An intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs and a transplanting method

Abstract

This invention discloses an intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs and a transplanting method, belonging to the field of agricultural machinery technology. It includes a tracked self-propelled chassis mechanism. At the top center of the tracked self-propelled chassis mechanism, along the walking direction, from front to back, are sequentially assembled an electro-hydraulic lifting mechanism, an electro-hydraulic planting mechanism, an electro-hydraulic feeding mechanism, a main control mechanism, and a seat. A power supply mechanism is assembled on the side of the top of the tracked self-propelled chassis mechanism. The tracked self-propelled chassis mechanism, the electro-hydraulic lifting mechanism, the electro-hydraulic planting mechanism, and the electro-hydraulic feeding mechanism are electrically connected to the main control mechanism and the power supply mechanism. This invention, composed of the tracked self-propelled chassis mechanism, the electro-hydraulic feeding mechanism, the electro-planting mechanism, the main control mechanism, the power supply mechanism, and the seat, can realize automated transplanting of Chinese medicinal herb seedlings, solving the problems of high labor intensity, low efficiency, and easy damage to seedlings during transplanting, affecting their survival rate and subsequent growth.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs and a transplanting method. Background Technology

[0002] Traditional Chinese medicine refers to drugs used to prevent, diagnose, and treat diseases or regulate bodily functions under the guidance of traditional Chinese medicine theory.

[0003] In order to improve the growth and development speed of Chinese medicinal herbs, the seedlings need to be transplanted to land with suitable plant and row spacing. At present, the transplanting of Chinese medicinal herb seedlings mostly relies on manual operation, which is not only labor-intensive and inefficient, but also easily damages the seedlings during the transplanting process, affecting their survival rate and subsequent growth.

[0004] In view of this, an intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs and a transplanting method are designed to solve the above problems. Summary of the Invention

[0005] To address the problems mentioned in the background section, this invention provides an intelligent tracked self-propelled vertical transplanter and method for Chinese medicinal herbs. This method enables automated transplanting of Chinese medicinal herb seedlings, solving the problems of high labor intensity, low efficiency, and easy damage to seedlings during transplanting, which affects their survival rate and subsequent growth.

[0006] Another objective of this invention is to provide a transplanting method for an intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an intelligent tracked self-propelled vertical transplanting machine for Chinese medicinal herbs, comprising: a tracked self-propelled chassis mechanism, wherein an electro-hydraulic lifting mechanism, an electro-hydraulic planting mechanism, an electro-hydraulic feeding mechanism, a main control mechanism, and a seat are sequentially assembled from front to back along the walking direction at the top center of the tracked self-propelled chassis mechanism; a power supply mechanism is assembled on the top side of the tracked self-propelled chassis mechanism; the tracked self-propelled chassis mechanism, the electro-hydraulic lifting mechanism, the electro-planting mechanism, and the electro-feeding mechanism are electrically connected to the main control mechanism and the power supply mechanism; and the main control mechanism is electrically connected to the power supply mechanism.

[0008] Furthermore, the tracked self-propelled chassis mechanism includes a main chassis support, with two side chassis supports symmetrically fixed below the main chassis support. At the top of each side chassis support, from front to back along the travel direction, a support seat and a drive shaft A are sequentially fixed and rotatably connected via bearings. A tension wheel is rotatably connected to the support seat near the travel direction via bearings. A track drive gear is fixedly sleeved in the middle of the drive shaft A. Chain driven gears are fixedly sleeved at both ends of the drive shaft A extending outside the side chassis supports. A plurality of support wheels are rotatably connected at equal intervals inside the side chassis supports via bearings. A rubber track is fitted over the tension wheel, the track drive gear, and the support wheels. The track drive gear meshes with the rubber track. Track guards are fixedly attached to the main chassis support above the two rubber tracks. A motor A and a reducer A are sequentially arranged from front to back along the walking direction on the top of the track guard. The output end of motor A is fixedly connected to the input end of reducer A. The two output ends of reducer A are fixedly connected to the drive shaft B. A chain drive gear is fixedly sleeved on the other end of drive shaft B. On the same side, a drive chain meshes with the driven gear and drive gear. A protective cover is attached to the track guard over the driven gear, drive gear and drive chain. Motor A is electrically connected to the main control mechanism and power supply mechanism.

[0009] Furthermore, the electro-hydraulic lifting mechanism includes a support base and a hydraulic cylinder fixed to the top of the main chassis support. A support plate is fixed to the top of the support base, and an electro-hydraulic drive pump is fixed to the middle of the top of the support plate. Two square guide rods are symmetrically fixed to both sides of the top of the support plate. Two sliding sleeve seats B are fitted around the square guide rods from top to bottom. A square crossbeam is fixed between the two sliding sleeve seats B at the same position on the two square guide rods. Square grooves are opened on the sliding sleeve seats B except for the side connecting the square crossbeams. A connecting shaft is fixed inside the square groove. A roller A is movably sleeved on the connecting shaft through a bearing. Two sliding sleeve seats A are movably sleeved on the square crossbeam through bolts. The oil inlet A of the hydraulic cylinder is connected to the oil outlet B of the electro-hydraulic drive pump, and the oil outlet B of the hydraulic cylinder is connected to the oil inlet A of the electro-hydraulic drive pump. The electro-hydraulic drive pump is electrically connected to the main control mechanism and the power supply mechanism.

[0010] Furthermore, the electrically controlled insertion mechanism includes a motor drive mechanism, a left insertion mechanism, and a right insertion mechanism;

[0011] The motor drive mechanism includes a reducer B fixedly connected to the top of the hydraulic cylinder. The input end of the reducer B is fixedly connected to a motor B, and the two output ends of the reducer B are respectively fixedly connected to a transmission shaft C.

[0012] The left insertion mechanism includes a fixed plate fixedly attached to two sliding sleeve seats A at the same position on the left side of the upper and lower square crossbeams. From top to bottom, the fixed plate, away from the reducer B, has a pull-wire push rod, a cam, and a limiting connecting shaft. One end of the pull-wire push rod is hinged to the fixed plate. The pull-wire push rod has several threaded holes at equal intervals, with threaded rods threaded into the holes. The other end of the threaded rod is threaded to a roller B. An opening / closing pull wire is fixedly attached to the other end of the pull-wire push rod. A planter wiring harness opening / closing limiting seat is fixedly attached to the same side wall of the fixed plate below the opening / closing pull wire. The planter wiring harness opening / closing limiting seat is connected to the opening / closing pull wire. The outer contour of the cam contacts the roller B. The cam has two keyways with an angle difference of 180°. A drive shaft C passes through the fixed plate and is fixedly connected to the cam's matching keyways to achieve parallel or staggered insertion. A magnet is fixedly attached to the cam. A switch is fixedly attached to the same side wall of the fixed plate at the magnet's movement path. The sensor has a cam with an active connecting rod with a central through slot hinged to the side away from the fixed plate. One end of the limiting connecting shaft is fixed to the fixed plate, and the other end of the limiting connecting shaft extends through the central through slot of the active connecting rod to the other side and is rotatably connected to a washer via a bearing. Two driven connecting rods are arranged vertically at the other end of the active connecting rod, and the other end of the active connecting rod is hinged to the upper driven connecting rod. Two rockers are sequentially hinged to the same side wall of the fixed plate on the side away from the active connecting rod. A connecting plate is hinged to the two driven connecting rods and the two rockers on the side close to each other. An insertion connecting seat is hinged to the other end of the two driven connecting rods. A flared seedling inlet is fixed to the top of the insertion connecting seat. Two insertion duckbills are symmetrically hinged to the bottom of the insertion connecting seat. An opening and closing pull line is fixed to the insertion duckbills. A return spring is elastically connected between the insertion duckbills and the insertion connecting seat. Motor B and the Hall sensor are electrically connected to the main control mechanism and the power supply mechanism.

