Transplanting machine capable of realizing integrated planting

Abstract

The invention discloses a transplanter capable of realizing integrated planting. The automatic seedling planting machine comprises a rope type folding seedling storage mechanism, an n-shaped groove cam seedling transplanting mechanism, a rotating disc type seedling separating mechanism, a hanging basket type eccentric duckbilled seedling planting mechanism, wheels, a frame, a spoke type seedling conveying mechanism, a transmission mechanism and a controller. The intelligent agricultural transplanting machine has the advantages that a plurality of subsystems such as seedling preparation, seedling conveying, seedling transplanting, seedling planting and soil covering are integrated, a set of efficient modern intelligent agricultural transplanting machine is formed, an integrated operation process is achieved, the whole process from seedling preparation to seedling planting is automatically completed, the planting efficiency is greatly improved, the labor intensity is reduced, the manpower demand is greatly reduced, and the labor intensity is reduced. The operation quality can be guaranteed, the production cost is reduced, the economic benefit is improved, and large-scale and standardized plant transplanting is realized. The agricultural machine is compact in structure, comprehensive in function and reliable in work, and the problem that an existing agricultural machine cannot well meet the requirements of modern agricultural production and operation is preliminarily solved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a transplanter capable of realizing integrated planting. Background Art

[0002] With the development of agricultural mechanization and the acceleration of urbanization in my country, the vegetable planting model has gradually transformed from scattered planting to large-scale farm production. Transplanting operations are an indispensable part of large-scale vegetable planting. Therefore, while pursuing transplanting efficiency, it is necessary to strictly control transplanting quality.

[0003] However, the commonly used transplanting equipment in my country is semi-automatic transplanting machine, which still needs manual seedling picking and planting, which is not only labor-intensive, but also difficult to achieve the ideal transplanting effect. With the increasing vegetable consumption, vegetable planting area and vegetable output in my country, the working efficiency of semi-automatic transplanting machine can no longer meet the demand for vegetable transplanting production in my country. Automatic transplanting machine is the main direction of future development of vegetable transplanting in my country, and the main way to combine agricultural machinery and agronomy, optimize and innovate transplanting mechanism, introduce intelligent measurement and control technology and realize automatic transplanting machine. At present, with the development of intelligent measurement and control technology such as electronic control technology and intelligent detection and identification technology and their gradual application in agricultural production, it is urgent to use the existing transplanting machine model as a carrier to complete the optimization of the automatic transplanting machine structure design, and complete the transplanting information collection and transplanting operation parameter adjustment based on intelligent measurement and control technology, so as to realize the transplanting operation of intelligent identification, seedling picking, seedling planting and planting, and promote transplanting automation. Summary of the invention

[0004] In order to solve the above problems, an object of the present invention is to provide a transplanter capable of realizing integrated planting.

[0005] In order to achieve the above-mentioned purpose, the transplanter capable of realizing integrated planting provided by the present invention comprises a rope-type folding seedling storage mechanism, an "N"-shaped groove cam seedling transplanting mechanism, a turntable seedling separation mechanism, a hanging basket-type eccentric duckbill seedling planting mechanism, wheels, a frame, a spoke seedling transport mechanism, a transmission mechanism and a controller; wherein the frame is a double-layer structure, and a group of wheels are respectively arranged at the front and rear parts of both sides of the bottom; the turntable seedling separation mechanism, the spoke seedling transport mechanism and the rope-type folding seedling storage mechanism are arranged in sequence on the upper layer of the frame from front to back; the "N"-shaped groove cam seedling transplanting mechanism is The frame is provided with a hanging basket type eccentric duckbill seedling planting mechanism at the front of the lower layer of the frame and is located below the turntable type seedling separation mechanism; the transmission mechanism is provided at the rear of the lower layer of the frame and is respectively connected with the "n" type groove cam seedling moving mechanism, the hanging basket type eccentric duckbill seedling planting mechanism and the wheels through the transmission device; the controller is respectively electrically connected with the rope type folding seedling storage mechanism, the "n" type groove cam seedling moving mechanism, the turntable type seedling separation mechanism, the hanging basket type eccentric duckbill seedling planting mechanism, the spoke type seedling transport mechanism and the electric control components on the transmission mechanism.

[0006] The rope-type folding seedling storage mechanism includes: a screw lifting module, a first slider, a first slide rail, a seedling storage tray and a fixed plate; wherein the fixed plate is vertically arranged at the upper rear end of the frame, a screw lifting module is vertically arranged in the middle of the front end surface, and two mutually parallel first slide rails are arranged on the edges of both sides of the front end surface; a plurality of first slide rails are installed on each first slide rail from top to bottom; two first slide rails located at the same height on the two first slide rails are simultaneously fixed on both sides of the rear end surface of a seedling storage tray; the middle of the rear end surface of the seedling storage tray at the uppermost end is simultaneously connected to the slide bar arranged at the uppermost end of the screw lifting module.

[0007] The transmission shaft is a pair of gears, each of which has a first end fixed to the frame, and a second end fixed to the frame, each of which has a first end fixed to the frame, and a second end fixed to the frame, each of which has a first end fixed to the frame, and a second end fixed to the frame, each of which has a first end fixed to the frame, and a second end fixed to the frame, each of which has a first end fixed to the frame, and a second end fixed to the frame, each of which has a first end fixed to the frame, The two ends of the seedling transmission shaft respectively pass through the gear fixing plate and are fixed on the first bearing seat located on the outside of the gear fixing plate; the other pair of first sprockets are supported by a chain tensioning slider externally arranged in a horizontal bar-shaped adjusting hole; each double-ear chain is simultaneously sleeved on the two first sprockets located on the same gear fixing plate in a meshing manner; the two ends of a plurality of spokes are connected between the two double-ear chains at intervals; the chain support plate is made of angle steel, the horizontal surface is arranged below the double-ear chain, and the vertical surface is fixed on the inner side surface of the gear fixing plate; the chain tensioning bolt is threadedly installed in the threaded hole at one end of the gear fixing plate and the front end is threadedly connected to the radial screw hole on the chain tensioning slider.

