying device frame 9-2, a plant spacing adjustment frame 9-3, a seedling transplanting frame 9-4, a depth adjustment and compaction mechanism frame 9-5, and a seedling removal device frame 9-6; each part is built with aluminum profiles of different lengths; the main frame 9-1 is the core of the overall frame; the plant spacing adjustment device frame 9-3 is fixed to the rear side of the main frame 9-1 by two corner brackets; the seedling removal device frame 9-6 is fixed to the main frame 9-1 by four guide light rod support seats; the seedling transplanting device 9-4 is fixed to the main frame 9-1 by the corner brackets on both sides; the depth adjustment and compaction frame 9-5 is fixed to the main frame 9-1 by a triangular structure built with two groups of symmetrical aluminum profiles; the battery pack 3 is connected in series and parallel by eight 12V / 10A lead-acid batteries to provide 48V DC power, and is fixed to the main frame 9-1 through an electrical fixture; the seedling tray collection box 2 is fixed to the main frame 9-1 by bolts.

[0065] Furthermore, if Figure 3-5As shown, the seedling tray conveying device 1 includes a lifting structure screw rod 1-1, a seedling tray support rod 1-2, a seedling delivery plate 1-3, a seedling tray backstop 1-4, a plate drive gear 1-5, a platform drive stepper motor 1-6, a platform drive rack 1-7, a lifting beam 1-9, a screw slider 1-10, a stepper motor coupling 1-12, a lifting screw drive motor 1-13, and a plate moving slide rail 1-14;

[0066] Among them, a screw slider 1-10 is fixedly installed on the middle part of the back side of multiple lifting beams 1-9 arranged at intervals along the first preset direction, and the screw slider 1-10 cooperates with the lifting structure screw 1-1 extending and arranged along the first preset direction. Optical rods arranged parallel to the lifting structure screw 1-1 are installed on both sides of the lifting structure screw 1-1. The optical rod located on one side of the lifting structure screw 1-1 passes through one end of multiple lifting beams 1-9 in sequence, and the optical rod located on the other side of the lifting structure screw 1-1 passes through the other end of multiple lifting beams 1-9 in sequence;

[0067] The lifting structure screw 1-1 is driven to rotate by the lifting screw driving motor 1-13 through the stepping motor coupling 1-12, and the lifting beam 1-9 is driven to follow the screw slider 1-10 to be movably arranged along the first preset direction through the rotation movement of the lifting structure screw 1-1;

[0068] Two seedling tray support rods 1-2 extending along the second preset direction are arranged at intervals on the front side of each lifting beam 1-9, and one end of the seedling tray support rod 1-2 is connected to the front side of the lifting beam 1-9, and the other end of the seedling tray support rod 1-2 is a free end; the seedling tray support rod 1-2 is used to place the seedling tray 1-8;

[0069] The platform driving gear 1-5 is installed on the output shaft of the platform driving stepper motor 1-6 and meshes with the driving rack 1-7 installed on the bottom platform of the seedling sending flat plate 1-3, and the seedling sending flat plate 1-3 is slidably matched with the slide rail 1-14; the seedling tray support rod 1-2 is driven by the lifting beam 1-9 to move along the first preset direction to place the seedling tray 1-8 to be taken onto the seedling sending flat plate 1-3; the platform driving stepper motor 1-6 drives the seedling sending flat plate 1-3 to transport the seedling tray 1-8 to the preset position under the transmission of the three-layer slide rail 1-14, and the seedling tray 1-8 to be taken at the preset position is moved by the seedling taking device 5 to grab the crop seedlings; after the seedling tray 1-8 to be taken is taken, the stepper motor 1-6 is driven to reverse and return the empty seedling tray 1-8 and is stuck by the seedling tray return stopper 1-4 in the process, and the empty seedling tray 1-8 falls into the seedling tray collection box 2.

[0070] Furthermore, the lifting structure screw rod 1-1 is divided into a threaded section and a bare rod section, and the boundary between the threaded section and the bare rod section is located at the lower part of the installation position of the seedling delivering plate 1-3; the bottom of the plurality of lifting beams 1-9 is fixedly installed with a buffer spring 1-11 sleeved on the bare rod, and the lifting beam 1-9 without the seedling tray 1-8 eventually falls and is stabilized under the action of the buffer spring.