[0013] The right insertion mechanism has the same structure as the left insertion mechanism and is set as a mirror image.

[0014] Furthermore, the electronically controlled seedling feeding mechanism includes a seedling feeding bracket fixed to the top of the main support of the chassis, a seedling feeding connecting frame fixed to the top of the seedling feeding bracket, a left seedling feeding mechanism, and a right seedling feeding mechanism.

[0015] The left seedling feeding mechanism includes a base fixing plate fixed to the left side of the seedling feeding connecting frame. The base fixing plate has a seedling feeding port. A seedling guide tube is fixed to the bottom end of the base fixing plate corresponding to the seedling feeding port. The seedling feeding end of the seedling guide tube is located above the left flared seedling receiving port. A motor C is fixed to the bottom end of the base fixing plate away from the seedling guide tube. The output end of the motor C extends through the base fixing plate to the top. An annular guide rail is fixed to the top of the base fixing plate outside the output end of the motor C. An opening is opened on the annular guide rail corresponding to the seedling feeding port. The opening is chamfered. A rotating connecting plate is fixed to the output end of the motor C. Several seedling feeding guide tubes are fixed at equal intervals along the axial direction inside the rotating connecting plate. The bottom end of the seedling feeding guide tubes is connected to an opening and closing base plate by a hinge. The opening and closing base plate is squeezed closed at the position of the annular guide rail and opens along the hinge when the squeeze is released at the opening position. A fixing plate is fixed to the top of several seedling feeding guide tubes. The motor C is electrically connected to the main control mechanism and the power supply mechanism.

[0016] The right seedling feeding mechanism has the same structure as the left seedling feeding mechanism and is arranged symmetrically.

[0017] Furthermore, the main control mechanism includes a main controller, a remote controller, and a driver;

[0018] The main controller includes an L-shaped mounting shell on the side wall of the seedling support. A hydraulic lowering button, a hydraulic raising button, and a touchscreen are sequentially fixed to the vertical section of the mounting shell from top to bottom. The hydraulic lowering button and the hydraulic raising button are arranged in parallel. An emergency stop button and a transplanting start / stop button are sequentially fixed to the vertical section of the mounting shell, located to the side of the touchscreen. A forward operating lever, a left / right operating lever, and a cruise button are sequentially fixed to the horizontal section of the mounting shell. Inside the mounting shell, a main control chip and a wireless connector are sequentially fixed to the interior from top to bottom. The forward operating lever, left / right operating lever, cruise button, transplanting start / stop button, emergency stop button, hydraulic lowering button, hydraulic raising button, touchscreen, and wireless connector are electrically connected to the main control chip. The remote control is wirelessly connected to the wireless connector. The main control chip is electrically connected to a driver and a Hall sensor. The touchscreen, main control chip, and wireless connector are electrically connected to the power supply mechanism.

[0019] The remote controller is similar in structure to the main controller. The mounting shell is placed in the hand of the transplanter. The hydraulic lowering button, hydraulic raising button, touch screen, transplant start / stop button, cruise button, emergency stop button, left and right operating levers, and forward operating lever are fixed to the operating wall of the mounting shell from top to bottom. The hydraulic lowering button and hydraulic raising button are arranged in parallel, as are the transplant start / stop button, cruise button, and emergency stop button, and the left and right operating levers and forward operating levers. The difference is that a wireless remote controller is fixed inside the mounting shell. The hydraulic lowering button, hydraulic raising button, touch screen, transplant start / stop button, cruise button, emergency stop button, left and right operating levers, and forward operating levers are electrically connected to the wireless remote controller. The wireless remote controller is wirelessly connected to the wireless connector. The wireless remote controller and touch screen are electrically connected to the power supply mechanism.

[0020] The driver includes four motor drivers that are sequentially fixed to the power supply mechanism. The four motor drivers are motor driver A, hydraulic electric driver, motor driver B, and motor driver C. The main control chip is electrically connected to motor driver A, hydraulic electric driver, motor driver B, and motor driver C. Motor driver A, hydraulic electric driver, motor driver B, and motor driver C are electrically connected to motor A, electro-hydraulic drive pump, motor B, and motor C, respectively. The motor drivers are electrically connected to the power supply mechanism.

[0021] Furthermore, the power supply mechanism includes two slide rails that are movably fixed to the top of one side track guard plate by bolts, and a storage battery is fixed to the top of the two slide rails. The motor driver is fixed to the outer wall of the storage battery. Motor A, electro-hydraulic drive pump, motor B, Hall sensor, motor C, touch screen, main control chip, wireless connector, wireless remote controller and motor driver are electrically connected to the storage battery.

[0022] The transplanting method of the intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs includes the following steps:

[0023] S1: Before transplanting Chinese medicinal herb seedlings, determine whether to transplant them side by side or staggered. Loosen the fastening bolts of the two drive shafts C and the two cams, and adjust the phase angle of the two cams. If transplanted side by side, the phase angles of the two cams are the same. If transplanted staggered, the phase angles of the two cams differ by 180°. After adjustment, tighten the fastening bolts of the two cams.

[0024] S2: Before transplanting medicinal herb seedlings, motor A is started by controlling the main controller or remote control. Motor A drives the output end to rotate. Motor A drives the chain drive gear to rotate through reducer A and transmission shaft B. The chain drive gear drives the meshing transmission chain to rotate. The transmission chain drives the meshing chain driven gear to rotate. The chain driven gear drives the connected transmission shaft A to rotate. The transmission shaft A drives the connected track drive gear to rotate. The track drive gear drives the meshing rubber track to rotate cyclically along the tension wheel and several support wheels to realize the movement of the transplanter and move the transplanter to the field where the medicinal herbs are to be transplanted.

[0025] S3: Before transplanting Chinese medicinal herb seedlings, determine the position of the battery according to the terrain conditions of the field where the Chinese medicinal herbs are to be transplanted, including the slope. Loosen the bolts, adjust the position of the two slide rails, and tighten the bolts after adjustment to adjust the position of the battery. At this time, the battery plays the role of adding weight to adjust the overall center of gravity of the transplanter, preventing the transplanter from tipping over and ensuring operational safety.

[0026] S4: Before transplanting Chinese medicinal herb seedlings, determine the transplanting height based on the terrain conditions of the field to be transplanted, including the slope. Start the electro-hydraulic drive pump, pump oil into the hydraulic cylinder or return to the electro-hydraulic drive pump, raise and lower the hydraulic cylinder, drive the reducer B to raise and lower, reducer B drives the drive shaft C to raise and lower, drive shaft C drives the two fixed plates to raise and lower, and the two fixed plates drive the installation structure to raise and lower, so that it can be adapted to the transplanting of Chinese medicinal herb seedlings on flat ground and ridges at the same time.

[0027] S5: Before transplanting Chinese medicinal herb seedlings, some Chinese medicinal herbs are placed in each seedling feeding tube in advance. At the same time, the transplanting spacing parameters, operation speed parameters and transplanting depth parameters of Chinese medicinal herbs are input through the main control chip.

