Intelligent self-propelled full-automatic seedling multi-row transplanting machine

Abstract

The application discloses a kind of intelligent self-propelled full-automatic seedling multi-row transplanters, it is related to seedling transplanting technical field, it includes U-shaped horizontal plate, and the lower part is equipped with several L-shaped translation plate, is connected by translation mechanism, and the front end of L-shaped translation plate has oval through-hole;Fixed cylinder is fixed on L-shaped translation plate, and the bottom has inclined channel steel, and middle part is inserted intermittent shaft, and top end is covered fixed disc, and its outer ring has transplanting cylinder;Inclined channel steel is connected L-shaped connecting plate, and it has fixed plate on it, and fixed shaft is inserted through intermittent mechanism and is connected intermittent shaft;L-shaped connecting plate is inserted turnover shaft, and the front end is connected oval connecting plate, and its end has driven shaft, and the front end is fixed L-shaped support;Support has square through-hole, and top end is provided with corresponding inclined channel steel and is provided with transplanting duckbill. The application realizes row spacing adjustment, seedling sending and transplanting synchronization and duckbill accurate action, improves efficiency, survival rate and adaptability, reduces cost, and meets the demand of modern agriculture.

Description

Technical Field

[0001] This invention relates to the field of seedling transplanting technology, and in particular to an intelligent self-propelled fully automatic multi-row seedling transplanter. Background Technology

[0002] In agricultural production, seedling transplanting technology plays a vital role in improving crop yield and quality. Traditional seedling transplanting relies on manual labor or semi-mechanized equipment, which is not only labor-intensive and inefficient, but also prone to various damages during the process, affecting the survival rate of seedlings.

[0003] With the continuous advancement of agricultural technology, self-propelled automatic seedling transplanters can efficiently and stably complete the planting and transplanting of seedlings in different farmland environments, greatly reducing the labor burden of agricultural production, improving operational efficiency, and reducing labor costs.

[0004] However, existing automatic transplanters generally suffer from problems such as weak multi-row operation capability, complex structure, and poor adaptability. The row spacing adjustment mechanism of the seedling transplanter is rigid and cannot achieve flexible adjustment of row spacing through simple drive. It requires manual adjustment one by one or the row spacing is uneven after adjustment. It has poor ability to adapt to the planting needs of different crops. The seedling delivery and the action of the transplanting duckbill are not synchronized, which often results in the seedling not falling accurately into the duckbill or the duckbill being in the soil but the seedling not being in place, leading to missed planting and wrong planting. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing intelligent transplanting machines, which have a low overall level of automation and rely on manual assistance to adjust row spacing, transport seedlings, and control the duckbill action, making it difficult to meet the demands of modern agriculture for efficient, precise, and high-survival-rate transplanting. Therefore, this invention proposes an intelligent self-propelled fully automatic multi-row seedling transplanter.

[0006] To address the problems existing in the prior art, the present invention adopts the following technical solution:

[0007] An intelligent self-propelled fully automatic multi-row transplanter for seedlings includes a U-shaped horizontal plate. Below the U-shaped horizontal plate are several L-shaped translation plates that are evenly distributed. Each L-shaped translation plate has an elliptical through hole at its front end. The U-shaped horizontal plate is connected to the several L-shaped translation plates through a translation mechanism.

[0008] The top front end of the L-shaped translation plate is fixedly provided with a fixing cylinder, the bottom front end of the fixing cylinder is fixedly provided with a through-distributed inclined channel steel, the middle part of the fixing cylinder is rotatably inserted with a through-distributed intermittent shaft, the top end of the intermittent shaft is fitted with a concentric fixed plate, and the outer ring surface of the fixed plate is fixed with a number of transplanting cylinders distributed in a circle.

[0009] An L-shaped connecting plate is fixedly provided on the bottom back of the inclined channel steel, and a fixing plate is fixedly provided on the top back of the L-shaped connecting plate. A through-type fixing shaft is rotatably inserted into the rear end of the fixing plate, and the fixing shaft is connected to the intermittent shaft through an intermittent mechanism.

