Self-propelled tobacco seedling transplanting device

Abstract

The invention discloses a self-propelled tobacco seedling transplanting device, and relates to the technical field of tobacco seedling transplanting. The self-walking frame is used for bearing operation equipment, the top of the self-walking frame is provided with a horizontal bearing frame, and the side face of the self-walking frame is provided with a vertical bearing frame; the seedling storage mechanism is provided with a seedling storage tray and a seedling discharging empty groove; the seedling taking mechanism comprises a three-axis moving mechanism, an electric claw is installed at the movable end of the three-axis moving mechanism, and the moving range of the movable end of the three-axis moving mechanism covers the seedling storage disc and the seedling discharging empty groove; the transplanting mechanism is arranged on the side wall of the self-walking frame and is provided with a seedling feeding part capable of vertically and linearly moving, the seedling feeding end of the seedling feeding part is vertically arranged towards the seedling discharging empty groove, the bottom end of the seedling feeding part is communicated with an inverted-cone-shaped soil breaking and seedling placing device, and the conical surface of the soil breaking and seedling placing device is arranged to be of a prismatic surface structure; according to the self-propelled tobacco seedling transplanting device, manpower is liberated, and the use cost is reduced; precise transplanting is achieved, and the transplanting survival rate is increased; the adaptability is improved, so that the device can be used under various working conditions; and the operation is simpler and more convenient.

Description

Technical Field

[0001] This invention relates to the field of tobacco seedling transplanting technology, specifically, to a self-propelled tobacco seedling transplanting device. Background Technology

[0002] In the existing mechanized transplanting process of tobacco planting, although self-propelled tobacco seedling transplanters have been applied to a certain extent, their technological maturity and operational efficiency still have many significant limitations and technical pain points, mainly concentrated in the following aspects.

[0003] High reliance on manual labor: Traditional equipment generally lacks automated seedling placement capabilities. The seedling placement process during transplanting still heavily relies on manual operation. Operators must stand continuously on the machine, placing each seedling individually into the seedling cups or planting devices provided with the machine. This process is not only labor-intensive and inefficient, but also prone to visual and physical fatigue for operators, making continuous operation difficult, and has become a key bottleneck for improving the overall efficiency of the machine. At the same time, manual seedling placement is difficult to guarantee high precision under the vibration of the machine, posing a certain risk of missing or damaging seedlings.

[0004] Poor controllability of transplanting depth: The inability to precisely control and ensure the consistency of transplanting depth is another significant drawback of existing equipment. Transplanting depth is a key factor affecting the survival rate and early growth uniformity of tobacco seedlings. Existing equipment typically uses fixed soil covering and compaction structures or simple contour-following mechanisms to set the depth. However, under complex field conditions (such as variations in soil looseness, adhesion, and surface flatness), these mechanisms are difficult to adjust dynamically and adaptively, resulting in large fluctuations in transplanting depth and an inability to accurately meet agronomical requirements. Too shallow a depth can easily lead to seedling lodging and water shortage; too deep a depth inhibits the germination of the growing point.

[0005] Insufficient plant spacing and alignment accuracy: Existing transplanting mechanisms are typically designed for continuous or intermittent planting synchronized with the machine's forward speed. However, they struggle to achieve reliable and high-precision automatic alignment with the pre-marked planting holes (sockets) on the ground. The lack of an effective precision positioning and synchronization control system (such as visual recognition based on pre-marked planting points, high-precision position servoing, etc.) often results in the actual planting points of tobacco seedlings deviating from the preset planting positions (soil moisture levels), causing uneven plant spacing and misalignment. This not only affects field uniformity but also necessitates additional manual replanting or correction, increasing planting costs and field management difficulty.

[0006] Poor stability in directional movement: During operation, factors such as terrain undulations, soil texture differences, and wheel / track slippage require the operator to continuously monitor and frequently manually correct the direction while operating the cab (real-time human intervention). The lack of stable and reliable automatic navigation or precise guidance technology (such as a high-precision straight-line walking assistance system) makes it difficult for the machine to autonomously maintain a preset straight trajectory. This directional instability not only directly exacerbates the aforementioned problems of plant spacing and alignment accuracy (a skewed walking path directly affects the lateral position of the planting point), but also significantly increases the operator's workload and operational complexity, easily leading to fatigue during prolonged operation. Summary of the Invention

[0007] The purpose of this invention is to provide a self-propelled tobacco seedling transplanting device, which aims to free up manpower and reduce operating costs; achieve precise transplanting and improve the survival rate of transplanted seedlings; increase adaptability so that it can be used in various working conditions; and increase intelligence so that operation is simpler and more convenient.

