Riding type automatic pepper pot seedling taking transplanter

Abstract

The invention provides a riding type automatic pepper pot seedling taking transplanter. The riding type automatic pepper pot seedling taking transplanter comprises a chassis, a seedling feeding, seedling taking and seedling dropping mechanism, a planting component, a rotary tillage, soil lifting and film edge covering device, a synchronous water spraying and seedling watering device, a pressing and soil covering component and a seedling carrying frame, the terrain clearance and posture of the frame are independently adjusted, so that the preset planting depth and consistency are achieved when multiple rows of seedlings are transplanted; the seedling feeding-taking-dropping mechanism receives power from back transmission of a driving wheel, the operation speed is synchronously matched with the running speed of the chassis, and the consistency and stability of plant spacing are ensured; the seedling feeding-seedling taking-seedling dropping mechanism automatically clamps a row of pot seedlings from the seedling feeding device in the transverse direction, and the pot seedlings are released into a seedling dropping box from the upper portion of the seedling dropping device. The rotary tillage, soil lifting and film edge covering device firstly lifts soil and covers film edges, and the planting component receives plug seedlings from the seedling throwing box and inserts the plug seedlings into soil. The pressing and soil covering component covers and presses the planted seedlings, and the synchronous water spraying and seedling watering device intermittently sprays water to the planted seedlings. The transplanting efficiency is improved, and the device adapts to upland ground fluctuation.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural planting machinery, and in particular relates to a riding automatic pepper seedling pot transplanting machine. Background Art

[0002] Pepper is an important vegetable crop and a labor-intensive cash crop. In recent years, the mechanized transplanting technology of vegetables has made significant progress in response to the problems of high labor, high work intensity and high cost in transplanting pepper seedlings. It is mainly based on traction-type semi-automatic transplanters, which require more than two people to assist in taking and planting seedlings.

[0003] With the outstanding problems of vegetable planting benefits and labor shortage, the technology of fully automatic vegetable transplanter has received extensive attention and scientific research investment. The core of the technology is to solve the automation technology problem of seedling picking and seedling throwing. At present, typical automatic seedling picking and seedling throwing technologies include three categories: the first category is the use of pneumatic seedling picking and mechanical seedling throwing technology, the second category is the electric control narrow-distance seedling picking and wide-distance seedling throwing technology, and the third category is the manipulator seedling picking and seedling throwing technology. Pneumatic seedling picking technology requires that the compressed air pipeline and distribution valve configured by the transplanter have extremely high reliability, which increases the manufacturing and maintenance costs of the transplanter. In addition, the synchronization of compressed air distribution is poor, and the seedling picking mechanism has a high seedling leakage rate. The electric control narrow-distance seedling picking and wide-distance seedling throwing technology uses a stepper motor or a servo motor as the driving source, and needs to be equipped with an electronic control system, which is easily affected by the field temperature and humidity and other environmental factors. The manipulator seedling picking and seedling throwing technology uses a pure mechanism to achieve precise seedling picking in cooperation with the seedling delivery device that cooperates with the seedling picking mechanism. It is currently in the research and development stage. Since the manipulator-type seedling removal mechanism has higher reliability and low manufacturing and maintenance costs, it tends to replace the above two technologies.

[0004] On the other hand, due to the diversity of vegetables, the requirements for transplanting seedlings are also different. For example, the transplanting of pepper seedlings requires that regardless of the speed of the power unit, the planting depth of multiple rows should be kept appropriate and consistent. Operations in arid areas require synchronous watering of the seedlings to prevent the seedlings from being killed by the sun. In order to meet the synchronization of the power unit's travel and the operation of the working mechanism, traction-type vegetable transplanters often use ground wheels to drive the transplanting mechanism, but there is a problem of ground wheel slippage. In order to meet the appropriate and consistent planting depth of multiple rows, traction-type vegetable transplanting operations have extremely high requirements for tillage and land preparation, and cannot take into account the requirements of transplanting synchronization and planting depth. For this reason, transplanters with self-propelled power chassis came into being, mostly hand-held two-row transplanters, and lack of ride-on automatic pepper seedling transplanters. Summary of the invention

[0005] In view of the above technical problems, one object of the present invention is to provide a riding automatic pepper seedling transplanter to improve transplanting efficiency and adapt to the undulating ground of dry fields.

[0006] Furthermore, another object of the present invention is to provide a ride-on automatic pepper seedling transplanter, which can improve the transplanting efficiency while synchronizing the driving speed with the transplanting operation speed, stabilizing the plant spacing and planting depth, and adapting to the undulations of dry land.

[0007] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0008] The present invention achieves the above technical objectives through the following technical means.

[0009] A riding type automatic pepper seedling transplanter comprises a chassis, a left seedling delivery-seedling retrieval-seedling throwing mechanism, a right seedling delivery-seedling retrieval-seedling throwing mechanism, a left planting component, a right planting component, a rotary tillage soil raising and film covering device, a synchronous water spraying and seedling watering device, a soil pressing and covering component and a seedling carrying frame;

[0010] The left seedling delivery-seedling retrieval-seedling throwing mechanism and the right seedling delivery-seedling retrieval-seedling throwing mechanism are installed on the chassis and are symmetrically arranged along the longitudinal center line of the chassis, and are used for delivering seedlings, retrieval and throwing seedlings;

[0011] The seedling carrier is installed on the periphery of the left seedling delivery-seedling retrieval-seedling throwing mechanism and the right seedling delivery-seedling retrieval-seedling throwing mechanism;

[0012] The left planting component and the right planting component are respectively installed in the lower middle part of the chassis, located below the left seedling delivery-seedling retrieval-seedling delivery mechanism and the right seedling delivery-seedling retrieval-seedling delivery mechanism, and are symmetrically arranged along the longitudinal center line of the chassis, and are used to plant the seedlings in the hole tray in the soil;

[0013] The rotary tillage soil lifting and film covering edge device is installed in the lower middle part of the chassis and is located in front of the left planting part and the right planting part, and is used for lifting soil and covering the film edge;

[0014] The synchronous water spraying and watering seedling device is installed on the chassis and is located behind the left seedling delivery-seedling retrieval-seedling delivery mechanism and the right seedling delivery-seedling retrieval-seedling delivery mechanism. The synchronous water spraying and watering seedling device cooperates with the left planting component and the right planting component to intermittently spray water on the planted seedlings.

[0015] The soil-suppressing and covering component is installed under the chassis and is located behind the left planting component and the right planting component, and is used for covering the planted seedlings with soil and suppressing them.

[0016] In the above scheme, the chassis is a hydrostatically driven swing leg lifting chassis, including a frame, a driving platform, a diesel engine, a hydraulic drive component, a cradle-type translation lifting steering axle, a right driving wheel component and a left driving wheel component;

[0017] The driving platform is arranged at the front part above the frame, the diesel engine and the hydraulic drive component are connected and are both arranged at the rear part above the frame, the cradle-type translational lifting steering axle is hinged to the frame and is located at the rear and lower part of the driving platform, the left driving wheel component is hinged to one side of the frame through a left fixed plate, and the right driving wheel component is hinged to the other side of the frame through a right fixed plate, the left driving wheel component and the right driving wheel component are symmetrically arranged along the longitudinal center line of the frame and are located below the hydraulic drive component, the left driving wheel component and the right driving wheel component are independently driven by hydraulic motors respectively, and the power of the left wheel is transmitted back to the left seedling sending-seedling taking-seedling throwing mechanism, and the power of the right wheel is transmitted back to the right seedling sending-seedling taking-seedling throwing mechanism.

[0018] Further, the right driving wheel component of the chassis includes a right travel gearbox, a right driving wheel, a one-way clutch, a reverse driving sprocket, a disc brake, an electromagnetic clutch moving plate, a right reverse component gearbox, a lifting cylinder A, a right driving wheel speed encoder, a swing angle measuring device, a right travel motor, a final output shaft, a brake disc, an intermediate through shaft, a hollow transition shaft, a reverse driven sprocket and an electromagnetic clutch fixed plate;

[0019] One end of the final output shaft of the right travel gearbox is connected to the right drive wheel, and the right travel motor is installed on the input shaft end of the right travel gearbox, and independently provides power to the right drive wheel through the multi-stage gear reduction inside the right travel gearbox; the other end of the final output shaft is connected to a one-way clutch, and the outer ring of the one-way clutch is connected to the reverse drive sprocket;

[0020] A brake disc is fixed on the final output shaft between the right travel gearbox and the one-way clutch, and the disc brake fixed on the right travel gearbox can hold or release the brake disc; the reverse transmission passive sprocket is fixed with the electromagnetic clutch moving disc, and the electromagnetic clutch fixed disc is installed on the right fixed plate;

[0021] The electromagnetic clutch moving plate is sleeved on one end of the intermediate through shaft, and the electromagnetic clutch moving plate is coaxially fixed with the intermediate through shaft; the intermediate through shaft is coaxially nested with the hollow transition shaft of the right driving gear box, and the other end of the intermediate through shaft is coaxially connected with the right reverse transmission power input shaft of the right reverse transmission component gear box;

[0022] The reverse transmission power output shaft of the right reverse transmission component gearbox transmits power to the right seedling delivery-seedling retrieval-seedling throwing mechanism and the right planting component through chain transmission; the lifting cylinder A is hinged between the right travel gearbox and the right fixed plate;

[0023] The swing angle measuring device adopts a guide rod mechanism, which is slidably connected to the pin shaft on the right travel gear box and is used to feedback the extension and contraction amount of the lifting cylinder A;

[0024] The structure of the left driving wheel component is the same as that of the right driving wheel component, and a lifting cylinder B is articulated between the left travel gear box and the left fixed plate of the left driving wheel component.