[0071] In the above technical solution, by adopting a segmented design for the lifting structure screw rod 1-1, it is possible to facilitate the rapid collection of the lifting beam 1-9 after the seedlings have been taken, and at the same time, when participating in the seedling transportation next time, it is possible to facilitate the adjustment of the interval between the upper and lower lifting beams 1-9.

[0072] Furthermore, if Figure 6 , Figure 7 As shown, the travel and steering device 4 includes a forward output gear 4-1, a tire 4-3, a universal joint 4-4, a forward output shaft 4-5, a forward input gear 4-6, a forward stepper motor 4-7, a travel steering frame 4-10, a tire axle head 4-11, an output shaft bearing seat 4-12 and a steering part; the steering part includes a steering rack 4-2, a steering gear 4-8, a steering stepper motor 4-9, and a steering stepper motor fixed support 4-13; wherein the first forward output shaft 4-5, the second forward output shaft 4-5, and the third forward output shaft 4-5 are connected in sequence through the universal joint 4-4, and the forward stepper motor 4-7 drives the forward input gear 4-6 to rotate, and at the same time, the forward stepper motor 4-7 drives the forward input gear 4-6 to rotate. The forward input gear 4-6 is meshed with the forward output gear 4-1 installed on the second forward output shaft 4-5 to realize a large reduction ratio transmission, thereby driving the entire vehicle forward and backward; the steering stepper motor 4-9 installed on the steering stepper motor fixed support 4-13 drives the steering gear 4-8 to rotate, and the steering gear 4-8 and the steering rack 4-2 are meshed with each other to realize the steering of the traveling steering frame 4-10, the first forward output shaft 4-5 and the third forward output shaft 4-5 are connected to the traveling steering frame 4-10 through the output shaft bearing seat 4-12, and the ends of the first forward output shaft 4-5 and the third forward output shaft 4-5 that are far away from each other are connected to the tire 4-3 through the tire shaft head 4-11.

[0073] Furthermore, if Figure 8-Figure 12As shown, the seedling retrieval device 5 includes a seedling clamping mechanism 5-1, a first driving part 5-8 and two groups of second preset direction transmission components, a front-and-rear moving slider 5-7, and also includes a second driving part 5-4, a third preset direction transmission component, and a left-and-right moving slider 5-9; the first driving part 5-8 is used to drive the two groups of second preset direction transmission components to move, and the front-and-rear moving slider 5-7 installed thereon is driven to move along the second preset direction through the movement of the two groups of second preset direction transmission components; the third preset direction transmission component is installed between the two front-and-rear moving sliders 5-7, and the third preset direction transmission component is driven to move by the second driving part 5-4, and the left-and-right moving slider 5-9 installed thereon is driven to move along the third preset direction through the movement of the third preset direction transmission component; the seedling clamping mechanism 5-1 is installed on the left-and-right moving slider 5-9.

[0074] Furthermore, the first driving part 5-8 and the second driving part 5-4 adopt stepper motors, the second preset direction transmission assembly includes a trapezoidal lead screw nut 5-2, a front-and-rear moving synchronous wheel 5-5, a front-and-rear moving lead screw 5-6, and a front-and-rear moving synchronous belt 5-11, and the third preset direction transmission assembly includes a left-and-right moving lead screw coupling 5-3 and a left-and-right moving lead screw 5-10; wherein, the seedling clamping mechanism 5-1 is installed on the left-and-right moving lead screw 5-10 through a left-and-right moving slider 5-9, and the stepper motor for the third preset direction control drives the left-and-right moving lead screw 5-10 to control the position of the seedling clamping mechanism 5-1 in the third preset direction through the left-and-right moving lead screw coupling 5-3, and at the same time, the third preset direction transmission assembly is moved by The forward and backward moving sliders 5-7 on both sides are installed on the forward and backward moving lead screw 5-6, and the stepper motor 5-8 for the second preset direction control is driven by the forward and backward moving synchronous wheels 5-5 on both sides through the forward and backward moving synchronous belt 5-11, and the forward and backward moving lead screw 5-6 installed on the forward and backward moving synchronous wheels 5-5 is driven to rotate through the moving synchronous belt 5-11, and the forward and backward moving sliders 5-7 are installed on the forward and backward moving lead screw 5-6 through the trapezoidal lead screw nut 5-2, and the forward and backward moving lead screw 5-6 rotates to drive the third preset direction transmission component installed between the forward and backward moving sliders 5-7 to move along the second preset direction, and then drive the seedling clamping mechanism 5-1 installed on the left and right moving sliders 5-9 to move in the second preset direction to control the clamping claw to move forward and backward to clamp the seedlings. Further, the second preset direction transmission component and the third preset direction transmission component also include a guide light rod arranged in parallel with the corresponding moving lead screw. Exemplarily, the first preset direction, the second preset direction, and the third preset direction are perpendicular to each other.