[0008] The "N"-shaped groove cam seedling moving mechanism comprises: a second slide rail, a seedling clamping adjustment plate, a second slider, a lower connecting plate of the slide rail, a first bearing, an N-shaped slideway fixing plate, an upper connecting plate of the slide rail, an N-shaped slideway, a transmission rod, a third slider, a seedling moving transmission shaft, a seedling clamping mechanism fixing plate, a screw fixing plate, a seedling clamping horizontal push plate, a screw, a seedling clamping fixed push plate, a third slide rail, a stud roller bearing, a seedling clamping moving push plate, a seedling moving mechanism fixing plate, a fourth slide rail and a fourth slider; wherein the seedling moving mechanism fixing plate is vertically arranged, and two seedling moving mechanism fixing plates are arranged in parallel at the upper ends of the two gear fixing plates on the spoke-type seedling transport mechanism; each seedling moving mechanism fixing plate is installed on the inner side surface An n-shaped slide fixing plate; an n-shaped slide is installed in the middle of the inner side surface of each n-shaped slide fixing plate, an n-shaped groove is provided in the middle of the inner side surface of the n-shaped slide, and a horizontally installed third slide rail is provided on the upper and lower end edges of the inner side surface of the n-shaped slide fixing plate, and two third sliders are installed on each third slide rail; the upper connecting plate of the slide rail is installed on the two third sliders on the upper side, and the lower connecting plate of the slide rail is installed on the two third sliders on the lower side; the second slide rail is vertically arranged, and the upper and lower ends of the two second slide rails are respectively installed on the inner side surfaces of both ends of the upper connecting plate of the slide rail and the lower connecting plate of the slide rail; two second sliders are vertically installed on both sides of the back of the seedling clamping mechanism fixing plate , the two second sliders on each side are respectively installed on the two second slide rails; a round hole for simultaneously installing the first bearing is formed in the middle of the seedling transplanting mechanism fixing plate, the n-shaped slide fixing plate and the n-shaped slide; the middle part of the seedling transplanting transmission shaft is located in the first bearing, the outer end is located on the outer side of the seedling transplanting mechanism fixing plate, and the inner end is connected to one end of the transmission rod; the transmission rod is horizontally arranged at the middle punching of the seedling clamping mechanism fixing plate, and a transverse groove is provided on the side away from the seedling transplanting transmission shaft; the inner end of the stud roller bearing is arranged in the transverse groove on the transmission rod, and the outer end cooperates with the n-shaped groove; three transverse grooves are provided at the lower part of the seedling clamping mechanism fixing plate; the seedling clamping adjustment plate is located on the inner side of the seedling clamping mechanism fixing plate, and The front part is installed at any horizontal groove on the fixed plate of the seedling clamping mechanism by bolts to adjust the relative positions of the two; a fourth slide rail is installed on the front part of the inner side surface of the seedling clamping adjustment plate, and the fourth slider is installed on the fourth slide rail; the two ends of the seedling clamping movable push plate are respectively fixed on the two fourth sliders on the two seedling clamping adjustment plates; the two ends of the seedling clamping fixed push plate are respectively installed at the front ends of the two seedling clamping adjustment plates; the seedling clamping horizontal push plate is an inverted L-shaped plate, in which the lower end of the vertical plate is connected to the seedling clamping movable push plate, the bottom surface of the horizontal plate is connected to the slider at the upper end of the screw, and the lower end of the screw is arranged on the screw fixing plate; the screw has its own driver; the two ends of the screw fixing plate are respectively connected to the two seedling clamping mechanism fixed plates.

[0009] The turntable seedling separation mechanism comprises: a seedling tube, a vertical double-ear chain, a sprocket, a fixing plate, a driven shaft, a bearing seat, a seedling separation mechanism motor and a motor seat; wherein the fixing plate is horizontally arranged, the bottom surface of which is fixed to the upper front part of the frame, a seedling insertion hole is provided at the front end, and the bottom of one side is connected to the bearing seat; a driven shaft is fixed in the center hole of the bearing seat, and the upper end of the driven shaft passes through the fixing plate and is fixed in the center hole of a sprocket; the bottom of the other side of the fixing plate is connected to the motor seat; the seedling separation mechanism motor is installed on the motor seat, and the output shaft at the upper end of the seedling separation mechanism motor passes through the fixing plate and is fixed in the center hole of another sprocket; the vertical double-ear chain is horizontally sleeved on the two sprockets in a meshing manner; the lower ends of multiple seedling tubes are fixed on the double-ear chain at intervals.

[0010] The hanging basket type eccentric duckbill seedling planting mechanism includes: a connecting rod, a second bearing, a third bearing, a first plugging screw, a soil enterer, a concentric disk, a duckbill mouth, a cam, a flange, a fourth bearing, a pin with a hole, a guide ring, a fifth bearing, an eccentric disk, a second plugging screw and an eccentric disk support disk; wherein the concentric disk is vertically arranged, and the two concentric disks are concentrically arranged at a distance on the lower front side of the frame; the two ends of the flange are respectively fixed in the center holes of the two concentric disks; a plurality of cams are arranged at intervals on the edge of each concentric disk, and the plurality of cams on the two concentric disks are arranged correspondingly; a through hole for setting the fifth bearing 65 is provided on the outside of each cam; a support column connected to a pair of fifth bearing center holes corresponding to the two cams is provided on both sides of each soil enterer, and a seedling receiving mouth is provided at the upper end; the two duckbill mouths are arranged on the two support columns of a soil enterer in a buckling manner; each first plugging screw penetrates the middle part of a support column and the upper two sides of a duckbill mouth The duckbill and the soil entrant are hinged together, so that the lower parts of the two duckbill openings can be opened or closed; a second plug screw for fixing the fourth bearing is provided at the top of the support column outside the duckbill, and the cam drives the fourth bearing to realize the opening and closing of the duckbill; the outer end of the support column located on the inner side of each soil entrant is fixedly connected to the left side of a horizontally arranged connecting rod, and a hole for installing the second bearing is provided on the right side of the connecting rod; the eccentric disk is annular, arranged on the inner side of the concentric disk 58 in parallel with the concentric disk, and fixed on the eccentric disk support disk located on the outer side of the eccentric disk; one end of each pin with a hole is connected to a second bearing, and the other end is connected to the eccentric disk; a plurality of third bearings are provided on the eccentric disk support disk around the center of the circle, and each third bearing is covered with a guide ring, and the circumference of the guide ring is in contact with the edge of the center hole of the eccentric disk; the seedling transmission shaft passes through the center of the concentric disk and the eccentric disk support disk, and both ends are connected to the bearing seats fixed on the frame.