[0025] Furthermore, the cradle-type translational lifting steering axle comprises a cradle, an inner swing arm, an outer swing arm, a steering axle, a lifting cylinder C and a pull rod type displacement sensor;

[0026] The two ends of the inner swing rod and the outer swing rod are respectively hinged to the cradle and the bridge support plate of the steering bridge to form a parallelogram mechanism; the two ends of the lifting cylinder C are respectively hinged to the cradle and the bridge support plate, and the two ends of the pull rod displacement sensor are respectively hinged to the cradle and the bridge support plate;

[0027] The pull rod displacement sensor is used to feedback the extension and contraction amount of the lifting cylinder C.

[0028] Furthermore, the lifting cylinder A and the lifting cylinder B are independently extended and retracted to respectively swing the right travel gearbox and the left travel gearbox outward or inward, and the lifting cylinder C is independently extended and retracted to make the steering axle move horizontally up and down;

[0029] The lifting cylinder A, lifting cylinder B and lifting cylinder C cooperate to extend and retract to adjust the height and posture of the frame from the ground;

[0030] The swing angle measuring device is used to feedback the extension and contraction amount of the lifting cylinder A, and the pull rod displacement sensor is used to feedback the extension and contraction amount of the lifting cylinder C, so as to assist in controlling the height and posture of the frame from the ground.

[0031] In the above scheme, the cradle type translation lifting steering axle also includes a wheel angle measuring device, a right driving wheel speed encoder and a left driving wheel speed encoder;

[0032] The wheel angle measuring device is connected to the right steering shaft, and is used to detect the right steering wheel deflection angle, and transmit it to the vehicle-mounted controller of the driving platform. The right driving wheel speed encoder is used to detect the speed of the right driving wheel, and the left driving wheel speed encoder is used to detect the speed of the left driving wheel, and transmit it to the vehicle-mounted controller of the driving platform.

[0033] After obtaining the right steering wheel deflection angle, the speed provided by the right driving wheel speed encoder and the left driving wheel speed encoder, the on-board controller of the driving console outputs proportional current to the dual variable pump, so that the left driving motor and the right driving motor obtain the flow required for differential steering.

[0034] In the above scheme, the right seedling delivery-seedling retrieval-seedling throwing mechanism includes a right seedling delivery device, a right seedling retrieval mechanism and a right seedling throwing device;

[0035] The right seedling taking mechanism rotates counterclockwise for one circle, and the upper right seedling clamping device and the lower right seedling clamping device sequentially clamp stems and take half of the seedlings from the right seedling delivery device in a horizontal direction at intervals of one hole, and release the pot seedlings into the seedling throwing box above the right seedling throwing device according to a preset trajectory and posture;

[0036] The structures of the left seedling delivering-taking-throwing-throwing mechanism and the right seedling delivering-taking-throwing-throwing mechanism are symmetrical along the longitudinal center line.

[0037] Further, the right seedling taking mechanism includes a right differential transmission box, a right differential non-circular gear system rotating arm, a right end face cam, a right upper seedling clamping device, a right lower seedling clamping device, a right auxiliary rotating arm, a middle auxiliary rotating arm support frame assembly and a mirror image right end face cam;

[0038] The right differential non-circular gear system rotating arm and the right auxiliary rotating arm are arranged in parallel and opposite to each other, and the right upper seedling clamping device and the right lower seedling clamping device are respectively arranged at the two ends of the right differential non-circular gear system rotating arm and the right auxiliary rotating arm;

[0039] The upper right seedling clamping device and the lower right seedling clamping device are respectively connected to the right planetary gear shaft fixed to the planetary non-circular gear, and are arranged in a staggered manner around the rotation center of the central non-circular gear; the right end face cam is fixed to the shaft hole of the right planetary gear shaft on the right differential non-circular gear system rotating arm, and the mirror image right end face cam is fixed to the middle auxiliary rotating arm support frame assembly, and is coaxially hinged with the right planetary gear shaft of the right differential non-circular gear system rotating arm;

[0040] The power input shaft of the differential transmission box is connected to the right differential non-circular gear system rotating arm, driving the right differential non-circular gear system rotating arm to rotate, and the toothed bevel gear of the right differential transmission box drives the central non-circular gear to rotate. Preferably, the transmission ratio between the right differential non-circular gear system rotating arm and the central non-circular gear is 1:2.

[0041] Further, the upper right seedling clamping device includes an upper right clamping piece motion unit, a lower right clamping piece motion unit, a guide light axis, a linear bearing A, a linear bearing B, a left support arm, a right support arm, a reset spring A, a reset spring B and two universal ball push rods;

[0042] The guide optical axis parallel to the right planetary gear shaft is installed between the left support arm and the right support arm, two linear bearings A are sleeved on the right planetary gear shaft, and two linear bearings B are sleeved on the guide optical axis;

[0043] The upper right clamp motion unit is respectively fixed to one side linear bearing B on the guide light axis and one side linear bearing A on the right planetary gear shaft; the lower right clamp motion unit is respectively fixed to the other side linear bearing B on the guide light axis and the other side linear bearing A on the right planetary gear shaft; an empty sleeve reset compression spring B is provided between the two linear bearings B on the guide light axis, and an empty sleeve reset compression spring A is provided between the two linear bearings A on the right planetary gear shaft; the ball of the universal ball push rod fixed to the upper right clamp motion unit forms a high pair contact with the right end face cam, and the ball of the universal ball push rod fixed to the lower right clamp motion unit forms a high pair contact with the mirror right end face cam; the upper right clamp motion unit and the lower right clamp motion unit can move toward each other.

[0044] In the above scheme, the synchronous water spraying device for watering seedlings includes a mechanical-electrical linkage water spraying control device; the mechanical-electrical linkage water spraying control device includes a water spraying dividing shaft, a dividing cam A, a dividing cam B, a rocker type travel switch A and a rocker type travel switch B;

[0045] The indexing cam A and the indexing cam B are installed concentrically and offset on the water spraying dividing shaft, and the indexing cam A and the indexing cam B form high-pair contacts with the rocker type travel switch A, and the indexing cam B and the rocker type travel switch B respectively; the indexing cam A and the indexing cam B rotate so that the rocker type travel switch A and the rocker type travel switch B cycle in two opposite extreme positions; the rocker type travel switch A is electrically connected to the water spraying electromagnetic switch valve, and the rocker type travel switch B is electrically connected to the return water electromagnetic switch valve, and the electrical connection between the water spraying electromagnetic switch valve and the return water electromagnetic switch valve is in a logical negation relationship; the water spraying dividing shaft has a proportional relationship with the rotation speed of the planting power input shaft of the right planting component, so that the opening and closing of the sprinkler head is synchronized with the planting action.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The ride-on automatic pepper seedling transplanter of the present invention improves the transplanting efficiency and adapts to the undulations of dry land. The present invention designs a ride-on swing-leg lifting chassis with front-wheel steering and rear-wheel differential drive, and synchronously transmits the forward power provided by the hydraulic motor to the left and right driving wheels to the left and right seedling delivery-seedling retrieval-seedling delivery mechanisms, so that the transplanting operation speed is synchronously matched with the chassis driving speed, ensuring the consistency and stability of the plant spacing, and overcoming the problem of asynchronous operation caused by the slipping of the ground wheels of the traction-type transplanter; the present invention arranges a one-way clutch in the left driving wheel component and the right driving wheel component to automatically cut off the reverse power when the transplanter is reversing, thereby preventing the working components from malfunctioning during reversing; the present invention arranges an electromagnetic clutch in the left and right driving wheel components to cut off the reverse power in the transport state of the transplanter, so that the transplanter can During operation, the reverse power is transmitted to ensure the safe switching of power between the transport state and the operating state; the present invention adjusts the height and posture of the frame from the ground by the coordinated extension and contraction of three lifting cylinders to ensure that the preset planting depth and consistency are achieved when transplanting multiple rows of seedlings; the seedling-taking mechanism of the present invention can automatically take half of the seedlings from the seedling-feeding device horizontally by clamping the stems at intervals of one hole, and release the seedlings in the seedling box above the seedling-feeding device, and only needs to intermittently deliver the seedlings longitudinally without moving the seedling-feeding device horizontally, thereby improving the success rate of seedling-taking and high seedling-taking efficiency; the synchronous water-spraying and seedling-watering device of the present invention can cooperate with the left planting component and the right planting component to spray water on the planted seedlings intermittently, effectively improving the survival rate of seedlings in arid areas. The present invention is suitable for transplanting pepper seedlings in pots on flat land or ridged land, and can also be used for transplanting seedlings in pots of economic crops such as tomatoes, and has a wide range of applications.

