A ridge triangular staggered transplanting machine and a transplanting method

Abstract

The application provides a ridge triangular staggered transplanting machine and a transplanting method, and aims to solve the problems of low transplanting efficiency, easy blockage of duck-billed planters when inserted into soil, and inability to realize water and / or fertilizer application during transplanting in the prior art. The ridge triangular staggered transplanting machine comprises a walking mechanism, a transplanting device, a liquid storage mechanism, a bionic mechanical arm and a seedling supply mechanism. The walking mechanism comprises a vehicle frame and a stabilizing frame. The transplanting device comprises a frame mechanism, two transplanting mechanisms and a rotating driving mechanism for driving the two transplanting mechanisms to rotate simultaneously. The frame mechanism comprises two parallelogram frames arranged oppositely in an up-down direction, and a telescopic power component for controlling the up-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 sides of the parallelogram frames in parallel. The liquid storage mechanism comprises a water storage tank and a fertilizer storage tank. The transplanting machine can improve the transplanting efficiency, reduce adhesion and prevent blockage, and accurately apply water and / or fertilizer.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to a ridge-planting triangular staggered transplanting machine and transplanting method. Background Technology

[0002] Seedling transplanting is widely used in vegetable cultivation because it can effectively shorten the crop growth cycle and compensate for the adverse effects of seasons and climate. However, the transplanting process faces many challenges. Generally, seedlings are transported to the field manually; then holes are dug, the seedlings are placed in the holes, covered, and watered. For a long time, this method has relied excessively on manual labor, resulting in high labor intensity and extremely low efficiency.

[0003] With the development of technology, semi-automatic transplanting machines have appeared on the market in recent years. Compared with manual transplanting, using semi-automatic transplanting machines reduces the labor intensity and improves transplanting efficiency to a certain extent. However, current transplanting machines still have some shortcomings:

[0004] 1. The semi-automatic transplanter still requires manual assistance to perform tasks such as seedling picking and placing, resulting in high labor costs and low transplanting efficiency.

[0005] 2. Existing semi-automatic transplanters have low space utilization and a limited number of seedlings that can be carried, requiring repeated replanting, resulting in low transplanting efficiency;

[0006] 3. During the transplanting process, the duckbill-type planter on the semi-automatic transplanter frequently inserts into the soil, which easily causes soil to stick together, resulting in blockage of the duckbill. Alternatively, the sticky soil may prevent the seedlings from falling freely into the planting hole, which seriously affects the transplanting effect of the seedlings and reduces the survival rate of the seedlings. Operators need to clean it manually frequently, which not only consumes a lot of time and energy, but also greatly affects the overall work efficiency.

[0007] 4. During the transplanting process, the duckbill-type planter on the semi-automatic transplanter lacks watering and fertilization functions. After the seedlings are transplanted, watering and / or fertilization must be carried out manually, which is time-consuming and labor-intensive, and cannot achieve simultaneous transplanting and watering and / or fertilization, thus affecting the survival rate of the transplanted seedlings. Summary of the Invention

[0008] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a ridge-planting triangular staggered transplanting machine and transplanting method to solve the problems of low transplanting efficiency, easy clogging of the duckbill type planter when inserted into the soil, and inability to apply water and / or fertilizer during transplanting in the prior art.

[0009] To achieve the above and other related objectives, the present invention provides a ridge-planting triangular staggered planting machine, comprising:

[0010] A traveling mechanism, the traveling mechanism including a frame and a stabilizing frame fixed above the frame;

[0011] The transplanting device includes a frame mechanism, two transplanting mechanisms, and a rotary drive mechanism for driving the two transplanting mechanisms to rotate simultaneously. The frame mechanism includes two parallelogram frames arranged vertically opposite each other and a telescopic power component for controlling the vertical extension and retraction of the lower parallelogram frame. The upper parallelogram frame is fixed to the bottom of the vehicle frame, and the two transplanting mechanisms are located on two parallel sides of the parallelogram frame.

[0012] Each transplanting mechanism includes a seedling placement tube vertically and rotatably mounted on the upper parallelogram frame, a plurality of protrusions spaced circumferentially along the bottom of the outer wall of the seedling placement tube, a seed delivery tube vertically and rotatably mounted on the lower parallelogram frame, two symmetrically arranged and hinged below the seed delivery tube, a tensioning power assembly for controlling the opening and closing of the two seed delivery tubes, and an electro-hydraulic rotating assembly located above the seedling placement tube for continuously supplying electricity, water, and / or liquid fertilizer. The seedling placement tube extends above the frame, the electro-hydraulic rotating assembly is fixedly connected to the stabilizing frame, the two seed delivery tubes are fitted together to form a conical structure, each seed delivery tube has a receiving cavity communicating with the electro-hydraulic rotating assembly, each seed delivery tube has a spiral groove and a plurality of leakage holes communicating with the receiving cavity on its conical surface, the inner wall of the seed delivery tube has a plurality of limiting grooves circumferentially slidably engaged with the protrusions, and the side wall of the seedling placement tube has a seedling placement opening.

[0013] The liquid storage mechanism includes a water storage tank and a fertilizer storage tank, both of which are fixedly connected to the top of the vehicle frame. The electro-hydraulic rotating assembly is connected to the water storage tank and the fertilizer storage tank respectively through a delivery pump and a delivery pipe.

[0014] A bionic robotic arm, which is rotatably mounted on the top of the vehicle frame;

[0015] A seedling supply mechanism is used to provide seedlings to the transplanting device.

[0016] Optionally, the rotary drive mechanism includes two first gears, a second gear, a parallelogram plate, and a rotary power component 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 mounted on the parallelogram plate. The two first gears are coaxially fixedly engaged with the two seedling cylinders, and both first gears mesh with the second gear for transmission.

[0017] Optionally, the tensioning and opening power assembly includes a telescopic drive component, two horizontal arms, two lugs, and an inclined connecting rod. The two horizontal arms are respectively fixedly connected to the top of the two digging plates. The fixed end and telescopic end of the telescopic drive component are respectively hinged to one end of the two horizontal arms through hinge seats. The two lugs are respectively fixedly connected to the top surface of the other end of one horizontal arm and the bottom surface of the other end of the other horizontal arm. The two ends of the inclined connecting rod are respectively hinged to the two lugs.

[0018] Optionally, the electro-hydraulic rotating assembly includes a fixed cylinder, a rotating column, two annular sealing sleeves, a middle sealing cap, a bottom sealing cap, a power transmission module, and a liquid infusion module. The rotating column is coaxially and fixedly connected at both ends to the middle sealing cap and the bottom sealing cap, 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, forming a rotating space. The rotating column forms a rotational seal connection with the inner wall of the rotating space. The two annular sealing sleeves are fitted onto the rotating column. The inner circular surface of the annular sealing sleeve forms a static seal connection with the outer wall of the rotating column, and the outer circular surface of the annular sealing sleeve forms a static seal connection with the inner wall of the rotating space. A rotating seal connection is formed between them. 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 that are respectively connected to the annular flow channels. The rotating column has an outlet channel that is respectively connected to the two annular flow channels. The top of the middle cover and the top of the bottom cover are respectively rotatingly and sealingly connected to the inner wall of the rotating space and the bottom of the fixed cylinder. A sealing ring is 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. The bottom of the bottom cover is coaxially and fixedly connected to the top of the seedling tube.

[0019] The power transmission module is located within the rotating space and is used to continuously supply power to the electrical components of the transplanting mechanism.

[0020] The infusion module is used to connect the receiving cavities on the two hollowing plates to the two annular flow channels respectively.

[0021] Optionally, the power transmission module includes multiple input conductive rings, multiple arc-shaped output blocks, an output disk, and an elastic element. The multiple input conductive rings are concentrically arranged at the top of the rotation space, and the multiple arc-shaped output blocks are concentrically arranged on the output disk. Each arc-shaped output block slides and corresponds to each input conductive ring. The output disk rotates and engages with the inner wall of the rotation space.