[0011] The transmission mechanism is arranged at the rear part of the lower layer of the frame, and includes a seedling transport mechanism motor, a seedling transplanting mechanism motor, a seedling planting mechanism motor and a wheel motor; wherein the seedling transport mechanism motor is connected to the seedling transport transmission shaft on the spoke-type seedling transport mechanism 7 through a transmission device; the seedling transplanting mechanism motor is connected to the seedling transplanting transmission shaft on the "N"-shaped groove cam seedling transplanting mechanism through a transmission device; the seedling planting mechanism motor is connected to the seedling planting transmission shaft on the hanging basket-type eccentric duckbill seedling planting mechanism through a transmission device; and the wheel motor is connected to the wheel axle on the wheel through a transmission device.

[0012] The controller is electrically connected to the lead screw lifting module, the seedling separation mechanism motor, the seedling transportation mechanism motor, the seedling transplanting mechanism motor, the seedling planting mechanism motor, the wheel motor and the lead screw driver respectively.

[0013] The transplanter capable of realizing integrated planting provided by the present invention has the following beneficial effects:

[0014] 1. The present invention integrates several subsystems such as seedling preparation, seedling delivery, seedling transplanting, seedling planting and soil covering into one, forming a set of efficient modern intelligent agricultural transplanting machinery, realizing an integrated operation process, and automatically completing the whole process from seedling preparation to seedling planting, which greatly improves the planting efficiency and reduces the labor intensity, greatly reduces the manpower demand, and can also ensure the operation quality, reduce the production cost, improve the economic benefit, and realize large-scale and standardized plant transplanting.

[0015] 2. The present invention has a compact structure, comprehensive functions, and reliable operation, and has preliminarily solved the problem that current agricultural machinery cannot adapt well to the needs of modern agricultural production and management.

[0016] 3. By designing a hanging basket-type eccentric duckbill transplanting mechanism and a cam, the duckbill soil enterer can be opened and closed autonomously. The structural design based on the eccentric circle ensures that the duckbill soil enterer can be opened and closed horizontally at the design point, thus realizing the walking and planting function with high planting efficiency and high structural density.

[0017] 4. The inverted "U" type groove cam seedling transplanting mechanism realizes the point-to-point precise transportation of transplanted seedlings by setting the groove cam and TPU flexible splint, and uses the flexible structure to ensure the integrity of the transplanted seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of the transplanter capable of realizing integrated planting provided by the present invention.

[0019] Figure 2 This is an exploded three-dimensional diagram of the rope-type folding seedling storage mechanism in the transplanter capable of realizing integrated planting provided by the present invention.

[0020] Figure 3 This is an exploded three-dimensional diagram of a spoke-type seedling transport mechanism in a transplanter capable of realizing integrated planting provided by the present invention.

[0021] Figure 4 A three-dimensional diagram of a spoke-type seedling transport mechanism in a transplanter capable of realizing integrated planting provided by the present invention.

[0022] Figure 5 This is an exploded three-dimensional diagram of the "N"-shaped groove cam seedling transplanting mechanism in the transplanter that can achieve integrated planting provided by the present invention.

[0023] Figure 6 This is a three-dimensional view of the "N"-shaped groove cam seedling transplanting mechanism in the transplanter capable of realizing integrated planting provided by the present invention when observed from the bottom.

[0024] Figure 7 An exploded three-dimensional diagram of a rotary disc seedling separation mechanism in a transplanter capable of realizing integrated planting provided by the present invention.

[0025] Figure 8 An exploded stereoscopic diagram of a hanging basket-type eccentric duckbill seedling planting mechanism in a transplanter capable of realizing integrated planting provided by the present invention. DETAILED DESCRIPTION

[0026] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1-Figure 8 As shown, the transplanter capable of realizing integrated planting provided by the present invention comprises a rope-type folding seedling storage mechanism 1, an "N"-shaped groove cam seedling transplanting mechanism 2, a turntable seedling separation mechanism 3, a hanging basket type eccentric duckbill seedling planting mechanism 4, wheels 5, a frame 6, a spoke seedling transport mechanism 7, a transmission mechanism 70 and a controller; wherein the frame 6 is a double-layer structure, and a group of wheels 5 are respectively provided at the front and rear parts of both sides of the bottom; the turntable seedling separation mechanism 3, the spoke seedling transport mechanism 7 and the rope-type folding seedling storage mechanism 1 are arranged in sequence on the upper layer of the frame 6 from front to back; the "N"-shaped groove cam seedling transplanting mechanism 2 is arranged on the spoke The strip-type seedling transport mechanism 7 is on the upper side; the hanging basket-type eccentric duckbill seedling planting mechanism 4 is arranged at the front part of the lower layer of the frame 6, and is located below the turntable-type seedling separation mechanism 3; the transmission mechanism 70 is arranged at the rear part of the lower layer of the frame 6, and is respectively connected with the "n"-shaped groove cam seedling transplanting mechanism 2, the hanging basket-type eccentric duckbill seedling transplanting mechanism 4 and the wheel 5 through the transmission device; the controller is respectively electrically connected with the rope-type folding seedling storage mechanism 1, the "n"-shaped groove cam seedling transplanting mechanism 2, the turntable-type seedling separation mechanism 3, the hanging basket-type eccentric duckbill seedling planting mechanism 4, the spoke-type seedling transport mechanism 7 and the electric control components on the transmission mechanism 70.