[0048] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic axonometric view of the structure of a ride-on automatic pepper seedling transplanter according to one embodiment of the present invention;

[0050] Figure 2 This is a schematic axonometric diagram of the structure of a ride-on automatic pepper seedling transplanter according to one embodiment of the present invention (after removing the seedling carrier and sunshade);

[0051] Figure 3 for Figure 2 Front view in transit state;

[0052] Figure 4 for Figure 3 A top view of

[0053] Figure 5 for Figure 3 The top view of

[0054] Figure 6 for Figure 3 Right view of;

[0055] Figure 7 It is an axonometric view of a riding automatic pepper seedling transplanter in transplanting operation;

[0056] Figure 8 for Figure 7 The front view of

[0057] Fig. 9 It is an axonometric diagram of the transmission system of a riding automatic pepper seedling transplanter according to one embodiment of the present invention;

[0058] Fig.10 It is a schematic axonometric diagram of the structure of the chassis of the present invention;

[0059] Fig.11 It is a schematic axonometric view of the structure of the chassis frame of the present invention;

[0060] Fig.12 This is a front view of the bridge of the present invention;

[0061] Fig.13 for Fig.12 The upper left axonometric view of

[0062] Fig.14 It is a schematic front view of the structure of the hydraulic drive component of the present invention;

[0063] Fig.15 for Fig.14 The upper left axonometric view of

[0064] Fig.16 for Fig.14 The upper right axonometric view of

[0065] Fig.17 It is a schematic front view of the structure of the cradle type translation lifting steering bridge of the present invention;

[0066] Fig.18 for Fig.17 Upper left axonometric view (one side of the tire is removed);

[0067] Fig.19 for Fig.17 The lower left axonometric view of

[0068] Fig. 20 It is a schematic front view of the structure of the right driving wheel component of the present invention;

[0069] Fig.21 for Fig. 20 A cross-sectional view of

[0070] Fig. 22 for Fig. 20 A top view of

[0071] Fig.23 for Fig. 20 The upper left axonometric view of

[0072] Fig.24 This is a schematic axonometric diagram of the structure of the seedling delivery-seedling retrieval-seedling delivery mechanism of the present invention;

[0073] Fig.25 for Fig.24 The front view of

[0074] Fig.26 for Fig.25 Right view of;

[0075] Fig. 27 The upper left isometric view is a schematic structural diagram of the right seedling feeding device of the present invention;

[0076] Fig.28 The upper right isometric view of the structure of the right seedling delivery device of the present invention (the seedling delivery side plate is removed);

[0077] Fig.29 It is a schematic axonometric diagram of the structure of the differential transmission box of the present invention;

[0078] Fig.30 It is a front view of the structural composition and movement trajectory of the right seedling taking mechanism of the present invention;

[0079] Fig.31 for Fig.30 The upper left axonometric view of

[0080] Fig.32 for Fig.30 The lower right axonometric view of

[0081] Fig.33 It is a schematic axonometric diagram of the structure of the right-throwing seedling device of the present invention;

[0082] Fig.34 It is a schematic axonometric diagram of the structure of the left planting component and the right planting component of the present invention;

[0083] Fig.35 It is a schematic front view of the structure of the left planting component and the right planting component of the present invention;

[0084] Fig.36 This is a schematic axonometric diagram of the structure of the rotary tillage soil lifting and film covering device of the present invention;

[0085] Fig.37 This is a schematic axonometric diagram of the structure of the water spraying and seedling watering device of the synchronous water spraying and seedling watering of the present invention;

[0086] Fig.38 This is a schematic axonometric diagram of the structure of the mechanical-electrical linkage water spray control device of the synchronous water spray seedling watering device of the present invention;

[0087] In the figure: 1-chassis; 101-frame; 10101-main crossbeam; 10102-working component bracket; 10103-middle short longitudinal beam; 10104-secondary crossbeam; 10105-left and right planting component support beams; 102-driving platform; 10201-steering machine; 10202-on-board controller; 10203-hydraulic steering gear; 10204-driving handle; 10205-brake pedal; 10206-brake mechanism; 10207-plunger brake pump; 10208-upper industrial computer; 10209-display; 103-diesel engine; 104-hydraulic drive component; 10401-dual variable pump; 10402-gear transfer case; 10403-gear pump; 10404-dual universal joint axle; 10405-transfer case speed measuring device; 10406-transfer case mounting support; 10407-flow sharing multi-way valve; 10408-rotary tillage motor control valve; 10409-hydraulic oil tank; 10410-hydraulic lock; 105-cradle type translation lifting steering axle; 10501-cradle; 10502-inner swing rod; 10503-outer swing rod; 10504-steering axle; 1050401-bridge body support plate; 10505-lifting cylinder C; 10506-pull rod displacement sensor; 10507-right steering shaft; 10508-wheel angle measuring device; 10509-steering wheel; 10510-steering cylinder; 10511-steering connecting rod; 10512-steering knuckle; 106-left Fixed plate; 107-right driving wheel component; 10701-right travel gearbox; 10702-right driving wheel; 10703-one-way clutch; 10704-reverse transmission driving sprocket; 10705-disc brake; 10706-electromagnetic clutch moving plate; 10707-right reverse transmission component gearbox; 1070701-right reverse transmission power input shaft; 1070702-right reverse transmission power output shaft; 10708-lifting cylinder A; 10709-right driving wheel speed encoder; 10710-swing angle measuring device; 10711-right travel motor; 10712-final output shaft; 10713-brake disc; 10714-middle through shaft; 10715-hollow transition shaft; 10716-reverse transmission passive sprocket ;10717-electromagnetic clutch fixed plate;108-right fixed plate;109-left driving wheel component;10901-left travel gearbox;10902-lifting cylinder B;10903-left travel motor;10904-left reverse transmission component gearbox;1090401-left reverse transmission power input shaft;1090402-left reverse transmission power output shaft;10905-left driving wheel speed encoder;110-right driving sprocket A;111-right driving sprocket B;2-left seedling delivery-seedling retrieval-seedling throwing mechanism;201-left seedling delivery device;3-right seedling delivery-seedling retrieval-seedling throwing mechanism;301-right seedling delivery device;30101-seedling box power input shaft;30102-ratchet stepping mechanism;30103-seedling delivery active sprocket shaft;30104-seedling sending active sprocket; 30105-grid chain; 30106-seedling sending passive sprocket; 30107-seedling sending side plate; 302-right seedling taking mechanism; 30201-differential transmission box; 3020101-differential power input shaft; 3020102-toothed bevel gear; 3020103-seedling taking power input sprocket; 30202-right differential non-circular gear system rotating arm; 3020201-right inner box body; 3020202-right outer box body; 3020203-center non-circular gear; 3020204-1st transition non-circular gear; 3020205-2nd transition non-circular gear; 3020206-planetary non-circular gear; 3020207-right planetary gear shaft; 30203-right end face Cam; 30204-right upper seedling clamping device; 3020401-right upper clamping piece motion unit; 3020402-right lower clamping piece motion unit; 3020403-guide light axis; 3020404-linear bearing A; 3020405-linear bearing B; 3020406-left support arm; 3020407-right support arm; 3020408-reset spring A; 3020409-reset spring B; 3020410-universal ball push rod; 30205-right lower seedling clamping device; 30206-right auxiliary rotating arm; 30207-middle auxiliary rotating arm support frame assembly; 30208-mirror right end face cam; 303-right seedling throwing device; 30301-seedling throwing box; 30302-seedling throwing indexing cam; 3 0303-seedling baffle; 30304-seedling swing rod assembly; 30305-tension spring assembly; 4-left planting component; 5-right planting component; 501-planting transmission shaft; 502-right connecting side plate; 503-eccentric track plate assembly; 504-outer planting plate; 505-inner planting plate; 506-duckbill seedling assembly; 50601-seedling bucket; 50602-duckbill cavity; 50603-half duckbill shell; 507-short rocker arm; 508-roller; 509-planting end face cam; 510-planting power input sprocket; 6-rotary tillage soil lifting and film covering edge device; 601-rotary tillage motor; 602-rotary tillage power input gear box; 603-universal transmission shaft; 604-rotary tillage knife device; 7-synchronous watering and seedling watering device; 70 1-water tank; 702-diaphragm pump; 703-water spraying electromagnetic switch valve; 704-water return electromagnetic switch valve; 705-mechanical-electrical linkage water spraying control device; 70501-water spraying dividing shaft; 70502-dividing cam A; 70503-dividing cam B; 70504-rocker type travel switch A; 70505-rocker type travel switch B; 703-travel switch fixing plate; 706-sprinkler; 707-pipeline; 8-suppression and covering soil components; 9-seedling rack; 10-sunshade; 11-hole tray; 12-seedling tray recovery box; 13-upper power input sprocket A; 14-gear A; 15-seedling cam shaft; 16-gear B; 17-transition shaft B; 18-gear C; 19-transition shaft C; 20-sprocket B;21-sprocket C; 22-sprocket D; 23-sprocket E; 24-large sprocket; 25-seedling track. ; DETAILED DESCRIPTION

[0088] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0089] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0090] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] Figure 1-11 The figure shows a preferred embodiment of the ride-on automatic pepper seedling transplanter of the present invention, which mainly includes a chassis 1, a left-side seedling delivery-seedling retrieval-seedling throwing mechanism 2, a right-side seedling delivery-seedling retrieval-seedling throwing mechanism 3, a left planting component 4, a right planting component 5, a rotary tillage and soil covering device 6, a synchronous water spraying device 7, a soil suppression and covering component 8 and a seedling carrier 9.

[0092] The left seedling delivery-seedling retrieval-throwing mechanism 2 and the right seedling delivery-seedling retrieval-throwing mechanism 3 are installed on the chassis 1 and are symmetrically arranged along the longitudinal center line of the chassis 1, and are used for delivering, retrieval and throwing seedlings; the seedling carrier 9 is installed on the periphery of the left seedling delivery-seedling retrieval-throwing mechanism 2 and the right seedling delivery-seedling retrieval-throwing mechanism 3; the left planting component 4 and the right planting component 5 are respectively installed in the lower middle part of the chassis 1, located below the left seedling delivery-seedling retrieval-throwing mechanism 2 and the right seedling delivery-seedling retrieval-throwing mechanism 3, and are symmetrically arranged along the longitudinal center line of the chassis 1, and are used for planting the seedlings in the hole tray in the soil. ; The rotary tillage and soil-raising and film-covering edge device 6 is installed in the lower middle part of the chassis 1, and is located in front of the left planting component 4 and the right planting component 5, and is used for raising soil and covering the film edge; the synchronous water spraying and seedling watering device 7 is installed on the chassis 1, and is located behind the left seedling delivering-seedling picking-seedling throwing mechanism 2 and the right seedling delivering-seedling picking-seedling throwing mechanism 3. The synchronous water spraying and seedling watering device 7 cooperates with the left planting component 4 and the right planting component 5 to intermittently spray water on the planted seedlings; the soil-suppressing and covering component 8 is installed under the chassis 1, and is located behind the left planting component 4 and the right planting component 5, and is used for covering the planted seedlings with soil and suppressing them.