[0022] The elastic element is used to provide a thrust to the top side of the rotation space for the output disk;

[0023] A wire feeding channel is provided at the center of the middle cover, the rotating column, and the bottom cover;

[0024] The infusion module has two components, each connected to one of the two outflow channels. Each 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, and both ends of the spiral tube are connected to the other end of the first infusion tube and one end of the second infusion tube, respectively. The other end of the second infusion tube is connected to the receiving cavity.

[0025] The seedling release tube and the seedling delivery tube each have a first storage space and a second storage space along their own axial direction, and the first infusion tube and the second infusion tube are located in the first storage space and the second storage space, respectively.

[0026] Optionally, each of the transplanting mechanisms further includes a centering component for adjusting the seedling to the central axis of the seedling delivery tube and slowing down the falling speed of the seedling;

[0027] The centering assembly includes an air collecting chamber coaxially fixed inside the seedling tube, an air source located on the outer wall of the seedling tube for supplying air to the air collecting chamber, a first position sensor located below the seedling opening, a second position sensor located 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 frustum-shaped through hole along its own axial direction, which is larger at the top and smaller at the bottom and coaxial with the seedling tube. The side wall of the frustum-shaped through hole has several inclined air outlet holes in the axial and circumferential directions, which face the central axis of the seedling tube and release air upwards. The air source communicates with the air collecting chamber and supplies air to the inclined air outlet holes.

[0028] Optionally, the transplanting device further includes two soil covering mechanisms respectively located behind the two transplanting mechanisms. Each soil covering mechanism includes an L-shaped connecting arm and two soil covering wheels. The horizontal end of the L-shaped connecting arm is fixedly connected to the parallelogram frame above. The two soil covering wheels are symmetrically located on both sides of the vertical end of the L-shaped connecting arm. The soil covering wheels are inclined at the top and bottom.

[0029] Optionally, the seedling supply mechanism includes:

[0030] Two support modules are arranged opposite each other on the left and right sides of the top of the vehicle frame. Each support module includes a support frame fixed to the top of the vehicle frame, an annular rail fixed to the inner side of the support frame, multiple connecting plates, multiple connecting rollers, and multiple connecting plates. Each connecting roller has a roller groove, which rolls in cooperation with the annular rail. The multiple connecting plates are hinged end to end through the connecting rollers to form an annular transmission structure. The number of connecting rollers and connecting plates are equal and they are fixedly connected one-to-one.

[0031] Multiple seedling placement modules are provided, with the number of seedling placement modules equal to the number of connecting plates. Each seedling placement module includes a seedling rack, a hanging rack, and a seedling tray. The hanging rack is fixedly connected to the seedling rack around its perimeter. The middle positions at both ends of the hanging rack are rotatably connected to the connecting plates of two supporting modules, respectively. The seedling tray has several partitions, which are arranged at intervals along the transverse and longitudinal directions of the seedling tray to form multiple seedling cavities. The top of the seedling rack has a tray space adapted to the seedling tray.

[0032] A rotary power module is used to drive the seedling placement module to rotate around the annular track.

[0033] Optionally, the rotary 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 drive gears coaxially fixed to both ends of the second rotating shaft, transmission rollers equal in number to the connecting rollers and perpendicularly fixed to both ends of the connecting plate, an annular transmission part that drives the first rotating shaft and the second rotating shaft to rotate, and a rotary drive component that drives the first rotating shaft to rotate. Each transmission roller has a roller ring groove, and the drive gears cooperate with the roller ring grooves of the transmission rollers to drive the annular transmission structure to rotate.

[0034] A transplanting method using a ridge-planting triangular staggered transplanter, comprising the following steps:

[0035] Placement of seedlings: The seedlings are placed in the seedling cavity of the seedling tray, and the seedling tray is placed in the seedling rack;

[0036] Path planning: The walking mechanism plans its path according to the navigation component and reaches the transplanting location;

[0037] Hole-digging and shaping: The rotary drive mechanism drives the two transplanting mechanisms to rotate simultaneously, causing the two transplanting mechanisms to dig in a staggered manner. The rotary drive mechanism drives the seedling release cylinder to rotate, which in turn drives the seedling delivery cylinder to rotate, thereby driving the two hole-digging plates to rotate. The telescopic power component controls the parallelogram frame below to move downward, which drives the seedling release cylinder to move downward to dig two rows of holes for planting seedlings on the ridge. At the same time as digging, water and / or liquid fertilizer are delivered to the receiving cavity on the two hole-digging plates through the electro-hydraulic rotary component. Then, the opening and closing power component drives the two hole-digging plates to open.

[0038] Seedling placement and transplanting: The bionic robotic arm extends and bends and the seedling is identified by the recognition component. After the seedling is identified, the control system is fed back. The control system issues an instruction to adjust the spatial position of the bionic robotic arm to take the seedling out of the seedling tray and then put it into the seedling tube through the seedling opening. After passing through the seedling tube and the seedling delivery tube, the seedling falls between the two digging plates.

[0039] Lifting and moving: The parallelogram frame below is controlled to move upward by the telescopic power component, which drives the seedling tube to move upward. The walking mechanism moves along the length of the ridge and plants continuously, so that adjacent seedlings in adjacent rows on the ridge are planted in a triangular staggered manner.

[0040] As described above, the ridge-planting triangular staggered transplanting machine and transplanting method of the present invention have at least the following beneficial effects:

[0041] Through the coordinated operation of the walking mechanism, transplanting device, liquid storage mechanism, bionic robotic arm, and seedling supply mechanism, a complete workflow is formed, encompassing seedling supply, walking, transplanting, watering, and / or fertilization. This improves the overall performance and efficiency of the transplanter, achieving highly efficient, precise, and fully automated transplanting. It significantly reduces labor costs and intensity, and increases the efficiency of seedling transplanting. The rotary drive mechanism simultaneously rotates two transplanting mechanisms, enabling efficient and continuous transplanting operations. Synchronous rotation ensures consistency in the transplanting actions of both mechanisms, guaranteeing uniform and standardized transplanting depth, thus improving overall transplanting quality and ensuring consistent and uniform seedling growth. The parallelogram frame design allows for staggered transplanting of seedlings between adjacent narrow rows on the ridge, followed by continuous transplanting via the walking mechanism along the ridge length. The walking distance is equal to the planting spacing between adjacent seedlings in the same row, creating a triangular staggered transplanting pattern between adjacent seedlings in adjacent rows. This optimizes planting density and spatial layout, improving crop growth conditions and yield. The seedling discharge tube is vertically and rotatably mounted on the upper parallelogram frame, while the seed delivery tube is vertically and rotatably mounted on the lower parallelogram frame. A circumferentially oriented limiting groove on the inner wall of the seed delivery tube slides into a protrusion on the bottom of the outer wall of the discharge tube. This allows the discharge tube to rotate synchronously with the seed delivery tube when the rotary drive mechanism rotates, and also allows for up-and-down movement under the drive of the telescopic power component. This ensures a stable and continuous transport of seedlings from the discharge tube to the delivery tube. Two symmetrically arranged digging plates, hinged below the seed delivery tube, fit together to form a conical structure, which facilitates cutting into the soil for digging, reduces soil resistance, and improves digging efficiency. The spiral grooves on the digging plates can... During the digging process, the device guides the soil upwards, further reducing digging resistance and making the holes more regular. The electro-hydraulic rotating component can deliver water and / or liquid fertilizer. Through communication with the receiving cavity on the digging plate, water and / or liquid fertilizer can form a liquid surface on the conical surface of the digging plate through the seepage holes, isolating the soil or reducing direct contact. This achieves both anti-sticking and anti-clogging effects, and also enables the application of root-setting water and / or liquid fertilizer during transplanting, providing a good growth environment for seedlings, improving transplanting efficiency and survival rate, and thus solving the problems of easy clogging, poor transplanting quality, low efficiency, and low seedling survival rate. The integrated design of digging holes and watering and / or fertilizing not only improves planting efficiency and reduces operation steps, but also allows for precise watering and / or fertilization of seedlings at planting time, ensuring that seedlings receive the necessary water and nutrients, promoting seedling survival and early growth. Attached Figure Description

[0042] Figure 1 The diagram shown is a three-dimensional structural schematic of the present invention.