[0028] The rope-type folding seedling storage mechanism 1 includes: a screw lifting module 8, a first slider 9, a first slide rail 10, a seedling storage tray 11 and a fixed plate 12; wherein the fixed plate 12 is vertically arranged at the upper rear end of the frame 6, a screw lifting module 8 is vertically arranged in the middle of the front end surface, and two first slide rails 10 parallel to each other are arranged on the edges of both sides of the front end surface; a plurality of first slide rails 9 are installed on each first slide rail 10 from top to bottom; two first slide rails 10 located at the same height on the two first slide rails 10 are simultaneously fixed to the two sides of the rear end surface of a seedling storage tray 11; the middle of the rear end surface of the seedling storage tray 11 located at the uppermost end is simultaneously connected to the slider arranged at the uppermost end of the screw lifting module 8.

[0029] The spoke-type seedling transport mechanism 7 includes: spokes 13, a first sprocket 14, a chain support plate 15, a gear fixing plate 16, a fixing plate support shaft 17, a double-ear chain 18, a chain tensioning bolt 19, a chain tensioning slider 20, a first bearing seat 21 and a seedling transport transmission shaft 22; wherein, two gear fixing plates 16 are arranged in parallel on both sides of the frame 6 in a vertical direction, and the middle parts are connected to each other through two fixing plate support shafts 17; a first sprocket 14 is respectively provided on both sides of each gear fixing plate 16, a horizontal strip-shaped adjustment hole is provided at one end, and a threaded hole connected to the outer end of the horizontal strip-shaped adjustment hole is formed on the upper edge of the end surface of the same end in a transverse direction; a seedling transport transmission shaft 22 is connected between a pair of opposite first sprockets 14 on the two gear fixing plates 16, and The two ends of the seedling transport transmission shaft 22 respectively pass through the gear fixing plate 16 and are fixed on the first bearing seat 21 located on the outside of the gear fixing plate 16; the other pair of first sprockets 14 are supported by a chain tensioning slider 20 arranged externally in a horizontal bar-shaped adjustment hole; each double-ear chain 18 is simultaneously sleeved on the two first sprockets 14 located on the same gear fixing plate 16 in a meshing manner; the two ends of a plurality of spokes 13 are connected between the two double-ear chains 18 at intervals; the chain support plate 15 is made of angle steel, the horizontal surface is arranged below the double-ear chain 18, and the vertical surface is fixed on the inner side surface of the gear fixing plate 16; the chain tensioning bolt 19 is threadedly installed in the threaded hole at one end of the gear fixing plate 16 and the front end is threadedly connected to the radial screw hole on the chain tensioning slider 20.

[0030] The "N"-shaped groove cam seedling moving mechanism 2 includes: a second slide rail 23, a seedling clamping adjustment plate 24, a second slider 25, a lower connecting plate 26 of the slide rail, a first bearing 27, an N-shaped slideway fixing plate 28, an upper connecting plate 29 of the slide rail, an N-shaped slideway 30, a transmission rod 31, a third slider 33, a seedling moving transmission shaft 34, a seedling clamping mechanism fixing plate 35, a screw fixing plate 36, a seedling clamping horizontal push plate 37, a screw 38, a seedling clamping fixed push plate 39, a third slide rail 40, a stud roller bearing 41, a seedling clamping moving push plate 42, a seedling moving mechanism fixing plate 43, a fourth slide rail 44 and a fourth slider 92; wherein the seedling moving mechanism fixing plate 43 is vertically arranged, and the two seedling moving mechanism fixing plates 43 are arranged in parallel on the upper sides of the two gear fixing plates 16 on the spoke-type seedling transport mechanism 7. end; an n-shaped slide fixing plate 28 is installed on the inner side surface of each seedling transplanting mechanism fixing plate 43; an n-shaped slide 30 is installed in the middle of the inner side surface of each n-shaped slide fixing plate 28, and an n-shaped groove is provided in the middle of the inner side surface of the n-shaped slide 30, and a horizontally installed third slide rail 40 is provided at the upper and lower end edges of the inner side surface of the n-shaped slide fixing plate 28, and two third sliders 33 are installed on each third slide rail 40; the upper connecting plate 29 of the slide rail is installed on the two third sliders 33 located on the upper side, and the lower connecting plate 26 of the slide rail is installed on the two third sliders 33 located on the lower side; the second slide rail 23 is vertically arranged, and the upper and lower ends of the two second slide rails 23 are respectively installed on the inner side surfaces of the upper connecting plate 29 of the slide rail and the lower connecting plate 26 of the slide rail; the seedling clamping mechanism Two second sliders 25 are vertically installed on both sides of the back of the fixing plate 35, and the two second sliders 25 on each side are respectively installed on the two second slide rails 23; a circular hole for simultaneously installing the first bearing 27 is formed in the middle of the seedling transplanting mechanism fixing plate 43, the n-shaped slideway fixing plate 28 and the n-shaped slideway 30; the middle part of the seedling transplanting transmission shaft 34 is located in the first bearing 27, the outer end is located outside the seedling transplanting mechanism fixing plate 43, and the inner end is connected to one end of the transmission rod 31; the transmission rod 31 is horizontally arranged at the middle punching of the seedling clamping mechanism fixing plate 35, and a transverse groove is provided on the side away from the seedling transplanting transmission shaft 34; the inner end of the stud roller bearing 41 is arranged in the transverse groove on the transmission rod 31, and the outer end cooperates with the n-shaped groove; the lower part of the seedling clamping mechanism fixing plate 35 is provided with three transverse grooves ; The seedling clamping adjustment plate 24 is located on the inner side of the seedling clamping mechanism fixing plate 35, and the front part is installed at any horizontal groove on the seedling clamping mechanism fixing plate 35 by bolts to adjust the relative positions of the two; a fourth slide rail 44 is installed on the front part of the inner side surface of the seedling clamping adjustment plate 24, and a fourth slider 92 is installed on the fourth slide rail 44; the two ends of the seedling clamping mobile push plate 42 are respectively fixed on the two fourth sliders 92 on the two seedling clamping adjustment plates 24; the two ends of the seedling clamping fixed push plate 39 are respectively installed at the front ends of the two seedling clamping adjustment plates 24; the seedling clamping horizontal push plate 37 is an inverted L-shaped plate, wherein the lower end of the vertical plate is connected to the seedling clamping mobile push plate 42, the bottom surface of the horizontal plate is connected to the slider at the upper end of the screw 38, and the lower end of the screw 38 is arranged on the screw fixing plate 36; the screw 38 comes with a drive;The two ends of the screw fixing plate 36 are respectively connected to the two seedling clamping mechanism fixing plates 35. ;