[0010] The bottom end of the L-shaped connecting plate is rotatably inserted with a through-distributed flipping shaft, the front end of the flipping shaft is fixed with an elliptical connecting plate, the outer end of the elliptical connecting plate is rotatably inserted with a through-distributed driven shaft, and the front end of the driven shaft is fixed with an L-shaped bracket.

[0011] The front end of the L-shaped bracket is provided with a square through hole. A receiving funnel is fixed at the top end of the square through hole. The receiving funnel corresponds to the bottom end of the inclined channel steel. A pair of symmetrically distributed transplanting duckbill are installed at the bottom end of the square through hole.

[0012] Preferably, the translation mechanism includes a hinged short rod and a hinged long rod. A pair of parallel I-shaped slide rails are fixedly provided on the back of the U-shaped horizontal plate. Several pairs of equidistant U-shaped sliding plates are slidably fitted on the pair of I-shaped slide rails. Each pair of U-shaped sliding plates is fixedly connected to the corresponding L-shaped translation plate.

[0013] On the back center of the pair of L-shaped sliding plates on the left and right sides, there is a pair of short hinged rods in a “V” shape. On the back center of the remaining L-shaped sliding plates, there is a pair of long hinged rods in an “X” shape. The two ends of the long hinged rods and the outer ends of the short hinged rods are hinged to each other.

[0014] Preferably, a pair of first electric telescopic cylinders with their telescopic ends facing inward are fixedly installed on both sides of the U-shaped horizontal plate. Each first electric telescopic cylinder has a fixed connecting block at the end of its telescopic rod, and each fixed connecting block is fixedly connected to the L-shaped translation plate on the same side.

[0015] The two side walls of the U-shaped horizontal plate are fixed with a pair of symmetrically distributed Z-shaped load-bearing plates. Each Z-shaped load-bearing plate is rotatably mounted with an electric roller at its bottom end. Each Z-shaped load-bearing plate is fixed with a forward-extending L-shaped load-bearing plate at its bottom end. Each L-shaped load-bearing plate is rotatably mounted with a driven roller at its bottom end.

[0016] Each Z-shaped load-bearing plate is fixed with a rearwardly extending connecting rod at the bend, and a connecting frame is fixed between the rear ends of a pair of connecting rods.

[0017] Preferably, the bottom end of the intermittent shaft passes downward through the elliptical through hole and is fitted with a concentrically fixed intermittent disc. The outer ring surface of the intermittent disc is provided with several alternately distributed first arc-shaped notches and U-shaped notches. The top end of the fixed shaft passes upward through the elliptical through hole and is rotatably inserted into the bottom surface of the fixed cylinder.

[0018] Preferably, the intermittent mechanism includes a limiting plate and a limiting pin, and the limiting plate and the limiting swing arm are fixedly fixed in sequence on the upper middle part of the fixed shaft, and a second arc-shaped notch is opened on the limiting plate;

[0019] The limiting swing arm is perpendicular to the fixed axis along the second arc-shaped notch, and a limiting pin is fixed at the outer end of the limiting swing arm. The outer ring surface of the limiting disk is slidably engaged in the corresponding first arc-shaped notch, and the limiting pin is slidably engaged in the corresponding U-shaped notch.

[0020] Preferably, the front end of the fixed plate is rotatably inserted with a through-distributed drive shaft, and the front end of the top of the fixed plate is fixedly mounted with a servo motor with its output end facing downward. The end of the motor shaft of the servo motor is fixedly connected to the top end of the drive shaft.

[0021] The upper middle part of the drive shaft is fitted with a first sprocket that is concentrically fixed, and the bottom end of the fixed shaft is fitted with a second sprocket that is concentrically fixed. The first sprocket is synchronously meshed with the second sprocket through a first chain belt.

