Ridge culture triangular dislocation transplanting machine and transplanting method

Abstract

The invention provides a ridge culture triangular staggered transplanting machine and a transplanting method, which are used for solving the problems that the transplanting efficiency is low, a duckbilled planter is easy to block when being inserted into soil and water and / or fertilizer cannot be applied during transplanting in the prior art. Comprising a walking mechanism, a transplanting device, a liquid storage mechanism, a bionic mechanical arm and a seedling supply mechanism, and the walking mechanism comprises a frame and a stabilizing frame; the transplanting device comprises a frame body mechanism, two transplanting mechanisms and a rotation driving mechanism for driving the two transplanting mechanisms to rotate at the same time, the frame body mechanism comprises two parallelogram frames which are oppositely arranged up and down and a telescopic power piece for controlling the lower parallelogram frame to do up-down telescopic motion, and the upper parallelogram frame is fixedly connected to the bottom of the frame; the two transplanting mechanisms are arranged on two parallel left and right sides of the parallelogram frame; the liquid storage mechanism comprises a water storage tank and a fertilizer storage tank. The transplanter not only can improve the transplanting efficiency, but also can reduce viscosity and prevent blockage, and can accurately apply water and / or fertilizer.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and particularly relates to a ridging triangular staggered transplanting machine and a transplanting method. Background Art

[0002] Seedling transplanting is widely used in vegetable planting because it can effectively shorten the crop growth cycle and make up for the adverse effects brought by seasons and climates. However, during the transplanting process, many problems are faced. Generally, seedlings are manually transported to the farmland; then pits are dug, the seedlings are put into the pits and buried, and watering is carried out. For a long time, this method is overly dependent on manpower, which not only leads to a large labor intensity but also extremely low efficiency.

[0003] With the development of the technological level, in recent years, semi-automatic transplanting machines have emerged on the market. Compared with the manual transplanting method, using a semi-automatic transplanting machine for transplanting can, to a certain extent, reduce the labor intensity of manual work and improve the transplanting efficiency. However, the current transplanting machines still have some deficiencies: 1. The semi-automatic transplanting machines adopted still require manual assistance to perform operations such as seedling picking and seedling throwing, resulting in high labor costs and low transplanting efficiency; 2. The existing semi-automatic transplanting machines have low space utilization rate and limited number of seedlings carried, and need to replenish seedlings repeatedly, resulting in low transplanting efficiency; 3. During the transplanting process, the duckbill planters equipped on the semi-automatic transplanting machines frequently insert into the soil, easily adhere to the soil, causing the duckbills to be blocked, or the adhered soil hinders the seedlings from freely falling into the planting holes, seriously affecting the transplanting effect of the seedlings, reducing the survival rate of the seedlings, and the operators need to clean manually frequently, which not only consumes a lot of time and energy but also greatly affects the overall operation efficiency; 4. During the transplanting process, the duckbill planters equipped on the semi-automatic transplanting machines lack the functions of watering and fertilizing. After the seedlings are transplanted, it is necessary to rely on manual work to carry out watering and / or fertilizing operations uniformly, which is time-consuming and laborious, and cannot realize the synchronization of transplanting with watering and / or fertilizing, thus affecting the survival rate of the transplanted seedlings. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a ridging triangular staggered transplanting machine and a transplanting method, which are used to solve the problems of low transplanting efficiency, easy blockage of the duckbill planters inserted into the soil, and inability to realize watering and / or fertilizing during transplanting in the prior art.

[0005] To achieve the above purpose and other related purposes, the present invention provides a ridging triangular staggered transplanting machine, including: A traveling mechanism, the traveling mechanism includes a vehicle frame and a stabilizing frame fixedly connected above the vehicle frame; Transplanting device, the transplanting device includes a frame mechanism, two transplanting mechanisms, and a rotation driving mechanism for driving the two transplanting mechanisms to rotate simultaneously. The frame mechanism includes two parallelogram frames arranged vertically opposite to each other, and a telescopic power member for controlling the up and down telescopic movement of the lower parallelogram frame. The upper parallelogram frame is fixedly connected to the bottom of the vehicle frame, and the two transplanting mechanisms are arranged on the two parallel sides of the parallelogram frame; Each transplanting mechanism includes a seedling placing cylinder vertically and rotatably installed on the upper parallelogram frame, a plurality of bumps circumferentially spaced along the bottom of the outer wall of the seedling placing cylinder, a seedling feeding cylinder vertically and rotatably installed on the lower parallelogram frame, two digging blades symmetrically arranged and respectively hinged below the seedling feeding cylinder, a closing and opening power assembly for controlling the opening and closing of the two digging blades, and an electro-hydraulic rotating assembly arranged above the seedling placing cylinder for continuously conveying electricity, water, and / or liquid fertilizer. The seedling placing cylinder extends above the vehicle frame, and the electro-hydraulic rotating assembly is fixedly connected to the stabilizing frame. The two digging blades are attached to form a conical structure. Each digging blade is provided with a receiving cavity communicating with the electro-hydraulic rotating assembly. The conical surface of each digging blade has a spiral groove and a number of leakage holes all communicating with the receiving cavity. The inner wall of the seedling feeding cylinder has a plurality of limiting grooves respectively slidingly matched with the bumps, and the side wall of the seedling placing cylinder has a seedling placing opening; Liquid storage mechanism, the liquid storage mechanism includes a water storage tank and a fertilizer storage tank. The water storage tank and the fertilizer storage tank are both fixedly connected above the vehicle frame. The electro-hydraulic rotating assembly is respectively communicated with the water storage tank and the fertilizer storage tank through a delivery pump and a delivery pipe; Bionic robotic arm, the bionic robotic arm is rotatably installed on the top of the vehicle frame; Seedling supply mechanism, the seedling supply mechanism is used to supply seedlings to the transplanting device.

[0006] Optionally, the rotation driving mechanism includes two first gears, a second gear, a parallelogram plate, and a rotation power member for driving the second gear to rotate. The parallelogram plate is fixedly connected to the upper parallelogram frame. The second gear is vertically and rotatably installed on the parallelogram plate. The two first gears are respectively fixedly and coaxially matched with the two seedling placing cylinders, and the two first gears are both meshed with the second gear for transmission.

[0007] Optionally, the closing and opening power assembly includes a telescopic driving member, two cross arms, two lugs, and an inclined connecting rod. The two cross arms are respectively fixedly connected to the tops of the two digging blades. The fixed end and the telescopic end of the telescopic driving member are respectively hinged to one end of the two cross arms through hinge seats. The two lugs are respectively fixedly connected to the top surface of the other end of one cross arm and the bottom surface of the other end of the other cross arm. The two ends of the inclined connecting rod are respectively hinged to the two lugs.

[0008] Optionally, the electro-hydraulic rotating assembly includes a fixed cylinder, a rotating column, two annular sealing sleeves, a middle sealing cover, a bottom sealing cover, a power transmission module, and an infusion module. The two ends of the rotating column are coaxially and fixedly connected to the middle sealing cover and the bottom sealing cover respectively. The fixed cylinder is fixedly connected to the stabilizing frame. One end of the fixed cylinder is open and the other end is closed to form a rotating space. The rotating column is rotationally and sealingly connected to the inner wall of the rotating space. The two annular sealing sleeves are sleeved on the rotating column. The inner circular surface of the annular sealing sleeve is statically and sealingly connected to the outer wall of the rotating column. A rotational sealing connection is formed between the outer circular surface of the annular sealing sleeve and the inner wall of the rotating space. The outer circular surface of the annular sealing sleeve has two annular flow channels. The side wall of the fixed cylinder has two inlet channels respectively communicating with the annular flow channels. The rotating column has outlet channels respectively communicating with the two annular flow channels in the axial direction. The tops of the middle sealing cover and the bottom sealing cover are rotationally and sealingly connected to the inner wall of the rotating space and the bottom of the fixed cylinder respectively. Sealing rings are provided between the annular sealing sleeve and the outer wall of the rotating column and the inner wall of the rotating space, and between the middle sealing cover and the inner wall of the rotating space. The bottom of the bottom sealing cover is coaxially and fixedly connected to the top of the seedling releasing cylinder; The power transmission module is arranged in the rotating space for continuously supplying power to the electrical components of the transplanting mechanism; The infusion module is used to communicate the accommodation cavities on the two hole-digging pieces with the two annular flow channels respectively.