[0093] The chassis 1 is a hydrostatically driven swing-leg lifting chassis, comprising a driving platform 102 arranged at the front of the frame 101, a hydraulic driving component 104 directly connected to the diesel engine 103 at the rear of the frame 101, a cradle-type translational lifting steering bridge 105 at the rear and lower part of the driving platform 102, and a left driving wheel component 109 and a right driving wheel component 107 at the lower left of the hydraulic driving component 104. The cradle-type translational lifting steering bridge 105 is hinged to the frame 101. The left driving wheel component 109 and the right driving wheel component 107 are symmetrically arranged along the longitudinal center line of the transplanter, and are hinged to the main crossbeam 10101 of the frame 101 through the right fixing plate 108. The left driving wheel component 109 and the right driving wheel component 107 are independently driven by a hydraulic motor, and the power of the left wheel is transmitted back to the left seedling sending-seedling taking-throwing mechanism 2, and the power of the right wheel is transmitted back to the right seedling sending-seedling taking-throwing mechanism 3.

[0094] like Figure 1-11As shown, the left seedling delivery-seedling picking-throwing mechanism 2 and the right seedling delivery-seedling picking-throwing mechanism 3 are installed on the working component bracket 10102 of the frame 101, and the left planting component 4 and the right planting component 5 are installed in the middle part under the frame 101, and are located below the left seedling delivery-seedling picking-throwing mechanism 2 and the right seedling delivery-seedling picking-throwing mechanism 3, between the cradle-type translation lifting steering bridge 105, the left driving wheel component 109 and the right driving wheel component 107. The left seedling delivery-seedling picking-throwing mechanism 2 and the right seedling delivery-seedling picking-throwing mechanism 3, the left planting component 4 and the right planting component 5 are symmetrically arranged between the driving platform 102 and the hydraulic driving component 104 along the longitudinal center line of the transplanter. The rotary tillage soil lifting and film covering edge device 6 is installed in the middle part under the frame 101, and is located in front of the left seedling delivery-seedling picking-throwing mechanism 2 and the right seedling delivery-seedling picking-throwing mechanism 3. The synchronous watering and seedling watering device 7 is fixed to the top of the main beam 10101 of the vehicle frame 101. The seedling carrier 9 is installed on the periphery of the left seedling delivery-seedling picking-seedling throwing mechanism 2 and the right seedling delivery-seedling picking-seedling throwing mechanism 3. When transplanting pot seedlings, the left driving wheel component 109, the right driving wheel component 107 and the cradle-type translational lifting and lowering steering bridge 105 are independently driven by the oil cylinder to swing outward around the fixed hinge point, and the height of the vehicle frame 101 from the ground reaches the preset planting depth. The rotary tillage and film covering edge device 6 first raises the soil and covers the film edge, and the left planting component 4 and the right planting component 5 respectively plant the seedlings from the left seedling delivery-seedling picking-seedling throwing mechanism 2 and the right seedling delivery-seedling picking-seedling throwing mechanism 3 in the soil. The suppression and covering soil component 8 fixed below the main beam 10101 covers the planted seedlings with soil and suppresses them. The synchronous watering and seedling watering device 7 cooperates with the left planting component 4 and the right planting component 5 to spray water on the planted seedlings intermittently. After transplanting is completed, the left driving wheel component 109, the right driving wheel component 107 and the cradle type translation lifting steering bridge 105 swing inward around the fixed hinge point, and the frame 101 is reset to be in a land turnaround or road transport state.

[0095] like Figure 10-19As shown, the driver starts the diesel engine 103 electrically through the "start key" on the steering gear 10201, and the hydraulic drive component 104 directly connected to the diesel engine 103 through the double universal coupling 10411 starts to operate. The hydraulic drive component 104 also includes a gear transfer case 10402, three gear pumps 10403 installed at each end of the transmission shaft of the gear transfer case 10402, a double variable pump 10404 and a transfer case speed measuring device 10405, a transfer case mounting bracket 146, a flow sharing multi-way valve 10407 and a rotary tiller motor control valve 10408 installed above the gear transfer case 10402, and two symmetrically arranged hydraulic oil tanks 10409. The two hydraulic oil tanks 10409 are connected to each other by a rubber hose and fixed on both sides of the gear transfer case 10402. The three gear pumps 10403 and the one double variable pump 10404 all draw oil from the hydraulic oil tank 10409 through the oil pipe. One gear pump 10403 is used as a steering pump, and its outlet is connected to the hydraulic steering gear 10203 at the end of the steering gear 10201 through the oil pipe, and the two working oil ports of the hydraulic steering gear 10203 are connected to the oil ports of the steering cylinder 10510 of the cradle-type translation lifting steering axle 105 through the oil pipe, and the return oil port of the hydraulic steering gear 10203 is connected to the hydraulic oil tank 10409 through the oil pipe. In this way, when the driver turns the steering wheel, the hydraulic steering gear 10203 automatically distributes the pressure oil to the steering cylinder 10510, and the steering cylinder 10510 is extended and retracted to drive the steering link 10511, so that the steering knuckle 10512 drives the steering wheel 10513 to deflect. 1 gear pump 10403 is used as a chassis lifting pump, and its outlet is connected to the P port of the flow sharing multi-way valve 10407 through an oil pipe. The two working oil ports of each valve group of the flow sharing multi-way valve 10407 are connected to the inlet of the hydraulic lock 10410, and the outlet of the hydraulic lock 10410 is connected to the oil port of the lifting cylinder. The T port of the flow sharing multi-way valve 10407 is connected to the hydraulic oil tank 10409 through an oil pipe. 1 gear pump 10403 is used as a rotary tillage pump, and its outlet is connected to the P port of the rotary tillage motor control valve 10408 through an oil pipe. The T port of the rotary tillage motor control valve 10408 is connected to the hydraulic oil tank 10409 through an oil pipe. The two working oil ports of the rotary tillage motor control valve 10408 are connected to the rotary tillage motor 601 through oil pipes. Fig.36 As shown, the rotary tillage motor 601 is installed on the rotary tillage power input gear box 602 of the rotary tillage soil lifting and film covering device 6, and the rotary tillage power input gear box 602 transmits power to the rotary tillage blade devices 604 on both sides through the universal transmission shaft 603. A double variable pump 10404 is used as a travel pump, and two pairs of working oil ports are directly connected to the left travel motor 10903 and the right travel motor 10711 by oil pipes, and the return oil port is connected to the hydraulic oil tank 10409 by oil pipes.

[0096] like Figure 17-19As shown, the cradle type translation lifting steering axle 105 of the chassis 1 includes a cradle 10501, an inner swing rod 10502, an outer swing rod 10503, a steering axle 10504, a lifting cylinder C10505 and a pull rod type displacement sensor 10506; the two ends of the inner swing rod 10502 and the outer swing rod 10503 are respectively hinged to the cradle 10501 and the bridge body support plate 1050401 of the steering axle 10504 to form a parallelogram mechanism. The lifting cylinder C10505 and the pull rod type displacement sensor 10506 are hinged between the cradle 10501 and the bridge body support plate 1050401 of the steering axle 10504. The two ends of the lifting cylinder C10505 are respectively hinged to the cradle 10501 and the bridge support plate 1050401, and the two ends of the pull rod displacement sensor 10506 are respectively hinged to the cradle 10501 and the bridge support plate 1050401. The cradle type translation lifting steering bridge 105 of the chassis 1 also includes a wheel angle measuring device 10508 connected to the right steering shaft 10507. After the vehicle controller 10202 obtains the deflection angle of the right steering wheel 10509, the speed provided by the right driving wheel speed encoder 10709 and the left driving wheel speed encoder 10905, it outputs a proportional current to the double variable pump 10401, so that the left travel motor 10903 and the right travel motor 10711 obtain the flow required for differential steering.

[0097] like Figure 20-23 As shown, the right driving wheel component 107 of the chassis 1 includes a right travel gear box 10701 that can rotate around a right fixed plate 108, a right driving wheel 10702, a one-way clutch 10703, a reverse driving sprocket 10704, a disc brake 10705, an electromagnetic clutch moving plate 10706, a right reverse component gear box 10707, a lifting cylinder A10708, a right driving wheel speed encoder 10709, a swing angle measuring device 10710, a right travel motor 10711, a final output shaft 10712, a brake disc 10713, an intermediate through shaft 10714, a hollow transition shaft 10715, a reverse driven sprocket 10716 and an electromagnetic clutch fixed plate 10717.

[0098] One end of the final output shaft 10712 of the right travel gearbox 10701 is fixed to the right drive wheel 10702, and the right travel motor 10711 is installed on the input shaft end of the right travel gearbox 10701, and independently provides power to the right drive wheel 10702 through the multi-stage gear reduction inside the right travel gearbox 10701; the other end of the final output shaft 10712 is fixed to the one-way clutch 10703, and the outer ring of the one-way clutch 10703 is fixed to the reverse driving sprocket 10704; the brake disc 10713 is fixed on the final output shaft 10712 between the right travel gearbox 10701 and the one-way clutch 10703, and the disc brake 10705 fixed to the right travel gearbox 10701 can hold or release the brake disc 10713; the reverse driven sprocket 10716 and the electromagnetic clutch movable disc 107 16 is fixed, the electromagnetic clutch fixed plate 10706 is installed on the right fixed plate 108; the electromagnetic clutch moving plate 10716 is loosely sleeved on one end of the intermediate through shaft 10714, and the electromagnetic clutch moving plate 10716 is coaxially fixed with the intermediate through shaft 107014; the intermediate through shaft 10714 is coaxially nested and installed with the hollow transition shaft 10715 of the right driving gear box 10701, and the other end of the intermediate through shaft 10714 is coaxially connected with the right reverse power input shaft 1070701 of the right reverse transmission component gear box 10707; the reverse power output shaft 1070702 of the right reverse transmission component gear box 10707 transmits power to the right seedling sending-seedling taking-seedling throwing mechanism 3 and the right planting component 5 through chain drive; the lifting cylinder A10708 is articulated between the right driving gear box 10701 of the right driving wheel component 107 and the right fixed plate 108. The left driving wheel component 109 has the same structure as the right driving wheel component 107. Similarly, a lifting cylinder B10902 is hinged between the left driving wheel component 109 and the left fixed plate 106. The lifting cylinder A10708 and the lifting cylinder B10902 of the chassis 1 independently extend and retract to make the right driving gearbox 10701 and the left driving gearbox 10901 swing outward or inward, and the lifting cylinder C10505 independently extends and retracts to make the steering axle 10504 move horizontally up and down. The lifting cylinder A10708, the lifting cylinder B10902 and the lifting cylinder C10505 cooperate to extend and retract to adjust the height and posture of the frame 101 from the ground. The swing angle measuring device 10710 and the pull rod displacement sensor 10506 are used to feedback the extension and retraction amount of the cylinder to assist in controlling the height and posture of the frame 101 from the ground. The swing angle measuring device 10710 adopts a guide rod mechanism, which is slidably connected to the pin shaft on the right travel gear box 10701 and is used to feedback the extension and retraction amount of the lifting cylinder A10708; the pull rod type displacement sensor 10506 is used to feedback the extension and retraction amount of the lifting cylinder C10505.