[0075] Furthermore, if Figure 10-11As shown, the seedling clamping mechanism 5-1 includes a left and right separation screw rod 5-1-1, a left and right separation slider 5-1-2, a steering gear drive motor 5-1-3, a clamping claw component 5-1-4, a left and right separation screw rod coupling 5-1-5, a left and right separation drive motor 5-1-6, a clamping claw rising screw rod 5-1-7, a clamping claw rising screw rod coupling 5-1-8, an up and down moving stepping motor 5-1-9, a clamping claw bracket 5-1-10, a steering gear rotating arm 5-1-11, a right clamping claw 5-1-12, a left clamping claw 5-1-13, and a clamping claw connecting rod 5-1-14; wherein, the There are three clamping claw parts 5-1-4 and the positions of the three clamping claw parts 5-1-4 along the first preset direction are consistent; after the seedling clamping mechanism 5-1 moves to the top of the seedling tray 1-8 to be taken, the clamping claw part 5-1-4 located in the middle is installed on the guide light rod arranged parallel to the left and right separation screw rods 5-1-1 through the clamping claw bracket 5-1-10, and the clamping claw parts 5-1-4 located on both sides are connected to the left and right separation sliders 5-1-2 through the clamping claw bracket 5-1-10, and the left and right separation sliders 5-1-2 cooperate with the left and right separation screw rods 5-1-1. The right separation drive motor 5-1-6 drives the left and right separation screws 5-1-1 to rotate through the left and right separation screw couplings 5-1-5, and the rotation of the left and right separation screws 5-1-1 drives the clamping claw components 5-1-4 on both sides to move closer to or away from the left and right separation sliders 5-1-2 along the third preset direction; the up and down moving stepper motor 5-1-9 drives the clamping claw rising screw 5-1-7 to rotate through the clamping claw rising screw coupling 5-1-8, and the rotation of the clamping claw rising screw 5-1-7 drives the upper slider of the clamping claw rising screw 5-1-7 along the first preset direction. If the jaws move in the first and second directions, the upper slider of the jaw lifting screw rod 5-1-7 is fixed to the motor seat on which the left and right separate driving motors 5-1-6 are installed, that is, the three jaw components 5-1-4 are driven to be movably arranged along the first preset direction; the servo rotating arm 5-1-11 of the servo driving motor 5-1-3 controls the jaw connecting rod 5-1-14 to push and open the right jaw 5-1-12, and the two spur gears at the tail of the left jaw 5-1-13 and the right jaw 5-1-12 are meshed with each other, so that the left jaw 5-1-13 and the right jaw 5-1-12 on both sides move to clamp / release the crop seedlings.

[0076] By applying the above technical solution, it can be known that the clamping jaw component 5-1-4 can be driven by the up and down moving stepping motor 5-1-9 and the left and right separation driving motor 5-1-6 to make the clamping jaw close to the stems of crop seedlings in different types of seedling trays. Furthermore, the left clamping jaw 5-1-13 and the right clamping jaw 5-1-12 can be driven by the servo drive motor 5-1-3 to clamp / release the crop seedlings.