[0009] Optionally, the power transmission module includes a plurality of input conductive rings, a plurality of arc-shaped output blocks, an output disc, and an elastic member. The plurality of input conductive rings are concentrically arranged at the top of the rotating space. The plurality of arc-shaped output blocks are concentrically arranged on the output disc. Each arc-shaped output block is in sliding contact and cooperation with each input conductive ring and corresponds one by one. The output disc is rotationally matched with the inner wall of the rotating space; The elastic member is used to provide a thrust force for the output disc towards one side of the top of the rotating space; A wire releasing channel is provided at the axis of the middle sealing cover, the rotating column, and the bottom sealing cover; There are two infusion modules. The two infusion modules are respectively communicated with the two outlet channels. The infusion module includes a first infusion pipe, a spiral pipe, and a second infusion pipe. One end of the first infusion pipe is communicated with the outlet channel. The two ends of the spiral pipe are respectively communicated with the other end of the first infusion pipe and one end of the second infusion pipe. The other end of the second infusion pipe is communicated with the accommodation cavity; The seedling releasing cylinder and the seedling delivering cylinder respectively have a first pipe storage space and a second pipe storage space along their own axial directions. The first infusion pipe and the second infusion pipe are respectively located in the first pipe storage space and the second pipe storage space.

[0010] Optionally, each of the transplanting mechanisms further includes a centering component, which is used to adjust the seedlings to the central axis of the seedling delivery tube and slow down the falling speed of the seedlings; The centering component includes an air collecting chamber coaxially and fixedly fitted inside the seedling releasing tube, a gas source provided on the outer side wall of the seedling releasing tube for supplying gas to the air collecting chamber, a first position sensor arranged below the seedling releasing port, a second position sensor arranged below the air collecting chamber, and a control valve for controlling the opening or closing of the gas source. The air collecting chamber has a frustum-shaped through hole that is larger at the top and smaller at the bottom and is coaxial with the seedling releasing tube along its own axis. The side wall of the frustum-shaped through hole has a number of inclined air outlet holes that face the central axis direction of the seedling releasing tube and discharge air upward. The gas source is communicated with the air collecting chamber to supply gas to the inclined air outlet holes.

[0011] Optionally, the transplanting device further includes two soil covering mechanisms respectively arranged behind the two transplanting mechanisms. Each soil covering mechanism includes an L-shaped connecting arm and two soil covering wheels. The end of the horizontal part of the L-shaped connecting arm is fixedly connected to the parallelogram frame above. The two soil covering wheels are symmetrically arranged on both sides of the end of the vertical part of the L-shaped connecting arm. The soil covering wheels are arranged in an inclined manner with the upper part higher and the lower base.

[0012] Optionally, the seedling supply mechanism includes: Two support modules, which are relatively arranged on the left and right sides of the top of the vehicle frame. Each support module includes a support frame fixedly connected to the top of the vehicle frame, an annular rail fixedly connected to the inner side of the support frame, a plurality of connecting plates, a plurality of connecting rollers, and a plurality of connecting boards. Each connecting roller has a roller groove, and the roller groove is in rolling cooperation with the annular rail. The plurality of connecting plates are hinged end to end through the connecting rollers to form an annular transmission structure. The number of connecting rollers is equal to the number of connecting boards and they are fixedly connected in one-to-one correspondence; A plurality of seedling placing modules, the number of the seedling placing modules is equal to the number of the connecting boards. Each seedling placing module includes a seedling placing frame, a hanging frame, and a seedling placing tray. The periphery of the hanging frame is fixedly connected to the periphery of the seedling placing frame. The middle positions at both ends of the hanging frame are respectively rotatably connected to the connecting boards of the two support modules. The seedling placing tray has a number of partition plates, and the plurality of partition plates are arranged at intervals in the horizontal and vertical directions of the seedling placing tray to form a plurality of seedling accommodating cavities. The top of the seedling placing frame has a tray accommodating space adapted to the seedling placing tray; A rotary power module, which is used to drive the seedling placing module to rotate around the annular rail.

[0013] Optionally, the rotational power module includes a first rotating shaft rotatably mounted below the support frame, a second rotating shaft rotatably mounted in the middle of the support frame, two driving gears coaxially and fixedly fitted at both ends of the second rotating shaft, driving rollers equal in number to the connecting rollers and vertically and fixedly connected to the head and tail ends of the connecting plate, an annular transmission part for drivingly connecting the first rotating shaft and the second rotating shaft, and a rotational driving member for driving the first rotating shaft to rotate. Each driving roller has a roller ring groove, and the driving gear cooperates with the roller ring groove of the driving roller to drive the rotation of the annular transmission structure.

[0014] A transplanting method for a ridge tillage triangular staggered transplanting machine, using the ridge tillage triangular staggered transplanting machine described above, includes the following steps: Placing seedlings: Place the seedlings in the seedling holding cavity of the seedling placing tray, and place the seedling placing tray in the seedling placing frame; Planning the path: Plan the walking path of the walking mechanism according to the navigation component and reach the transplanting position; Digging holes and forming: Drive the two transplanting mechanisms to rotate simultaneously through the rotation driving mechanism, so that the two transplanting mechanisms dig in a staggered manner. The rotation driving mechanism drives the seedling releasing cylinder to rotate, driving the seedling feeding cylinder to rotate, and further driving the two hole digging blades to rotate. The telescopic power member controls the downward movement of the lower parallelogram frame to drive the seedling releasing cylinder to move downward to dig two rows of planting holes for seedlings on the ridge. During hole digging, water and / or liquid fertilizer are conveyed into the accommodating cavities on the two hole digging blades through the electro-hydraulic rotation component, and then the two hole digging blades are driven to open by the opening and closing power component; Releasing and transplanting seedlings: The bionic robotic arm extends and bends to identify the seedlings by the identification component. After the seedlings are identified, it feeds back to the control system. The control system issues an instruction to adjust the spatial position of the bionic robotic arm to take out the seedlings from the seedling placing tray, and then put them into the seedling releasing cylinder from the seedling releasing port. The seedlings fall between the two hole digging blades after passing through the seedling releasing cylinder and the seedling feeding cylinder; Lifting and moving: The telescopic power member controls the upward movement of the lower parallelogram frame to drive the seedling releasing cylinder to move upward, and the walking mechanism walks along the length direction of the ridge for continuous planting, so that the adjacent seedlings in adjacent rows on the ridge are planted in a triangular staggered manner.

[0015] As described above, the ridge tillage triangular staggered transplanting machine and the transplanting method of the present invention have at least the following beneficial effects: Through the mutual cooperation of the traveling mechanism, transplanting device, liquid storage mechanism, bionic robotic arm, and seedling supply mechanism, a complete workflow is formed from seedling supply, traveling, transplanting to watering and / or fertilizing, etc., improving the overall performance and working efficiency of the transplanter, thus achieving high-efficiency, precision, and full automation of transplanting, greatly reducing the manual labor cost and labor intensity, and improving the transplanting efficiency of transplanted seedlings. By driving the two transplanting mechanisms to rotate simultaneously through the rotary drive mechanism, efficient and continuous transplanting operations can be carried out, improving the working efficiency. Moreover, the synchronous rotation ensures the consistency of the transplanting actions of the two transplanting mechanisms, which is conducive to ensuring the uniformity and standardization of the transplanting depth, thereby improving the overall transplanting quality and ensuring the consistency and neatness of the growth of the seedlings. Through the design of the parallelogram frame, it is possible to achieve the staggered transplanting of seedlings between adjacent narrow rows on the ridge, and then through the traveling mechanism, continuous transplanting is carried out along the length direction of the ridge. The traveling distance of the traveling mechanism is the planting spacing between adjacent seedlings in the same row. The adjacent seedlings between adjacent rows on the ridge form a triangular staggered transplanting, which is conducive to optimizing the planting density and spatial layout, and improving the growth conditions and yield of the crops. By vertically and rotatably installing the seedling releasing cylinder on the upper parallelogram frame, and vertically and rotatably installing the seedling feeding cylinder on the lower parallelogram frame, and the limiting groove on the inner wall circumference of the seedling feeding cylinder is slidably matched with the convex block at the bottom of the outer wall of the seedling releasing cylinder, the seedling releasing cylinder can drive the seedling feeding cylinder to rotate synchronously when the rotary drive mechanism rotates, and can also move up and down under the drive of the telescopic power component, ensuring the stable and continuous transportation of the seedlings from the seedling releasing cylinder to the seedling feeding cylinder. The two symmetrically arranged digging blades hinged below the seedling feeding cylinder are combined to form a conical structure, which is conducive to cutting into the soil for digging holes, reducing the soil resistance, and improving the hole-digging efficiency. The spiral groove on the digging blade can play a role in guiding the soil to move upward during the hole-digging process, further reducing the hole-digging resistance and making the hole-digging more regular. The electro-hydraulic rotary assembly can transport water and / or liquid fertilizer. By communicating with the accommodating cavity on the digging blade, water and / or liquid fertilizer can form a liquid surface on the conical surface of the digging blade through the leakage holes, isolating the soil or reducing direct contact, which can not only achieve the effect of reducing adhesion and preventing blockage, but also realize the application of root-setting water and / or liquid fertilizer during the transplanting process, providing a good growth environment for the seedlings, improving the transplanting efficiency and survival rate of the seedlings, and thus solving the problems of easy blockage, poor quality of transplanting operations, low efficiency, and low survival rate of vegetable seedlings. The integrated design of hole-digging and watering and / or fertilizing not only improves the planting efficiency, reduces the operation steps, but also enables the precise watering and / or fertilizing of the seedlings during planting, so that the seedlings can obtain the necessary water and nutrients, promoting the survival and initial growth of the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It shows a three-dimensional structural schematic diagram of the present invention; Figure 2 It shows a three-dimensional structural schematic diagram of the transplanting device of the present invention; Figure 3 It shows a three-dimensional structural schematic diagram of the transplanting mechanism of the transplanting device of the present invention; Figure 4 It shows a sectional view of the transplanting mechanism of the transplanting device of the present invention; Figure 5 It shows a three-dimensional structural schematic diagram of the seedling releasing pipe of the present invention; Figure 6 It shows a sectional view of the electro-hydraulic rotating assembly of the present invention; Figure 7 It shows an exploded view of the electro-hydraulic rotating assembly of the present invention; Figure 8 It shows an exploded view of the electro-hydraulic rotating assembly from another perspective of the present invention; Figure 9 It shows a three-dimensional structural schematic diagram of the infusion module of the present invention; Figure 10 It shows a three-dimensional structural schematic diagram of the centering assembly of the transplanting device of the present invention; Figure 11 It shows a three-dimensional structural schematic diagram of the soil covering mechanism and the missing seedling monitoring mechanism of the present invention; Figure 12 It shows a three-dimensional structural schematic diagram of the seedling supply mechanism of the present invention; Figure 13 It shows an enlarged view of part A of the present invention; Figure 14 It shows an exploded view of the seedling placing module of the present invention; Figure 15 It shows a schematic diagram of the completion of seedling transplantation.