[0028] S6: When transplanting Chinese medicinal herb seedlings, the transplanter clicks the transplant start / stop button, motor B starts, motor B drives the output end to rotate, motor B drives the cam to rotate through reducer B and transmission shaft C, the cam drives the magnet to rotate until the magnet rotates to the position of the Hall sensor to trigger the signal, motor C starts, motor C drives the rotating connecting plate to rotate, the rotating connecting plate drives several internal seedling feeding tubes to rotate, several seedling feeding tubes intermittently pass through the opening, the opening and closing bottom plate of the seedling feeding tube at the bottom of the opening rotates open due to the loss of squeezing pressure, the Chinese medicinal herb seedlings inside the seedling feeding tube fall through the opening and seedling inlet to the seedling guide tube, and from the seedling guide tube fall to the trumpet-shaped seedling receiving port, realizing intermittent seedling feeding;

[0029] S7: When transplanting Chinese medicinal herb seedlings, the rotating cam drives the active connecting rod to swing up and down, which in turn drives the two driven connecting rods to swing up and down. The two driven connecting rods then drive the planting connector to swing up and down, which in turn drives the trumpet-shaped seedling inlet and the two planting duckbills to swing up and down. The two planting duckbills reciprocate as they insert into the soil. At the same time, the rotating cam drives the roller B to swing up and down, which in turn drives the pull line push rod to swing up and down. During the swinging process, the pull line push rod pulls the opening and closing pull line. The two planting duckbills open under the pull of the opening and closing pull line and close under the elastic force of the return spring. The two planting duckbills open when inserted into the soil and close when pulled out of the soil, thus transplanting the Chinese medicinal herb seedlings into the soil.

[0030] S8: After one row is completed, stop the transplanting operation, control the forward and left / right control levers to adjust the transplanting position of the transplanter, and perform the row change operation. Repeat the above position until the transplanting task of Chinese medicinal seedlings is completed and the operation stops.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. This invention consists of a tracked self-propelled chassis mechanism, an electrically controlled seedling feeding mechanism, an electrically controlled planting mechanism, a main control mechanism, a power supply mechanism, and a seat. It can realize the automated transplanting of Chinese medicinal herb seedlings, solving the problems of high labor intensity, low efficiency, and easy damage to the seedlings during the transplanting process, which affects their survival rate and subsequent growth.

[0033] 2. The electric-controlled planting mechanism of the present invention is equipped with an electric-controlled hydraulic lifting mechanism, which can adjust the height of the electric-controlled planting mechanism, so that the transplanter can simultaneously adapt to the transplanting of Chinese medicinal seedlings on flat ground and ridges.

[0034] 3. The cam of the electronically controlled planting mechanism of the present invention has two keyways with an angle difference of 180°, which can be selected and installed according to the situation to realize the side-by-side or staggered planting of Chinese medicinal seedlings and improve the adaptability of the transplanter. Attached Figure Description

[0035] Figure 1 This is a perspective view of the present invention;

[0036] Figure 2 This is another perspective view of the present invention;

[0037] Figure 3 This is a partial structural diagram of the present invention;

[0038] Figure 4 This is a diagram of the electro-hydraulic lifting mechanism of the present invention;

[0039] Figure 5 This is a diagram of the electrically controlled insertion mechanism of the present invention;

[0040] Figure 6This is a side view of the electrically controlled insertion mechanism of the present invention;

[0041] Figure 7 This is a diagram of the electrically controlled seedling feeding mechanism of the present invention;

[0042] Figure 8 This is a diagram of the main control mechanism of the present invention;

[0043] Figure 9 This is a diagram of the main controller of the present invention;

[0044] Figure 10 This is a diagram of the remote control for the present invention;

[0045] Figure 11 This is a diagram of the power supply mechanism of the present invention;

[0046] Figure 12 This is a schematic diagram of the transplanting method of the present invention;

[0047] In the diagram: 1. Tracked self-propelled chassis mechanism; 2. Electro-hydraulic lifting mechanism; 3. Electro-controlled planting mechanism; 4. Electro-controlled seedling feeding mechanism; 5. Main control mechanism; 6. Power supply mechanism; 7. Seat;

[0048] 1-1. Chassis main support; 1-2. Rubber track; 1-3. Chassis side support; 1-4. Tensioner wheel; 1-5. Support seat; 1-6. Track drive gear; 1-7. Support wheel; 1-8. Track guard plate; 1-9. Drive shaft A; 1-10. Chain driven gear; 1-11. Drive chain; 1-12. Chain drive gear; 1-13. Drive shaft B; 1-14. Reducer A; 1-15. Protective cover; 1-16. Motor A;

[0049] 2-1 Support base; 2-2 Hydraulic cylinder; 2-3 Support plate; 2-4 Electro-hydraulic drive pump; 2-5 Sliding sleeve seat A; 2-6 Sliding sleeve seat B; 2-7 Square crossbeam; 2-8 Square guide rod; 2-9 Roller A; 2-10 Connecting shaft; 2-11 Square groove;

[0050] 3-1. Reducer B; 3-2. Motor B; 3-3. Drive shaft C; 3-4. Magnet; 3-5. Cam; 3-6. Fixing plate; 3-7. Opening and closing pull cable; 3-8. Planter wiring harness opening and closing limit seat; 3-9. Hall sensor; 3-10. Rocker arm; 3-11. Active connecting rod; 3-12. Connecting plate; 3-13. Driven connecting rod; 3-14. Planting connector; 3-15. Planting spout; 3-16. Return spring; 3-17. Horn-shaped seedling inlet; 3-18. Washer; 3-19. Limit connecting shaft; 3-20. Roller B; 3-21. Pull cable push rod;

[0051] 4-1. Seedling feeding bracket; 4-2. Seedling feeding connecting frame; 4-3. Base fixing plate; 4-4. Seedling guide tube; 4-5. Seedling feeding port; 4-6. Opening; 4-7. Motor C; 4-8. Circular guide rail; 4-9. Rotating connecting plate; 4-10. Seedling feeding guide tube; 4-11. Fixing plate; 4-12. Opening and closing base plate;

[0052] 5-1. Mounting housing; 5-2. Forward control lever; 5-3. Left and right control levers; 5-4. Cruise control button; 5-5. Transplant start / stop button; 5-6. Emergency stop button; 5-7. Hydraulic lowering button; 5-8. Hydraulic raising button; 5-9. Touch screen; 5-10. Main control chip; 5-11. Wireless connector; 5-12. Wireless remote controller;

[0053] 6-1. Slide rail; 6-2. Battery. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] This invention provides the following technical solutions: (See appendix) Figure 1 An intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs includes: a tracked self-propelled chassis mechanism 1; an electro-hydraulic lifting mechanism 2, an electro-hydraulic planting mechanism 3, an electro-hydraulic feeding mechanism 4, a main control mechanism 5, and a seat 7 are sequentially mounted on the top center of the tracked self-propelled chassis mechanism 1 from front to back along the walking direction; a power supply mechanism 6 is mounted on the top side of the tracked self-propelled chassis mechanism 1; the tracked self-propelled chassis mechanism 1, the electro-hydraulic lifting mechanism 2, the electro-hydraulic planting mechanism 3, and the electro-hydraulic feeding mechanism 4 are electrically connected to the main control mechanism 5 and the power supply mechanism 6; and the main control mechanism 5 is electrically connected to the power supply mechanism 6.