[0099] The above is the overall structure of the riding type automatic pepper seedling transplanter and the overall structure of the chassis 1. The overall structure and working principle of the working parts are introduced below:

[0100] like Fig.21 As shown, the right reverse transmission power output shaft 1070702 of the right reverse transmission component gear box 10707 transmits power to the right seedling delivery-seedling retrieval-throwing mechanism 3 and the right planting component 5 through chain transmission. Similarly, the left reverse transmission power output shaft 1090402 of the left reverse transmission component gear box 10904 transmits power to the left seedling delivery-seedling retrieval-throwing mechanism 2 and the left planting component 4 through chain transmission. The right planting component 5 rotates coaxially with the left planting component 4 independently.

[0101] like Figure 24-26 As shown, the right seedling delivery-seedling retrieval-throwing mechanism 3 includes a right seedling delivery device 301, a right seedling retrieval mechanism 302 and a right seedling throwing device 303; the upper power input sprocket A13 on the seedling throwing indexing shaft 15 transmits the power from the right driving sprocket A110 on the right reverse power output shaft 1070702, and the gear A14 installed on the seedling throwing indexing shaft 15 meshes with the gear B16 on the transition shaft B17 to switch the power to the transition shaft B17. The gear C18 on the transition shaft C19 meshes with the gear B16 on the transition shaft B17 to switch the power to the transition shaft C19. The sprocket D22 installed on the transition shaft B17 transmits the power to the seedling retrieval power input sprocket 3020103 on the differential power input shaft 3020101 through a chain, and the rotation direction is counterclockwise. The sprocket E23 installed on the transition shaft C19 transmits power to the large sprocket 24 on the seedling box power input shaft 30101 of the right seedling sending device 301 through a chain, and the steering is clockwise.

[0102] like Figure 27-28 As shown, the right seedling delivery device 301 includes a ratchet stepping mechanism 30102 installed at the end of the seedling box power input shaft 30101, and the other end of the ratchet stepping mechanism 30102 is connected to the seedling delivery active sprocket shaft 30103. When the sprocket D22 drives the seedling box power input shaft 30101 to rotate clockwise, the seedling delivery active sprocket 30104 on the seedling delivery active sprocket shaft 30103 rotates intermittently under the action of the ratchet stepping mechanism 30102, and the seedling delivery passive sprocket 30106 rotates through the fence chain 30105. Figure 2 As shown, when the hole tray 11 is placed manually, the V-groove at the bottom of the hole tray 11 fits with the bars of the bar chain 30105, and the hole tray 11 moves intermittently with the bar chain 30105, and bends along the groove of the seedling sending side plate 30107 under the constraint of the groove of the seedling sending side plate 30107, until it goes around the bottom of the right seedling sending device 301 in a ring shape and falls into the seedling tray recovery box 12.

[0103] like Figure 29-32As shown, the right seedling taking mechanism 302 mainly includes a right differential transmission box 30201, a right differential non-circular gear system rotating arm 30202, a right end face cam 30203, a right upper seedling clamping device 30204, a right lower seedling clamping device 30205, a right auxiliary rotating arm 30206, an intermediate auxiliary rotating arm support frame assembly 30207 and a mirror image right end face cam 30208. The right upper seedling clamping device 30204 and the right lower seedling clamping device 30205 are respectively fixed on the right planetary gear shaft 3020207 fixed to the planetary non-circular gear 3020206, and are staggered around the rotation center of the central non-circular gear 3020203. The right end face cam 30203 is fixed to the shaft hole of the right planetary gear shaft 3020207 on the right differential non-circular gear system rotating arm 30202, and the mirror right end face cam 30208 is fixed to the intermediate auxiliary rotating arm support frame assembly 30207, and is coaxially hinged with the right planetary gear shaft 3020207 of the right differential non-circular gear system rotating arm 30202.

[0104] like Fig.30 As shown, the right differential non-circular gear system rotating arm 30202 includes a right inner case 3020201, a right outer case 3020202, a central non-circular gear 3020203, two first transition non-circular gears 3020204, two second transition non-circular gears 3020205 and two planetary non-circular gears 3020206. The central non-circular gear 3020203 is rotatably mounted at the center holes of the right inner case 3020201 and the right outer case 3020202, and the first transition non-circular gear 3020204 and the second transition non-circular gear 3020205 are respectively arranged between the central non-circular gear 3020203 and the planetary non-circular gears 3020206 at both ends, and the gears are meshed with each other. The planetary non-circular gears 3020206, the first transition non-circular gear 3020204 and the second transition non-circular gear 3020205 at both ends are arranged symmetrically around the rotation center of the central non-circular gear 3020203. The two right end face cams 30203 are concentrically fixed to the planetary gear shaft holes of the outer shell of the right inner box body 3020201, and are arranged symmetrically around the rotation center of the central non-circular gear 3020203. The planetary non-circular gears 3020206 at both ends are fixed to the right planetary gear shaft 3020207 respectively, and the upper right seedling clamping device 30204 and the lower right seedling clamping device 30205 are fixed to the right planetary gear shaft 3020207 at both ends respectively, and are arranged symmetrically around the rotation center of the central non-circular gear 3020203. The power input shaft 3020101 of the differential transmission box 30201 drives the right differential non-circular gear system rotating arm 30202 to rotate, and the toothed bevel gear 3020102 of the right differential transmission box 30201 drives the central non-circular gear 3020203 to rotate. The transmission ratio between the right differential non-circular gear system rotating arm 30202 and the central non-circular gear 3020203 is 1:2.

[0105] like Figure 31-32As shown, the upper right seedling clamping device 30204 of the right seedling picking mechanism 302 includes an upper right clamping piece motion unit 3020401, a lower right clamping piece motion unit 3020402, a guide light axis 3020403, a linear bearing A3020404, a linear bearing B3020405, a left support arm 3020406, a right support arm 3020407, a reset compression spring A3020408, a reset compression spring B3020409 and two universal ball push rods 3020410. A guide light axis 3020403 parallel to the right planetary gear shaft 3020207 is installed between the left support arm 3020406 and the right support arm 3020407, two linear bearings A3020404 are sleeved on the right planetary gear shaft 3020207, and two linear bearings B3020405 are sleeved on the guide light axis 3020403. The upper right clip motion unit 3020401 is respectively fixed to one side linear bearing B3020405 on the guide light axis 3020403 and one side linear bearing A3020404 on the right planetary gear shaft 3020207. The lower right clip motion unit 3020402 is respectively fixed to the other side linear bearing B3020405 on the guide light axis 3020403 and the other side linear bearing A3020404 on the right planetary gear shaft 3020207. An empty sleeve return compression spring B3020409 is provided between the two linear bearings B3020405 on the guide light axis 3020403, and an empty sleeve return compression spring A3020408 is provided between the two linear bearings A3020404 on the right planetary gear shaft 3020207. The ball of the universal ball push rod 3020410 fixed to the upper right clamping piece motion unit 3020401 forms a high pair contact with the right end face cam 30203, and the ball of the universal ball push rod 3020410 fixed to the lower right clamping piece motion unit 3020402 forms a high pair contact with the mirror right end face cam 30208. As the right differential non-circular gear system rotating arm 30202 rotates, under the combined action of the right end face cam 30203, the mirror right end face cam 30208, the reset compression spring A3020408 and the reset compression spring B3020409, the upper right clamp motion unit 3020401 and the lower right clamp motion unit 3020402 can move toward each other along the guide light axis 3020403 and the right planetary gear shaft 3020207, and along the seedling retrieval track 25, a pair of clamps adjacent to the upper right clamp motion unit 3020401 and the lower right clamp motion unit 3020402 can be closed to realize the seedling clamping action, and can also be opened to realize the seedling dropping action. The right seedling taking mechanism 302 rotates counterclockwise for one circle, and the upper right seedling clamping device 30204 and the lower right seedling clamping device 30205 successively clamp the stems and take half of the seedlings from the right seedling delivery device 301 in the horizontal direction at intervals of one hole, and release the pot seedlings above the right seedling throwing device 303 into the seedling throwing box 30301 according to the preset trajectory and posture. The structures of the left seedling delivery-seedling taking-throwing mechanism 2 and the right seedling delivery-seedling taking-throwing mechanism 3 are symmetrical along the longitudinal center line, and the working principles are also the same.