[0017] Description of component numbers Frame mechanism 1, parallelogram frame 11, telescopic power member 12; Transplanting mechanism 2, seedling releasing cylinder 21, convex block 22, seedling feeding cylinder 23, hole digging piece 24, opening and closing power assembly 25, telescopic driving part 251, cross arm 252, lug 253, inclined connecting rod 254, electro-hydraulic rotating assembly 26, fixed cylinder 261, rotating column 262, annular sealing sleeve 263, power transmission module 264, input conducting ring 2641, arc-shaped output block 2642, output disc 2643, elastic part 2644, liquid infusion module 265, first liquid infusion pipe 2651, spiral pipe 2652, second liquid infusion pipe 2653, first pipe storage space 2654, second pipe storage space 2655, rotating space 266, annular flow channel 267, inflow channel 268, outflow channel 269, sealing ring 2610, middle sealing cover 2611, bottom sealing cover 2612, wire releasing channel 2613, accommodating cavity 27, leakage hole 28, limiting groove 29, seedling releasing port 210, centering assembly 211, air collecting chamber 2111, air source 2112, first position sensor 2113, second position sensor 2114, control valve 2115, frustum through hole 2116, inclined air outlet hole 2117, soil covering mechanism 212, L-shaped connecting arm 2121, soil covering wheel 2122, missed seedling monitoring mechanism 213, L-shaped connecting frame 2131, U-shaped frame 2132, signal transmitter 2133, signal receiver 2134; Rotating driving mechanism 3, first gear 31, second gear 32, parallelogram plate 33, rotating power part 34; Traveling mechanism 4, vehicle frame 41, wheels 42, stabilizing frame 43, driving assembly 44; Liquid storage mechanism 5, water storage tank 51, fertilizer storage tank 52; Bionic robotic arm 6; Seedling supply mechanism 7, support module 71, support frame 711, annular rail 712, connecting plate 713, connecting roller 714, roller groove 7141, connecting plate 715, seedling placing module 72, seedling placing frame 721, hanging frame 722, seedling placing tray 723, partition board 724, seedling accommodating cavity 725, tray accommodating space 726, rotating power module 73, first rotating shaft 731, second rotating shaft 732, driving gear 733, transmission roller 734, roller ring groove 7341, annular transmission part 735, rotating driving part 736. Specific embodiments

[0018] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0019] Please refer to Figures 1 to 15It should be noted that the structures, proportions, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration and are not used to limit the scope of implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope within which the present invention can be implemented.

[0020] The following various embodiments are only for illustration purposes. Combinations can be made between the various embodiments, and it is not limited to the content shown in the following single embodiment.

[0021] In this embodiment, please refer to Figures 1 to 15 , the present invention provides a ridging triangular staggered transplanting machine, including: A traveling mechanism 4, a transplanting device, a liquid storage mechanism 5, a bionic robotic arm 6, and a seedling supply mechanism 7. The traveling mechanism 4 includes a vehicle frame 41 and a stabilizing frame 43 fixedly connected above the vehicle frame 41. The traveling mechanism 4 further includes wheels 42 arranged around the vehicle frame 41 and two sets of driving components 44 symmetrically arranged on the left and right sides of the vehicle frame 41. Each driving component 44 includes a driving module and two sets of transmission modules. Each set of transmission modules includes a transmission shaft vertically and rotatably installed on the vehicle frame 41, a first bevel gear coaxially and fixedly fitted to the bottom end of the transmission shaft, a second bevel gear meshing and driving with the first bevel gear, and a driven gear coaxially and fixedly fitted to the top end of the transmission shaft. The second bevel gear rotates coaxially with the wheel 42. The driving module includes a driving gear rotatably arranged on the vehicle frame 41, a transmission chain, and a traveling driving member for driving the driving gear to rotate. The traveling driving member includes a motor or a hydraulic motor. The transmission chain drives and connects the driving gear and the two driven gears. The two sets of driving components 44 are independently driven. By using the speed difference and different steering directions of the two sets of driving components 44, the traveling mechanism 4 can turn with different radii, improving the mobility and environmental adaptability of the transplanting machine, enabling it to move flexibly in narrow or complex terrains, and facilitating transplanting operations in various farmland environments.

[0022] The transplanting device includes a frame mechanism 1, two transplanting mechanisms 2, and a rotation driving mechanism 3 for driving the two transplanting mechanisms 2 to rotate simultaneously. The frame mechanism 1 includes two parallelogram frames 11 arranged vertically and oppositely, and a telescopic power member 12 for controlling the up-and-down telescopic movement of the lower parallelogram frame 11. The upper parallelogram frame 11 is fixedly connected to the bottom of the vehicle frame 41, and the two transplanting mechanisms 2 are arranged on the two parallel sides of the parallelogram frame 11. The telescopic power member 12 can be an electric push rod, a cylinder, or a hydraulic cylinder. There can be four telescopic power members 12, which are arranged between the two parallelogram frames 11 and can accurately control the up-and-down telescopic movement of the lower parallelogram frame 11, thereby flexibly adjusting the height of the transplanting mechanism 2 to adapt to the transplanting requirements of seedlings in different terrains and different growth stages, improving the adaptability and accuracy of operations. Through the design of the parallelogram frame 11, it is possible to achieve staggered transplanting of seedlings between adjacent narrow rows on the ridge, optimize the planting density and spatial layout, and improve the growth conditions and yield of crops.

[0023] Each transplanting mechanism 2 includes a seedling releasing cylinder 21 vertically and rotatably installed on the upper parallelogram frame 11, a plurality of bumps 22 circumferentially spaced at the bottom of the outer wall of the seedling releasing cylinder 21, a seedling feeding cylinder 23 vertically and rotatably installed on the lower parallelogram frame 11, two digging blades 24 symmetrically arranged and respectively hinged below the seedling feeding cylinder 23, a closing and opening power assembly 25 for controlling the opening and closing of the two digging blades 24, and an electro-hydraulic rotary assembly 26 arranged above the seedling releasing cylinder 21 for continuously conveying electricity, water, and / or liquid fertilizer. The seedling releasing cylinder 21 extends above the vehicle frame 41, and the electro-hydraulic rotary assembly 26 is fixedly connected to the stabilizing frame 43. The two digging blades 24 fit together to form a conical structure. When the conical digging blades 24 fit together, they form a sharp cone, reducing the resistance to entering the soil. Each digging blade 24 is provided with a receiving cavity 27 communicating with the electro-hydraulic rotary assembly 26. Each conical surface of the digging blade 24 has a spiral groove and a number of leakage holes 28 all communicating with the receiving cavity 27. The combination of the leakage holes 28 and the electro-hydraulic rotary assembly 26 can inject water and / or liquid fertilizer while digging holes, improving the planting efficiency and promoting the survival of seedlings. The spiral groove is beneficial for soil discharge and reduces blockage. The inner wall of the seedling feeding cylinder 23 is provided with a plurality of limiting grooves 29 respectively slidingly engaged with the bumps 22. The side wall of the seedling releasing cylinder 21 is provided with a seedling releasing opening 210, which facilitates the placement of seedlings. After the digging blades 24 form a hole, the seedling releasing opening 210 always faces the direction from which the seedlings are sent, enabling the seedlings to be accurately and quickly placed into the seedling releasing cylinder 21 and ensuring the consistency and standardization of seedling placement, which is beneficial to improving the efficiency and quality of transplantation. The liquid storage mechanism 5 includes a water storage tank 51 and a fertilizer storage tank 52. The water storage tank 51 and the fertilizer storage tank 52 are both fixedly connected above the vehicle frame 41. The electro-hydraulic rotary assembly 26 is respectively communicated with the water storage tank 51 and the fertilizer storage tank 52 through a delivery pump and a delivery pipe. The water storage tank 51 and the fertilizer storage tank 52 can be filled with water and / or liquid fertilizer according to the actual soil moisture conditions; The bionic robotic arm 6 is rotatably installed on the top of the vehicle frame 41. There may be two bionic robotic arms 66. The two bionic robotic arms 6 are respectively rotatably arranged on the top of the vehicle frame 41 and located between the transplanting mechanism 2 and the seedling supply mechanism 7. The bionic robotic arm 6 is a prior art and will not be elaborated here; The seedling supply mechanism 7 is used to provide seedlings for the transplanting device.