[0008] To achieve the above objectives, the present invention employs the following technical means: A self-propelled tobacco seedling transplanting device includes: Self-propelled frame, used to support working equipment, with a horizontal support frame installed on the top and a vertical support frame constructed on the side; The seedling storage mechanism consists of a seedling storage tray and a seedling unloading trough. The seedling retrieval mechanism includes a three-axis moving mechanism, the movable end of which is equipped with an electric claw, and the moving range of the movable end of the three-axis moving mechanism covers the seedling storage tray and the seedling unloading trough; The transplanting mechanism is located on the side wall of the self-propelled frame and has a vertically movable seedling delivery section. The seedling inlet end of the seedling delivery section is vertically oriented towards the seedling outlet trough. The bottom end of the seedling delivery section is connected to an inverted cone-shaped soil-breaking and seedling-releasing device. The cone surface of the soil-breaking and seedling-releasing device is configured as a prismatic structure.

[0009] Preferably, the three-axis moving mechanism includes a pair of first profiles extending along the Y-axis mounted on the horizontal support frame. The top surface of the first profiles is constructed with parallel first lead screw mechanisms. The sliding ends of the two first lead screw mechanisms are connected by a second profile extending along the X-axis. The top surface of the second profiles is mounted with parallel second lead screw mechanisms. The sliding end of the second lead screw mechanisms is mounted with a third profile extending along the Z-axis. The surface of the third profile is mounted with a third lead screw mechanism parallel to it. The electric gripper is mounted on the moving end of the third lead screw mechanism, and the gripper of the electric gripper is horizontally arranged.

[0010] Furthermore, the seedling storage tray and the seedling unloading trough are arranged along the Y-axis direction.

[0011] Furthermore, the seedling tray is installed on the horizontal support frame and positioned between the two first profiles, and the seedling slot is positioned between the two first profiles.

[0012] Furthermore, the seedling delivery unit includes a fourth screw mechanism installed vertically on the vertical support frame. The moving end of the fourth screw mechanism is equipped with a vertical seedling conveying frame. The seedling conveying frame includes a horizontal plate and a positioning plate located on the top surface of the horizontal plate to form a seedling dropping channel. The positioning plate is fixedly installed on the moving end of the fourth screw mechanism. The horizontal plate is provided with a vertical through-passage, which is connected to the soil-breaking and seedling-releasing device.

[0013] Furthermore, a guide tube is installed on the top surface of the horizontal plate and located in the seedling channel. The guide tube is connected to and coaxially arranged with the through channel, and the top end of the guide tube is on the same plane as the bottom end of the seedling slot.

[0014] Furthermore, the soil-breaking and seedling-releasing device includes a first swing frame and a second swing frame disposed on opposite side walls of the horizontal plate. The first swing frame and the second swing frame are hinged together and disposed opposite to each other, and each is constructed with a vertically penetrating arc-shaped groove. The two arc-shaped grooves are spliced ​​together to form an entry channel that is coaxially arranged and connected with the through channel. The bottom surfaces of the first swing frame and the second swing frame are respectively equipped with bent triangular plates. The bending lines of the bent triangular plates are arranged along the center line. The two bent triangular plates are spliced ​​together to form the faceted structure. The first swing frame and the second swing frame are driven to move relative to each other or towards each other by a horizontally arranged fifth screw mechanism.

[0015] Furthermore, a first mounting plate is installed on the top surface of the first swing frame, and a second mounting plate is installed on the top surface of the second swing frame. A vertically extending moving channel is constructed on the second mounting plate. The fifth lead screw mechanism includes a rotary motor mounted on the first mounting plate. A threaded rod extending into the moving channel is coaxially mounted on the rotating end of the rotary motor. A positioning nut is hinged in the moving channel. The positioning nut is threaded onto the threaded rod. A slider is slidably provided on the inner wall of the moving channel along the extending direction of the moving channel. The positioning nut is hinged to the slider.