[0043] Figure 2 The diagram shown is a three-dimensional structural schematic of the transplanting device of the present invention.

[0044] Figure 3 The diagram shown is a three-dimensional structural schematic of the transplanting mechanism of the transplanting device of the present invention.

[0045] Figure 4 The image shown is a cross-sectional view of the transplanting mechanism of the transplanting device of the present invention.

[0046] Figure 5 The diagram shown is a three-dimensional structural schematic of the seedling tube of the present invention.

[0047] Figure 6 The image shown is a cross-sectional view of the electro-hydraulic rotating assembly of the present invention.

[0048] Figure 7 The diagram shown is an exploded view of the electro-hydraulic rotating assembly of the present invention.

[0049] Figure 8 Shown is an exploded view of the electro-hydraulic rotating assembly of the present invention from another perspective;

[0050] Figure 9 The diagram shown is a three-dimensional structural schematic of the infusion module of the present invention.

[0051] Figure 10 The diagram shown is a three-dimensional structural schematic of the centering component of the transplanting device of the present invention.

[0052] Figure 11 The diagram shows a three-dimensional structural schematic of the soil covering mechanism and the seedling leakage monitoring mechanism of the present invention.

[0053] Figure 12 The diagram shown is a three-dimensional structural schematic of the seedling supply mechanism of the present invention.

[0054] Figure 13 The image shown is an enlarged view of part A of the present invention.

[0055] Figure 14 The diagram shown is an exploded view of the seedling placement module of the present invention.

[0056] Figure 15 This is a diagram showing the completion of seedling transplantation.

[0057] Component designation explanation

[0058] Frame structure 1, parallelogram frame 11, telescopic power component 12;

[0059] Transplanting mechanism 2, seedling tray 21, protrusion 22, seedling delivery tray 23, digging plate 24, opening and closing power assembly 25, telescopic drive component 251, horizontal arm 252, lug 253, tilting connecting rod 254, electro-hydraulic rotation assembly 26, fixed cylinder 261, rotating column 262, annular sealing sleeve 263, power transmission module 264, input conductive ring 2641, arc-shaped output block 2642, output disk 2643, elastic element 2644, infusion module 265, first infusion tube 2651, spiral tube 2652, second infusion tube 2653, first tube storage space 2654, second tube storage space 2655, rotation space 266, annular flow channel 267, inlet Channel 268, outflow channel 269, sealing ring 2610, middle cover 2611, bottom cover 2612, line release channel 2613, receiving cavity 27, leakage hole 28, limiting groove 29, seedling release port 210, centering component 211, air collection chamber 2111, air source 2112, first position sensor 2113, second position sensor 2114, control valve 2115, frustum through hole 2116, inclined air outlet 2117, soil covering mechanism 212, L-shaped connecting arm 2121, soil covering wheel 2122, seedling leakage monitoring mechanism 213, L-shaped connecting frame 2131, U-shaped frame 2132, signal transmitter 2133, signal receiver 2134;

[0060] Rotary drive mechanism 3, first gear 31, second gear 32, parallelogram plate 33, and rotary power component 34;

[0061] 4. Walking mechanism; 41. Frame; 42. Wheels; 43. Stabilizer; 44. Drive assembly;

[0062] Liquid storage mechanism 5, water storage tank 51, fertilizer storage tank 52;

[0063] Bionic robotic arm 6;

[0064] The seedling supply mechanism includes: a support module 71, a support frame 711, a ring rail 712, a connecting plate 713, a connecting roller 714, a roller groove 7141, a connecting plate 715, a seedling placement module 72, a seedling placement rack 721, a hanging rack 722, a seedling placement tray 723, a partition 724, a seedling cavity 725, a tray space 726, a rotation power module 73, a first rotating shaft 731, a second rotating shaft 732, a drive gear 733, a transmission roller 734, a roller ring groove 7341, a ring transmission part 735, and a rotation drive component 736. Detailed Implementation

[0065] The following specific embodiments illustrate the implementation 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.

[0066] Please see Figures 1 to 15It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0067] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0068] In this embodiment, please refer to Figures 1 to 15 This invention provides a triangular staggered planting machine for ridge planting, comprising:

[0069] The system includes a walking mechanism 4, a transplanting device, a liquid storage mechanism 5, a bionic robotic arm 6, and a seedling supply mechanism 7. The walking mechanism 4 includes a frame 41 and a stabilizing frame 43 fixed above the frame 41. The walking mechanism 4 also includes wheels 42 arranged around the frame 41 and two sets of drive components 44 symmetrically arranged on the left and right sides of the frame 41. The drive components 44 include a drive module and two sets of transmission modules. Each transmission module includes a drive shaft vertically and rotatably mounted on the frame 41, a first bevel gear coaxially fixed to the bottom end of the drive shaft, a second bevel gear meshing with the first bevel gear, and a driven gear coaxially fixed to the top end of the drive shaft. The second bevel gear rotates coaxially with the wheel 42. The drive module includes a drive gear rotatably mounted on the frame 41, a transmission chain, and a walking drive component that drives the drive gear to rotate. The walking drive component includes a motor or a hydraulic motor. The transmission chain connects the drive gear and the two driven gears. Two sets of drive components 44 are driven independently. By utilizing the speed difference and different steering of the two sets of drive components 44, the walking mechanism 4 can turn with different radii, which improves the mobility and environmental adaptability of the transplanter. It can move flexibly in narrow or complex terrain, making it convenient to carry out transplanting operations in various farmland environments.

[0070] The transplanting device includes a frame mechanism 1, two transplanting mechanisms 2, and a rotary drive mechanism 3 that drives the two transplanting mechanisms 2 to rotate simultaneously. The frame mechanism 1 includes two parallelogram frames 11 arranged vertically opposite each other, and a telescopic power component 12 for controlling the vertical extension and retraction of the lower parallelogram frame 11. The upper parallelogram frame 11 is fixed to the bottom of the frame 41. The two transplanting mechanisms 2 are located on two parallel sides of the parallelogram frame 11. The telescopic power component 12 is an electric push rod, a cylinder, or a hydraulic cylinder. There can be four telescopic power components 12, which are arranged between the two parallelogram frames 11. This allows for precise control of the vertical extension and retraction of the lower parallelogram frame 11, thereby flexibly adjusting the height of the transplanting mechanism 2 to adapt to the transplanting needs of seedlings at different terrains and growth stages, improving the adaptability and accuracy of the operation. Through the design of the parallelogram frame 11, it is possible to achieve staggered transplanting of seedlings between adjacent narrow rows on the ridge, optimizing the planting density and spatial layout, and improving the growth conditions and yield of the crop.