[0031] The turntable seedling separation mechanism 3 includes: a seedling tube 45, a vertical double-ear chain 46, a sprocket 47, a fixed plate 48, a driven shaft 49, a bearing seat 50, a seedling separation mechanism motor 51 and a motor seat 52; wherein the fixed plate 48 is horizontally arranged, the bottom surface is fixed to the upper front part of the frame 6, a seedling hole 93 is provided at the front end, and the bottom of one side is connected to the bearing seat 50; a driven shaft 49 is fixed in the center hole of the bearing seat 50, and the upper end of the driven shaft 49 passes through the fixed plate 48 and is fixed in the center hole of a sprocket 47; the bottom of the other side of the fixed plate 48 is connected to the motor seat 52; the seedling separation mechanism motor 51 is installed on the motor seat 52, and the output shaft at the upper end of the seedling separation mechanism motor 51 passes through the fixed plate 48 and is fixed in the center hole of another sprocket 47; the vertical double-ear chain 46 is horizontally sleeved on the two sprockets 47 in a meshing manner; the lower ends of multiple seedling tubes 45 are fixed on the double-ear chain 46 at intervals.

[0032] The hanging basket type eccentric duckbill seedling planting mechanism 5 includes: a connecting rod 53, a second bearing 54, a third bearing 55, a first plug screw 56, a soil immersion device 57, a concentric disk 58, a duckbill mouth 59, a cam 60, a flange 61, a fourth bearing 62, a pin with a hole 63, a guide ring 64, a fifth bearing 65, an eccentric disk 66, a second plug screw 68 and an eccentric disk support disk 69; wherein the concentric disk 58 is vertically arranged, and the two concentric disks 58 are concentrically arranged at a distance from each other on one side of the lower front part of the frame 1; the two ends of the flange 61 are respectively fixed in the center holes of the two concentric disks 58 ; Multiple cams 60 are arranged at intervals on the edge of each concentric disk 58, and the multiple cams 60 on the two concentric disks 58 are arranged correspondingly; a through hole for setting the fifth bearing 65 is arranged on the outside of each cam 60; a support column connected to the center holes of a pair of fifth bearings 65 corresponding to the two cams 60 is arranged on both sides of each soil feeder 57, and a seedling receiving port 67 is arranged on the upper end; two duckbill ports 59 are arranged on the two support columns of a soil feeder 57 in a buckling manner; each first plug screw 56 passes through the middle of a support column and a duckbill port 59 The duckbill 59 and the earth entrant 57 are hinged together by the upper two sides of the duckbill 59, so that the lower parts of the two duckbill 59 can be opened or closed; the top of the support column outside the duckbill 59 is provided with a second plug screw 68 for fixing the fourth bearing 62, and the cam 60 drives the fourth bearing 62 to realize the opening and closing of the duckbill 59; the outer end of the support column located on the inner side of each earth entrant 57 is fixedly connected to the left side of a horizontally arranged connecting rod 53, and the right side of the connecting rod 53 is provided with a hole for installing the second bearing 54; the eccentric disk 66 is annular, parallel to the concentric disk 58 The eccentric disk 66 is arranged on the inner side of the concentric disk 58 and fixed on the eccentric disk support disk 69 located on the outer side of the eccentric disk 66; one end of each perforated pin 63 is connected to a second bearing 54, and the other end is connected to the eccentric disk 66; a plurality of third bearings 55 are arranged around the center of the eccentric disk support disk 69, and each third bearing 55 is sleeved with a guide ring 64, and the circumference of the guide ring 64 is in contact with the edge of the center hole of the eccentric disk 66; the seedling transmission shaft passes through the center of the concentric disk 58 and the eccentric disk support disk 69, and both ends are connected to the bearing seats fixed on the frame 1.

[0033] The transmission mechanism 70 is arranged at the rear part of the lower layer of the frame 1, and includes a seedling transport mechanism motor, a seedling transplanting mechanism motor, a seedling planting mechanism motor and a wheel motor; wherein the seedling transport mechanism motor is connected to the seedling transport transmission shaft 22 on the spoke-type seedling transport mechanism 7 through a transmission device; the seedling transplanting mechanism motor is connected to the seedling transplanting transmission shaft 34 on the "N"-shaped groove cam seedling transplanting mechanism 2 through a transmission device; the seedling planting mechanism motor is connected to the seedling planting transmission shaft on the hanging basket-type eccentric duckbill seedling planting mechanism 4 through a transmission device; and the wheel motor is connected to the wheel axle 75 on the wheel 5 through a transmission device.

[0034] The controller is electrically connected to the screw lifting module 8, the seedling separation mechanism motor 51, the seedling transport mechanism motor, the seedling transplanting mechanism motor, the seedling planting mechanism motor, the wheel motor and the driver of the screw 38 respectively.

[0035] The method for using a transplanter capable of realizing integrated planting provided by the present invention is described as follows:

[0036] Before starting the transplanter capable of realizing integrated planting provided by the present invention, each flexible seedling tray containing transplanted seedlings is manually placed on a seedling storage tray 11, and then the transplanter is started. Under the control of the controller, the lead screw lifting module 8 in the rope-type folding seedling storage mechanism 1 is used to drive the first slide block 9 to move downward along the first slide rail 10 at a preset speed, thereby causing the seedling storage tray 11 to move downward together with the flexible seedling tray thereon.