[0106] like Figure 33-34 As shown, the right seedling throwing device 303 includes a seedling throwing box 30301, a seedling throwing cam shaft 15, a seedling throwing indexing cam 30302, a seedling separation baffle 30303, a seedling separation swing rod assembly 30304 and a tension spring assembly 30305. Two seedling throwing boxes 30301 are fixed on the working component bracket 10102, each seedling throwing box 30301 is divided into four cells, and four seedling separation baffles 30303 and four cells are hinged on the outside of the seedling throwing box 30301 and respectively fixed with four seedling separation swing rod assemblies 30304. The four seedling throwing indexing cams 30302 are staggeredly installed on the seedling throwing indexing shaft 15, and the tension spring assembly 30305 keeps the seedling throwing indexing cam 303032 and the seedling separation swing rod assembly 30304 in high-pair contact. The four seedling separation baffles 30303 are acted upon by the four seedling throwing indexing cams 30302, and can rotatably seal the bottom of the seedling throwing box 30301. When the upper right seedling clamping device 30204 or the lower right seedling clamping device 30205 of the right seedling taking mechanism 302 rotates counterclockwise to the top of the seedling throwing box 30301, the clamped pot seedlings are released into the four cells of the seedling throwing box 30301. As the seedling throwing indexing shaft 15 rotates, the four seedling throwing indexing cams 30302 successively swing the four seedling separation baffles 30303 outward, open the bottoms of the 14 cells of the seedling throwing box 30301, and allow the pot seedlings to fall into the duckbill seedling planting assembly 506 of the right planting component 5.

[0107] like Figure 34-35As shown, the right planting component 5 includes a planting transmission shaft 501, a right connecting side plate 502, an eccentric track disc assembly 503, an outer planting disc 504, an inner planting disc 505, 6 duckbill seedling assemblies 506, a short rocker arm 507, a roller 508 and a planting end face cam 509. The right connecting side plate 502 is fixed to the middle short longitudinal beam 10103 on the frame 101, and the planting transmission shaft 501 is supported by a bearing seat installed on the right connecting side plate 502 and the left and right planting component support beams 10105. A plurality of rollers 508 are installed around the rotation center circumference of the right connecting side plate 502, and the track groove of the eccentric track disc assembly 503 is hollowly sleeved on the roller 508. The duckbill seedling assembly 506 mainly includes a seedling receiving bucket 50601, a duckbill cavity 50602, and two half duckbill shells 50603. The seedling bucket 50601 is fixed above the duckbill cavity 50602, and the two symmetrically arranged half duckbill shells 50603 are hinged to the inner rotating shaft of the duckbill cavity 50602. The inner outer edges of the two half duckbill shells 50602 have gear teeth that mesh with each other. The outer planting disc 504 and the inner planting disc 505 are fixed to the planting transmission shaft 501, and six duckbill seedling assemblies 506 are evenly installed circumferentially between the outer planting disc 504 and the inner planting disc 505. The outer rotating shaft and the inner rotating shaft of the duckbill cavity 50602 of each duckbill seedling assembly 506 are hinged to the outer planting disc 504 and the inner planting disc 505 respectively. The outer rotating shaft of each duckbill cavity 50602 is hinged to one end of a short rocker arm 507, and the other end of the short rocker arm 507 is hinged to the rotating shaft on the circumference of the eccentric track disc assembly 503. Six planting end face cams 509 for controlling the opening and closing of the semi-duckbill shell 50603 are symmetrically fixed on the inner side walls of the outer planting tray 504 and the inner planting tray 505.

[0108] Combination Fig. 9 As shown, the planting power input sprocket 510 fixed at the end of the planting transmission shaft 501 transmits the power of the driving sprocket B122 on the output shaft 10702 of the right reverse transmission component gear box 107, and the planting transmission shaft 501 drives the outer planting disc 504 and the inner planting disc 505 to rotate, and the duckbill seedling assembly 506 will rotate with the outer planting disc 504 and the inner planting disc 505 while maintaining the same posture. When the duckbill seedling assembly 506 is buried in the soil, the planting end face cam 509 on the outer planting disc 504 and the inner planting disc 505 makes the two halves of the duckbill shell 50603 swing outwards and open, and the pot seedling falls into the soil hole. When the duckbill seedling assembly 506 is buried in the soil, under the constraint of the planting end face cam 509, the two halves of the duckbill shell 50603 swing inwards and close, preparing for the next seedling grafting.

[0109] When the right seedling taking mechanism 302 rotates to the curved section of the bar chain 30105 of the right seedling delivery device 301, the seedling clamping device of the right seedling taking mechanism 302 clamps the stems and takes the seedlings. The right seedling taking mechanism 302 rotates counterclockwise for one circle, and the upper right seedling clamping device 30204 and the lower right seedling clamping device 30205 sequentially clamp the stems and take half of the seedlings from the right seedling delivery device 301 in the horizontal direction with one hole interval, that is, clamp a row of pot seedlings in the horizontal direction. After the right seedling taking mechanism 302 completes the clamping of a row of pot seedlings, the right seedling delivery device 301 drives the ratchet stepping mechanism 30102 to feed the hole tray 11 longitudinally by one hole position. Then, the right seedling taking mechanism 302 releases the pot seedlings into the seedling box 30301 above the right seedling delivery device 303 according to the seedling taking track 25. The right seedling delivery device 303 cooperates with the duckbill seedling planting assembly 506 of the right planting component 5 to realize the seedling delivery-planting action.

[0110] like Fig.36 As shown, the rotary tillage soil raising and film covering edge device 6 comprises a rotary tillage motor 601, a rotary tillage power input gearbox 602, a universal transmission shaft 603 and a rotary tillage blade device 604. The rotary tillage motor 601 is mounted on the rotary tillage power input gearbox 602, and the rotary tillage power input gearbox 602 transmits power to the rotary tillage blade devices 604 on both sides through the universal transmission shaft 603. In arid areas, film covering is commonly used for planting, and land preparation and film covering are required before transplanting. Due to factors such as wind, the covering of the ground film is reduced and is easily blown away by strong winds. For this reason, when the seedlings are transplanted in pots, holes are pierced in the ground film when the duckbill seedling assembly 506 is put into the soil, and the edge of the film becomes loose, and the rotary tillage blade device 604 raises the soil and covers the edge of the film again, ensuring that the ground film is reliably covered with soil.

[0111] like Fig.37 and 38As shown, the synchronous watering and seedling watering device 7 comprises a water tank 701, a diaphragm pump 702, a water spraying electromagnetic switch valve 703, a water return electromagnetic switch valve 704, a mechanical-electrical linkage water spraying control device 705, a nozzle 706 and a pipeline 707. The sprocket B20 on the seedling casting indexing shaft 15 transmits power to the sprocket C21 on the water spraying indexing shaft 70501 through a chain, and the indexing cam A70502 and the indexing cam B70503 are concentrically staggeredly installed on the water spraying indexing shaft 70501. The swing lever type travel switch A70504 and the swing lever type travel switch B70505 are installed on the right side of the indexing cam A70502 and the indexing cam B70503 by the travel switch fixing plate 703, and the indexing cam A70502 and the swing lever type travel switch A70504, and the indexing cam B70503 and the swing lever type travel switch B70505 respectively form a high pair contact. The indexing cam A70502 and the indexing cam B70503 rotate to make the swing lever travel switch A70504 and the swing lever travel switch B70505 cycle in two opposite limit positions. The swing lever travel switch A70504 is electrically connected to the water spraying electromagnetic switch valve 703, and the swing lever travel switch B70505 is electrically connected to the water return electromagnetic switch valve 704. The electrical connection between the water spraying electromagnetic switch valve 703 and the water return electromagnetic switch valve 704 is in a logical negation relationship. The water spraying dividing shaft 70501 has a proportional relationship with the rotation speed of the planting transmission shaft 501 of the right planting component 5, so that the opening and closing of the sprinkler 706 is synchronized with the planting action.

[0112] like Figure 6 and Figure 8 As shown, the soil suppression and covering component 8 is fixed to the side of the secondary crossbeam 10104 of the frame 101. After the planting component completes the planting of the seedlings into the hole, the soil covering wheel pair will fill the soil around the hole back into the hole to fix the seedlings.

[0113] Combination Figure 11-19 Before transplanting the seedlings, the hole tray 11 is manually taken from the seedling carrier 9 and placed on the bars of the right seedling delivery device 301 and the left seedling delivery device 201. When transplanting the seedlings, the driver switches the "transport / operation status" knob to the operation status position, and the three-speed "planting depth" knob is set to the gear position as needed. At this time, the left driving wheel component 109, the right driving wheel component 107 and the cradle-type translational lifting steering bridge 105 are independently driven by the oil cylinder to swing outward around the fixed hinge point, and the height of the frame 101 from the ground reaches the preset planting depth. After the transplanting starts, the left travel motor 10903 and the right travel motor 10711 rotate at the same speed, so that the chassis 1 travels in a straight path. At this time, after the on-board controller 10202 obtains the deflection angle of the right steering wheel 10509, the speed provided by the right driving wheel speed encoder 10709 and the left driving wheel speed encoder 10905, it outputs a proportional current to the dual variable pump 10401 to make the required flow rates of the left driving motor 1903 and the right driving motor 107011 equal.

[0114] During the transplanting operation, the electromagnetic clutch 10706 in the left and right driving wheel components is controlled to be powered on, and the driving wheel will reversely transmit power to the working components. The rotary tillage soil-raising and film-covering edge device 6 first raises the soil and covers the film edge, and the left planting component 4 and the right planting component 5 respectively insert the plug seedlings from the left seedling delivery-seedling retrieval-throwing mechanism 2 and the right seedling delivery-seedling retrieval-throwing mechanism 3 into the soil. After the soil-pressing and covering component 8 covers the planted seedlings with soil, the synchronous water-spraying and watering device 7 intermittently sprays water on the planted seedlings.