[0022] Preferably, the rear end of the flipping shaft extends backward through the L-shaped connecting plate and is fixedly fitted with a pair of symmetrically distributed fixed bevel gears. The bottom end of the drive shaft extends downward and is fitted with a concentrically fixed notched bevel gear. The notched bevel gear is located between a pair of fixed bevel gears, and the notched bevel gear alternately meshes with a pair of fixed bevel gears.

[0023] Preferably, a third sprocket is concentrically fixed to the front part of the rotating shaft, and a fourth sprocket is concentrically fixed to the rear end of the driven shaft, which passes through the elliptical connecting plate. The third sprocket is synchronously meshed with the fourth sprocket via a second chain belt.

[0024] Preferably, the L-shaped bracket has a pair of symmetrically distributed rectangular notches, and each of the transplanted duckbill has a through-type extended connecting shaft fixedly inserted at its top. Each extended connecting shaft rotates through the L-shaped bracket and is inserted into the rectangular notch on the corresponding side. The front ends of the pair of extended connecting shafts are fixed with a pair of staggered driven swing arms, and the outer ends of each driven swing arm have elliptical pin holes.

[0025] Preferably, a vertically distributed fixed connecting plate is fixedly provided in the center of the front of the receiving funnel, and a second electric telescopic cylinder with its telescopic end facing downward is fixedly installed at the front end of the fixed connecting plate. A rectangular connecting block is fixedly provided at the end of the telescopic rod of the second electric telescopic cylinder. The rectangular connecting block is slidably engaged between a pair of driven swing arms. A through-type positioning pin is fixedly inserted in the center of the rectangular connecting block. The front and rear ends of the positioning pin are slidably inserted into a pair of elliptical pin holes, respectively.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. In this invention, the U-shaped horizontal plate provides basic support for the equipment. The translation mechanism is driven by the first electric telescopic cylinder, and in conjunction with the hinged short rod, hinged long rod, and I-shaped slide rail and U-shaped slide plate, the L-shaped translation plate can be adjusted at equal intervals to flexibly change the row spacing to adapt to different crops. The Z-shaped load-bearing plate, electric rollers, driven rollers and connecting frame ensure stable movement of the equipment. The fixed cylinder, transplanting cylinder, inclined channel steel, receiving funnel and transplanting duckbill form a continuous seedling delivery path to improve the efficiency of multi-row transplanting.

[0028] 2. In this invention, in the intermittent mechanism, the servo motor drives the fixed shaft to rotate via the drive shaft and the first chain belt. The limiting plate, the limiting swing arm and the limiting pin cooperate with the first arc-shaped notch and the U-shaped notch of the intermittent plate, so that the intermittent shaft, the fixed plate and the transplanting cylinder rotate precisely and intermittently, ensuring that the timing of seedling placement and transplanting duckbill action is matched, solving the problem of intermittent rotation drive, and improving the synchronization and reliability of transplanting.

[0029] 3. In this invention, the notched bevel gear and the fixed bevel gear mesh alternately to drive the flipping shaft to rotate back and forth. The third sprocket, the second chain belt and the fourth sprocket ensure the vertical posture of the L-shaped bracket and ensure consistent soil penetration depth. The second electric telescopic cylinder controls the opening and closing of the transplanting duckbill through rectangular connecting blocks, positioning pins and the like, to achieve precise coordination of soil penetration, seedling placement and repositioning, thereby improving the survival rate of seedlings and the accuracy of operations.