[0016] The present invention has the following beneficial effects during use: The self-propelled frame design enables the entire device to possess excellent mobility and obstacle avoidance capabilities. During the entire seedling retrieval, transplanting, and planting process, the tobacco seedlings to be planted are placed in a seedling tray. When planting, the electric claw, controlled by the three-axis movement mechanism of the seedling retrieval mechanism, moves to the top of the seedling tray, then moves downwards to grab the seedling. Afterward, the electric claw moves upwards again, and under the control of the three-axis movement mechanism, it moves to below the seedling lowering slot. The claw releases, allowing the seedling to fall through the slot into the seedling delivery section of the transplanting mechanism. Then, using the downward movement of the delivery section, the soil-breaking and seedling-releasing device first breaks the soil layer, then opens, allowing the seedling to enter the broken soil hole. The delivery section moves upwards, allowing the seedling to completely fall out of the breaking and seedling-releasing device. Furthermore, the soil lifted during the upward movement of the opened breaking and seedling-releasing device, aided by the ridge structure, falls back down to the formed soil hole, thus covering the planted seedling. Therefore, the positioning and planting of tobacco seedlings can be completed without the need for a subsequent soil-gathering mechanism. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is a side view of the structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the transplanting mechanism of the present invention.

[0020] Figure 4 This is a side view of the transplanting mechanism of the present invention.

[0021] Among them, 1-self-propelled frame, 2-horizontal support frame, 3-vertical support frame, 4-seedling storage tray, 5-seedling empty trough, 6-electric claw, 7-first profile, 8-first screw mechanism, 9-second profile, 10-second screw mechanism, 11-third profile, 12-third screw mechanism, 13-fourth screw mechanism, 14-seedling conveyor, 15-horizontal plate, 16-positioning plate, 17-guide cylinder, 18-first swing frame, 19-second swing frame, 20-bent triangular plate, 21-first mounting plate, 22-second mounting plate, 23-moving channel, 24-rotating motor, 25-threaded rod. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] Please refer to Figures 1 to 4 As shown, a self-propelled tobacco seedling transplanting device includes: Self-propelled frame 1, used to support working equipment, with a horizontal support frame 2 installed on the top and a vertical support frame 3 on the side; The seedling storage mechanism consists of a seedling storage tray 4 and a seedling unloading trough 5. The seedling retrieval mechanism includes a three-axis moving mechanism, the movable end of which is equipped with an electric claw 6, and the moving range of the movable end of the three-axis moving mechanism covers the seedling storage tray 4 and the seedling unloading trough 5; The transplanting mechanism is located on the side wall of the self-propelled frame 1 and has a vertically movable seedling delivery section. The seedling inlet end of the seedling delivery section is vertically oriented towards the seedling trough 5. The bottom end of the seedling delivery section is connected to an inverted cone-shaped soil-breaking and seedling-releasing device. The cone surface of the soil-breaking and seedling-releasing device is configured as a prismatic structure.

[0029] In this way, the self-propelled frame 1 enables the entire device to have good mobility and obstacle avoidance capabilities. Furthermore, during the entire seedling retrieval, transplanting, and planting process, the tobacco seedlings to be planted are placed in the seedling storage tray 4. When planting, the electric claw 6 is moved above the seedling storage tray 4 by the three-axis moving mechanism of the seedling retrieval mechanism. Then, the electric claw 6 is moved downwards to grab the seedling. After that, the electric claw 6 moves upwards, and then, under the control of the three-axis moving mechanism, it moves to below the seedling lowering trough 5. The electric claw 6 then releases, allowing the tobacco seedling to fall through the seedling lowering trough 5 into the seedling delivery section of the transplanting mechanism. Then, by moving the seedling delivery unit downwards, the soil layer is first broken open using the soil-breaking and seedling-releasing device. The device then opens, allowing the tobacco seedlings to enter the broken soil holes. The delivery unit moves upwards, causing the seedlings to fall completely out of the device. Furthermore, the soil lifted during the upward movement of the device, aided by its ridged structure, falls back down to the formed soil holes, covering the planted seedlings. This allows for the precise positioning and planting of the tobacco seedlings without the need for a subsequent soil-gathering mechanism.