[0024] Through the mutual cooperation of the traveling mechanism 4, the transplanting device, the liquid storage mechanism 5, the bionic robotic arm 6, and the seedling supply mechanism 7, a complete workflow is formed from the aspects of seedling supply, traveling, transplanting, watering and / or fertilizing, etc., improving the overall performance and working efficiency of the transplanter, thereby realizing high-efficiency, precision, and full automation of transplanting, greatly reducing the labor cost and labor intensity, and improving the transplanting efficiency of transplanted seedlings. By driving the two transplanting mechanisms 2 to rotate simultaneously through the rotary drive mechanism 3, high-efficiency and continuous transplanting operations can be carried out, improving the working efficiency. Moreover, the synchronous rotation ensures the consistency of the transplanting actions of the two transplanting mechanisms 2, which is beneficial to ensuring the uniformity and standardization of the transplanting depth, thereby improving the overall transplanting quality and ensuring the consistency and neatness of the growth of the seedlings. Through the design of the parallelogram frame 11, it is possible to achieve the staggered transplanting of seedlings between adjacent narrow rows on the ridge, and then the traveling mechanism 4 travels along the length direction of the ridge for continuous transplanting. The traveling distance of the traveling mechanism 4 is the planting spacing between adjacent seedlings in the same row. The adjacent seedlings between adjacent rows on the ridge form a triangular staggered transplanting, which is beneficial to optimizing the planting density and spatial layout, and improving the growth conditions and yield of the crops. By vertically and rotatably installing the seedling releasing cylinder 21 on the upper parallelogram frame 11, vertically and rotatably installing the seedling feeding cylinder 23 on the lower parallelogram frame 11, and the limiting groove 29 on the inner wall circumference of the seedling feeding cylinder 23 slidingly cooperating with the convex block 22 at the bottom of the outer wall of the seedling releasing cylinder 21, the seedling releasing cylinder 21 can drive the seedling feeding cylinder 23 to rotate synchronously when the rotary drive mechanism 3 rotates, and can also move up and down under the drive of the telescopic power member 12, ensuring the stable and continuous transportation of the seedlings from the seedling releasing cylinder 21 to the seedling feeding cylinder 23. The two symmetrically arranged digging blades 24 hinged below the seedling feeding cylinder 23 are fitted to form a conical structure, which is beneficial to cutting into the soil for digging holes, reducing the soil resistance, and improving the hole-digging efficiency. The spiral groove on the digging blade 24 can play a role in guiding the soil to move upward during the hole-digging process, further reducing the hole-digging resistance and making the hole-digging more regular. The electro-hydraulic rotary assembly 26 can transport water and / or liquid fertilizer. By communicating with the receiving cavity 27 on the digging blade 24, water and / or liquid fertilizer can form a liquid surface on the conical surface of the digging blade 24 through the leakage holes 28, isolating the soil or reducing direct contact, which can not only achieve the effect of reducing adhesion and preventing blockage, but also realize the application of root-fixing water and / or liquid fertilizer during the transplanting process, providing a good growth environment for the seedlings, improving the transplanting efficiency and survival rate of the seedlings, and thus solving the problems of easy blockage, poor quality of transplanting operations, low efficiency, and low survival rate of vegetable seedlings. The integrated design of hole-digging and watering and / or fertilizing not only improves the planting efficiency, reduces the operation steps, but also enables the seedlings to be accurately watered and / or fertilized during planting, so that the seedlings can obtain the necessary water and nutrients, promoting the survival and initial growth of the seedlings.

[0025] In this embodiment, please refer to Figure 1 and Figure 2, the rotation drive mechanism 3 includes two first gears 31, a second gear 32, a parallelogram plate 33, and a rotation power member 34 for driving the second gear 32 to rotate. The rotation power member 34 includes a motor or a hydraulic motor. The parallelogram plate 33 is fixedly connected to the upper parallelogram frame 11. The second gear 32 is vertically and rotatably mounted on the parallelogram plate 33. The two first gears 31 are respectively fixedly and coaxially engaged with the two seedling placing cylinders 21. The two first gears 31 are both in meshing transmission with the second gear 32. During operation, the second gear 32 is driven to rotate by the rotation power member 34, driving the two first gears 31 engaged therewith to rotate, and then driving the two seedling placing cylinders 21 to rotate synchronously. This realizes driving the two transplanting mechanisms 2 with one power source, saving costs and having a compact structure. At the same time, it ensures the uniformity and standardization of transplantation, which is beneficial to improving the overall transplantation quality. Among them, using gear transmission can ensure the high efficiency and accuracy of power transmission. Gear transmission has a high transmission efficiency and can effectively transmit the power of the rotation power member 34 to the seedling placing cylinder 21, thereby driving the transplanting mechanism 2 to rotate.

[0026] In this embodiment, please refer to Figure 1 and Figure 3 , the opening and closing power assembly 25 includes a telescopic drive member 251, two cross arms 252, two lugs 253, and an inclined connecting rod 254. The two cross arms 252 are respectively fixedly connected to the tops of the two hole digging blades 24. The fixed end and the telescopic end of the telescopic drive member 251 are respectively hinged to one end of the two cross arms 252 through hinge seats. The telescopic drive member 251 includes an electric push rod. The two lugs 253 are respectively fixedly connected to the top surface of the other end of one cross arm 252 and the bottom surface of the other end of the other cross arm 252. The two ends of the inclined connecting rod 254 are respectively hinged to the two lugs 253. During operation, the telescopic movement of the telescopic drive member 251 drives the two hole digging blades 24 to move towards each other or in the opposite direction, converting it into the opening and closing action of the two hole digging blades 24. The two ends of the inclined connecting rod 254 are respectively hinged to the lugs 253 of the two cross arms 252, keeping the movement trajectories of the two cross arms 252 symmetrical, ensuring the same opening and closing angles and speeds of the hole digging blades 24, thereby avoiding eccentric loading caused by uneven unilateral force.

[0027] In this embodiment, please refer to Figure 1 , Figures 6 to 9, the electro-hydraulic rotary assembly 26 includes a fixed cylinder 261, a rotary column 262, two annular sealing sleeves 263, a middle cover 2611, a bottom cover 2612, a power transmission module 264 and a liquid infusion module 265. The two ends of the rotary column 262 are coaxially and fixedly connected to the middle cover 2611 and the bottom cover 2612 respectively. The fixed cylinder 261 is fixedly connected to the stabilizing frame 43. One end of the fixed cylinder 261 is open and the other end is closed to form a rotary space 266. The rotary column 262 forms a rotary sealing connection with the inner wall of the rotary space 266. The two annular sealing sleeves 263 are sleeved on the rotary column 262. The inner circular surface of the annular sealing sleeve 263 forms a static sealing connection with the outer wall of the rotary column 262. A rotary sealing connection is formed between the outer circular surface of the annular sealing sleeve 263 and the inner wall of the rotary space 266. Two annular flow channels 267 are provided on the outer circular surface of the annular sealing sleeve 263. Two inlet flow channels 268 respectively communicating with the annular flow channels 267 are provided on the side wall of the fixed cylinder 261. Outlet flow channels 269 respectively communicating with the two annular flow channels 267 are provided in the axial direction of the rotary column 262. The tops of the middle cover 2611 and the bottom cover 2612 are respectively in rotary sealing connection with the inner wall of the rotary space 266 and the bottom of the fixed cylinder 261. Sealing rings 2610 are provided between the annular sealing sleeve 263 and the outer wall of the rotary column 262 and the inner wall of the rotary space 266, and between the middle cover 2611 and the inner wall of the rotary space 266. The bottom of the bottom cover 2612 is coaxially and fixedly connected to the top of the seedling releasing cylinder 21; The power transmission module 264 is arranged in the rotary space 266 for continuously supplying power to the electrical components of the transplanting mechanism 2; The liquid infusion module 265 is used to respectively communicate the accommodation cavities 27 on the two hole-digging blades 24 with the two annular flow channels 267.