[0071] Each transplanting mechanism 2 includes a seedling placement cylinder 21 vertically and rotatably mounted on the upper parallelogram frame 11, a plurality of protrusions 22 spaced circumferentially along the bottom of the outer wall of the seedling placement cylinder 21, a seed delivery cylinder 23 vertically and rotatably mounted on the lower parallelogram frame 11, two symmetrically arranged digging plates 24 respectively hinged below the seed delivery cylinder 23, a opening and closing power assembly 25 for controlling the opening and closing of the two digging plates 24, and an electro-hydraulic rotating assembly 26 located above the seedling placement cylinder 21 for continuously supplying electricity, water, and / or liquid fertilizer. The seedling placement cylinder 21 extends above the frame 41, the electro-hydraulic rotating assembly 26 is fixedly connected to the stabilizing frame 43, and the two digging plates 24 are fitted together to form a conical structure. When the conical digging plates 24 are fitted together, they form a sharp cone shape to reduce soil penetration resistance. The hole-digging plate 24 has a receiving cavity 27 that communicates with the electro-hydraulic rotating component 26. Each hole-digging plate 24 has a spiral groove and several leakage holes 28 that communicate with the receiving cavity 27 on its conical surface. The leakage holes 28 are combined with the electro-hydraulic rotating component 26 to inject water and / or liquid fertilizer while digging the hole, which improves planting efficiency and promotes seedling survival. The spiral groove facilitates soil drainage and reduces blockage. The inner wall of the seedling delivery tube 23 has multiple limiting grooves 29 that slide with the protrusions 22. The side wall of the seedling release tube 21 has a seedling release port 210, which facilitates the release of seedlings. After the hole-digging plate 24 has dug the hole, the seedling release port 210 always faces the direction of seedling delivery, which enables the seedlings to be accurately and quickly placed into the seedling release tube 21 and ensures the consistency and standardization of seedling release, which is conducive to improving the efficiency and quality of transplanting.

[0072] The liquid storage mechanism 5 includes a water storage tank 51 and a fertilizer storage tank 52, both of which are fixedly connected to the frame 41. The electro-hydraulic rotating assembly 26 is connected to the water storage tank 51 and the fertilizer storage tank 52 through a delivery pump and a delivery pipe, respectively. 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.

[0073] The bionic robotic arm 6 is rotatably mounted on the top of the frame 41; there may be two bionic robotic arms 66, which are respectively rotatably mounted on the top of the frame 41 and located between the transplanting mechanism 2 and the seedling supply mechanism 7. The bionic robotic arm 6 is existing technology and will not be described in detail here.

[0074] The seedling supply mechanism 7 is used to provide seedlings for the transplanting device.

[0075] Through the coordinated operation of the walking mechanism 4, transplanting device, liquid storage mechanism 5, bionic robotic arm 6, and seedling supply mechanism 7, a complete workflow is formed, encompassing seedling supply, walking, transplanting, watering, and / or fertilization. This improves the overall performance and efficiency of the transplanter, achieving highly efficient, precise, and fully automated transplanting. It significantly reduces labor costs and intensity, and increases the efficiency of seedling transplanting. The rotary drive mechanism 3 drives the two transplanting mechanisms 2 to rotate simultaneously, enabling efficient and continuous transplanting operations. Synchronous rotation ensures consistency in the transplanting actions of the two mechanisms 2, facilitating uniformity and standardization of transplanting depth, thereby improving overall transplanting quality and ensuring the consistency and uniformity of seedling growth. The design of the parallelogram frame 11 enables the staggered planting of seedlings between adjacent narrow rows on the ridge, and then the continuous transplanting is carried out by the walking mechanism 4 moving along the length of the ridge. The walking distance of the walking mechanism 4 is the planting distance between adjacent seedlings in the same row. The adjacent seedlings between adjacent rows on the ridge form a triangular staggered planting, which is conducive to optimizing the planting density and spatial layout, and improving the growth conditions and yield of crops. The seedling delivery tube 21 is vertically and rotatably mounted on the upper parallelogram frame 11, and the seedling feeding tube 23 is vertically and rotatably mounted on the lower parallelogram frame 11. The circumferential limiting groove 29 on the inner wall of the feeding tube 23 slides into contact with the protrusion 22 on the bottom of the outer wall of the seedling delivery tube 21. This allows the seedling delivery tube 23 to rotate synchronously when the rotating drive mechanism 3 rotates, and also allows it to move up and down under the drive of the telescopic power component 12. This ensures a stable and continuous transport of seedlings from the seedling delivery tube 23 to the feeding tube 21. Two symmetrically arranged digging plates 24, hinged below the feeding tube 23, fit together to form a conical structure, which facilitates digging holes by cutting into the soil, reducing soil resistance, and improving digging efficiency. The spiral grooves on the planting plate 24 guide the soil upwards during digging, further reducing digging resistance and making the holes more regular. The electro-hydraulic rotating component 26 can deliver water and / or liquid fertilizer. Through communication with the receiving cavity 27 on the planting plate 24, water and / or liquid fertilizer can form a liquid surface on the conical surface of the planting plate 24 through the seepage holes 28, isolating the soil or reducing direct contact. This achieves the effect of reducing stickiness and preventing clogging, and also enables the application of root-setting water and / or liquid fertilizer during transplanting, providing a good growth environment for seedlings, improving transplanting efficiency and survival rate, and thus solving the problems of easy clogging, poor transplanting quality, low efficiency, and low seedling survival rate. The integrated design of digging holes and watering and / or fertilizing not only improves planting efficiency and reduces operation steps, but also allows for precise watering and / or fertilization of seedlings during planting, so that seedlings can obtain the necessary water and nutrients, promoting seedling survival and early growth.

[0076] In this embodiment, please refer to Figure 1 and Figure 2The rotary drive mechanism 3 includes two first gears 31, a second gear 32, a parallelogram plate 33, and a rotary power component 34 for driving the second gear 32 to rotate. The rotary power component 34 includes a motor or a hydraulic motor. The parallelogram plate 33 is fixedly connected to the parallelogram frame 11 above. The second gear 32 is vertically and rotatably mounted on the parallelogram plate 33. The two first gears 31 are coaxially fixedly engaged with the two seedling cylinders 21, and both first gears 31 mesh with the second gear 32 for transmission. During operation, the rotating power component 34 drives the second gear 32 to rotate, which in turn drives the two meshing first gears 31 to rotate, thereby driving the two seedling cylinders 21 to rotate synchronously. This achieves the operation of two transplanting mechanisms 2 with one power source, saving costs and creating a compact structure. It also ensures the uniformity and standardization of transplanting, which is conducive to improving the overall transplanting quality. The use of gear transmission can ensure the high efficiency and accuracy of power transmission. Gear transmission has high transmission efficiency and can effectively transmit the power of the rotating power component 34 to the seedling cylinders 21, thereby driving the transplanting mechanism 2 to rotate.

[0077] In this embodiment, please refer to Figure 1 and Figure 3 The opening and closing power assembly 25 includes a telescopic drive component 251, two horizontal arms 252, two lugs 253, and an inclined connecting rod 254. The two horizontal arms 252 are respectively fixedly connected to the top of the two digging plates 24. The fixed end and telescopic end of the telescopic drive component 251 are respectively hinged to one end of the two horizontal arms 252 through hinge seats. The telescopic drive component 251 includes an electric push rod. The two lugs 253 are respectively fixedly connected to the top surface of the other end of one horizontal arm 252 and the bottom surface of the other end of the other horizontal arm 252. The two ends of the inclined connecting rod 254 are respectively hinged to the two lugs 253. During operation, the telescopic drive 251 drives the two digging plates 24 to move towards or away from each other, thus turning the digging plates 24 into an opening and closing action. The two ends of the tilting link 254 are respectively hinged to the lugs 253 of the two horizontal arms 252, so that the movement trajectory of the two horizontal arms 252 remains symmetrical, ensuring that the opening and closing angle and speed of the digging plates 24 are synchronized, thereby avoiding uneven load caused by uneven force on one side.