[0115] When the transplanting operation is completed, combine Figure 2 and Figure 3 , the left driving wheel component 109, the right driving wheel component 107 and the cradle type translation lifting steering bridge 105 swing inward around the fixed hinge point, and the frame 101 is reset, and is in the state of turning around the plot or road transportation. When the transplanter turns, the on-board controller 10202 obtains the deflection angle of the right steering wheel 10509, the speed provided by the right driving wheel speed encoder 10709 and the left driving wheel speed encoder 10905, and outputs a proportional current to the double variable pump 10401, so that the left driving motor 10903 and the right driving motor 10711 obtain the flow required for differential steering. When the transplanter moves forward or reverses, the on-board controller 10202 outputs an electrical signal to the double variable pump 10401 to reverse the direction of its output fluid flow, and the left driving motor 10903 and the right driving motor 10711 rotate forward or reverse. When the transplanter is in the transportation state, the electromagnetic clutch 10706 in the left and right driving wheel components is controlled to be powered off, and the driving power transmitted back to the working components will be cut off. During the transplanting operation, by controlling the electromagnetic clutch 10706 in the left and right driving wheel components to be powered on, the driving wheel will reverse the power to the working component, and the transport state and the operating state can be safely switched. The forward, reverse and driving speed of the transplanter are determined by the position signal provided by the driving handle 10204. When the driving handle 10204 is pushed forward, the transplanter moves forward. The greater the forward amplitude, the vehicle-mounted controller 10202 outputs a proportional current signal to the double variable pump 10401, so that the left driving motor 10903 and the right driving motor 10711 obtain a larger flow rate and a faster driving speed. When the driving handle 10204 is pulled back, the transplanter reverses, the electromagnetic clutch 10706 is powered off, and the greater the backward amplitude, the vehicle-mounted controller 10202 outputs a proportional current to the double variable pump 10401, so that the left driving motor 10903 and the right driving motor 10711 obtain a larger flow rate and a faster reversing speed. When the travel handle 10204 returns to the middle position, the on-board controller 10202 outputs an electrical signal to stop the flow output of the dual variable pump 10401, the left travel motor 10903 and the right travel motor 10711 stop rotating, and the transplanter stops.

[0116] When the driver steps on the brake pedal 10205, the angle sensor on the brake mechanism 10206 feeds back the swing angle of the brake pedal 10205 to the on-board controller 10202, and the on-board controller 10202 outputs a proportional current signal to the dual variable pump 10401 to reduce the displacement, so that the flow obtained by the left travel motor 1903 and the right travel motor 107011 is reduced, thereby achieving deceleration control. When the driver steps on the brake pedal 10205 to the bottom, the displacement of the dual variable pump 10401 is zero, and the transplanter also stops. When the driver steps on the brake pedal 10205, the swing rod of the brake mechanism 10206 will drive the plunger brake pump 10207 to press the oil, and automatically transport the brake oil to the disc brake 10705 through the oil pipe, so that it holds the brake disc 10713 tightly, which has the function of deceleration and parking brake. When the driver releases the brake pedal 10205, the plunger brake pump 10207 is reset, and the disc brake 10705 releases the brake disc 10713. When the brake pedal 10205 is fully reset, the disc brake 10705 releases the brake disc 10713.

[0117] The speed of the diesel engine 103 is controlled by the hand throttle cable mechanism 10208 on the control cabinet of the driving console 102, and the transfer case speed measuring device 10405 feeds back a signal to the on-board controller 10202. The on-board controller 10202 sends a speed signal to the display 10209. The driver can observe the diesel engine 103 speed data displayed on the display 10209 to control the hand throttle to achieve the desired diesel engine speed.

[0118] Due to the internal leakage of the hydraulic steering gear 10203, the steering wheel of the steering machine 10201 has no zero position, and the driver lacks a sense of direction of the vehicle body. The display 10209 displays the steering wheel deflection angle to assist the driver in controlling the steering range of the transplanter, thereby improving operational safety and operating experience.

[0119] In addition, considering weather factors such as exposure to the sun and rain, a sunshade 10 is also provided on the driving platform 102 of the transplanter, which is connected to the seedling rack 9. The driver or the plug tray placement personnel can grab the connecting pipe between the sunshade 10 and the seedling rack 9 to move the transplanter up and down, which is also convenient for the personnel to switch between the driving seat and the tray placement seat.

[0120] The height and posture of the frame of the present invention are independently adjusted by three lifting cylinders to ensure that the preset planting depth and consistency are achieved when transplanting multiple rows of seedlings; the seedling delivery-seedling retrieval-seedling throwing mechanism receives the power transmitted back by the driving wheel, and the operating speed is synchronously matched with the driving speed of the chassis to ensure the consistency and stability of the plant spacing; the seedling delivery-seedling retrieval-seedling throwing mechanism automatically clamps a row of pot seedlings from the seedling delivery device in the horizontal direction, and releases the pot seedlings into the seedling throwing box above the seedling throwing device. The rotary tillage and soil covering edge device 6 first raises the soil and covers the edge of the film, and the planting component receives the seedlings from the seedling throwing box and plants them in the soil. The soil suppression and covering component 8 suppresses the planted seedlings with soil, and the synchronous water spraying and watering device 7 sprays water on the planted seedlings intermittently. The present invention improves the transplanting efficiency and adapts to the undulations of the dry field ground. The present invention realizes the automatic seedling retrieval of pot seedlings, without the need for manual seedling throwing, saving operating costs. The chassis swing leg lifting reliably ensures that the preset planting depth and consistency are achieved when transplanting multiple rows of seedlings. The transplanting operation speed is synchronously matched with the chassis driving speed, which greatly improves the quality of the transplanting operation. The synchronous water spraying and seedling watering device is configured to effectively improve the survival rate of seedlings in arid areas. The present invention is suitable for transplanting pepper seedlings in pots on flat land or ridged land, and can also be used for transplanting seedlings in pots of economic crops such as tomatoes, and has a wide range of applications.

[0121] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0122] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A riding type automatic pepper seedling transplanter, characterized in that: It comprises a chassis (1), a seedling delivery-seedling retrieval-seedling throwing mechanism (2) on the left side, a seedling delivery-seedling retrieval-seedling throwing mechanism (3) on the right side, a left planting component (4), a right planting component (5), a rotary tillage soil lifting and film covering device (6), a synchronous water spraying and seedling watering device (7), a soil pressing and covering component (8) and a seedling carrying frame (9); The left seedling delivery-seedling retrieval-seedling throwing mechanism (2) and the right seedling delivery-seedling retrieval-seedling throwing mechanism (3) are installed on the chassis (1) and are symmetrically arranged along the longitudinal center line of the chassis (1), and are used for delivering seedlings, retrieval and throwing seedlings; The seedling carrier (9) is installed on the periphery of the left seedling delivery-seedling retrieval-seedling delivery mechanism (2) and the right seedling delivery-seedling retrieval-seedling delivery mechanism (3); The left planting component (4) and the right planting component (5) are respectively installed in the lower middle part of the chassis (1), located below the left seedling delivery-seedling retrieval-seedling delivery mechanism (2) and the right seedling delivery-seedling retrieval-seedling delivery mechanism (3), and are symmetrically arranged along the longitudinal center line of the chassis (1), and are used to plant the plug tray seedlings in the soil; The rotary tillage soil lifting and film covering device (6) is installed in the lower middle part of the chassis (1) and is located in front of the left planting part (4) and the right planting part (5), and is used for lifting soil and covering the film edge; The synchronous watering and seedling watering device (7) is installed on the chassis (1) and is located behind the left seedling delivery-seedling retrieval-seedling throwing mechanism (2) and the right seedling delivery-seedling retrieval-seedling throwing mechanism (3); The soil-suppressing and covering component (8) is installed under the chassis (1) and is located behind the left planting component (4) and the right planting component (5), and is used to cover the planted seedlings with soil and suppress them.

2. The riding type automatic pepper seedling transplanter according to claim 1, characterized in that: The chassis (1) is a hydrostatically driven swing-leg lifting chassis, comprising a vehicle frame (101), a driving platform (102), a diesel engine (103), a hydraulic driving component (104), a cradle-type translation lifting steering bridge (105), a right driving wheel component (107) and a left driving wheel component (109); The driving platform (102) is arranged at the front part above the vehicle frame (101); the diesel engine (103) and the hydraulic drive component (104) are connected and are arranged at the rear part above the vehicle frame (101); the cradle-type translation lifting steering bridge (105) is hinged to the vehicle frame (101) and is located at the rear and lower part of the driving platform (102); the left driving wheel component (109) is hinged to one side of the vehicle frame (101) through a left fixing plate (106); and the right driving wheel component (107) is hinged to the right fixing plate (108). 8) is hinged to the other side of the frame (101), the left driving wheel component (109) and the right driving wheel component (107) are symmetrically arranged along the longitudinal center line of the frame (101) and are located below the hydraulic driving component (104), the left driving wheel component (109) and the right driving wheel component (107) are independently driven by hydraulic motors respectively, the power of the left wheel is transmitted back to the left seedling sending-seedling taking-seedling throwing mechanism (2), and the power of the right wheel is transmitted back to the right seedling sending-seedling taking-seedling throwing mechanism (3).