[0077] Furthermore, if Figure 19-Figure 26As shown, the seedling transplanting device 6 includes a transplanting disk stepper motor 6-1, a seedling planting rotating disk 6-2, a duckbill mechanism 6-3, a duckbill fixing plate 6-4, a transplanting disk synchronous wheel 6-5, a transplanting disk drive motor coupling 6-6, a synchronous disk 6-7, a synchronous disk connecting plate 6-8, a roller 6-9, and an eccentric disk 6-10; wherein, the output shaft of the transplanting disk stepper motor 6-1 is connected to one end of the rotating shaft arranged along the third preset direction, and the other end of the rotating shaft is installed on the frame through a bearing seat, and the rotating shaft is fixedly installed with a transplanting disk synchronous wheel 6-5, two seedling planting rotating disks 6-2 arranged at intervals, and passes through the synchronous disk 6-7 and the eccentric disk 6-10 from one end close to the transplanting disk stepper motor 6-1 to the other end. It is then installed on the frame via a bearing seat, and a plurality of rollers 6-9 arranged in a circular array are installed on the inner side of the eccentric disk 6-10 along the circumferential direction, and the rollers 6-9 are used to roll with the inner ring of the synchronous disk 6-7; one end of a plurality of synchronous disk connecting plates 6-8 arranged along the second preset direction are respectively rotationally matched with the inner side of the synchronous disk 6-7, and the other end of the synchronous disk connecting plate 6-8 is fixed to the outer side of the seedling planting rotating disk 6-2 away from the side of the transplanting disk stepper motor 6-1; duckbill fixing plates 6-4 extending in the radial direction are provided on the circumferential side of the two seedling planting rotating disks 6-2, and one end of the duckbill fixing plates 6-4 is fixed to the seedling planting rotating disk 6-2, and the other ends of the two correspondingly arranged duckbill fixing plates 6-4 are rotationally matched with the duckbill mechanism 6-3 through bearings.

[0078] By applying the above technical solution, it can be known that the transplanting disk stepper motor 6-1 drives the transplanting disk synchronous wheel 6-5, which can further drive the two seedling planting rotating disks 6-2 to rotate. Through the cooperation of one seedling planting rotating disk 6-2 with the synchronous disk 6-7 via the synchronous disk connecting plate 6-8, the synchronous disk 6-7 can be rotated, and the eccentric disc 6-10 is restricted to rotate on the synchronous disk 6-7 by the roller 6-9; at the same time, the transplanting disk synchronous wheel 6-5 drives the eccentric transplanting disk synchronous belt 7-5 to transmit; multiple duckbill mechanisms 6-3 are fixed to the outer periphery of the seedling planting rotating disk 6-2 through the planting duckbill fixing plate 6-4, which can ensure that the multiple duckbill mechanisms 6-3 rotate at the same angular velocity as the motor output shaft; the synchronous disk connecting plate 6-8 is always perpendicular to the duckbill mechanism 6-3, which can ensure that the opening direction is always vertically downward during the turnover of the duckbill mechanism; at the same time, the synchronous disk 6-7 rotates with the seedling planting rotating disk 6-2.

[0079] Furthermore, if Fig.24 , Fig.25As shown, the duckbill mechanism 6-3 includes a seedling receiving port 6-3-1, left and right duckbills 6-3-2, and the left and right duckbills 6-3-2 include a left duckbill and a right duckbill; wherein, the seedling receiving port 6-3-1 is provided with connecting shafts on two opposite sides along a third preset direction, and the connecting shafts on both sides pass through the corresponding left duckbill and right duckbill and then cooperate with the planting duckbill fixing plate 6-4 through bearings, so that the duckbill mechanism 6-3 follows the rotation of the seedling planting rotating disk 6-2; the left and right duckbills are respectively rotatably cooperated with the lower part of the seedling receiving port 6-3-1; the left duckbill is provided with a first working part on the upper part of the side through which the connecting shaft passes, and the right duckbill is provided with a second working part corresponding to the first working part on the upper part of the side through which the connecting shaft passes, and the spacing between the first working part and the second working part increases successively from the exit to the entrance of the seedling receiving port 6-3-1, and through the cooperation of the first working part, the second working part and the planting duckbill fixing plate 6-4, the left duckbill and the right duckbill have a first closed state and a second open state.

[0080] By applying the above technical solution, it can be known that when the duckbill mechanism 6-3 moves from top to bottom, the left and right duckbills 6-3-2 are slowly expanded under the squeezing of the duckbill fixing plate 6-4. When they reach the bottom, they are expanded to the maximum, and then the soil is expanded and the crop seedlings are inserted into the soil, completing a planting.