[0056] For details, please refer to the appendix. Figure 2 and 3The tracked self-propelled chassis mechanism 1 includes a main chassis support 1-1. Two side chassis supports 1-3 are symmetrically fixed below the main chassis support 1-1. Support seats 1-5 are sequentially fixed to the top of each side chassis support 1-3 along the travel direction from front to back, and a drive shaft A1-9 is rotatably connected via bearings. A tension wheel 1-4 is rotatably connected to the support seat 1-5 near the travel direction via bearings. A track drive gear 1-6 is fixedly sleeved in the middle of the drive shaft A1-9. Chain driven gears 1-10 are fixedly sleeved at both ends of the drive shaft A1-9 outside the side chassis support 1-3. Several support wheels 1-7 are rotatably connected at equal intervals via bearings inside the side chassis support 1-3. A rubber track 1-2 is fitted over the tension wheel 1-4, track drive gear 1-6, and support wheels 1-7. The track drive gear 1-6 meshes with the rubber track 1-2. The chassis main support 1-1 is connected to the track guard plate 1-8, which is fixed above the two rubber tracks 1-2. The top of the track guard plate 1-8 is arranged with a motor A1-16 and a reducer A1-14 fixedly attached along the walking direction from front to back. The output end of the motor A1-16 is fixedly connected to the input end of the reducer A1-14. The two output ends of the reducer A1-14 are respectively fixedly connected to the drive shaft B1-13. The other end of the drive shaft B1-13 is fixedly sleeved with the chain drive gear 1-12. The driven gear 1-10 on the same side and the drive gear 1-12 are sleeved with a meshing transmission chain 1-11. The track guard plate 1-8 is covered with a protective cover 1-15 covering the driven gear 1-10, the drive gear 1-12 and the transmission chain 1-11. The motor A1-16 is electrically connected to the main control mechanism 5 and the power supply mechanism 6.

[0057] For details, please refer to the appendix. Figure 4 The electro-hydraulic lifting mechanism 2 includes a support base 2-1 fixed to the top of the main support bracket 1-1 of the chassis and a hydraulic cylinder 2-2. A support plate 2-3 is fixed to the top of the support base 2-1. An electro-hydraulic drive pump 2-4 is fixed to the middle of the top of the support plate 2-3. Two square guide rods 2-8 are symmetrically fixed to both sides of the top of the support plate 2-3. Two sliding sleeve seats B2-6 are fitted around the square guide rods 2-8 from top to bottom. A square crossbeam 2-7 is fixed between the two sliding sleeve seats B2-6 at the same position on the two square guide rods 2-8. Except for the sliding sleeve seats B2-6, Square grooves 2-11 are respectively opened on the sides of the connecting square beam 2-7. A connecting shaft 2-10 is fixed inside the square groove 2-11. A roller A2-9 is movably sleeved on the outside of the connecting shaft 2-10 through a bearing. Two sliding sleeve seats A2-5 are movably sleeved on the square beam 2-7 through bolts. The oil inlet A1 of the hydraulic cylinder 2-2 is connected to the oil outlet B2 of the electro-hydraulic drive pump 2-4. The oil outlet B1 of the hydraulic cylinder 2-2 is connected to the oil inlet A2 of the electro-hydraulic drive pump 2-4. The electro-hydraulic drive pump 2-4 is electrically connected to the main control mechanism 5 and the power supply mechanism 6.

[0058] For details, please refer to the appendix. Figure 5 and 6 The electrically controlled insertion mechanism 3 includes a motor drive mechanism, a left insertion mechanism, and a right insertion mechanism;

[0059] The motor drive mechanism includes a reducer B3-1 fixedly connected to the top of the hydraulic cylinder 2-2. The input end of the reducer B3-1 is fixedly connected to the motor B3-2, and the two output ends of the reducer B3-1 are respectively fixedly connected to the transmission shaft C3-3.

[0060] The left insertion mechanism includes a fixed plate 3-6 fixedly attached to two sliding sleeve seats A2-5 at the same position on the left side of the upper and lower square crossbeams 2-7. From top to bottom, the fixed plate 3-6, away from the reducer B3-1, has a pull rod 3-21, a cam 3-5, and a limiting connecting shaft 3-19 arranged sequentially. One end of the pull rod 3-21 is hinged to the fixed plate 3-6. Several threaded holes are evenly spaced on the pull rod 3-21, with threaded rods threaded into the holes. The other end of the threaded rod is threaded to a roller B3-20. The other end of the pull rod 3-21 is fixedly connected to an opening and closing pull rod 3-7. The fixed plate 3-6... -6 On the same side wall below the opening and closing pull line 3-7, a planter harness opening and closing limit seat 3-8 is fixedly connected. The planter harness opening and closing limit seat 3-8 is connected to the opening and closing pull line 3-7. The outer contour of cam 3-5 contacts roller B3-20. Two keyways with an angle difference of 180° are opened on cam 3-5. The drive shaft C3-3 passes through the fixed plate 3-6 and is fixedly connected to the keyway of cam 3-5 to realize parallel or staggered planting. A magnet 3-4 is fixedly connected to cam 3-5. A Hall sensor 3-9 is fixedly connected to the same side wall of fixed plate 3-6 at the position of the moving path of magnet 3-4. 5. An active connecting rod 3-11 with a central through slot is hinged to the side away from the fixed plate 3-6. One end of the limiting connecting shaft 3-19 is fixed to the fixed plate 3-6, and the other end of the limiting connecting shaft 3-19 extends through the central through slot of the active connecting rod 3-11 to the other side and is rotatably connected to a washer 3-18 via a bearing. Two driven connecting rods 3-13 are arranged vertically on the other end of the active connecting rod 3-11. The other end of the active connecting rod 3-11 is hinged to the upper driven connecting rod 3-13. Two rocker arms 3-10 are sequentially hinged to the same side wall of the fixed plate 3-6 on the side away from the active connecting rod 3-11. A connecting plate 3-12 is hinged to the rod 3-13 and the two rocker arms 3-10 close to each other. The other end of the two driven connecting rods 3-13 is hinged to the insertion connecting seat 3-14. A trumpet-shaped seedling inlet 3-17 is fixed to the top of the insertion connecting seat 3-14. Two insertion duckbills 3-15 are symmetrically hinged below the insertion connecting seat 3-14. The opening and closing pull wire 3-7 is fixed to the insertion duckbill 3-15. A return spring 3-16 is elastically connected between the insertion duckbill 3-15 and the insertion connecting seat 3-14. The motor B3-2 and the Hall sensor 3-9 are electrically connected to the main control mechanism 5 and the power supply mechanism 6.

[0061] The right insertion mechanism has the same structure as the left insertion mechanism and is set as a mirror image.

[0062] For details, please refer to the appendix. Figure 7 The electrically controlled seedling feeding mechanism 4 includes a seedling feeding bracket 4-1 fixed to the top of the main support 1-1 of the chassis, a seedling feeding connecting frame 4-2 fixed to the top of the seedling feeding bracket 4-1, a left seedling feeding mechanism, and a right seedling feeding mechanism.