[0078] In this embodiment, please refer to Figure 1 , Figures 6 to 9The electro-hydraulic rotating assembly 26 includes a fixed cylinder 261, a rotating column 262, two annular sealing sleeves 263, a middle sealing cover 2611, a bottom sealing cover 2612, a power transmission module 264, and an infusion module 265. The rotating column 262 is coaxially and fixedly connected at both ends to the middle sealing cover 2611 and the bottom sealing 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, forming a rotating space 266. The rotating column 262 forms a rotational seal connection with the inner wall of the rotating space 266. The two annular sealing sleeves 263 are fitted onto the rotating column 262. The inner circular surface of the annular sealing sleeves 263 forms a static seal connection with the outer wall of the rotating column 262, and the outer circular surface of the annular sealing sleeves 263 forms a static seal connection with the rotating space 266. A rotating seal connection is formed between the inner walls. The outer surface of the annular sealing sleeve 263 has two annular flow channels 267. The side wall of the fixed cylinder 261 has two inlet channels 268 that are respectively connected to the annular flow channels 267. The rotating column 262 has an outlet channel 269 that is respectively connected to the two annular flow channels 267. The tops of the middle cover 2611 and the bottom cover 2612 are respectively rotatingly and sealingly connected to the inner wall of the rotating space 266 and the bottom of the fixed cylinder 261. A sealing ring 2610 is provided between the annular sealing sleeve 263 and the outer wall of the rotating column 262 and the inner wall of the rotating space 266, and between the middle cover 2611 and the inner wall of the rotating space 266. The bottom of the bottom cover 2612 is coaxially and fixedly connected to the top of the seedling tube 21.

[0079] The power transmission module 264 is located in the rotating space 266 and is used to continuously supply power to the electrical components of the transplanting mechanism 2.

[0080] The infusion module 265 is used to connect the receiving cavities 27 on the two hollowing plates 24 to the two annular flow channels 267 respectively.

[0081] In use, the fixed cylinder 261 is fixed to the transplanter, and the two inlet channels 268 are connected to the water tank and fertilizer tank on the transplanter through a delivery pump and pipes, respectively. The water tank and fertilizer tank can be filled with water and / or liquid fertilizer as needed. The rotary drive mechanism 3 drives the seedling cylinder 21 to rotate, which in turn drives the rotating column 262 to rotate. The rotating column 262 rotates within the rotating space 266. The rotating column 262 and the inner wall of the rotating space 266, and the outer surface of the annular sealing sleeve 263 and the inner wall of the rotating space 266 form a rotational seal connection, while the inner surface of the annular sealing sleeve 263 and the outer wall of the rotating column 262 form a static seal connection. Each key part is equipped with a sealing ring 2610, forming a multi-level seal and enhancing the pressure resistance of the seal. This ensures a continuous and stable input of electricity, water, and / or liquid fertilizer during rotation, guaranteeing the reliability and stability of the system and extending the service life of the equipment. The electro-hydraulic rotating assembly 26 enables a continuous input of electricity, water, and / or liquid fertilizer while the transplanting mechanism 2 rotates.

[0082] In this embodiment, please refer to Figures 6 to 9 The power transmission module 264 includes multiple input conductive rings 2641, multiple arc-shaped output blocks 2642, an output disk 2643, and an elastic element 2644. The multiple input conductive rings 2641 are concentrically arranged at the top of the rotating space 266. Each input conductive ring 2641 has a different diameter. The multiple input conductive rings 2641 are concentrically arranged at the top of the rotating space 266 from near to far. Each input conductive ring 2641 can be a copper ring. Each input conductive ring 2641 connects to the positive and negative terminals of the power supply. One input conductive ring 2641 corresponds to one positive or negative terminal. Each of the arc-shaped output blocks 2642 is concentrically arranged on the output disk 2643. Multiple arc-shaped output blocks 2642 are arranged concentrically on the output disk 2643 from near to far. Each arc-shaped output block 2642 slides in contact with each input conductive ring 2641 and corresponds to it one-to-one. The output disk 2643 rotates with the inner wall of the rotating space 266. The number of input conductive rings 2641 and arc-shaped output blocks 2642 can be determined according to actual application needs. The arc-shaped output blocks 2642 are electrically connected to the rotating power component 34 and the telescopic drive component 251.

[0083] The elastic element 2644 provides a thrust to the top side of the rotation space 266 for the output disk 2643; the elastic element 2644 includes a spring, the two ends of which are fixedly connected to the bottom of the output disk 2643 and the top of the middle sealing disk, respectively. The spring provides a thrust to the output disk 2643, ensuring that the arc-shaped output block 2642 maintains good contact with the input conductive ring 2641, thereby improving the stability and reliability of power transmission.

[0084] The middle cover 2611, the rotating column 262 and the bottom cover 2612 are provided with a wire laying channel 2613 at their axis, which provides a dedicated path for the laying of wires;

[0085] The positive and negative terminals of the power supply are connected through the input conductive ring 2641, with one input conductive ring 2641 corresponding to one positive or negative terminal. The arc-shaped output block 2642 is connected to the electrical components on the transplanting mechanism 2 via 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, thus achieving circuit connection while rotating. At the same time, the annular sealing sleeve 263 statically seals the rotating column 262 and the rotating air... A rotating seal is formed on the inner wall of the space 266. Water and / or liquid fertilizer input through the inlet channel 268 enter the receiving cavity 27 on the hole-digging plate 24 through the annular flow channel 267, the outlet channel 269, the first infusion pipe 2651, the spiral pipe 2652, and the second infusion pipe 2653 on the outer circular surface of the annular sealing sleeve 263. This enables the delivery of water and / or liquid fertilizer at the same time as the electrical transmission, and realizes the connection of the liquid circuit. Thus, the transplanting mechanism 2 can continuously maintain the transmission of liquid and electricity when it rotates.

[0086] The infusion module 265 has two components, each connected to one of the two outflow channels 269. Each 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. The two ends of the spiral tube 2652 are connected to the other ends of the first infusion tube 2651 and one end of the second infusion tube 2653, respectively. The other end of the second infusion tube 2653 is connected to the receiving cavity 27. The spiral tube 2652 has a certain degree of elasticity and rigidity, allowing it to extend and retract vertically while simultaneously supplying water and / or liquid fertilizer at a continuous and uniform rate during the digging of the transplanting mechanism 2, thus improving the stability of the delivery process. The other end of the second infusion tube 2653 is connected to the receiving cavity 27.

[0087] The seedling tray 21 and the seedling delivery tray 23 each have a first tube storage space 2654 and a second tube storage space 2655 along their own axial direction. The first infusion tube 2651 and the second infusion tube 2653 are located in the first tube storage space 2654 and the second tube storage space 2655, respectively. The first tube storage space 2654 and the second tube storage space 2655 can accommodate pipelines. The first tube storage space 2654 and the second tube storage space 2655 set in the seedling tray 21 and the seedling delivery tray 23 make reasonable use of the internal space of the transplanting mechanism 2, hide the infusion tubes in them, make the structure of the entire transplanting mechanism 2 more compact, and avoid the mess of external pipelines.

[0088] In this embodiment, please refer to Figure 10 Each of the transplanting mechanisms 2 further includes a centering component 211, which is used to adjust the seedling to the central axis of the seedling delivery tube 23 and slow down the falling speed of the seedling;

[0089] The centering assembly 211 includes an air collecting chamber 2111 coaxially fixed within the seedling tube 21, an air source 2112 located on the outer wall of the seedling tube 21 for supplying air to the air collecting chamber 2111, a first position sensor 2113 located below the seedling opening 210, a second position sensor 2114 located 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 along its own axial direction, which is larger at the top and smaller at the bottom and coaxial with the seedling tube 21. The inclined air outlet 2117 can be located in the frustum-shaped through hole 2116, where the diameter gradually decreases from top to bottom. The inclination angle of the inclined air outlet 2117 is 30~45°. The inclined angle of the inclined air outlet 2117 is preferably 37.5°. This 37.5° angle allows the gas to form a stable diffusion angle after ejection, improving gas utilization efficiency. The frustum-shaped through-hole 2116 has several inclined air outlets 2117 on its sidewall in the axial and circumferential directions, facing the central axis of the seedling cylinder 21 and discharging upwards. Air is supplied to the inclined air outlets 2117 through the air source 2112, which is connected to the air collection chamber 2111. The air source 2112, control valve 2115, first position sensor 2113, and second position sensor 2114 are electrically connected to the arc-shaped output block 2642.