[0030] In summary, this invention achieves flexible row spacing adjustment through a translation mechanism, ensures synchronous seedling delivery and transplanting through an intermittent mechanism, and ensures precise duckbill movement through a reversing and opening / closing structure. Overall, it realizes intelligent and fully automatic multi-row transplanting, significantly improving work efficiency, seedling survival rate, and adaptability to different farmland needs, reducing labor costs, and meeting the requirements of modern agricultural production. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is a rear view schematic diagram of the overall structure of the present invention;

[0034] Figure 3 This is a rear view schematic diagram of the translation mechanism of the present invention;

[0035] Figure 4 This is a rear-view exploded view of the translation mechanism of the present invention;

[0036] Figure 5 This is a schematic diagram of the intermittent mechanism of the present invention;

[0037] Figure 6 This is an exploded view of the intermittent mechanism of the present invention;

[0038] Figure 7 This is a schematic diagram of the L-shaped connecting plate and a pair of transplanting duckbill structures of the present invention;

[0039] Figure 8 This is an exploded view of the L-shaped connecting plate and a pair of transplanting duckbill structures of the present invention;

[0040] The following are the serial numbers in the diagram: 100. U-shaped horizontal plate; 101. L-shaped sliding plate; 102. Elliptical through hole; 103. Fixed connecting rod; 104. U-shaped sliding plate; 105. I-shaped slide rail; 106. First electric telescopic cylinder; 107. Hinge long rod; 108. Hinge short rod; 109. Z-shaped load-bearing plate; 110. Electric roller; 111. L-shaped load-bearing plate; 112. Driven roller; 113. Connecting frame; 200. Fixed cylinder; 201. Inclined channel steel; 202. Intermittent shaft; 203. Fixed plate; 204. Transplanting cylinder; 205. Intermittent plate; 206. First arc-shaped notch; 207. U-shaped notch; 208. Fixed plate; 209. Fixed shaft; 210. Limiting plate. ; 211. Second arc-shaped notch; 212. Limiting swing arm; 213. Limiting pin; 214. Servo motor; 215. Drive shaft; 216. First chain belt; 217. Notched bevel gear; 300. L-shaped connecting plate; 301. Flipping shaft; 302. Fixed bevel gear; 303. Second chain belt; 304. Elliptical connecting plate; 305. Driven shaft; 306. L-shaped bracket; 307. Square through hole; 308. Rectangular notch; 309. Receiving funnel; 310. Fixed connecting plate; 311. Second electric telescopic cylinder; 312. Rectangular connecting block; 313. Positioning pin; 314. Extended connecting shaft; 315. Transplanting duckbill; 316. Driven swing arm; 317. Elliptical pin hole. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0042] Example 1: This example provides an intelligent self-propelled fully automatic multi-row seedling transplanter. See [link to example]. Figures 1-8Specifically, it includes a U-shaped horizontal plate 100, which is connected to an L-shaped sliding plate 101 via a translation mechanism to provide basic installation support for the equipment; several L-shaped sliding plates 101 are equidistantly distributed below the U-shaped horizontal plate 100, which support components such as the fixed cylinder 200, and the spacing is adjusted via the translation mechanism; each L-shaped sliding plate 101 has an elliptical through hole 102 at its front end, through which the intermittent shaft 202, fixed shaft 209, etc., pass, providing space for movement; the U-shaped horizontal plate 100 is connected to several L-shaped sliding plates 101 via the translation mechanism;

[0043] A fixed cylinder 200 is fixedly provided at the front end of the top of the L-shaped translation plate 101. The fixed cylinder 200 supports components such as the intermittent shaft 202 and the fixed plate 203. A through-type inclined channel steel 201 is fixedly provided at the front end of the bottom of the fixed cylinder 200. The inclined channel steel 201 guides the seedlings to slide down to the receiving funnel 309. An intermittent shaft 202 is rotatably inserted in the middle of the fixed cylinder 200. The intermittent shaft 202 drives the fixed plate 203 and the transplanting cylinder 204 to rotate intermittently to transport the seedlings. A fixed plate 203 is concentrically fixed at the top end of the intermittent shaft 202. The fixed plate 203 fixes the transplanting cylinder 204 and rotates with the intermittent shaft 202 to transport the seedlings. Several circularly distributed transplanting cylinders 204 are fixed on the outer ring surface of the fixed plate 203. The transplanting cylinders 204 contain seedlings and are ready to be placed when the fixed plate 203 rotates.