[0063] The left seedling feeding mechanism includes a base fixing plate 4-3 fixed to the left side of the seedling feeding connecting frame 4-2. A seedling feeding port 4-5 is provided on the base fixing plate 4-3. A seedling guide tube 4-4 is fixed to the bottom of the base fixing plate 4-3 corresponding to the position of the seedling feeding port 4-5. The feeding end of the seedling guide tube 4-4 is located above the left-side trumpet-shaped seedling inlet 3-17. A motor C4-7 is fixed to the bottom of the base fixing plate 4-3 away from the seedling guide tube 4-4. The output end of the motor C4-7 extends upwards through the base fixing plate 4-3. A ring-shaped guide rail 4-8 is fixed to the top of the base fixing plate 4-3 outside the output end of the motor C4-7. An opening 4-6 is provided at the position corresponding to the seedling inlet 4-5 on the 8. The opening 4-6 is chamfered. A rotating connecting plate 4-9 is fixedly connected to the output end of the motor C4-7. Several seedling feeding tubes 4-10 are fixedly connected at equal intervals along the axial direction inside the rotating connecting plate 4-9. The bottom end of the seedling feeding tubes 4-10 is connected to an opening and closing base plate 4-12 by a hinge. The opening and closing base plate 4-12 is squeezed and closed at the position of the annular guide rail 4-8 and opens along the hinge when it is not squeezed at the position of the opening 4-6. A fixing plate 4-11 is fixedly connected to the top of the several seedling feeding tubes 4-10. The motor C4-7 is electrically connected to the main control mechanism 5 and the power supply mechanism 6.

[0064] The right seedling feeding mechanism has the same structure as the left seedling feeding mechanism and is symmetrically arranged.

[0065] For details, please refer to the appendix. Figure 8 , 9 And 10, the main control unit 5 includes a main controller, a remote controller and a driver;

[0066] The main controller includes an L-shaped mounting shell 5-1 on the side wall of the seedling support 4-1. On the vertical section of the mounting shell 5-1, from top to bottom, are fixedly mounted a hydraulic lowering button 5-7, a hydraulic raising button 5-8, and a touch screen 5-9. The hydraulic lowering button 5-7 and the hydraulic raising button 5-8 are arranged parallel to each other. On the vertical section of the mounting shell 5-1, next to the touch screen 5-9, from top to bottom, are fixedly mounted an emergency stop button 5-6 and a transplanting start / stop button 5-5. On the horizontal section of the mounting shell 5-1, from top to bottom, are fixedly mounted a forward operating lever 5-2, a left / right operating lever 5-3, and a cruise button 5-4. Inside the mounting shell 5-1, from top to bottom, are fixedly mounted... The device is equipped with a main control chip 5-10 and a wireless connector 5-11. The forward control lever 5-2, left and right control levers 5-3, cruise button 5-4, transplant start / stop button 5-5, emergency stop button 5-6, hydraulic lowering button 5-7, hydraulic raising button 5-8, touch screen 5-9, and wireless connector 5-11 are electrically connected to the main control chip 5-10. The remote control is wirelessly connected to the wireless connector 5-11. The main control chip 5-10 is electrically connected to the driver and Hall sensor 3-9. The touch screen 5-9, main control chip 5-10, and wireless connector 5-11 are electrically connected to the power supply mechanism 6.

[0067] The remote control is similar in structure to the main controller. The mounting housing 5-1 is placed in the hand of the transplanter. The hydraulic lowering button 5-7, hydraulic raising button 5-8, touchscreen 5-9, transplant start / stop button 5-5, cruise button 5-4, emergency stop button 5-6, left / right control lever 5-3, and forward control lever 5-2 are sequentially fixed to the operating wall of the mounting housing 5-1 from top to bottom. The hydraulic lowering button 5-7 and hydraulic raising button 5-8 are arranged in parallel, as are the transplant start / stop button 5-5, cruise button 5-4, and emergency stop button 5-6. The left / right control lever 5-3... The forward control lever 5-2 is set parallel to the mounting housing 5-1, but the difference is that a wireless remote control 5-12 is fixed inside the mounting housing 5-1. The hydraulic lowering button 5-7, the hydraulic raising button 5-8, the touch screen 5-9, the transplanting start / stop button 5-5, the cruise button 5-4, the emergency stop button 5-6, the left and right control levers 5-3 and the forward control lever 5-2 are electrically connected to the wireless remote control 5-12. The wireless remote control 5-12 is wirelessly connected to the wireless connector 5-11. The wireless remote control 5-12 and the touch screen 5-9 are electrically connected to the power supply mechanism 6.

[0068] The driver includes four motor drivers 5-13 that are sequentially fixed to the power supply mechanism 6. The four motor drivers 5-13 are motor driver A, hydraulic electric driver, motor driver B, and motor driver C, respectively. The main control chip 5-10 is electrically connected to motor driver A, hydraulic electric driver, motor driver B, and motor driver C. Motor driver A, hydraulic electric driver, motor driver B, and motor driver C are electrically connected to motor A1-16, electro-hydraulic drive pump 2-4, motor B3-2, and motor C4-7, respectively. The motor drivers 5-13 are electrically connected to the power supply mechanism 6.

[0069] For details, please refer to the appendix. Figure 11 The power supply mechanism 6 includes two slide rails 6-1 that are movably fixed to the top of one side track guard plate 1-8 by bolts. A storage battery 6-2 is fixed to the top of the two slide rails 6-1. A motor driver 5-13 is fixed to the outer wall of the storage battery 6-2. The motor A1-16, the electro-hydraulic drive pump 2-4, the motor B3-2, the Hall sensor 3-9, the motor C4-7, the touch screen 5-9, the main control chip 5-10, the wireless connector 5-11, the wireless remote controller 5-12, and the motor driver 5-13 are electrically connected to the storage battery 6-2.

[0070] A transplanting method for an intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs includes the following steps:

[0071] S1: Before transplanting Chinese medicinal herb seedlings, determine whether to transplant them side by side or staggered. Loosen the fastening bolts of the two drive shafts C3-3 and the two cams 3-5, and adjust the phase angle of the two cams 3-5. If transplanted side by side, the phase angles of the two cams 3-5 are the same. If transplanted staggered, the phase angles of the two cams 3-5 differ by 180°. After adjustment, tighten the fastening bolts of the two cams 3-5.

[0072] S2: Before transplanting the medicinal herb seedlings, the main controller or remote controller starts the motor A1-16. The output end of the motor A1-16 rotates. The motor A1-16 drives the chain drive gear 1-12 to rotate through the reducer A1-14 and the transmission shaft B1-13. The chain drive gear 1-12 drives the meshing transmission chain 1-11 to rotate. The transmission chain 1-11 drives the meshing chain driven gear 1-10 to rotate. The chain driven gear 1-10 drives the connected transmission shaft A1-9 to rotate. The transmission shaft A1-9 drives the connected track drive gear 1-6 to rotate. The track drive gear 1-6 drives the meshing rubber track 1-2 to rotate cyclically along the tension wheel 1-4 and several support wheels 1-7 to realize the movement of the transplanter and move the transplanter to the field where the medicinal herbs are to be transplanted.

[0073] S3: Before transplanting Chinese medicinal herb seedlings, determine the position of battery 6-2 according to the terrain conditions of the field where the Chinese medicinal herbs are to be transplanted, including the slope. Loosen the bolts, adjust the position of the two slide rails 6-1, and tighten the bolts after adjustment to adjust the position of battery 6-2. At this time, battery 6-2 plays the role of adding weight to adjust the overall center of gravity of the transplanter, preventing the transplanter from tipping over and ensuring operational safety.