[0090] During transplanting, the air source 2112 is turned on only when needed through the cooperation of sensors and control valve 2115, reducing energy consumption and lowering operating costs. The first position sensor 2113 is located below the seedling inlet 210, and the second position sensor 2114 is located below the air collection chamber 2111, which can monitor the position of the seedling in real time. When the seedling reaches the corresponding position, the control valve 2115 controls the air source 2112 to open according to the sensor signal. The air source 2112 supplies air into the air collection chamber 2111, and the gas exits from the air collection chamber 2111 to each inclined air outlet 2117, forming an upward airflow. This ensures that the seedling is positioned on the central axis of the seedling delivery cylinder 23, ensuring that the seedling falls into the center of the dug hole, effectively protecting the uprightness of the seedling. It also generates an upward reaction force on the seedling, reducing the falling speed of the seedling and thus avoiding damage to the seedling due to excessive falling speed.

[0091] It also includes two infrared sensor probes, which are respectively located inside the two seedling tubes 23 and below the second position sensor 2114. The infrared sensor probes are electrically connected to the arc-shaped output block 2642. The infrared sensor probes collect signals and send them to a mobile terminal device via a wireless module. The mobile terminal device can be a mobile phone or a computer. The infrared sensor probes transmit the detected data to the mobile terminal device via the wireless module. The relevant collected data can be viewed on the program in the mobile terminal device, which is convenient for monitoring and statistics.

[0092] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 11 The transplanting device also includes two soil-covering mechanisms 212 respectively located 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 horizontal end of the L-shaped connecting arm 2121 is fixedly connected to the parallelogram frame 11 above. The two soil-covering wheels 2122 are symmetrically arranged on both sides of the vertical end of the L-shaped connecting arm 2121, with the soil-covering wheels 2122 inclined at the top and bottom. During the soil-covering process, the two soil-covering wheels 2122 are symmetrically arranged on both sides of the vertical end of the L-shaped connecting arm, which can simultaneously cover the transplanted seedlings from both sides, ensuring that the soil around the roots of the seedlings is evenly covered, improving the soil-covering effect, helping the seedling roots to closely integrate with the soil, and promoting their growth. The symmetrically and inclined soil-covering wheels 2122 can gently cover the soil to the roots of the seedlings during the soil-covering process, reducing the risk of damage to the stems and leaves of the seedlings, which is beneficial to the survival and normal growth of the seedlings after transplanting.

[0093] It also includes two seedling leakage monitoring mechanisms 213, which are respectively located behind the soil covering mechanism 212. Each seedling leakage 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 horizontal end of the L-shaped connecting frame 2131 is fixedly connected to the intersection of the vertical and horizontal parts of the L-shaped connecting arm 2121. The U-shaped frame 2132 is fixedly connected to the vertical end of the L-shaped frame. The signal transmitter 2133 is located inside one side of the U-shaped frame 2132, and the signal receiver 2134 is located inside the other side of the U-shaped frame 2132. The signal transmitter 2133 and the signal receiver 2134 are arranged opposite to each other. The time difference between two adjacent seedlings transmitted through the signal transmitter 2133 and the signal receiver 2134 is compared with the time difference set for continuous planting. If the former is greater than the latter, it indicates that the seedling was missed; if the former is less than the latter, it indicates that the seedling was replanted. When the seedling is missed or replanted, an alarm is triggered by the alarm module, which facilitates quick processing and improves the quality of transplanting.

[0094] In this embodiment, please refer to Figure 1 , Figures 12 to 14 The seedling supply mechanism 7 includes:

[0095] Two support modules 71 are arranged opposite each other on the left and right sides of the top of the frame 41. Each support module 71 includes a support frame 711 fixed to the top of the frame 41, an annular rail 712 fixed to the inner side of the support frame 711, multiple connecting plates 713, multiple connecting rollers 714, and multiple connecting plates 715. Each connecting roller 714 has a roller groove 7141, which rolls with the annular rail 712. The multiple connecting plates 713 are hinged end to end through the connecting rollers 714 to form an annular transmission structure. The number of connecting rollers 714 and connecting plates 715 are equal and they are fixedly connected one-to-one. The multiple connecting plates 713 are hinged end to end through the connecting rollers 714 to form an annular transmission structure, and the roller grooves 7141 on the connecting rollers 714 roll with the annular rail 712, making the entire transmission process smooth and reducing energy loss during movement.

[0096] Multiple seedling placement modules 72 are provided, the number of which is equal to the number of connecting plates 715. Each seedling placement module 72 includes a seedling rack 721, a hanging rack 722, and a seedling tray 723. The hanging rack 722 is fixedly connected to the seedling rack 721 around its perimeter. The middle positions of both ends of the hanging rack 722 are rotatably connected to the connecting plates 715 of two supporting modules 71. The seedling tray 723 has several partitions 724, which are arranged at intervals along the transverse and longitudinal directions of the seedling tray 723 to form multiple seedling cavities 725. The top of the seedling rack 721 has a connection to the seedling tray 725. The 23-phase compatible tray space 726 allows the seedling tray 723 to be detached from the tray space 726 for easy replacement by operators. A weight sensor can be installed at the bottom of the seedling tray 723 to determine the number of seedlings inside. The seedling tray 723 has a handle for easy handling and transport. Several partitions 724 on the seedling tray 723 are arranged at intervals along the horizontal and vertical directions to form multiple seedling cavities 725, effectively fixing the seedlings and preventing them from shaking or tipping over during transportation. This also facilitates the placement of seedlings into the cavities 725, improving the convenience and accuracy of seedling placement. The hanging frame 722 is fixedly connected to the seedling rack 721 on all four sides, and rotatably connected to the connecting plates 715 of the two support modules 71 at the middle of each end, ensuring that the seedling rack 721 remains vertically downward during operation.

[0097] The rotating power module 73 drives the seedling placement module 72 to rotate around the annular rail 712, enabling it to quickly and accurately transport the seedling placement module 72 to the designated position, providing seedlings to the transplanting mechanism 2 in a timely manner and improving the efficiency of the entire transplanting process. Through the coordinated operation of the support module 71, the seedling placement module 72, and the rotating power module 73, both the high efficiency and accuracy of seedling supply are ensured, while the overall structure of the mechanism is compact, making full use of the space on top of the frame 41. This allows for the storage and supply of a large number of seedlings without occupying excessive space, thus improving space utilization.

[0098] In this embodiment, please refer to Figure 12 The rotary power module 73 includes a first rotating shaft 731 rotatably mounted below the support frame 711, a second rotating shaft 732 rotatably mounted in the middle of the support frame 711, two drive gears 733 coaxially fixed at both ends of the second rotating shaft 732, transmission rollers 734 equal in number to the connecting rollers 714 and perpendicularly fixed to both ends of the connecting plate 713, an annular transmission part 735 connecting the first rotating shaft 731 and the second rotating shaft 732, and a rotary drive component 736 driving the first rotating shaft 731 to rotate. The rotary drive component 736 includes a motor or a hydraulic motor. Each transmission roller 734 has a roller ring groove 7341. The drive gears 733 cooperate with the roller ring grooves 7341 of the transmission rollers 734 to drive the annular transmission structure to rotate. The annular transmission part 735 can be a belt drive pulley set or a sprocket drive pulley set.

[0099] The first rotating shaft 731 is driven to rotate by the rotary drive component 736, and the second rotating shaft 732 is driven to rotate via the annular transmission part 735. This drives the drive gears 733, which are coaxially fixed at both ends of the second rotating shaft 732, to rotate. The gears 733 and the roller ring grooves 7341 of the transmission roller 734 engage to drive the annular transmission structure to rotate, which in turn drives the seedling placement module 72 to rotate around the annular track 712. This enables the seedlings to be transferred from one seedling placement module 72 to another, thereby achieving a continuous supply of seedlings during the transplanting process and improving work efficiency.