[0037] Since the width of the seedling storage tray 11 is slightly shorter than that of the flexible seedling tray, the front half of the flexible seedling tray will be stuck between the two spokes 13 at the rear end of the spoke-type seedling transport mechanism 7 when it moves downward. The motor of the seedling transport mechanism drives the spokes 13 to rotate through the transmission device, the seedling transport transmission shaft 22 and the first sprocket 14, thereby transporting the flexible seedling tray forward to the preset position and then stopping the operation of the motor of the seedling transport mechanism.

[0038] Initially, the horizontal push plate 37 and the fixed push plate 39 of the seedling clamp in the "n"-shaped groove cam seedling transplanting mechanism 2 are in a separated state and located at the front end; the seedling transplanting mechanism motor drives the seedling transplanting transmission shaft 34 to rotate through the transmission device, and the seedling transplanting transmission shaft 34 drives the transmission rod 31 to rotate. When the transmission rod 31 rotates, the stud roller bearing 41 moves from the rear end to the front end in the n-shaped groove, and the fixed plate 35 of the seedling clamping mechanism moves to the front end with the stud roller bearing 41, completing the movement of approaching the transplanting seedling upward, backward and downward, thereby making the fixed push plate 39 of the seedling clamping cross the flexible seedling tray, resulting in the horizontal push plate 37 and the seedling clamping mechanism being moved upward, backward and downward. The seedling clamping fixed push plate 39 is respectively located at the front and rear sides of the flexible seedling tray; the screw 38 drives the horizontal push plate 37 to move forward and clamp the upper end of the transplanted seedling together with the fixed push plate 39, and the seedling transplanting mechanism motor drives the seedling transplanting transmission shaft 34 and the transmission rod 31 to rotate in the opposite direction through the transmission device so that the stud roller bearing 41 is located in the middle of the n-shaped groove, thereby pulling the transplanted seedling upward from the seedling tray, and when the stud roller bearing 41 continues to move to the rear end of the n-shaped groove, the transplanted seedling is transported to the top of the rotary seedling separation mechanism 3, and the screw 38 drives the horizontal push plate 37 to move backward to release the transplanted seedling. The transplanted seedling falls into the seedling tube 45 at the preset position, and the seedling separation mechanism motor 51 drives the sprocket 47 to rotate the seedling tube 45 fixed on the vertical double-ear chain 46, thereby transporting the transplanted seedling to the seedling hole 93 at the front end of the fixed plate 48.

[0039] The transplanted seedlings fall into the seedling receiving opening 67 by gravity at the seedling hole 93, and the wheel motor drives the wheel shaft 75 through the transmission device to drive the wheel 5 to rotate, so that the entire transplanter starts to move forward. The seedling planting mechanism motor drives the seedling planting transmission shaft to rotate through the transmission device, and then drives the flange 61 and the concentric disk 58 to rotate, so that the seedling receiving opening 67 and the duckbill opening 59 perform constant horizontal eccentric circular motion under the restriction of the connecting rod 53 and the eccentric disk 66. When the concentric disk 58 rotates 135 degrees clockwise, the transplanted seedlings are transported to the preset position, and the fourth bearing 62 on the duckbill opening 59 moves along the cam 60 to gradually open the two buckled duckbill openings 59, and the concentric disk 58 continues to rotate 45 degrees clockwise. After the duckbill opening 59 is inserted into the transplanting soil, it is fully opened and the transplanted seedlings are planted in the transplanting soil. The concentric disk 58 continues to rotate 45 degrees clockwise, and the duckbill opening 59 gradually closes and completes the soil covering work. At this time, the first transplanted seedling has been planted, and the flexible seedling tray will pass through the bottom of the frame 1 from the spokes 13 at the front end and fall into the transplanting soil; the next transplanted seedling will be planted after the designed time interval. By controlling the frequency of the transplanting mechanism clamping the transplanted seedlings and the rotation speed of the seedling separation mechanism and the seedling planting mechanism, the time interval between adjacent transplanted seedlings during the transplanting process can be controlled to achieve continuous transplanting work, and the overall transplanter can continue to complete the transplanting task while moving forward.

[0040] After all transplanting tasks are completed, the wheel motors can be controlled individually by the controller, thereby controlling the wheels 5 to drive the transplanter back. At the same time, the transplanting path can also be customized on the controller.

Claims

1. A transplanter capable of realizing integrated planting, characterized in that: The transplanter comprises a rope-type folding seedling storage mechanism (1), an "N"-shaped groove cam seedling transplanting mechanism (2), a turntable seedling separation mechanism (3), a hanging basket-type eccentric duckbill seedling planting mechanism (4), wheels (5), a frame (6), a spoke-type seedling transporting mechanism (7), a transmission mechanism (70) and a controller; wherein the frame (6) is a double-layer structure, and a group of wheels (5) are respectively provided at the front and rear parts of both sides of the bottom; the turntable seedling separation mechanism (3), the spoke-type seedling transporting mechanism (7) and the rope-type folding seedling storage mechanism (1) are arranged in sequence on the upper layer of the frame (6) from front to back; the "N"-shaped groove cam seedling transplanting mechanism (2) is arranged on the spoke-type seedling transporting mechanism (7 ) on the upper side; a hanging basket type eccentric duckbill seedling planting mechanism (4) is arranged at the front part of the lower layer of the vehicle frame (6) and is located below the turntable type seedling separation mechanism (3); a transmission mechanism (70) is arranged at the rear part of the lower layer of the vehicle frame (6) and is respectively connected to the "N"-shaped groove cam seedling moving mechanism (2), the hanging basket type eccentric duckbill seedling planting mechanism (4) and the wheel (5) through the transmission device; and a controller is respectively electrically connected to the rope type folding seedling storage mechanism (1), the "N"-shaped groove cam seedling moving mechanism (2), the turntable type seedling separation mechanism (3), the hanging basket type eccentric duckbill seedling planting mechanism (4), the spoke type seedling transport mechanism (7) and the electric control components on the transmission mechanism (70).