[0081] Furthermore, if Fig. 27 , Fig.28 As shown, the depth adjustment and compaction device 8 includes a depth adjustment screw 8-1, a covering wheel 8-2, a depth adjustment handle 8-3, and a trapezoidal nut 8-4; wherein, the depth adjustment screw 8-1 is driven up and down by rotating the depth adjustment handle 8-3 to control the distance between the rear half of the vehicle and the soil, thereby adjusting the depth of the left and right duckbills 6-3-2 inserted into the soil; the trapezoidal nut 8-4 is fitted in the support by interference and fixes the support to the frame to keep the depth adjustment and compaction device 8 relatively fixed.

[0082] According to a fourth aspect of the embodiments of the present invention, the above-mentioned transplanting device is used for transplanting Solanaceae crop seedlings.

[0083] Specifically, refer to Figure 1-29As shown, during the operation of the transplanter, the battery pack 3 first provides power to drive the forward stepper motor 4-7, and the forward input gear 4-6 is meshed with the forward output gear 4-1 to achieve a reduction transmission, and the forward output shaft 4-5 is pushed to drive the whole machine forward. At the same time, the steering stepper motor 4-9 is meshed with the steering gear 4-8 and the steering rack 4-2 to achieve precise steering control, ensuring that the transplanter can flexibly cope with different terrains and move stably. In terms of the seedling tray transport mechanism, the lifting screw 1-1 cooperates with the platform drive stepper motor 1-6 to achieve the up and down movement of the seedling tray, ensuring that the seedling tray is accurately delivered to the designated position. Through the meshing of the platform drive rack 1-7 and the platform drive gear 1-5, the drive system moves smoothly, and cooperates with the seedling device 5 to complete the grabbing of the seedlings. The seedling clamping mechanism 5-1 controls the left and right positions of the clamping claws by moving the stepper motor 5-4 left and right, and cooperates with the forward and backward moving stepper motor 5-8 to realize the forward and backward movement of the seedling clamping mechanism, and accurately grabs the seedlings. The servo drive motor 5-1-3 controls the opening and closing of the clamp to ensure that the seedlings are accurately grasped and sent to the multi-input single-output seedling device. The spacing adjustment device drives the transmission shaft 7-3 to rotate through the seedling cup 7-1 and the seedling guide cup 7-4, with the help of the cam transplanting disk synchronous belt 7-5, to ensure that one seedling is released each time and transmitted to the seedling transplanting mechanism 6 according to the predetermined spacing. During the seedling transplanting process, the seedling planting rotating disk 6-2 drives the rotating disk through the transplanting disk synchronous wheel 6-5 and the stepper motor 6-1 to ensure that the seedlings are accurately inserted into the soil. The duckbill mechanism 6-3 cooperates with the eccentric disc 6-10 to open the soil and accurately insert the seedlings to complete the planting. Finally, the depth adjustment and compaction device 8 adjusts the planting depth through the cooperation of the depth adjustment screw 8-1 and the depth adjustment handle 8-3 to ensure that the seedlings are firmly planted. At the same time, the soil is compacted through the cooperation of the covering wheel 8-2 and the trapezoidal nut 8-4 to ensure that the seedlings are firmly rooted.