[0100] 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 set on the bionic robotic arm 6 to identify the seedlings and the position of the seedling placement port 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 seedling leakage monitoring mechanism 213. It can automatically adjust the working status and parameters of each component according to different work needs and conditions, realize the intelligent control of the entire ridge planting triangular staggered transplanting machine, and improve the automation level and work efficiency of the ridge planting triangular staggered transplanting machine.

[0101] In this embodiment, please refer to Figures 1 to 15 A transplanting method using a ridge-planting triangular staggered transplanter, comprising the following steps:

[0102] Placement of seedlings: The seedlings are placed in the seedling cavity 725 of the seedling tray 723, and the seedling tray 723 is placed in the seedling rack 721;

[0103] Path planning: The walking mechanism 4 plans its walking path according to the navigation component and reaches the transplanting location;

[0104] Hole-digging and shaping: The rotary drive mechanism 3 drives the two transplanting mechanisms 2 to rotate simultaneously, causing the two transplanting mechanisms 2 to dig in a staggered manner. The rotary drive mechanism 3 drives the seedling release cylinder 21 to rotate, which in turn drives the seedling delivery cylinder 23 to rotate, thereby driving the two hole-digging plates 24 to rotate. The telescopic power component 12 controls the parallelogram frame 11 below to move downward, which drives the seedling release cylinder 21 to move downward to dig two rows of holes for planting seedlings on the ridge. At the same time as digging, water and / or liquid fertilizer are delivered to the receiving cavity 27 on the two hole-digging plates 24 through the electro-hydraulic rotary component 26. Then, the opening and closing power component 25 drives the two hole-digging plates 24 to open.

[0105] Seedling placement and transplanting: The bionic robotic arm 6 extends and bends and the seedling is identified by the recognition component. After the seedling is identified, the control system is fed back. The control system issues a command to adjust the spatial position of the bionic robotic arm 6 to take the seedling out of the seedling tray 723 and then put it into the seedling tube 21 through the seedling opening 210. After passing through the seedling tube 21 and the seedling delivery tube 23, the seedling falls between the two digging plates 24.

[0106] Lifting and Moving: The telescopic power component 12 controls the upward movement of the parallelogram frame 11 below, which in turn drives the seedling tray 21 upward. The walking mechanism 4 moves along the length of the ridge for continuous planting, resulting in a triangular staggered planting of adjacent seedlings between adjacent rows on the ridge. First, the parallelogram frame 11 forms a staggered planting of adjacent seedlings between adjacent rows. Then, the walking mechanism 4 moves along the length of the ridge for continuous transplanting. The walking distance of the walking mechanism 4 is the planting distance between adjacent seedlings in the same row. This creates a triangular staggered planting of adjacent seedlings between adjacent rows on the ridge, which helps optimize planting density and spatial layout, and improves crop growth conditions and yield.

[0107] In summary, this invention, through the coordinated operation of the walking mechanism 4, transplanting device, liquid storage mechanism 5, bionic robotic arm 6, and seedling supply mechanism 7, creates a complete workflow from seedling supply, walking, transplanting to watering and / or fertilizing, improving the overall performance and efficiency of the transplanter. This achieves highly efficient, precise, and fully automated transplanting, significantly reducing labor costs and intensity, and increasing the efficiency of seedling transplanting. The rotary drive mechanism 3 drives the two transplanting mechanisms 2 to rotate simultaneously, enabling efficient and continuous transplanting operations, improving work efficiency. Furthermore, synchronous rotation ensures the consistency of the transplanting actions of the two mechanisms 2, facilitating uniformity and standardization of transplanting depth, thereby improving overall transplanting quality and ensuring the consistency and uniformity of seedling growth. The design of the parallelogram frame 11 enables the staggered planting of seedlings between adjacent narrow rows on the ridge, and then the continuous transplanting is carried out by the walking mechanism 4 moving along the length of the ridge. The walking distance of the walking mechanism 4 is the planting distance between adjacent seedlings in the same row. The adjacent seedlings between adjacent rows on the ridge form a triangular staggered planting, which is conducive to optimizing the planting density and spatial layout, and improving the growth conditions and yield of crops. The seedling delivery tube 21 is vertically and rotatably mounted on the upper parallelogram frame 11, and the seedling feeding tube 23 is vertically and rotatably mounted on the lower parallelogram frame 11. The circumferential limiting groove 29 on the inner wall of the feeding tube 23 slides into contact with the protrusion 22 on the bottom of the outer wall of the seedling delivery tube 21. This allows the seedling delivery tube 23 to rotate synchronously when the rotating drive mechanism 3 rotates, and also allows it to move up and down under the drive of the telescopic power component 12. This ensures a stable and continuous transport of seedlings from the seedling delivery tube 23 to the feeding tube 21. Two symmetrically arranged digging plates 24, hinged below the feeding tube 23, fit together to form a conical structure, which facilitates digging holes by cutting into the soil, reducing soil resistance, and improving digging efficiency. The spiral grooves on the planting plate 24 guide the soil upwards during digging, further reducing digging resistance and making the holes more regular. The electro-hydraulic rotating component 26 can deliver water and / or liquid fertilizer. Through communication with the receiving cavity 27 on the planting plate 24, water and / or liquid fertilizer can form a liquid surface on the conical surface of the planting plate 24 through the seepage holes 28, isolating the soil or reducing direct contact. This achieves both anti-sticking and anti-clogging effects, and also enables the application of root-setting water and / or liquid fertilizer during transplanting, providing a good growth environment for seedlings, improving transplanting efficiency and survival rate, thus solving the problems of easy clogging, poor transplanting quality, low efficiency, and low seedling survival rate. The integrated design of digging and watering / / or fertilizing not only improves planting efficiency and reduces operational steps, but also allows for precise watering and / or fertilization of seedlings during planting, ensuring that seedlings receive the necessary water and nutrients, promoting seedling survival and early growth. Therefore, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0108] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A triangular staggered planting machine for ridge cultivation, characterized in that, include: A traveling mechanism, the traveling mechanism including a frame and a stabilizing frame fixed above the frame; The transplanting device includes a frame mechanism, two transplanting mechanisms, and a rotary drive mechanism for driving the two transplanting mechanisms to rotate simultaneously. The frame mechanism includes two parallelogram frames arranged vertically opposite each other and a telescopic power component for controlling the vertical extension and retraction of the lower parallelogram frame. The upper parallelogram frame is fixed to the bottom of the vehicle frame, and the two transplanting mechanisms are located on two parallel sides of the parallelogram frame. Each transplanting mechanism includes a seedling placement tube vertically and rotatably mounted on the upper parallelogram frame, a plurality of protrusions spaced circumferentially along the bottom of the outer wall of the seedling placement tube, a seed delivery tube vertically and rotatably mounted on the lower parallelogram frame, two symmetrically arranged and hinged below the seed delivery tube, a tensioning power assembly for controlling the opening and closing of the two seed delivery tubes, and an electro-hydraulic rotating assembly located above the seedling placement tube for continuously supplying electricity, water, and / or liquid fertilizer. The seedling placement tube extends above the frame, the electro-hydraulic rotating assembly is fixedly connected to the stabilizing frame, the two seed delivery tubes are fitted together to form a conical structure, each seed delivery tube has a receiving cavity communicating with the electro-hydraulic rotating assembly, each seed delivery tube has a spiral groove and a plurality of leakage holes communicating with the receiving cavity on its conical surface, the inner wall of the seed delivery tube has a plurality of limiting grooves circumferentially slidably engaged with the protrusions, and the side wall of the seedling placement tube has a seedling placement opening. Each of the transplanting mechanisms also includes a centering component for adjusting the seedling to the central axis of the seedling delivery tube and slowing down the falling speed of the seedling; The centering assembly includes a gas collecting chamber coaxially fixed inside the seedling tube, an air source located on the outer wall of the seedling tube for supplying air to the gas collecting chamber, a first position sensor located below the seedling opening, a second position sensor located below the gas collecting chamber, and a control valve for controlling the opening or closing of the air source. The gas collecting chamber has a frustum-shaped through hole along its own axial direction, which is larger at the top and smaller at the bottom and coaxial with the seedling tube. The side wall of the frustum-shaped through hole has several inclined air outlet holes in the axial and circumferential directions, which face the central axis of the seedling tube and release air upwards. The air source communicates with the gas collecting chamber and supplies air to the inclined air outlet holes. The liquid storage mechanism includes a water storage tank and a fertilizer storage tank, both of which are fixedly connected to the top of the vehicle frame. The electro-hydraulic rotating assembly is connected to the water storage tank and the fertilizer storage tank respectively through a delivery pump and a delivery pipe. A bionic robotic arm, which is rotatably mounted on the top of the vehicle frame; A seedling supply mechanism is used to provide seedlings to the transplanting device.