[0028] During use, the fixed cylinder 261 is fixed on the transplanter, and the two inlet flow channels 268 are respectively communicated with the water tank and the fertilizer tank on the transplanter through a delivery pump and a pipeline. The water tank and the fertilizer tank can be filled with water and / or liquid fertilizer according to actual needs. The rotary drive mechanism 3 drives the seedling releasing cylinder 21 to rotate, driving the rotary column 262 to rotate. The rotary column 262 rotates in the rotary space 266. A rotary sealing connection is formed between the rotary column 262 and the inner wall of the rotary space 266, and between the outer circular surface of the annular sealing sleeve 263 and the inner wall of the rotary space 266. A static sealing connection is formed between the inner circular surface and the outer wall of the rotary column 262. Sealing rings 2610 are provided at each key part, so that multi-stage sealing is formed, and the sealing pressure-bearing capacity is enhanced. It is ensured that during the rotation process, electricity, water and / or liquid fertilizer can be continuously and stably input, ensuring the reliability and stability of the system and extending the service life of the equipment. Through the electro-hydraulic rotary assembly 26, when the transplanting mechanism 2 rotates, the input of electricity, water and / or liquid fertilizer can be continuously maintained.

[0029] In this embodiment, please refer to Figures 6 to 9 , the power transmission module 264 includes a plurality of input conductive rings 2641, a plurality of arc-shaped output blocks 2642, an output disk 2643 and an elastic member 2644. The plurality of input conductive rings 2641 are all concentrically arranged at the top of the rotating space 266. The diameters of each input conductive ring 2641 are different. The plurality of input conductive rings 2641 are concentrically arranged at the top of the rotating space 266 from near to far. The input conductive ring 2641 can be a copper ring. The input conductive ring 2641 is connected to the positive and negative poles of the power supply. One input conductive ring 2641 corresponds to one positive or negative pole. The plurality of arc-shaped output blocks 2642 are all concentrically arranged on the output disk 2643. The plurality of arc-shaped output blocks 2642 are concentrically arranged on the output disk 2643 from near to far. Each arc-shaped output block 2642 is in sliding contact and cooperation with each input conductive ring 2641 and corresponds one by one. The output disk 2643 is in rotational cooperation with the inner wall of the rotating space 266; the number of the input conductive rings 2641 and the arc-shaped output blocks 2642 can be determined according to actual application needs. Among them, the arc-shaped output block 2642 is electrically connected to the rotary power member 34 and the telescopic driving member 251; The elastic member 2644 is used to provide a thrust force for the output disk 2643 to the side of the top of the rotating space 266; the elastic member 2644 includes a spring. The two ends of the spring are respectively fixedly connected to the bottom of the output disk 2643 and the top of the middle sealing disk. The spring provides a thrust force for the output disk 2643, so that the arc-shaped output block 2642 and the input conductive ring 2641 always maintain good contact, improving the stability and reliability of power transmission.

[0030] A wire releasing channel 2613 is provided at the axis of the middle sealing cover 2611, the rotating column 262 and the bottom sealing cover 2612, providing a dedicated path for the arrangement of wires; The positive and negative poles of the power supply are connected through the input conductive ring 2641. One input conductive ring 2641 corresponds to one positive pole or negative pole. The arc-shaped output block 2642 is connected to the electrical components on the transplanting mechanism 2 through wires. When the rotating column 262 rotates with the transplanting mechanism 2, the arc-shaped output block 2642 rotates synchronously. The arc-shaped output block 2642 is always in contact with the input conductive ring 2641, so that the circuit is connected while rotating. At the same time, the annular seal 263 statically sealed to the rotating column 262 forms a rotating seal connection with the inner wall of the rotating space 266. The water and / or liquid fertilizer input through the inflow channel 268 enters the accommodating cavity 27 on the hole-digging piece 24 through the annular flow channel 267 on the outer cylindrical surface of the annular seal 263, the outflow channel 269, the first infusion tube 2651, the spiral tube 2652, and the second infusion tube 2653. This enables the simultaneous realization of electrical transmission and the transmission of water and / or liquid fertilizer, achieving the connection of the liquid path, and thus enabling the transplanting mechanism 2 to continuously maintain the transmission of liquid and electricity while rotating.

[0031] There are two of the infusion modules 265, and the two infusion modules 265 are respectively connected to the two outflow channels 269. The infusion module 265 includes a first infusion tube 2651, a spiral tube 2652, and a second infusion tube 2653. One end of the first infusion tube 2651 is connected to the outflow channel 269. Both ends of the spiral tube 2652 are respectively connected to the other end of the first infusion tube 2651 and one end of the second infusion tube 2653. The other end of the second infusion tube 2653 is connected to the accommodating cavity 27. The spiral tube 2652 has a certain elasticity and a certain hardness, so that it can meet the up and down telescoping during the hole-digging of the transplanting mechanism 2 and can also meet the continuous and uniform supply of water and / or liquid fertilizer, improving the stability of the conveying state. The other end of the second infusion tube 2653 is connected to the accommodating cavity 27. The seedling-releasing cylinder 21 and the seedling-feeding cylinder 23 respectively have a first pipe-storing space 2654 and a second pipe-storing space 2655 along their own axial directions. The first infusion tube 2651 and the second infusion tube 2653 are respectively located in the first pipe-storing space 2654 and the second pipe-storing space 2655. The first pipe-storing space 2654 and the second pipe-storing space 2655 can place pipelines. The first pipe-storing space 2654 and the second pipe-storing space 2655 provided in the seedling-releasing cylinder 21 and the seedling-feeding cylinder 23 reasonably utilize the internal space of the transplanting mechanism 2, hide the infusion tubes therein, make the structure of the entire transplanting mechanism 2 more compact, and avoid the mess of external pipelines.

[0032] In this embodiment, please refer to Figure 10 , each transplanting mechanism 2 further includes an alignment component 211, and the alignment component 211 is used to adjust the seedlings to the central axis of the seedling-feeding cylinder 23 and slow down the falling speed of the seedlings. The centering component 211 includes an air collecting chamber 2111 coaxially and fixedly fitted inside the seedling releasing cylinder 21, an air source 2112 arranged on the outer side wall of the seedling releasing cylinder 21 for supplying air into the air collecting chamber 2111, a first position sensor 2113 arranged below the seedling releasing opening 210, a second position sensor 2114 arranged below the air collecting chamber 2111, and a control valve 2115 for controlling the opening or closing of the air source 2112. The air source 2112 can be a blower. The air collecting chamber 2111 has a frustum-shaped through hole 2116 that is larger at the top and smaller at the bottom along its own axis and is coaxial with the seedling releasing cylinder 21. The inclined air outlet holes 2117 can have a gradually decreasing aperture from top to bottom in the frustum-shaped through hole 2116, and the inclination angle of the inclined air outlet holes 2117 is 30° - 45°. The inclination angle of the inclined air outlet holes 2117 is preferably 37.5°. The inclination angle of 37.5° can enable the gas to form a stable diffusion angle after ejection, improving the utilization efficiency of the gas. The side wall of the frustum-shaped through hole 2116 has a number of inclined air outlet holes 2117 that face the central axis direction of the seedling releasing cylinder 21 and discharge air upward. The air source 2112 is communicated with the air collecting chamber 2111 to supply air to the inclined air outlet holes 2117. The air source 2112, the control valve 2115, the first position sensor 2113, and the second position sensor 2114 are electrically connected to the arc output block 2642.

[0033] During the transplanting process, through the cooperation of the sensors and the control valve 2115, the air source 2112 is only turned on when needed, reducing energy consumption and operating costs. The first position sensor 2113 is arranged below the seedling releasing opening 210, and the second position sensor 2114 is arranged below the air collecting chamber 2111, capable of real-time monitoring of the position of the seedlings. When the seedlings reach the corresponding positions, the control valve 2115 controls the air source 2112 to open according to the signals of the sensors. The air source 2112 supplies air into the air collecting chamber 2111, and the gas discharges from the air collecting chamber 2111 to each inclined air outlet hole 2117, forming an upward airflow, which can not only keep the seedlings on the central axis of the seedling sending cylinder 23, ensure that the seedlings fall into the exact center of the dug acupoints, effectively guarantee the uprightness of the seedlings, but also form an upward reaction force on the seedlings, reducing the falling speed of the seedlings, thereby avoiding damage to the seedlings due to too fast falling.