[0044] An L-shaped connecting plate 300 is fixedly provided on the bottom back of the inclined channel steel 201. The L-shaped connecting plate 300 connects the inclined channel steel 201 with the flipping shaft 301, etc., and provides support. A fixing plate 208 is fixedly provided on the top back of the L-shaped connecting plate 300. The fixing plate 208 supports the fixing shaft 209, drive shaft 215, etc. The rear end of the fixing plate 208 is rotatably inserted with the through-distributed fixing shaft 209. The fixing shaft 209 drives the intermittent shaft 202 to rotate through the intermittent mechanism to transmit power. The fixing shaft 209 is connected to the intermittent shaft 202 through the intermittent mechanism.

[0045] The bottom end of the L-shaped connecting plate 300 is rotatably inserted with a through-type rotating shaft 301. The rotating shaft 301 drives the elliptical connecting plate 304 to move, thereby realizing the action of the transplanting duckbill 315 entering the soil. The front end of the rotating shaft 301 is fixed with an elliptical connecting plate 304, which connects the rotating shaft 301 to the driven shaft 305 and transmits the rotating motion. The outer end of the elliptical connecting plate 304 is rotatably inserted with a through-type driven shaft 305, which connects the elliptical connecting plate 304 to the L-shaped bracket 306 and maintains its posture. The front end of the driven shaft 305 is fixed with an L-shaped bracket 306, which is used to install and receive the funnel 309 and the transplanting duckbill 315.

[0046] The front end of the L-shaped support 306 has a square through hole 307, which guides the seedlings from the receiving funnel 309 into the transplanting spout 315. The receiving funnel 309 is fixed at the top end of the square through hole 307. The receiving funnel 309 receives the seedlings that slide down the inclined channel steel 201 and guides them into the square through hole 307. The receiving funnel 309 corresponds to the bottom end of the inclined channel steel 201. A pair of symmetrically distributed transplanting spouts 315 are installed at the bottom end of the square through hole 307. The transplanting spouts 315 are inserted into the soil and open and close to complete the transplanting of the seedlings.

[0047] It should be noted that in this embodiment, the translation mechanism includes a hinged short rod 108 and a hinged long rod 107. A pair of parallel I-shaped slide rails 105 are fixedly provided on the back of the U-shaped horizontal plate 100. The I-shaped slide rails 105 provide sliding guidance for the U-shaped slide plate 104. Several pairs of equidistantly distributed U-shaped slide plates 104 are slidably fitted on the pair of I-shaped slide rails 105. The U-shaped slide plates 104 connect the L-shaped translation plate 101 and the I-shaped slide rails 105 to achieve sliding. Each pair of U-shaped slide plates 104 is fixedly connected to the corresponding L-shaped translation plate 101.

[0048] Each of the two L-shaped sliding plates 101 located on the left and right sides has a pair of short hinged rods 108 in a "V" shape at the center of its back side. The short hinged rods 108 and the long hinged rods 107 form a linkage mechanism to adjust the spacing between the L-shaped sliding plates 101 in conjunction with the first electric telescopic cylinder 106. The remaining L-shaped sliding plates 101 also have a pair of long hinged rods 107 in an "X" shape at the center of their back sides. The long hinged rods 107 and the short hinged rods 108 form a linkage mechanism to achieve equidistant translation of the L-shaped sliding plates 101. The two ends of the long hinged rods 107 and the outer ends of the short hinged rods 108 are hinged to each other in pairs.

[0049] A pair of first electric telescopic cylinders 106 with their telescopic ends facing inward are fixedly installed on both sides of the U-shaped horizontal plate 100. The first electric telescopic cylinders 106 drive the L-shaped translation plates 101 on both sides to move, thereby driving the linkage mechanism to adjust the spacing. Each first electric telescopic cylinder 106 has a fixed connecting block fixed at the end of its telescopic rod, and each fixed connecting block is fixedly connected to the L-shaped translation plate 101 on the same side.