3. The riding type automatic pepper seedling transplanter according to claim 2, characterized in that: The right driving wheel component (107) comprises a right travel gearbox (10701), a right driving wheel (10702), a one-way clutch (10703), a reverse driving sprocket (10704), a disc brake (10705), an electromagnetic clutch moving plate (10706), a right reverse component gearbox (10707), a lifting cylinder A (10708), a right driving wheel speed encoder (10709), a swing angle measuring device (10710), a right travel motor (10711), a final output shaft (10712), a brake disc (10713), an intermediate through shaft (10714), a hollow transition shaft (10715), a reverse driven sprocket (10716) and an electromagnetic clutch fixed plate (10717); One end of the final output shaft (10712) of the right travel gearbox (10701) is connected to the right drive wheel (10702), and the right travel motor (10711) is installed on the input shaft end of the right travel gearbox (10701), and independently provides power to the right drive wheel (10702) through the multi-stage gear reduction inside the right travel gearbox (10701); the other end of the final output shaft (10712) is connected to the one-way clutch (10703), and the outer ring of the one-way clutch (10703) is connected to the reverse drive sprocket (10704); A brake disc (10713) is fixed on the final output shaft (10712) between the right travel gear box (10701) and the one-way clutch (10703), and a disc brake (10705) fixed on the right travel gear box (10701) can hold or release the brake disc (10713); a reverse transmission driven sprocket (10716) is fixed to the electromagnetic clutch moving disc (10706), and the electromagnetic clutch fixed disc (10706) is installed on the right fixed plate (108); The electromagnetic clutch moving plate (10706) is loosely sleeved on one end of the intermediate through shaft (10714), and the electromagnetic clutch moving plate (10706) and the intermediate through shaft (107014) are coaxially fixed; the intermediate through shaft (10714) and the hollow transition shaft (10715) of the right driving gear box (10701) are coaxially nested and installed, and the other end of the intermediate through shaft (10714) is coaxially connected to the right reverse transmission power input shaft (1070701) of the right reverse transmission component gear box (10707); The reverse transmission power output shaft (1070702) of the right reverse transmission component gear box (10707) transmits power to the right seedling delivery-seedling retrieval-seedling delivery mechanism (3) and the right planting component (5) through chain transmission; a lifting cylinder A (10708) is hinged between the right travel gear box (10701) and the right fixed plate (108); The swing angle measuring device (10710) adopts a guide rod mechanism, which is slidably connected to the pin shaft on the right travel gear box (10701) and is used to feedback the extension and contraction amount of the lifting cylinder A (10708); The left driving wheel component (109) has the same structure as the right driving wheel component (107), and a lifting cylinder B (10902) is hingedly connected between the left travel gear box (10901) of the left driving wheel component (109) and the left fixed plate (106).

4. The riding type automatic pepper seedling transplanting machine according to claim 3 is characterized in that: The cradle-type translational lifting steering bridge (105) comprises a cradle (10501), an inner swing rod (10502), an outer swing rod (10503), a steering bridge (10504), a lifting cylinder C (10505) and a pull rod type displacement sensor (10506); The two ends of the inner swing rod (10502) and the outer swing rod (10503) are respectively hinged to the cradle (10501) and the bridge support plate (1050401) of the steering bridge (10504) to form a parallelogram mechanism; the two ends of the lifting cylinder C (10505) are respectively hinged to the cradle (10501) and the bridge support plate (1050401), and the two ends of the pull rod type displacement sensor (10506) are respectively hinged to the cradle (10501) and the bridge support plate (1050401); The pull rod type displacement sensor (10506) is used to feedback the extension and contraction amount of the lifting cylinder C (10505).

5. The riding type automatic pepper seedling transplanting machine according to claim 4, characterized in that: The lifting cylinder A (10708) and the lifting cylinder B (10902) are independently extended and retracted to respectively cause the right travel gearbox (10701) and the left travel gearbox (10901) to swing outward or inward, and the lifting cylinder C (10505) is independently extended and retracted to cause the steering axle (10504) to move horizontally up and down; The lifting cylinder A (10708), the lifting cylinder B (10902) and the lifting cylinder C (10505) cooperate to extend and retract to adjust the height and posture of the frame (101) from the ground; The swing angle measuring device (10710) is used to feedback the extension and retraction amount of the lifting cylinder A (10708), and the pull rod displacement sensor (10506) is used to feedback the extension and retraction amount of the lifting cylinder C (10505), so as to assist in controlling the height and posture of the frame (101) from the ground.

6. The riding type automatic pepper seedling transplanter according to claim 4, characterized in that: The cradle-type translational lifting and steering bridge (105) further comprises a wheel angle measuring device (10508), a right driving wheel speed encoder (10709) and a left driving wheel speed encoder (10905); The wheel angle measuring device (10508) is connected to the right steering shaft (10507) and is used to detect the deflection angle of the right steering wheel (10509) and transmit it to the on-board controller (10202) of the driving platform (102). The right driving wheel speed encoder (10709) is used to detect the speed of the right driving wheel (10702). The left driving wheel speed encoder (10905) is used to detect the speed of the left driving wheel and transmit it to the on-board controller (10202) of the driving platform (102). After obtaining the deflection angle of the right steering wheel (10509), the rotation speed provided by the right driving wheel speed encoder (10709) and the left driving wheel speed encoder (10905), the on-board controller (10202) of the driving console (102) outputs a proportional current to the dual variable pump (10401), so that the left driving motor (10903) and the right driving motor (10711) obtain the flow required for differential steering.

7. The riding type automatic pepper seedling transplanting machine according to claim 1, characterized in that: The right-side seedling delivery-seedling retrieval-throwing mechanism (3) comprises a right seedling delivery device (301), a right seedling retrieval mechanism (302) and a right seedling throwing device (303); The right seedling taking mechanism (302) rotates counterclockwise for one circle, and the upper right seedling clamping device (30204) and the lower right seedling clamping device (30205) sequentially clamp the stems and take out half of the seedlings from the right seedling delivery device (301) at intervals of one hole in the horizontal direction, and release the potted seedlings above the right seedling throwing device (303) into the seedling throwing box (30301) according to a preset trajectory and posture; The structures of the left seedling delivery-retrieval-throwing mechanism (2) and the right seedling delivery-retrieval-throwing mechanism (3) are symmetrical along the longitudinal center line.

8. The riding type automatic pepper seedling transplanting machine according to claim 7, characterized in that: The right seedling taking mechanism (302) comprises a right differential transmission box (30201), a right differential non-circular gear system rotating arm (30202), a right end face cam (30203), a right upper seedling clamping device (30204), a right lower seedling clamping device (30205), a right auxiliary rotating arm (30206), an intermediate auxiliary rotating arm support frame assembly (30207) and a mirror image right end face cam (30208); The right differential non-circular gear system rotating arm (30202) and the right auxiliary rotating arm (30206) are arranged in parallel and opposite to each other, and the right upper seedling clamping device (30204) and the right lower seedling clamping device (30205) are arranged at two ends of the right differential non-circular gear system rotating arm (30202) and the right auxiliary rotating arm (30206) respectively; The upper right seedling clamping device (30204) and the lower right seedling clamping device (30205) are respectively connected to the right planetary gear shaft (3020207) fixed to the planetary non-circular gear (3020206), and are arranged in a staggered manner around the rotation center of the central non-circular gear (3020203); the right end face cam (30203) is fixed to the shaft hole of the right planetary gear shaft (3020207) on the right differential non-circular gear system rotating arm (30202), and the mirror image right end face cam (30208) is fixed to the middle auxiliary rotating arm support frame assembly (30207), and is coaxially hinged with the right planetary gear shaft (3020207) of the right differential non-circular gear system rotating arm (30202); The power input shaft (3020101) of the differential transmission box (30201) is connected to the right differential non-circular gear train rotating arm (30202), driving the right differential non-circular gear train rotating arm (30202) to rotate, and the toothed bevel gear (3020102) of the right differential transmission box (30201) drives the central non-circular gear (3020203) to rotate.

9. The riding type automatic pepper seedling transplanting machine according to claim 8, characterized in that: The upper right seedling clamping device (30204) comprises an upper right clamping piece motion unit (3020401), a lower right clamping piece motion unit (3020402), a guide light axis (3020403), a linear bearing A (3020404), a linear bearing B (3020405), a left support arm (3020406), a right support arm (3020407), a reset compression spring A (3020408), a reset compression spring B (3020409) and two universal ball push rods (3020410); A guide optical axis (3020403) parallel to the right planetary gear shaft (3020207) is installed between the left support arm (3020406) and the right support arm (3020407), two linear bearings A (3020404) are sleeved on the right planetary gear shaft (3020207), and two linear bearings B (3020405) are sleeved on the guide optical axis (3020403); The upper right clip motion unit (3020401) is respectively fixed to a linear bearing B (3020405) on one side of the guide light axis (3020403) and a linear bearing A (3020404) on one side of the right planetary gear shaft (3020207); the lower right clip motion unit (3020402) is respectively fixed to a linear bearing B (3020405) on the other side of the guide light axis (3020403) and a linear bearing A (3020404) on the other side of the right planetary gear shaft (3020207); an empty sleeve reset compression spring B (3020405) is provided between the two linear bearings B (3020405) on the guide light axis (3020403). 020409), an empty sleeve return compression spring A (3020408) is provided between two linear bearings A (3020404) on the right planetary gear shaft (3020207); the ball of the universal ball push rod (3020410) fixed to the upper right clamping piece motion unit (3020401) forms a high pair contact with the right end face cam (30203), and the ball of the universal ball push rod (3020410) fixed to the lower right clamping piece motion unit (3020402) forms a high pair contact with the mirror image right end face cam (30208); the upper right clamping piece motion unit (3020401) and the lower right clamping piece motion unit (3020402) can move towards each other.

10. The riding type automatic pepper seedling transplanter according to claim 1, characterized in that: The synchronous water spraying and seedling watering device (7) comprises a mechanical-electrical linkage water spraying control device (705); the mechanical-electrical linkage water spraying control device (705) comprises a water spraying dividing shaft (70501), a dividing cam A (70502), a dividing cam B (70503), a rocker-type travel switch A (70504) and a rocker-type travel switch B (70505); The indexing cam A (70502) and the indexing cam B (70503) are installed on the water spraying dividing shaft (70501) in a concentric and offset manner. The indexing cam A (70502) and the rocker type travel switch A (70504), and the indexing cam B (70503) and the rocker type travel switch B (70505) respectively form high-pair contacts. The indexing cam A (70502) and the indexing cam B (70503) rotate to make the rocker type travel switch A (70504) and the rocker type travel switch B (70505) cycle in two opposite extreme positions. The rocker type travel switch A (70504) is electrically connected to the water spraying electromagnetic switch valve (703), and the rocker type travel switch B (70505) is electrically connected to the water return electromagnetic switch valve (704). The electrical connection between the water spraying electromagnetic switch valve (703) and the water return electromagnetic switch valve (704) is in a logical negation relationship.

Images