[0084] Furthermore, the present invention is used for transplanting seedlings of Solanaceae crops. Exemplarily, it is used for transplanting pepper seedlings. The specific parameters given by experiments are as follows: the design of the seedling receiving opening 6-3-1 presents a funnel-shaped structure with a wide top and a contracted bottom, and the lower surface is a 60x60 mm square opening. The design advantages of this special structure are: the wide opening at the top is convenient for receiving the pepper seedlings, and they can enter smoothly even with slight deviations; the funnel-shaped structure guides the pepper seedlings to fall accurately, reducing the possibility of blockage; the 60x60 mm square opening at the bottom can ensure the smooth removal of the seedlings. The seedling tray 8 adopts a three-dimensional trapezoidal structure design, with a compact square base of 62.3×62.3 mm on the bottom surface, and the upper surface expands to a large opening of 170×170 mm, forming a 54.8° gradually expanding inclination angle, and the effective growth space for a single plant reaches 722.9 cm 3(60% higher than the traditional rectangular seedling tray); the compact base facilitates dense arrangement in the transplanting equipment, improving space utilization, while the large opening provides sufficient growth space for the pepper seedlings, and is also conducive to seedling removal operations. Through kinematic simulation analysis of each module, each part operates smoothly without interference, has good anti-interference ability, and can meet field production conditions. In actual application, the operation is simple, and the user can choose to adjust the sowing speed and plant spacing, and the compaction depth can be adjusted by rotating the handwheel; when the sowing speed of the pepper seedling transplanter is designed to be 0.6-1.6m / s; a single sowing can reach 0.5 acres; based on this machine, the technology can be improved in the future based on the Beidou satellite positioning system, setting trajectory planning to achieve unmanned control, and manual remote control can be achieved through the remote control handle, which plays a key role in the special position of the machine operation. Intelligent planting of pepper seedlings is the main development trend of pepper seedling transplanting at present, so it is of practical significance to design a pepper seedling transplanting equipment suitable for mechanized and large-scale planting in flat and hilly areas.

[0085] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A multi-input and single-output seedling device, characterized in that: The invention comprises a seedling casting cup (7-1), a cam (7-2), a transmission shaft (7-3), a seedling casting guide cup (7-4), and a cover plate (7-7); the seedling casting cup (7-1) is provided with an inlet and an outlet, the interior of the seedling casting cup (7-1) is divided into n channels by a partition plate, and n cover plates (7-7) are provided on the outlet side of the seedling casting cup (7-1) corresponding to the n channels; n cams (7-2) arranged at intervals and staggered are installed on the transmission shaft (7-3), the cams (7-2) are driven to rotate by the transmission shaft (7-3), and one of the n cover plates (7-7) is in an open state through the cooperation between the cam (7-2) and the cover plate (7-7); when the cover plate (7-7) is in the open state, the crop seedlings are guided to the seedling casting guide cup (7-4) by the cover plate (7-7).

2. The multi-input and single-output seedling device according to claim 1, characterized in that: The cam (7-2) comprises an arcuate surface and a straight surface connecting the arcuate surface; the upper end surface of the cover plate (7-7) serves as a guide surface for seedling output; the lower end of the cover plate (7-7) is provided with a first supporting surface (7-7-1) and a first supporting surface (7-7-2) connected to each other and matched with the cam (7-2); the first supporting surface (7-7-1) and the first supporting surface (7-7-2) are in a state of being in contact with the cam (7-2); when the straight surface of the cam (7-2) is in contact with the first supporting surface (7-7-1), the angle at which the cover plate (7-7) opens around the rotation axis is a first angle; when the straight surface of the cam (7-2) is in contact with the second supporting surface (7-7-2), the angle at which the cover plate (7-7) opens around the rotation axis is a second angle, satisfying that the first angle is less than the second angle and the second angle is the maximum opening angle of the cover plate (7-7).

3. The multi-input and single-output seedling device according to claim 1, characterized in that: The n cams (7-2) are installed in the following manner: the first cam is installed at any preset installation position on the transmission shaft (7-3), and then the second cam is installed by rotating it 360 / n degrees relative to the previous one, and then the third cam is installed by rotating it 360 / n degrees in the same direction relative to the second one, and so on.

4. The multi-input and single-output seedling output device according to claim 1 is used for outputting single seedlings of Solanaceae crop seedlings.

5. A transplanting device, characterized in that: The invention comprises a walking and steering device (4), a seedling tray conveying device (1), a seedling tray collecting box (2), a seedling picking device (5), a multi-input and single-output seedling picking device (7), a seedling transplanting device (6), and a depth adjustment and compacting device (8); the walking and steering device (4) is used for walking and steering; the seedling tray conveying device (1) is used for conveying the seedling tray (8) to be picked to the seedling picking position, and for conveying the empty seedling tray (8) after the seedlings are picked to the seedling tray collecting box (2) for collection; the seedling picking device (5), It is used to grab the crop seedlings on the seedling tray (8) transported to the seedling picking position, and release the grabbed crop seedlings to be sent to the multi-input single-output seedling ejection device (7); the multi-input single-output seedling ejection device (7) is used to output the multiple crop seedlings sent by the seedling picking device (5) to the seedling transplanting device (6) as single seedlings; the seedling transplanting device (6) is used to insert the crop seedlings transported by the multi-input single-output seedling ejection device (7); the depth adjustment and compaction device (8) is used to cover the inserted crop seedlings with soil.