[0074] S4: Before transplanting Chinese medicinal herb seedlings, determine the transplanting height based on the terrain conditions of the field to be transplanted, including the slope. Start the electro-hydraulic drive pump 2-4, pump oil into hydraulic cylinder 2-2 or back into electro-hydraulic drive pump 2-4, hydraulic cylinder 2-2 rises and falls, driving reducer B3-1 to rise and fall, reducer B3-1 drives drive shaft C3-3 to rise and fall, drive shaft C3-3 drives two fixed plates 3-6 to rise and fall, and the two fixed plates 3-6 drive the installation structure to rise and fall, so that it can be adapted to transplanting Chinese medicinal herb seedlings on flat ground and ridges at the same time.

[0075] S5: Before transplanting Chinese medicinal herbs, some Chinese medicinal herbs are placed in each seedling feeding tube 4-10. At the same time, the transplanting spacing parameters, operation speed parameters and transplanting depth parameters of Chinese medicinal herbs are input through the main control chip 5-10.

[0076] S6: When transplanting Chinese medicinal herb seedlings, the transplanter clicks the transplant start / stop button 5-5, starting motor B3-2. Motor B3-2 drives the output end to rotate, and motor B3-2 drives cam 3-5 to rotate through reducer B3-1 and transmission shaft C3-3. Cam 3-5 drives magnet 3-4 to rotate until magnet 3-4 rotates to the position of Hall sensor 3-9 to trigger a signal, starting motor C4-7. Motor C4-7 drives rotating connecting plate 4-9 to rotate, and rotating connecting plate 4-9 drives several internal feeding tubes 4-10 to rotate. Several feeding tubes 4-10 intermittently pass through opening 4-6. The bottom plate 4-12 of the feeding tube 4-10 at the bottom of the opening 4-6 rotates and opens due to the loss of squeezing pressure. The Chinese medicinal herb seedlings inside the feeding tube 4-10 fall through opening 4-6 and feeding port 4-5 into seedling guide tube 4-4, and from seedling guide tube 4-4 into trumpet-shaped seedling receiving port 3-17, realizing intermittent seedling feeding.

[0077] S7: When transplanting Chinese medicinal herb seedlings, the rotating cam 3-5 drives the active connecting rod 3-11 to swing up and down. The active connecting rod 3-11 drives the two driven connecting rods 3-13 to swing up and down. The two driven connecting rods 3-13 drive the planting connector 3-14 to swing up and down. The planting connector 3-14 drives the trumpet-shaped seedling inlet 3-17 and the two planting duckbill 3-15 to swing up and down. The two planting duckbill 3-15 reciprocate up and down into the soil. At the same time, the rotating cam 3-5 drives the roller B3-20 to swing up and down. The roller B3-20 drives the pull line push rod 3-21 to swing up and down. During the up and down swing of the pull line push rod 3-21, the pull line 3-7 is pulled. The two planting duckbill 3-15 open under the pull of the opening and closing pull line 3-7 and close under the elastic force of the return spring 3-16. The two planting duckbill 3-15 open when inserted into the soil and close when pulled out of the soil, thus transplanting the Chinese medicinal herb seedlings into the soil.

[0078] S8: After one row is completed, stop the transplanting operation, control the forward operating lever 5-2 and the left and right operating lever 5-3 to adjust the transplanting position of the transplanter, and perform the row change operation. Repeat the above position until the transplanting task of Chinese medicinal seedlings is completed and the transplanting is stopped.

[0079] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs, characterized in that, include: A tracked self-propelled chassis mechanism (1) is provided with an electro-hydraulic lifting mechanism (2), an electro-hydraulic planting mechanism (3), an electro-hydraulic feeding mechanism (4), a main control mechanism (5), and a seat (7) arranged sequentially from front to back along the walking direction at the top center of the tracked self-propelled chassis mechanism (1). A power supply mechanism (6) is arranged on the top side of the tracked self-propelled chassis mechanism (1). The tracked self-propelled chassis mechanism (1), the electro-hydraulic lifting mechanism (2), the electro-hydraulic planting mechanism (3), and the electro-hydraulic feeding mechanism (4) are electrically connected to the main control mechanism (5) and the power supply mechanism (6). The main control mechanism (5) is electrically connected to the power supply mechanism (6). The electrically controlled insertion mechanism (3) includes a motor drive mechanism, a left insertion mechanism, and a right insertion mechanism; The motor drive mechanism includes a reducer B (3-1) fixed to the top of the hydraulic cylinder (2-2), a motor B (3-2) fixed to the input end of the reducer B (3-1), and a transmission shaft C (3-3) fixed to the two output ends of the reducer B (3-1). The left insertion mechanism includes a fixed plate (3-6) fixedly connected to two sliding sleeve seats A (2-5) at the same position on the left side of the upper and lower square crossbeams (2-7). From top to bottom, the fixed plate (3-6) away from the reducer B (3-1) has a pull-wire push rod (3-21), a cam (3-5), and a limiting connecting shaft (3-19). One end of the pull-wire push rod (3-21) is hinged to the fixed plate (3-6). The pull-wire push rod (3-21) has several threaded holes at equal intervals, with threaded rods threaded into the holes. The other end of the threaded rod is threaded to a roller B (3-20). The other end of the pull-wire push rod (3-21) is fixedly connected to an opening and closing pull wire (3-7). The fixed plate (3-... 6) A planter harness opening and closing limit seat (3-8) is fixedly connected to the same side wall below the opening and closing pull line (3-7). The planter harness opening and closing limit seat (3-8) is connected to the opening and closing pull line (3-7). The outer contour of the cam (3-5) contacts the roller B (3-20). The cam (3-5) has two keyways with an angle difference of 180°. The drive shaft C (3-3) passes through the fixing plate (3-6) and is fixedly connected to the keyway of the cam (3-5) to realize parallel or staggered planting. A magnet (3-4) is fixedly connected to the cam (3-5). A Hall sensor (3-9) is fixedly connected to the same side wall of the fixing plate (3-6) at the position of the moving path of the magnet (3-4). The cam (3-5) An active connecting rod (3-11) with a central through slot is hinged to the side away from the fixed plate (3-6). One end of a limiting connecting shaft (3-19) is fixed to the fixed plate (3-6), and the other end of the limiting connecting shaft (3-19) extends through the central through slot of the active connecting rod (3-11) to the other side and is rotatably connected to a washer (3-18) via a bearing. Two driven connecting rods (3-13) are arranged vertically on the other end of the active connecting rod (3-11). The other end of the active connecting rod (3-11) is hinged to the upper driven connecting rod (3-13). Two rocker arms (3-10) are sequentially hinged to the same side wall of the fixed plate (3-6) on the side away from the active connecting rod (3-11). The two driven connecting rods (3-11) are connected to the same side wall of the fixed plate (3-6). 3) A connecting plate (3-12) is hinged to the two rocker arms (3-10) on the side close to each other. The other end of the two driven connecting rods (3-13) is hinged to a planting connector (3-14). A trumpet-shaped seedling inlet (3-17) is fixed to the top of the planting connector (3-14). Two planting duckbills (3-15) are symmetrically hinged to the bottom of the planting connector (3-14). An opening and closing pull line (3-7) is fixed to the planting duckbill (3-15). A return spring (3-16) is elastically connected between the planting duckbill (3-15) and the planting connector (3-14). The motor B (3-2) and the Hall sensor (3-9) are electrically connected to the main control mechanism (5) and the power supply mechanism (6). The right insertion mechanism has the same structure as the left insertion mechanism and is set as a mirror image.