[0030] Furthermore, the three-axis moving mechanism includes a pair of first profiles 7 extending along the Y-axis and mounted on the horizontal support frame 2. The top surface of the first profiles 7 is constructed with parallel first lead screw mechanisms 8. The sliding ends of the two first lead screw mechanisms 8 are connected by a second profile 9 extending along the X-axis. The top surface of the second profile 9 is mounted with parallel second lead screw mechanisms 10. The sliding end of the second lead screw mechanism 10 is mounted with a third profile 11 extending along the Z-axis. The surface of the third profile 11 is mounted with a third lead screw mechanism 12 parallel to it. The electric gripper 6 is mounted on the moving end of the third lead screw mechanism 12, and the gripper of the electric gripper 6 is horizontally arranged.

[0031] Furthermore, the seedling storage tray 4 and the seedling unloading trough 5 are arranged along the Y-axis direction.

[0032] Furthermore, the seedling tray 4 is installed on the horizontal support frame 2 and is located between the two first profiles 7, and the seedling slot 5 is located between the two first profiles 7.

[0033] Meanwhile, the seedling delivery unit includes a fourth screw mechanism 13 installed on the vertical support frame 3 and vertically arranged. The moving end of the fourth screw mechanism 13 is equipped with a vertical seedling conveying frame 14. The seedling conveying frame 14 includes a horizontal plate 15 and a positioning plate 16 arranged on the top surface of the horizontal plate 15 to form a seedling dropping channel. The positioning plate 16 is fixedly installed on the moving end of the fourth screw mechanism 13. The horizontal plate 15 is provided with a vertical through-passage, which is connected to the soil breaking and seedling releasing device.

[0034] Furthermore, a guide tube 17 is installed on the top surface of the horizontal plate 15 and is located in the seedling channel. The guide tube 17 is connected to the through channel and is coaxially arranged. The top end of the guide tube 17 is on the same plane as the bottom end of the seedling slot 5.

[0035] Furthermore, the seedling release device includes a first swing frame 18 and a second swing frame 19 disposed on opposite side walls of the horizontal plate 15. The first swing frame 18 and the second swing frame 19 are hinged together and are disposed opposite to each other, and each has a vertically penetrating arc groove. The two arc grooves are spliced ​​together to form an entry channel that is coaxially arranged and connected with the through channel. The bottom surfaces of the first swing frame 18 and the second swing frame 19 are respectively equipped with bent triangular plates 20. The bending lines of the bent triangular plates 20 are arranged along the center line. The two bent triangular plates 20 are spliced ​​together to form the faceted structure. The first swing frame 18 and the second swing frame 19 are driven to move relative to each other or towards each other by a horizontally arranged fifth screw mechanism.

[0036] Furthermore, a first mounting plate 21 is mounted on the top surface of the first swing frame 18, and a second mounting plate 22 is mounted on the top surface of the second swing frame 19. A vertically extending moving channel 23 is constructed on the second mounting plate 22. The fifth lead screw mechanism includes a rotary motor 24 mounted on the first mounting plate 21. A threaded rod 25 extending into the moving channel 23 is coaxially mounted on the rotating end of the rotary motor 24. A positioning nut is hinged inside the moving channel 23. The positioning nut is threaded onto the threaded rod 25. A slider is slidably provided on the inner wall of the moving channel 23 along the extending direction of the moving channel 23. The positioning nut is hinged to the slider.

[0037] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-propelled tobacco seedling transplanting device, characterized in that, include: Self-propelled frame (1) is used to carry operating equipment. A horizontal support frame (2) is installed on the top and a vertical support frame (3) is constructed on the side. The seedling storage mechanism is constructed with a seedling storage tray (4) and a seedling empty trough (5). The seedling retrieval mechanism includes a three-axis moving mechanism, the movable end of which is equipped with an electric claw (6), and the moving range of the movable end of the three-axis moving mechanism covers the seedling storage tray (4) and the seedling empty trough (5). The transplanting mechanism is located on the side wall of the self-propelled frame (1) and has a vertically movable seedling delivery part. The seedling delivery end of the seedling delivery part is vertically facing the seedling trough (5). The bottom end of the seedling delivery part is connected to an inverted cone-shaped soil-breaking and seedling-releasing device. The cone surface of the soil-breaking and seedling-releasing device is set as a prismatic structure.