2. The transplanter capable of realizing integrated planting according to claim 1, characterized in that: The rope-type folding seedling storage mechanism (1) comprises: a screw lifting module (8), a first slider (9), a first slide rail (10), a seedling storage tray (11) and a fixing plate (12); wherein the fixing plate (12) is vertically arranged at the upper rear end of the frame (6), a screw lifting module (8) is vertically arranged in the middle of the front end surface, and two mutually parallel first slide rails (10) are arranged on the edges of both sides of the front end surface; a plurality of first slide rails (9) are installed on each first slide rail (10) from top to bottom; two first slide rails (10) located at the same height on the two first slide rails (10) are simultaneously fixed to the two sides of the rear end surface of a seedling storage tray (11); and the middle of the rear end surface of the seedling storage tray (11) located at the uppermost end is simultaneously connected to the slider arranged at the uppermost end of the screw lifting module (8).

3. The transplanter capable of realizing integrated planting according to claim 1, characterized in that: The spoke-type seedling transport mechanism (7) comprises: spokes (13), a first sprocket (14), a chain support plate (15), a gear fixing plate (16), a fixing plate support shaft (17), a double-ear chain (18), a chain tensioning bolt (19), a chain tensioning slider (20), a first bearing seat (21) and a seedling transport transmission shaft (22); wherein two gear fixing plates (16) are arranged in parallel on both sides of the frame (6) in a vertical direction, and are connected to each other in the middle through two fixing plate support shafts (17); a first sprocket (14) is respectively provided on both sides of each gear fixing plate (16), a horizontal strip-shaped adjustment hole is provided at one end, and a threaded hole connected to the outer end of the horizontal strip-shaped adjustment hole is formed on the end surface of the same end in a horizontal direction; a seedling transport transmission shaft (22) is connected between a pair of opposite first sprockets (14) on the two gear fixing plates (16), The two ends of the seedling transport transmission shaft (22) respectively penetrate the gear fixing plate (16) and are fixed on the first bearing seat (21) located on the outer side of the gear fixing plate (16); the other pair of first sprocket wheels (14) are supported by a chain tensioning slider (20) externally arranged in a horizontal bar-shaped adjustment hole; each double-ear chain (18) is simultaneously sleeved on two first sprocket wheels (14) located on the same gear fixing plate (16) in a meshing manner; the two ends of the plurality of spokes (13) are spaced and connected between the two double-ear chains (18); the chain support plate (15) is made of angle steel, the horizontal surface is arranged below the double-ear chain (18), and the vertical surface is fixed on the inner side surface of the gear fixing plate (16); the chain tensioning bolt (19) is threadedly installed in the threaded hole at one end of the gear fixing plate (16) and the front end is threadedly connected to the radial screw hole on the chain tensioning slider (20).

4. The transplanter capable of realizing integrated planting according to claim 1, characterized in that: The "N"-shaped groove cam seedling transplanting mechanism (2) comprises: a second slide rail (23), a seedling clamping adjustment plate (24), a second slider (25), a slide rail lower side connecting plate (26), a first bearing (27), an N-shaped slideway fixing plate (28), a slide rail upper side connecting plate (29), an N-shaped slideway (30), a transmission rod (31), a third slider (33), a seedling transplanting transmission shaft (34), a seedling clamping mechanism fixing plate (35), a lead screw fixing plate (36), a seedling clamping horizontal push plate (37), a lead screw (38), a seedling clamping fixed push plate (39), a third slide rail (40), a stud roller bearing (41), a seedling clamping moving push plate (42), a seedling transplanting mechanism fixing plate (43), a fourth slide rail (44) and a fourth slider (92); wherein the seedling transplanting machine The structure fixing plate (43) is vertically arranged, and the two seedling transplanting mechanism fixing plates (43) are arranged in parallel at the upper ends of the two gear fixing plates (16) on the spoke-type seedling transporting mechanism (7); an n-shaped slideway fixing plate (28) is installed on the inner side surface of each seedling transplanting mechanism fixing plate (43); an n-shaped slideway (30) is installed in the middle of the inner side surface of each n-shaped slideway fixing plate (28), and an n-shaped groove is provided in the middle of the inner side surface of the n-shaped slideway (30); the upper and lower end edges of the inner side surface of the n-shaped slideway fixing plate (28) are respectively provided with a third slide rail (40) installed horizontally, and each third slide rail (40) is provided with two third sliders (33); the upper side connecting plate (29) of the slide rail is installed on the two third sliders (33) located on the upper side, and the lower side connecting plate (29) of the slide rail is installed on the lower side. The two third sliders (33) are mounted on the lower connecting plate (26) of the slide rail; the second slide rail (23) is vertically arranged, and the upper and lower ends of the two second slide rails (23) are respectively mounted on the inner side surfaces of the upper connecting plate (29) and the lower connecting plate (26) of the slide rail; two second sliders (25) are vertically mounted on both sides of the back of the seedling clamping mechanism fixing plate (35), and the two second sliders (25) on each side are respectively mounted on the two second slide rails (23); a circular hole for simultaneously mounting the first bearing (27) is formed in the middle of the seedling transplanting mechanism fixing plate (43), the n-shaped slideway fixing plate (28) and the n-shaped slideway (30); the middle of the seedling transplanting transmission shaft (34) is located in the first bearing (27), and the outer end is located in the seedling transplanting mechanism fixing plate (43); ) outside, the inner end of which is connected to one end of the transmission rod (31); the transmission rod (31) is horizontally arranged at the middle punching position of the seedling clamping mechanism fixing plate (35), and a transverse groove is provided on the side away from the seedling transplanting transmission shaft (34); the inner end of the stud roller bearing (41) is arranged in the transverse groove on the transmission rod (31), and the outer end is matched with the n-shaped groove; three transverse grooves are provided at the lower part of the seedling clamping mechanism fixing plate (35); the seedling clamping adjustment plate (24) is located on the inner side of the seedling clamping mechanism fixing plate (35), and the front part is installed at any transverse groove on the seedling clamping mechanism fixing plate (35) by bolts, so as to adjust the relative positions of the two; a fourth slide rail (44) is installed at the front part of the inner side surface of the seedling clamping adjustment plate (24), and the fourth slider (92) is installed on the fourth slide rail (44);The two ends of the seedling clamping movable push plate (42) are respectively fixed on two fourth sliders (92) on the two seedling clamping adjustment plates (24); the two ends of the seedling clamping fixed push plate (39) are respectively installed on the front ends of the two seedling clamping adjustment plates (24); the seedling clamping horizontal push plate (37) is an inverted L-shaped plate, wherein the lower end of the vertical plate is connected to the seedling clamping movable push plate (42), the bottom surface of the horizontal plate is connected to the slider at the upper end of the lead screw (38), and the lower end of the lead screw (38) is arranged on the lead screw fixing plate (36); the lead screw (38) has its own driver; the two ends of the lead screw fixing plate (36) are respectively connected to the two seedling clamping mechanism fixing plates (35). ; 5. The transplanter capable of realizing integrated planting according to claim 1, characterized in that: The rotary disc seedling separation mechanism (3) comprises: a seedling tube (45), a vertical double-ear chain (46), a sprocket (47), a fixing plate (48), a driven shaft (49), a bearing seat (50), a seedling separation mechanism motor (51) and a motor seat (52); wherein the fixing plate (48) is arranged horizontally, the bottom surface of which is fixed to the upper front part of the vehicle frame (6), a seedling hole (93) is provided at the front end, and the bottom of one side is connected to the bearing seat (50); a driven shaft (49) is fixed in the central hole of the bearing seat (50), and the driven shaft (49) The upper end of the seedling separation mechanism passes through the fixing plate (48) and is fixed in the center hole of a sprocket (47); the bottom of the other side of the fixing plate (48) is connected to the motor seat (52); the seedling separation mechanism motor (51) is installed on the motor seat (52), and the output shaft of the upper end of the seedling separation mechanism motor (51) passes through the fixing plate (48) and is fixed in the center hole of another sprocket (47); the vertical double-ear chain (46) is horizontally sleeved on the two sprockets (47) in a meshing manner; and the lower ends of the plurality of seedling tubes (45) are fixed on the double-ear chain (46) at intervals.