2. The intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs according to claim 1, characterized in that: The tracked self-propelled chassis mechanism (1) includes a main chassis support (1-1). Two side chassis supports (1-3) are symmetrically fixed below the main chassis support (1-1). A support seat (1-5) and a drive shaft A (1-9) are sequentially fixed at the top of the side chassis support (1-3) from front to back along the walking direction. A tension wheel (1-4) is rotatably connected to the support seat (1-5) near the walking direction via a bearing. A fixed sleeve is located in the middle of the drive shaft A (1-9). A track drive gear (1-6) is connected to the drive shaft A (1-9). Both ends of the drive shaft A (1-9) extend to the chassis side bracket (1-3) and are respectively fixedly fitted with chain driven gears (1-10). Several support wheels (1-7) are rotatably connected at equal intervals through bearings inside the chassis side bracket (1-3). A rubber track (1-2) is fitted over the tension wheel (1-4), the track drive gear (1-6), and the several support wheels (1-7). The track drive gear (1-6) meshes with the rubber track (1-2). The chassis main support (1-1) is connected to a track guard plate (1-8) fixed above two rubber tracks (1-2). At the top of the track guard plate (1-8), from front to back along the walking direction, a motor A (1-16) and a reducer A (1-14) are sequentially arranged. The output end of motor A (1-16) is fixedly connected to the input end of reducer A (1-14). The two output ends of reducer A (1-14) are respectively fixedly connected to drive shafts B (1-13). -13) The other end is fixedly sleeved with a chain drive gear (1-12). On the same side, the chain driven gear (1-10) and the chain drive gear (1-12) are sleeved with a transmission chain (1-11) for meshing transmission. The track guard plate (1-8) is covered with a protective cover (1-15) on the outside of the chain driven gear (1-10), the chain drive gear (1-12) and the transmission chain (1-11). The motor A (1-16) is electrically connected to the main control mechanism (5) and the power supply mechanism (6).

3. The intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs according to claim 2, characterized in that: The electro-hydraulic lifting mechanism (2) includes a support base (2-1) fixed to the top of the chassis main support (1-1) and a hydraulic cylinder (2-2). A support plate (2-3) is fixed to the top of the support base (2-1). An electro-hydraulic drive pump (2-4) is fixed to the middle of the top of the support plate (2-3). Two square guide rods (2-8) are symmetrically fixed to both sides of the top of the support plate (2-3). Two sliding sleeve seats B (2-6) are sleeved on the square guide rods (2-8) from top to bottom. A square crossbeam (2-7) is fixed between the two sliding sleeve seats B (2-6) at the same position on the two square guide rods (2-8). 6) Square grooves (2-11) are provided on the sides of the square crossbeam (2-7) after removing the connection. A connecting shaft (2-10) is fixedly connected inside the square groove (2-11). A roller A (2-9) is movably sleeved on the outside of the connecting shaft (2-10) through a bearing. Two sliding sleeve seats A (2-5) are movably sleeved on the square crossbeam (2-7) through bolts. The oil inlet A1 of the hydraulic cylinder (2-2) is connected to the oil outlet B2 of the electro-hydraulic drive pump (2-4). The oil outlet B1 of the hydraulic cylinder (2-2) is connected to the oil inlet A2 of the electro-hydraulic drive pump (2-4). The electro-hydraulic drive pump (2-4) is electrically connected to the main control mechanism (5) and the power supply mechanism (6).

4. The intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs according to claim 3, characterized in that: The electrically controlled seedling feeding mechanism (4) includes a seedling feeding bracket (4-1) fixed to the top of the main support (1-1) of the chassis, a seedling feeding connecting frame (4-2) fixed to the top of the seedling feeding bracket (4-1), a left seedling feeding mechanism, and a right seedling feeding mechanism. The left seedling feeding mechanism includes a base fixing plate (4-3) fixed to the left side of the seedling feeding connecting frame (4-2). A seedling feeding port (4-5) is provided on the base fixing plate (4-3). A seedling guide tube (4-4) is fixedly connected to the bottom end of the base fixing plate (4-3) corresponding to the position of the seedling feeding port (4-5). The seedling feeding end of the seedling guide tube (4-4) is located above the left-side trumpet-shaped seedling inlet (3-17). A motor C (4-7) is fixedly connected to the bottom end of the base fixing plate (4-3) away from the seedling guide tube (4-4). The output end of the motor C (4-7) extends upwards through the base fixing plate (4-3). A ring-shaped guide rail (4-8) is fixedly connected to the top of the base fixing plate (4-3) outside the output end of the motor C (4-7). An opening (4-6) is provided on 4-8) corresponding to the position of the feeding port (4-5). The opening (4-6) is chamfered. A rotating connecting plate (4-9) is fixedly connected to the output end of the motor C (4-7). Several feeding tubes (4-10) are fixedly connected at equal intervals along the axial direction inside the rotating connecting plate (4-9). The bottom end of the feeding tubes (4-10) is connected to an opening and closing base plate (4-12) by a hinge. The opening and closing base plate (4-12) is squeezed and closed at the position of the annular guide rail (4-8) and opens along the hinge when it is not squeezed at the position of the opening (4-6). A fixing plate (4-11) is fixedly connected to the top of several feeding tubes (4-10). The motor C (4-7) is electrically connected to the main control mechanism (5) and the power supply mechanism (6). The right seedling feeding mechanism has the same structure as the left seedling feeding mechanism and is arranged symmetrically.

5. The intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs according to claim 4, characterized in that: The main control mechanism (5) includes a main controller, a remote controller, and a driver; The main controller includes an L-shaped mounting shell (5-1) on the side wall of the seedling support (4-1). A hydraulic lowering button (5-7), a hydraulic raising button (5-8), and a touch screen (5-9) are sequentially fixed to the vertical section of the mounting shell (5-1) from top to bottom. The hydraulic lowering button (5-7) and the hydraulic raising button (5-8) are arranged in parallel. An emergency stop button (5-6) and a transplanting start / stop button (5-5) are sequentially fixed to the vertical section of the mounting shell (5-1) on the side of the touch screen (5-9) from top to bottom. A forward operating lever (5-2), a left / right operating lever (5-3), and a cruise button (5-4) are sequentially fixed to the horizontal section of the mounting shell (5-1). The interior of the mounting shell (5-1) is arranged from top to bottom... The main control chip (5-10) and the wireless connector (5-11) are fixed in sequence. The forward operating lever (5-2), the left and right operating levers (5-3), the cruise button (5-4), the transplant start / stop button (5-5), the emergency stop button (5-6), the hydraulic lowering button (5-7), the hydraulic raising button (5-8), the touch screen (5-9), and the wireless connector (5-11) are electrically connected to the main control chip (5-10). The remote control is wirelessly connected to the wireless connector (5-11). The main control chip (5-10) is electrically connected to the driver and the Hall sensor (3-9). The touch screen (5-9), the main control chip (5-10), and the wireless connector (5-11) are electrically connected to the power supply mechanism (6). The remote control is similar in structure to the main controller. The mounting housing (5-1) is placed in the hand of the transplanter. The hydraulic lowering button (5-7), hydraulic raising button (5-8), touchscreen (5-9), transplant start / stop button (5-5), cruise button (5-4), emergency stop button (5-6), left / right operating levers (5-3), and forward operating lever (5-2) are sequentially fixed to the operating wall of the mounting housing (5-1) from top to bottom. The hydraulic lowering button (5-7) and hydraulic raising button (5-8) are arranged in parallel. The transplant start / stop button (5-5), cruise button (5-4), and emergency stop button (5-6) are also arranged in parallel. The left / right operating lever (5-3)... Parallel to the forward operating lever (5-2), the difference is that a wireless remote control (5-12) is fixed inside the mounting housing (5-1). The hydraulic lowering button (5-7), hydraulic raising button (5-8), touch screen (5-9), transplant start / stop button (5-5), cruise button (5-4), emergency stop button (5-6), left and right operating levers (5-3) and forward operating lever (5-2) are electrically connected to the wireless remote control (5-12). The wireless remote control (5-12) is wirelessly connected to the wireless connector (5-11). The wireless remote control (5-12) and touch screen (5-9) are electrically connected to the power supply mechanism (6). The driver includes four motor drivers (5-13) that are sequentially fixed to the power supply mechanism (6). The four motor drivers (5-13) are motor A driver, hydraulic electric driver, motor B driver and motor C driver, respectively. The main control chip (5-10) is electrically connected to motor A driver, hydraulic electric driver, motor B driver and motor C driver. Motor A driver, hydraulic electric driver, motor B driver and motor C driver are electrically connected to motor A (1-16), electro-hydraulic drive pump (2-4), motor B (3-2) and motor C (4-7), respectively. The motor drivers (5-13) are electrically connected to the power supply mechanism (6).