[0034] It further includes two infrared induction probes, which are respectively arranged in two seedling sending cylinders 23 and are located below the second position sensor 2114. The infrared induction probes are electrically connected to the arc output block 2642. The infrared induction probes collect signals and send them to the mobile terminal device through the wireless module. The mobile terminal device can be a mobile phone or a computer. The infrared induction probes transmit the detected data to the mobile terminal device through the wireless module, and the relevant data can be viewed on the program in the mobile terminal device, facilitating monitoring and statistics.

[0035] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 11 . The transplanting device further includes two soil covering mechanisms 212 respectively arranged behind the two transplanting mechanisms 2. Each soil covering mechanism 212 includes an L-shaped connecting arm 2121 and two soil covering wheels 2122. The end of the horizontal part of the L-shaped connecting arm 2121 is fixedly connected to the upper parallelogram frame 11. The two soil covering wheels 2122 are symmetrically arranged on both sides of the end of the vertical part of the L-shaped connecting arm 2121. The soil covering wheels 2122 are arranged with the upper part higher and the lower part lower. During the soil covering process, the two soil covering wheels 2122 are symmetrically arranged on both sides of the end of the vertical part of the L-shaped connecting arm, and can cover the transplanted seedlings with soil from both sides at the same time, ensuring that the soil around the roots of the seedlings is evenly covered, improving the soil covering effect, helping the roots of the seedlings to closely combine with the soil, and promoting their growth. The symmetrically and obliquely arranged soil covering wheels 2122 can gently cover the soil to the roots of the seedlings during the soil covering work, reducing the risk of damage to the stems and leaves of the seedlings, and being beneficial to the survival and normal growth of the seedlings after transplantation.

[0036] It further includes two missed seedling monitoring mechanisms 213. The two missed seedling monitoring mechanisms 213 are respectively arranged behind the soil covering mechanism 212. Each missed seedling monitoring mechanism 213 includes an L-shaped connecting frame 2131, a U-shaped frame 2132, a signal transmitter 2133 and a signal receiver 2134. The end of the horizontal part of the L-shaped connecting frame 2131 is fixedly connected to the intersection position of the vertical part and the horizontal part of the L-shaped connecting arm 2121. The U-shaped frame 2132 is fixedly connected to the end of the vertical part of the L-shaped frame. The signal transmitter 2133 is arranged on one side inside the U-shaped frame 2132, and the signal receiver 2134 is arranged on the other side inside the U-shaped frame 2132. The signal transmitter 2133 and the signal receiver 2134 are arranged opposite to each other. By comparing the time difference between two adjacent seedlings passing between the signal transmitter 2133 and the signal receiver 2134 with the set time difference for continuous planting, when the former is greater than the latter, it indicates that a seedling is missed in planting; when the former is less than the latter, it indicates that a seedling is replanted. When a missed seedling or a replanted seedling is detected, an alarm is sent through the alarm module, which is convenient for quick handling and improves the transplanting quality.

[0037] In this embodiment, please refer to Figure 1 , Figures 12 to 14 . The seedling supply mechanism 7 includes: Two support modules 71. The two support modules 71 are oppositely arranged on the left and right sides of the top of the vehicle frame 41. Each support module 71 includes a support frame 711 fixedly connected to the top of the vehicle frame 41, an annular rail 712 fixedly connected to the inner side of the support frame 711, a plurality of connecting plates 713, a plurality of connecting rollers 714, and a plurality of connecting plates 715. Each connecting roller 714 has a roller groove 7141, and the roller groove 7141 is in rolling cooperation with the annular rail 712. The plurality of connecting plates 713 are hinged end to end through the connecting rollers 714 to form an annular transmission structure. The number of the connecting rollers 714 is equal to that of the connecting plates 715 and they are fixedly connected in one-to-one correspondence; the plurality of connecting plates 713 are hinged end to end through the connecting rollers 714 to form an annular transmission structure, and the roller groove 7141 on the connecting roller 714 is in rolling cooperation with the annular rail 712, so that the whole transmission process is smooth and stable, reducing the energy loss during the movement process; A plurality of seedling placing modules 72. The number of the seedling placing modules 72 is equal to that of the connecting plates 715. Each seedling placing module 72 includes a seedling placing frame 721, a hanging frame 722, and a seedling placing tray 723. The periphery of the hanging frame 722 is fixedly connected to the periphery of the seedling placing frame 721. The middle positions at both ends of the hanging frame 722 are respectively rotatably connected to the connecting plates 715 of the two support modules 71. The seedling placing tray 723 has a plurality of partition plates 724. The plurality of partition plates 724 are arranged at intervals in the transverse and longitudinal directions of the seedling placing tray 723 to form a plurality of seedling accommodating cavities 725. The top of the seedling placing frame 721 has a tray accommodating space 726 adapted to the seedling placing tray 723, so that the seedling placing tray 723 can be detached from the tray accommodating space 726, which is convenient for the operator to replace. A weight sensor can be arranged at the bottom of the seedling placing tray 723 to determine the number of seedlings in the seedling placing tray 723 according to the value of the weight sensor. The seedling placing tray 723 has a handle for easy grasping and carrying; the plurality of partition plates 724 on the seedling placing tray 723 are arranged at intervals in the transverse and longitudinal directions to form a plurality of seedling accommodating cavities 725, so as to effectively fix the seedlings and prevent them from shaking or toppling during transportation. At the same time, it is convenient for the operator to place the seedlings in the seedling accommodating cavities 725, improving the convenience and accuracy of seedling placement. The periphery of the hanging frame 722 is fixedly connected to the seedling placing frame 721, and the middle positions at both ends are respectively rotatably connected to the connecting plates 715 of the two support modules 71, so that the seedling placing frame 721 is always in a vertically downward state during operation; The rotation power module 73 is used to drive the seedling placing module 72 to rotate around the annular rail 712, which can quickly and accurately transport the seedling placing module 72 to the designated position, provide seedlings for the transplanting mechanism 2 in a timely manner, and improve the working efficiency of the entire transplanting process. Through the mutual cooperation and coordinated work of the support module 71, the seedling placing module 72, and the rotation power module 73, not only the efficiency and accuracy of seedling supply are ensured, but also the structure of the entire mechanism is compact, making full use of the space at the top of the vehicle frame 41. Without occupying too much space, the storage and supply of a large number of seedlings are realized, and the space utilization rate is improved.

[0038] In this embodiment, please refer to Figure 12 , the rotation power module 73 includes a first rotating shaft 731 rotatably installed below the support frame 711, a second rotating shaft 732 rotatably installed in the middle of the support frame 711, two driving gears 733 coaxially and fixedly fitted at both ends of the second rotating shaft 732, driving rollers 734 equal in number to the connecting rollers 714 and vertically fixed to the head and tail ends of the connecting plate 713, an annular transmission part 735 for drivingly connecting the first rotating shaft 731 and the second rotating shaft 732, and a rotation driving member 736 for driving the first rotating shaft 731 to rotate. The rotation driving member 736 includes a motor or a hydraulic motor. Each driving roller 734 has a roller ring groove 7341, and the driving gear 733 cooperates with the roller ring groove 7341 of the driving roller 734 to drive the rotation of the annular transmission structure. The annular transmission part 735 can be a belt transmission pulley set or a sprocket transmission pulley set.

[0039] The rotation driving member 736 drives the first rotating shaft 731 to rotate, which is transmitted by the annular transmission part 735 to drive the second rotating shaft 732 to rotate, and then drives the driving gears 733 coaxially and fixedly fitted at both ends of the second rotating shaft 732 to rotate. The driving gear 733 cooperates with the roller ring groove 7341 of the driving roller 734 to drive the rotation of the annular transmission structure, and then drives the seedling placing module 72 to rotate around the annular rail 712, realizing the transfer from one seedling placing module 72 to another, so as to achieve continuous supply during the seedling transplanting process and improve the working efficiency.

[0040] It also includes a navigation component, an identification component and a control system. The navigation component is used to plan the walking path of the walking mechanism 4. The identification component is arranged on the bionic robotic arm 6 and is used to identify the positions of the seedlings and the seedling placement openings 210. The identification component can be an existing identification camera. The control system is connected to the walking mechanism 4, the frame mechanism 1, the transplanting mechanism 2, the centering component 211, the delivery pump, the bionic robotic arm 6, the seedling supply mechanism 7, and the missed seedling monitoring mechanism 213. It can automatically adjust the working states and parameters of each component according to different working requirements and conditions, realizing the intelligent control of the entire ridge cultivation triangular staggered transplanting machine, and improving the automation degree and working efficiency of the ridge cultivation triangular staggered transplanting machine.