6. The transplanting device according to claim 5, characterized in that The seedling picking device (5) comprises a seedling clamping mechanism (5-1), a first driving unit (5-8), two sets of second preset direction transmission components, a front-and-rear moving slider (5-7), and further comprises a second driving unit (5-4), a third preset direction transmission component, and a left-and-right moving slider (5-9); the first driving unit (5-8) is used to drive the two sets of second preset direction transmission components to move, and the front-and-rear moving slider (5-7) mounted thereon is driven to move along the second preset direction by the movement of the two sets of second preset direction transmission components; the third preset direction transmission component is installed between the two front-and-rear moving sliders (5-7), and the third preset direction transmission component is driven to move by the second driving unit (5-4), and the left-and-right moving slider (5-9) mounted thereon is driven to move along the third preset direction by the movement of the third preset direction transmission component; the seedling clamping mechanism (5-1) is installed on the left-and-right moving slider (5-9).

7. The transplanting device according to claim 5, characterized in that: The seedling transplanting device (6) comprises a transplanting disk stepper motor (6-1), a seedling planting rotating disk (6-2), a duckbill mechanism (6-3), a duckbill fixing plate (6-4), a transplanting disk synchronous wheel (6-5), a transplanting disk drive motor coupling (6-6), a synchronous disk (6-7), a synchronous disk connecting plate (6-8), a roller (6-9), and an eccentric disk (6-10); wherein the output shaft of the transplanting disk stepper motor (6-1) is connected to one end of a rotating shaft arranged along a third preset direction, and the other end of the rotating shaft is mounted on a frame, and the rotating shaft is fixedly mounted with a transplanting disk synchronous wheel (6-5), two seedling planting rotating disks (6-2) arranged at intervals, passes through the synchronous disk (6-7), passes through the eccentric disk The eccentric disk (6-10) is provided with a plurality of rollers (6-9) arranged in a circular array along the circumferential direction on the inner side of the eccentric disk (6-10), and the rollers (6-9) are in rolling cooperation with the inner ring of the synchronous disk (6-7); one end of a plurality of synchronous disk connecting plates (6-8) arranged along the second preset direction are respectively in rotational cooperation with the inner side of the synchronous disk (6-7), and the other end of the synchronous disk connecting plate (6-8) is fixed to the outer side of the seedling planting rotating disk (6-2) away from the side of the transplanting disk stepper motor (6-1); duckbill fixing plates (6-4) extending in the radial direction are provided on the circumferential side of the two seedling planting rotating disks (6-2), one end of the duckbill fixing plates (6-4) is fixed to the seedling planting rotating disk (6-2), and the other end of the two duckbill fixing plates (6-4) arranged in a corresponding manner are in rotational cooperation with the duckbill mechanism (6-3).

8. The transplanting device according to claim 7, characterized in that: The duckbill mechanism (6-3) comprises a seedling receiving port (6-3-1) and left and right duckbills (6-3-2), wherein the left and right duckbills (6-3-2) comprise a left duckbill and a right duckbill; wherein the seedling receiving port (6-3-1) is provided with connecting shafts on two opposite sides along a third preset direction, and the connecting shafts on both sides are rotationally matched with a planting duckbill fixing plate (6-4) after passing through the corresponding left duckbill and right duckbill; the left and right duckbills are rotationally matched with the lower part of the seedling receiving port (6-3-1) respectively; the upper part of the left duckbill for the connecting shaft to pass through is provided with a first working part, and the upper part of the right duckbill for the connecting shaft to pass through is provided with a second working part corresponding to the first working part, and the spacing between the first working part and the second working part increases in sequence from the exit to the entrance of the seedling receiving port (6-3-1), and through the cooperation of the first working part, the second working part and the planting duckbill fixing plate (6-4), the left duckbill and the right duckbill have a first state of being closed and a second state of being opened.

9. Use the transplanting device according to claim 5 for transplanting Solanaceae crop seedlings.

Images