2. The self-propelled tobacco seedling transplanting device according to claim 1, characterized in that, The three-axis moving mechanism includes a pair of first profiles (7) extending along the Y-axis and mounted on the horizontal support frame (2). The top surface of the first profile (7) is constructed with a parallel first screw mechanism (8). The sliding ends of the two first screw mechanisms (8) are connected by a second profile (9) extending along the X-axis. The top surface of the second profile (9) is mounted with a parallel second screw mechanism (10). The sliding end of the second screw mechanism (10) is mounted with a third profile (11) extending along the Z-axis. The surface of the third profile (11) is mounted with a third screw mechanism (12) parallel to it. The electric gripper (6) is mounted on the moving end of the third screw mechanism (12). The gripper of the electric gripper (6) is horizontally arranged.

3. The self-propelled tobacco seedling transplanting device according to claim 2, characterized in that, The seedling tray (4) and the seedling trough (5) are arranged along the Y-axis.

4. The self-propelled tobacco seedling transplanting device according to claim 3, characterized in that, The seedling tray (4) is installed on the horizontal support frame (2) and is located between the two first profiles (7), and the seedling slot (5) is located between the two first profiles (7).

5. The self-propelled tobacco seedling transplanting device according to claim 1, characterized in that, The seedling delivery unit includes a fourth screw mechanism (13) installed on the vertical support frame (3) and vertically arranged. The moving end of the fourth screw mechanism (13) is equipped with a vertical seedling conveying frame (14). The seedling conveying frame (14) includes a horizontal plate (15) and a positioning plate (16) arranged on the top surface of the horizontal plate (15) to form a seedling dropping channel. The positioning plate (16) is fixedly installed on the moving end of the fourth screw mechanism (13). The horizontal plate (15) is provided with a vertical through-passage, which is connected to the seedling breaking and releasing device.

6. A self-propelled tobacco seedling transplanting device according to claim 5, characterized in that, The top surface of the horizontal plate (15) is equipped with a guide tube (17) located in the seedling channel. The guide tube (17) is connected to the through channel and is coaxially arranged. The top end of the guide tube (17) and the bottom end of the seedling trough (5) are on the same plane.

7. The self-propelled tobacco seedling transplanting device according to claim 5, characterized in that, The seedling release device includes a first swing frame (18) and a second swing frame (19) set on opposite side walls of the horizontal plate (15). The first swing frame (18) and the second swing frame (19) are hinged together. The first swing frame (18) and the second swing frame (19) are set opposite to each other and are respectively constructed with vertically penetrating arc grooves. The two arc grooves are spliced ​​together to form an entry channel that is coaxially arranged and connected with the through channel. The bottom surfaces of the first swing frame (18) and the second swing frame (19) are respectively equipped with bent triangular plates (20). The bending lines of the bent triangular plates (20) are set along the center line. The two bent triangular plates (20) are spliced ​​together to form the faceted structure. The first swing frame (18) and the second swing frame (19) are driven to move relative to each other or towards each other by a horizontally set fifth screw mechanism.

8. A self-propelled tobacco seedling transplanting device according to claim 7, characterized in that, The top surface of the first swing frame (18) is equipped with a first mounting plate (21), and the top surface of the second swing frame (19) is equipped with a second mounting plate (22). The second mounting plate (22) has a vertically extending moving channel (23). The fifth screw mechanism includes a rotating motor (24) mounted on the first mounting plate (21). The rotating end of the rotating motor (24) is coaxially mounted with a threaded rod (25) extending into the moving channel (23). A positioning nut is hinged in the moving channel (23). The positioning nut is threaded onto the threaded rod (25). The inner wall of the moving channel (23) is slidably provided with a slider arranged along the extending direction of the moving channel (23). The positioning nut is hinged to the slider.

Images