6. The transplanter capable of realizing integrated planting according to claim 1, characterized in that: The hanging basket type eccentric duckbill seedling planting mechanism (5) comprises: a connecting rod (53), a second bearing (54), a third bearing (55), a first plug screw (56), a soil inserter (57), a concentric disk (58), a duckbill mouth (59), a cam (60), a flange (61), a fourth bearing (62), a pin with a hole (63), a guide ring (64), a fifth bearing (65), an eccentric disk (66), a second plug screw (68) and an eccentric disk support disk (69); wherein the concentric disk (58) is vertically arranged, and the two concentric disks (58) are concentrically arranged at a distance from each other on one side of the lower front part of the frame (1); the two ends of the flange (61) are respectively fixed on two concentric disks. The invention relates to a method for preparing a soil inserter (57) comprising: firstly, a plurality of cams (60) arranged on the edge of each concentric disk (58) at intervals, and the plurality of cams (60) on the two concentric disks (58) are arranged correspondingly; the outside of each cam (60) is provided with a through hole for arranging a fifth bearing (65); on both sides of each soil inserter (57), a support column connected to the center holes of a pair of fifth bearings (65) corresponding to the two cams (60) is respectively provided, and a seedling receiving opening (67) is provided at the upper end; two duckbill openings (59) are arranged on the two support columns of a soil inserter (57) in a buckling manner; each first plug screw (56) penetrates the middle part of a support column and a duckbill; The duckbill (59) and the earth entrant (57) are hinged together at the upper two sides of the mouth (59), so that the lower parts of the two duckbill mouths (59) can be opened or closed; the top of the support column outside the duckbill mouth (59) is provided with a second plug screw (68) for fixing the fourth bearing (62), and the cam (60) drives the fourth bearing (62) to realize the opening and closing of the duckbill mouth (59); the outer end of the support column located on the inner side of each earth entrant (57) is fixedly connected to the left side of a horizontally arranged connecting rod (53), and the right side of the connecting rod (53) is provided with a hole for installing the second bearing (54); the eccentric disk (66) is annular to be connected with the concentric disk (58) ) are arranged on the inner side of the concentric disk (58) in parallel, and are fixed on the eccentric disk support disk (69) located on the outer side of the eccentric disk (66); one end of each pin with a hole (63) is connected to a second bearing (54), and the other end is connected to the eccentric disk (66); a plurality of third bearings (55) are arranged around the center of the eccentric disk support disk (69), and each third bearing (55) is sleeved with a guide ring (64), and the circumference of the guide ring (64) is in contact with the edge of the center hole of the eccentric disk (66); the seedling transmission shaft passes through the center of the concentric disk (58) and the eccentric disk support disk (69), and both ends are connected to the bearing seats fixed on the frame (1).

7. The transplanter capable of realizing integrated planting according to claim 1, characterized in that: The transmission mechanism (70) is arranged at the rear of the lower layer of the vehicle frame (1), and comprises a seedling transport mechanism motor, a seedling transfer mechanism motor, a seedling planting mechanism motor and a wheel motor; wherein the seedling transport mechanism motor is connected to a seedling transport transmission shaft (22) on a spoke-type seedling transport mechanism (7) through a transmission device; the seedling transfer mechanism motor is connected to a seedling transfer transmission shaft (34) on an "N"-shaped groove cam seedling transfer mechanism (2) through a transmission device; the seedling planting mechanism motor is connected to a seedling planting transmission shaft on a hanging basket-type eccentric duckbill seedling transfer mechanism (4) through a transmission device; and the wheel motor is connected to a wheel axle (75) on a wheel (5) through a transmission device.

8. The transplanter capable of realizing integrated planting according to claim 1, characterized in that: The controller is electrically connected to the screw lifting module (8), the seedling separation mechanism motor (51), the seedling transport mechanism motor, the seedling transplanting mechanism motor, the seedling planting mechanism motor, the wheel motor and the driver of the screw (38) respectively.

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