[0041] In this embodiment, please refer to Figures 1 to 15 , a transplanting method for a ridge cultivation triangular staggered transplanting machine, using the above-mentioned ridge cultivation triangular staggered transplanting machine, includes the following steps: Placing seedlings: Place the seedlings in the seedling holding cavity 725 of the seedling placement tray 723, and place the seedling placement tray 723 in the seedling placement frame 721; Path planning: Plan the walking path of the walking mechanism 4 according to the navigation component and reach the transplanting position; Digging holes and forming: Drive the two transplanting mechanisms 2 to rotate simultaneously through the rotary drive mechanism 3, so that the two transplanting mechanisms 2 dig in a staggered manner. The rotary drive mechanism 3 drives the seedling release cylinder 21 to rotate, driving the seedling delivery cylinder 23 to rotate, and then driving the two hole-digging blades 24 to rotate. The telescopic power member 12 controls the lower parallelogram frame 11 to move downward, driving the seedling release cylinder 21 to move downward to dig two rows of holes for planting seedlings on the ridge. While digging the holes, water and / or liquid fertilizer are conveyed into the accommodation cavities 27 on the two hole-digging blades 24 through the electro-hydraulic rotary assembly 26, and then the two hole-digging blades 24 are driven to open by the opening and closing power assembly 25; Seedling release and transplanting: The bionic robotic arm 6 extends and bends, and the seedlings are identified by the identification component. After the seedlings are identified, they are fed back to the control system. The control system issues an instruction to adjust the spatial position of the bionic robotic arm 6 to take out the seedlings from the seedling placement tray 723, and then put them into the seedling release cylinder 21 from the seedling release opening 210. The seedlings fall between the two hole-digging blades 24 after passing through the seedling release cylinder 21 and the seedling delivery cylinder 23; Lifting movement: The telescopic power member 12 controls the lower parallelogram frame 11 to move upward, driving the seedling releasing cylinder 21 to move upward. The traveling mechanism 4 travels along the length direction of the ridge for continuous planting, so that the adjacent seedlings in adjacent rows on the ridge are planted in a triangular staggered manner. First, the parallelogram frame 11 forms the staggered planting of adjacent seedlings in adjacent rows, and then the traveling mechanism 4 travels along the length direction of the ridge for continuous transplanting. The traveling distance of the traveling mechanism 4 is the planting spacing of adjacent seedlings in the same row. The adjacent seedlings in adjacent rows on the ridge are planted in a triangular staggered manner, which is beneficial to optimizing the planting density and spatial layout, and improving the growth conditions and yield of crops.

[0042] In summary, through the mutual cooperation of the traveling mechanism 4, the transplanting device, the liquid storage mechanism 5, the bionic robotic arm 6, and the seedling supply mechanism 7, a complete workflow is formed from the aspects of seedling supply, traveling, transplanting, watering, and fertilizing, etc., improving the overall performance and working efficiency of the transplanter, thus realizing high-efficiency, precision, and full automation of transplanting, greatly reducing the manual labor cost and labor intensity, and improving the transplanting efficiency of transplanted seedlings. By driving the two transplanting mechanisms 2 to rotate simultaneously through the rotary drive mechanism 3, high-efficiency continuous transplanting operations can be carried out, improving the working efficiency. Moreover, the synchronous rotation ensures the consistency of the transplanting actions of the two transplanting mechanisms 2, which is beneficial to ensuring the uniformity and standardization of the transplanting depth, thereby improving the overall transplanting quality and ensuring the consistency and neatness of the growth of the seedlings. Through the design of the parallelogram frame 11, the seedlings can be transplanted with staggered displacements between adjacent narrow rows on the ridge, and then the traveling mechanism 4 travels along the length direction of the ridge for continuous transplanting. The traveling distance of the traveling mechanism 4 is the planting spacing between adjacent seedlings in the same row, and the adjacent seedlings between adjacent rows on the ridge form a triangular staggered transplanting, which is beneficial to optimizing the planting density and spatial layout, improving the growth conditions and yield of the crops. By vertically and rotatably installing the seedling releasing cylinder 21 on the upper parallelogram frame 11 and vertically and rotatably installing the seedling feeding cylinder 23 on the lower parallelogram frame 11, and the limiting groove 29 on the inner wall circumference of the seedling feeding cylinder 23 is in sliding fit with the convex block 22 at the bottom of the outer wall of the seedling releasing cylinder 21, the seedling releasing cylinder 21 can drive the seedling feeding cylinder 23 to rotate synchronously when the rotary drive mechanism 3 rotates, and can also move up and down under the drive of the telescopic power member 12, ensuring the stable and continuous transportation of the seedlings from the seedling releasing cylinder 21 to the seedling feeding cylinder 23. The two symmetrically arranged digging blades 24 hinged below the seedling feeding cylinder 23 are fitted to form a conical structure, which is beneficial to cutting into the soil for digging holes, reducing the soil resistance, and improving the hole-digging efficiency. The spiral groove on the digging blade 24 can play a role in guiding the soil to move upward during the hole-digging process, further reducing the hole-digging resistance and making the hole-digging more regular. The electro-hydraulic rotary assembly 26 can transport water and / or liquid fertilizer. By communicating with the accommodating cavity 27 on the digging blade 24, the water and / or liquid fertilizer can form a liquid surface on the conical surface of the digging blade 24 through the leakage holes 28, isolating the soil or reducing direct contact, which can not only achieve the effect of reducing adhesion and preventing blockage, but also realize the application of the root-fixing water and / or liquid fertilizer during the transplanting process, providing a good growth environment for the seedlings, improving the transplanting efficiency and survival rate of the seedlings, and thus solving the problems of easy blockage, poor quality of transplanting operations, low efficiency, and low survival rate of vegetable seedlings. The integrated design of hole-digging and watering and / or fertilizing not only improves the planting efficiency, reduces the operation steps, but also enables the seedlings to be accurately watered and / or fertilized during planting, so that the seedlings can obtain the necessary water and nutrients, promoting the survival and initial growth of the seedlings. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0043] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A ridge-planting triangular staggered transplanter, characterized in that: include: A traveling mechanism, the traveling mechanism comprising a frame and a stabilizing frame fixedly connected to the frame; A transplanting device, the transplanting device comprising a frame mechanism, two transplanting mechanisms, and a rotating drive mechanism for driving the two transplanting mechanisms to rotate simultaneously, the frame mechanism comprising two parallelogram frames arranged opposite to each other up and down, and a telescopic power member for controlling the telescopic movement of the lower parallelogram frame up and down, the upper parallelogram frame being fixedly connected to the bottom of the vehicle frame, and the two transplanting mechanisms being arranged on two parallel sides of the parallelogram frame; Each of the transplanting mechanisms comprises a seedling placing tube vertically and rotatably mounted on the upper parallelogram frame, a plurality of protrusions arranged at intervals along the circumferential direction of the bottom of the outer wall of the seedling placing tube, a seedling delivery tube vertically and rotatably mounted on the lower parallelogram frame, two symmetrically arranged and respectively hingedly connected to the bottom of the seedling delivery tube, a power assembly for controlling the opening and closing of the two digging plates, and an electro-hydraulic rotating assembly arranged above the seedling placing tube for continuously delivering electricity, water and / or liquid fertilizer. The seedling placing tube extends to the top of the vehicle frame, the electro-hydraulic rotating assembly is fixedly connected to the stable frame, and the two digging plates are fitted to form a cone-shaped structure, each of the digging plates is provided with a accommodating cavity connected to the electro-hydraulic rotating assembly, and the conical surface of each of the digging plates has a spiral groove and a plurality of leakage holes all connected to the accommodating cavity, the inner wall of the seedling delivery tube has a plurality of limiting grooves circumferentially cooperating with the protrusions respectively, and the side wall of the seedling placing tube has a seedling placing opening; A liquid storage mechanism, the liquid storage mechanism comprising a water storage tank and a fertilizer storage tank, the water storage tank and the fertilizer storage tank are both fixedly connected to the top of the frame, and the electro-hydraulic rotating assembly is communicated with the water storage tank and the fertilizer storage tank through a delivery pump and a delivery pipe respectively; A bionic mechanical arm, the bionic mechanical arm is rotatably mounted on the top of the frame; A seedling supply mechanism is used to provide seedlings for the transplanting device.

2. The ridge-planting triangle-shaped staggered transplanter according to claim 1, characterized in that: The rotary drive mechanism includes two first gears, a second gear, a parallelogram plate, and a rotating power part for driving the second gear to rotate. The parallelogram plate is fixedly connected to the parallelogram frame above. The second gear is vertically and rotatably mounted on the parallelogram plate. The two first gears are coaxially fixedly matched with the two seedling placing tubes, and the two first gears are meshed with the second gear for transmission.