2. The ridge-planting triangular staggered transplanting machine according to claim 1, characterized in that: The rotary drive mechanism includes two first gears, a second gear, a parallelogram plate, and a rotary power component 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 engaged with the two seedling cylinders, and both first gears mesh with the second gear for transmission.

3. The ridge-planting triangular staggered transplanting machine according to claim 1, characterized in that: The tensioning and opening power assembly includes a telescopic drive component, two horizontal arms, two lugs, and an inclined connecting rod. The two horizontal arms are respectively fixedly connected to the top of the two digging plates. The fixed end and telescopic end of the telescopic drive component are respectively hinged to one end of the two horizontal arms through hinge seats. The two lugs are respectively fixedly connected to the top surface of the other end of one horizontal arm and the bottom surface of the other end of the other horizontal arm. The two ends of the inclined connecting rod are respectively hinged to the two lugs.

4. The ridge-planting triangular staggered transplanting machine 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 a liquid infusion module. The rotating column is coaxially and fixedly connected to the middle cover and the bottom cover at both ends, 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, forming a rotating space. The rotating column forms a rotational seal connection with the inner wall of the rotating space. The two annular sealing sleeves are fitted onto the rotating column. The inner circular surface of the annular sealing sleeves forms a static seal connection with the outer wall of the rotating column. The outer circular surface of the annular sealing sleeves is sealed to the inner wall of the rotating space. A rotating sealing connection is formed. The outer circumference of the annular sealing sleeve has two annular flow channels. The side wall of the fixed cylinder has two inlet channels that communicate with the annular flow channels respectively. The rotating column has an outlet channel that communicates with the two annular flow channels respectively. The top of the middle cover and the top of the bottom cover are rotatingly sealed 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 cover and the inner wall of the rotating space. The bottom of the bottom cover is coaxially fixedly connected to the top of the seedling tube. The power transmission module is located within 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 receiving cavities on the two hollowing plates to the two annular flow channels respectively.

5. The ridge-planting triangular staggered transplanting machine according to claim 4, characterized in that: The power transmission module includes multiple input conductive rings, multiple arc-shaped output blocks, an output disk, and an elastic element. The multiple input conductive rings are concentrically arranged at the top of the rotation space, and the multiple arc-shaped output blocks are concentrically arranged on the output disk. Each arc-shaped output block slides and corresponds to each input conductive ring. The output disk rotates and engages with the inner wall of the rotation space. The elastic element is used to provide a thrust to the top side of the rotation space for the output disk; A wire feeding channel is provided at the center of the middle cover, the rotating column, and the bottom cover; The infusion module has two components, each connected to one of the two outflow channels. Each 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, and both ends of the spiral tube are connected to the other end of the first infusion tube and one end of the second infusion tube, respectively. The other end of the second infusion tube is connected to the receiving cavity. The seedling release tube and the seedling delivery tube each have a first storage space and a second storage space along their own axial direction, and the first infusion tube and the second infusion tube are located in the first storage space and the second storage space, respectively.

6. The ridge-planting triangular staggered transplanting machine according to claim 1, characterized in that: The transplanting device also includes two soil covering mechanisms located behind the two transplanting mechanisms. Each soil covering mechanism includes an L-shaped connecting arm and two soil covering wheels. The horizontal end 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 vertical end of the L-shaped connecting arm. The soil covering wheels are inclined at the top and bottom.

7. The ridge-planting triangular staggered transplanting machine according to claim 1, characterized in that: The seedling supply organizations include: Two support modules are arranged opposite each other on the left and right sides of the top of the vehicle frame. Each support module includes a support frame fixed to the top of the vehicle frame, an annular rail fixed to the inner side of the support frame, multiple connecting plates, multiple connecting rollers, and multiple connecting plates. Each connecting roller has a roller groove, which rolls in cooperation with the annular rail. The multiple connecting plates are hinged end to end through the connecting rollers to form an annular transmission structure. The number of connecting rollers and connecting plates are equal and they are fixedly connected one-to-one. Multiple seedling placement modules are provided, with the number of seedling placement modules equal to the number of connecting plates. Each seedling placement module includes a seedling rack, a hanging rack, and a seedling tray. The hanging rack is fixedly connected to the seedling rack around its perimeter. The middle positions at both ends of the hanging rack are rotatably connected to the connecting plates of two supporting modules, respectively. The seedling tray has several partitions, which are arranged at intervals along the transverse and longitudinal directions of the seedling tray to form multiple seedling cavities. The top of the seedling rack has a tray space adapted to the seedling tray. A rotary power module is used to drive the seedling placement module to rotate around the annular track.

8. The ridge-planting triangular staggered transplanting machine according to claim 7, characterized in that: The rotary 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 drive gears coaxially fixed to both ends of the second rotating shaft, transmission rollers of equal number to the connecting rollers and perpendicularly fixed to both ends of the connecting plate, an annular transmission part that drives the first rotating shaft and the second rotating shaft to rotate, and a rotary drive component that drives the first rotating shaft to rotate. Each transmission roller has a roller ring groove, and the drive gears cooperate with the roller ring grooves of the transmission rollers to drive the annular transmission structure to rotate.

9. A transplanting method using a triangular staggered transplanting machine for ridge planting, characterized in that: Using the ridge-planting triangular staggered transplanting machine as described in claim 7 includes the following steps: Placement of seedlings: The seedlings are placed in the seedling cavity of the seedling tray, and the seedling tray is placed in the seedling rack; Path planning: The walking mechanism plans its walking path according to the navigation component and reaches the transplanting location; Hole-digging and shaping: The rotary drive mechanism drives the two transplanting mechanisms to rotate simultaneously, causing the two transplanting mechanisms to dig in a staggered manner. The rotary drive mechanism drives the seedling release cylinder to rotate, which in turn drives the seedling delivery cylinder to rotate, thereby driving the two hole-digging plates to rotate. The telescopic power component controls the parallelogram frame below to move downward, which drives the seedling release cylinder to move downward to dig two rows of holes for planting seedlings on the ridge. At the same time as digging, water and / or liquid fertilizer are delivered to the receiving cavity on the two hole-digging plates through the electro-hydraulic rotary component. Then, the opening and closing power component drives the two hole-digging plates to open. Seedling placement and transplanting: The bionic robotic arm extends and bends and the seedling is identified by the recognition component. After the seedling is identified, the control system is fed back. The control system issues an instruction to adjust the spatial position of the bionic robotic arm to take the seedling out of the seedling tray and then put it into the seedling tube through the seedling opening. After passing through the seedling tube and the seedling delivery tube, the seedling falls between the two digging plates. Lifting and moving: The parallelogram frame below is controlled to move upward by the telescopic power component, which drives the seedling tube to move upward. The walking mechanism moves along the length of the ridge and plants continuously, so that adjacent seedlings in adjacent rows on the ridge are planted in a triangular staggered manner.

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