6. The intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs according to claim 5, characterized in that: The power supply mechanism (6) includes two slide rails (6-1) that are movably fixed to the top of one side track guard plate (1-8) by bolts. A storage battery (6-2) is fixed to the top of the two slide rails (6-1). A motor driver (5-13) is fixed to the outer wall of the storage battery (6-2). Motor A (1-16), electro-hydraulic drive pump (2-4), motor B (3-2), Hall sensor (3-9), motor C (4-7), touch screen (5-9), main control chip (5-10), wireless connector (5-11), wireless remote controller (5-12) and motor driver (5-13) are electrically connected to the storage battery (6-2).

7. The transplanting method of an intelligent tracked self-propelled vertical transplanter for Chinese medicinal herbs according to claim 6, characterized in that, Includes the following steps: S1: Before transplanting medicinal herb seedlings, determine whether to transplant them side-by-side or staggered. Loosen the fastening bolts of the two drive shafts C (3-3) and the two cams (3-5), and adjust the phase angle of the two cams (3-5). If transplanted side-by-side, the phase angles of the two cams (3-5) should be the same. If transplanted staggered, the phase angles of the two cams (3-5) should differ by 180°. After adjustment, tighten the fastening bolts of the two cams (3-5). S2: Before transplanting medicinal herb seedlings, start motor A (1-16) via the main controller or remote control. Motor A (1-16) drives the output end to rotate. Motor A (1-16) rotates through reducer A (1-14) and drive shaft B (1... -13) Drives the chain drive gear (1-12) to rotate, the chain drive gear (1-12) drives the meshing transmission chain (1-11) to rotate, the transmission chain (1-11) drives the meshing chain driven gear (1-10) to rotate, the chain driven gear (1-10) drives the connected transmission shaft A (1-9) to rotate, the transmission shaft A (1-9) drives the connected track drive gear (1-6) to rotate, the track drive gear (1-6) drives the meshing rubber track (1-2) to rotate cyclically along the tension wheel (1-4) and several support wheels (1-7) to realize the movement of the transplanter and move the transplanter to the field where Chinese medicinal herbs are to be transplanted; S3: Before transplanting medicinal herb seedlings, determine the position of the battery (6-2) based on the terrain conditions of the field to be transplanted, including the slope. Loosen the bolts, adjust the position of the two slide rails (6-1), and then tighten the bolts to adjust the position of the battery (6-2). At this time, the battery (6-2) plays a role in increasing the weight and adjusting the overall center of gravity of the transplanter to prevent the transplanter from tipping over and ensure operational safety. S4: Before transplanting medicinal herb seedlings, determine the transplanting height based on the terrain conditions of the field to be transplanted, including the slope. Start the electro-hydraulic drive pump (2-4), and pump the oil into the hydraulic cylinder (2-2) or back to the electro-hydraulic drive pump. The hydraulic drive pump (2-4) and hydraulic cylinder (2-2) are raised and lowered, driving reducer B (3-1) to rise and fall. Reducer B (3-1) drives transmission shaft C (3-3) to rise and fall. Transmission shaft C (3-3) drives two fixed plates (3-6) to rise and fall. The two fixed plates (3-6) drive the installation structure to rise and fall, making it suitable for transplanting Chinese medicinal seedlings on flat ground and ridges. S5: Before transplanting Chinese medicinal seedlings, some Chinese medicinal materials are placed in each seedling feeding tube (4-10). At the same time, the transplanting spacing parameters, operation speed parameters and transplanting depth parameters of Chinese medicinal materials are input through the main control chip (5-10). S6: When transplanting medicinal herb seedlings, the transplanter clicks the transplant start / stop button (5-5), starting motor B (3-2). Motor B (3-2) drives the output end to rotate. Motor B (3-2) drives cam (3-5) to rotate through reducer B (3-1) and transmission shaft C (3-3). Cam (3-5) drives magnet (3-4) to rotate until magnet (3-4) rotates to the position of Hall sensor (3-9) to trigger a signal. Motor C (4-7) then starts, driving rotating connecting plate (4-9) to rotate. Rotating connecting plate (4-9) drives the inner... Several feeding tubes (4-10) rotate, and several feeding tubes (4-10) intermittently pass through openings (4-6). The bottom plate (4-12) at the bottom of the feeding tube (4-10) passing through opening (4-6) rotates open due to the loss of squeezing pressure. The Chinese medicinal herb seedlings inside the feeding tubes (4-10) fall through openings (4-6) and feeding ports (4-5) into seedling guide tubes (4-4), and from seedling guide tubes (4-4) fall into trumpet-shaped seedling receiving ports (3-17), realizing intermittent seedling feeding; S7: When transplanting Chinese medicinal herb seedlings, the rotating cam (3-5) drives the active connecting rod. (3-11) Swings up and down, the active connecting rod (3-11) drives the two driven connecting rods (3-13) to swing up and down, the two driven connecting rods (3-13) drive the planting connector (3-14) to swing up and down, the planting connector (3-14) drives the trumpet-shaped seedling inlet (3-17) and the two planting duckbill (3-15) to swing up and down, the two planting duckbill (3-15) reciprocate up and down into the soil, and at the same time the rotating cam (3-5) drives the roller B (3-20) to swing up and down, the roller B (3-20) drives the pull line push rod (3-21) to swing up and down, the pull line push rod (3-21) 3-21) During the up-and-down swing, the opening and closing pull line (3-7) is pulled, and the two planting duckbill (3-15) opens under the pull of the opening and closing pull line (3-7) and closes under the elastic force of the return spring (3-16). The two planting duckbill (3-15) opens when inserted into the soil and closes when pulled out of the soil, transplanting the Chinese medicinal herb seedlings into the soil; S8: After one row is completed, stop the transplanting operation, control the forward operating lever (5-2) and the left and right operating lever (5-3) to adjust the transplanting position of the transplanter, and perform the row change operation. Repeat the above position until the transplanting task of the Chinese medicinal herb seedlings is completed and the transplanting is stopped.

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