3. The ridge-planting triangle-shaped staggered transplanter according to claim 1, characterized in that: The opening and closing power assembly includes a telescopic driving member, two cross arms, two lugs and an inclined connecting rod. The two cross arms are respectively fixedly connected to the tops of the two digging plates. The fixed end and the telescopic end of the telescopic driving member are respectively hinged to one end of the two cross arms through hinge seats. The two lugs are respectively fixedly connected to the top surface of the other end of one cross arm and the bottom surface of the other end of the other cross arm. The two ends of the inclined connecting rod are respectively hinged to the two lugs.

4. The ridge-planting triangle-shaped staggered transplanter according to claim 1, characterized in that: The electro-hydraulic rotating assembly includes a fixed cylinder, a rotating column, two annular sealing sleeves, a middle cover, a bottom cover, a power transmission module and an infusion module. The two ends of the rotating column are coaxially fixedly connected with the middle cover and the bottom cover respectively. The fixed cylinder is fixedly connected with the stabilizing frame. One end of the fixed cylinder is open and the other end is closed to form a rotating space. The rotating column is connected to the inner wall of the rotating space in a rotating sealing manner. The two annular sealing sleeves are sleeved on the rotating column. The inner circular surface of the annular sealing sleeve is connected to the outer wall of the rotating column in a static sealing manner. The outer circular surface of the annular sealing sleeve is connected to the inner wall of the rotating space. A rotary sealing connection is formed, the outer circumferential surface of the annular sealing sleeve is provided with two annular flow channels, the side wall of the fixed cylinder is provided with two inlet channels respectively connected with the annular flow channels, the rotating column axially has outlet channels respectively connected with the two annular flow channels, the middle cover and the top of the bottom cover are respectively rotatably sealed with the inner wall of the rotating space and the bottom of the fixed cylinder, sealing rings are provided between the annular sealing sleeve and the outer wall of the rotating column and the inner wall of the rotating space, and between the middle cover and the inner wall of the rotating space, and the bottom of the bottom cover is coaxially fixedly connected with the top of the seedling placing cylinder; The power transmission module is arranged in the rotating space and is used to continuously supply power to the electrical components of the transplanting mechanism; The infusion module is used to connect the accommodating cavities on the two hole-digging plates with the two annular flow channels respectively.

5. The ridge-planting triangle-shaped staggered transplanter according to claim 4, characterized in that: The power transmission module comprises a plurality of input conductive rings, a plurality of arc-shaped output blocks, an output disk and an elastic member, wherein the plurality of input conductive rings are concentrically arranged at the top of the rotating space, the plurality of arc-shaped output blocks are concentrically arranged on the output disk, each arc-shaped output block is in sliding contact with each input conductive ring and corresponds one to one, and the output disk is in rotational cooperation with the inner wall of the rotating space; The elastic member is used to provide a thrust for the output disk toward the top side of the rotating space; A wire release channel is provided at the axis of the middle cover, the rotating column and the bottom cover; The infusion module has two, the two infusion modules are respectively connected to the two outflow channels, the infusion module includes a first infusion tube, a spiral tube and a second infusion tube, one end of the first infusion tube is connected to the outflow channel, the two ends of the spiral tube are respectively connected to the other end of the first infusion tube and one end of the second infusion tube, and the other end of the second infusion tube is connected to the accommodating cavity; The seedling placing tube and the seedling delivering tube respectively have a first tube storage space and a second tube storage space along their own axial direction, and the first infusion tube and the second infusion tube are respectively located in the first tube storage space and the second tube storage space.

6. The ridge-planting triangle-shaped staggered transplanter according to claim 1, characterized in that: Each of the transplanting mechanisms further includes a centering component, which is used to adjust the seedlings to the central axis of the seedling delivery tube and slow down the falling speed of the seedlings; The centering component includes an air collecting chamber coaxially fixedly fitted in the seedling placing tube, an air source arranged on the outer wall of the seedling placing tube for supplying air to the air collecting chamber, a first position sensor arranged below the seedling placing port, a second position sensor arranged below the air collecting chamber, and a control valve for controlling the opening or closing of the air source. The air collecting chamber has a truncated cone through hole which is larger at the top and smaller at the bottom and is coaxial with the seedling placing tube along its own axial direction. The side wall of the truncated cone through hole has a plurality of inclined air outlet holes in the axial and circumferential directions which face the central axis of the seedling placing tube and discharge air upward. The air source is connected to the air collecting chamber through which air is supplied to the inclined air outlet holes.

7. The ridge-planting triangle-shaped staggered transplanter according to claim 1, characterized in that: The transplanting device also includes two soil covering mechanisms respectively arranged behind the two transplanting mechanisms, each of the soil covering mechanisms includes an L-shaped connecting arm and two soil covering wheels, the end of the horizontal part of the L-shaped connecting arm is fixedly connected to the parallelogram frame above, and the two soil covering wheels are symmetrically arranged on both sides of the end of the vertical part of the L-shaped connecting arm, and the soil covering wheels are inclined with the upper part higher and the lower part lower.

8. The ridge-planting triangle-shaped staggered transplanter according to claim 1, characterized in that: The seedling supply mechanism comprises: Two support modules, the two support modules are relatively arranged on the left and right sides of the top of the frame, each of the support modules includes a support frame fixedly connected to the top of the frame, an annular rail fixedly connected to the inner side of the support frame, a plurality of serial connection plates, a plurality of connecting rollers, and a plurality of connecting plates, each of the connecting rollers has a roller groove, the roller groove and the annular rail are rollingly matched, a plurality of the serial connection plates are hinged end to end through the connecting rollers to form an annular transmission structure, and the connecting rollers are equal in number to the connecting plates and are fixedly connected one by one; A plurality of seedling placement modules, the number of the seedling placement modules is equal to the number of the connecting plates, each of the seedling placement modules comprises a seedling placement rack, a hanging rack, and a seedling placement tray, the hanging rack is fixedly connected to the seedling placement rack on all sides, the middle positions at both ends of the hanging rack are rotatably connected to the connecting plates of the two support modules respectively, the seedling placement tray is provided with a plurality of partitions, and the plurality of partitions are arranged at intervals along the horizontal and vertical directions of the seedling placement tray to form a plurality of seedling cavities, and the top of the seedling placement rack has a tray space adapted to the seedling placement tray; A rotating power module is used to drive the seedling placement module to rotate around the annular track.

9. The ridge-planting triangle-shaped staggered transplanter according to claim 8, characterized in that: The rotary power module includes a first rotating shaft rotatably installed under the support frame, a second rotating shaft rotatably installed in the middle of the support frame, two driving gears coaxially fixedly matched at both ends of the second rotating shaft, and transmission rollers with the same number of connecting rollers and vertically fixed to the head and tail ends of the serial plate, an annular transmission part that connects the first rotating shaft and the second rotating shaft, and a rotating driving part that drives the first rotating shaft to rotate, each of the transmission rollers has a roller ring groove, and the driving gear cooperates with the roller ring groove of the transmission roller to drive the annular transmission structure to rotate.

10. A transplanting method using a ridge-planting triangular-shaped staggered transplanter, characterized in that: Using the ridge-growing triangle-shaped staggered transplanter according to claim 8 comprises the following steps: Placing seedlings: placing seedlings in the seedling holding cavity of the seedling placing tray, and placing the seedling placing tray in the seedling placing rack; Planning a path: planning the walking path of the walking mechanism according to the navigation component and reaching the transplanting position; Digging and forming holes: the two transplanting mechanisms are driven to rotate simultaneously by the rotary drive mechanism, so that the two transplanting mechanisms dig in a staggered manner, the rotary drive mechanism drives the seedling placing tube to rotate, drives the seedling delivering tube to rotate, and then drives the two digging holes to rotate, the telescopic power member controls the lower parallelogram frame to move downward, drives the seedling placing tube to move downward, and digs two rows of holes for planting seedlings on the ridge, while digging holes, water and / or liquid fertilizer are transported to the accommodating chambers on the two digging holes through the electro-hydraulic rotary assembly, and then the two digging holes are driven to open by the opening and closing power assembly; Seedling transplanting: The bionic mechanical arm is stretched and bent, and the identification component identifies the seedlings. After the seedlings are identified, feedback is given to the control system, and the control system issues instructions to adjust the spatial position of the bionic mechanical arm to take the seedlings out of the seedling tray, and then put them into the seedling placing tube from the seedling placing port. The seedlings fall between the two digging pieces after passing through the seedling placing tube and the seedling sending tube; Lifting and moving: the telescopic power piece controls the parallelogram frame below to move upward, driving the seedling tube to move upward, and the walking mechanism walks along the length direction of the ridge for continuous planting, so that adjacent seedlings between adjacent rows on the ridge form a triangular staggered planting.

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