[0050] A pair of symmetrically distributed Z-shaped load-bearing plates 109 are fixed to both sides of the U-shaped horizontal plate 100. Each Z-shaped load-bearing plate 109 is equipped with electric rollers 110, etc., to bear the weight of the equipment. Each Z-shaped load-bearing plate 109 has an electric roller 110 rotatably mounted at its bottom end, providing the power for equipment movement. Each Z-shaped load-bearing plate 109 has a forward-extending L-shaped load-bearing plate 111 fixed to its bottom, with driven rollers 112 mounted on the L-shaped load-bearing plate 111 to assist in equipment movement. Each L-shaped load-bearing plate 111 has a driven roller 112 rotatably mounted at its bottom end. The driven roller 112 provides support and guidance as the equipment rolls. Each Z-shaped load-bearing plate 109 has a fixed connecting rod 103 extending backward at its bend. The fixed connecting rod 103 connects the Z-shaped load-bearing plate 109 to the connecting frame 113 to transmit traction force. A connecting frame 113 is fixed between the rear ends of a pair of fixed connecting rods 103. The connecting frame 113 is connected to the tractor to achieve equipment traction.

[0051] The working principle of this embodiment: The connecting frame 113 of the intelligent transplanter is connected to the rear end of the tractor to realize the traction movement of the equipment; when it is necessary to adjust the seedling planting spacing, a pair of first electric telescopic cylinders 106 are activated, and their telescopic rods drive the L-shaped translation plates 101 on the same side to translate through the fixed connecting block. Under the linkage mechanism formed by the hinged long rod 107 with "X" shaped movable hinge and the hinged short rod 108 with "V" shaped movable hinge, several L-shaped translation plates 101 together with several pairs of U-shaped sliding plates 104 fixed to them translate at equal distances along a pair of parallel I-shaped slide rails 105 on the back of the U-shaped horizontal plate 100, so that several L-shaped translation plates 101 complete the distribution adjustment according to the preset seedling planting spacing;

[0052] As the tractor moves backward, the entire intelligent transplanter is moved through the farmland via the connecting frame 113. At this time, a pair of electric rollers 110 and a pair of driven rollers 112 roll steadily backward along the field ridge, providing support and guidance for the movement of the equipment.

[0053] During the transplanting process, seedlings are placed into several fixed cylinders 200 by manual or mechanical means. Driven by the intermittent mechanism, the intermittent shaft 202 drives the fixed plate 203 and several transplanting cylinders 204 to rotate intermittently. When the bottom end of the transplanting cylinder 204 rotates to coincide with the top end of the inclined channel steel 201, the seedlings in the transplanting cylinder 204 slide down along the inclined channel steel 201 and finally fall into the corresponding receiving funnel 309, and enter a pair of transplanting duckbill 315 through the square through hole 307.

[0054] During the interval between two seedling slippages, the flipping shaft 301 rotates rapidly, driving the elliptical connecting plate 304, driven shaft 305, and L-shaped support 306 to move synchronously, enabling a pair of transplanting duckbill 315 to complete the rapid seedling insertion action and realize the seedling transplanting operation; then the flipping shaft 301 rotates in the opposite direction, driving the elliptical connecting plate 304 and a pair of transplanting duckbill 315 to return to their original positions, waiting for the next batch of seedlings to slip from the inclined channel steel 201, and then entering the next transplanting cycle.

[0055] Example 2: Based on Example 1, this example solves the problem of precise drive for the intermittent rotation of the fixed plate 203 and the transplanting cylinder 204 in Example 1 by adding an intermittent mechanism composed of a limiting plate 210 and a limiting pin 213. This achieves periodic synchronous control of seedling placement and transplanting actions, and also includes:

[0056] In the specific implementation process, such as Figure 5 and Figure 6 As shown, the bottom end of the intermittent shaft 202 passes downward through the elliptical through hole 102 and is fitted with a concentrically fixed intermittent disk 205. The intermittent disk 205 is fixed to the intermittent shaft 202 and achieves intermittent rotation through the intermittent mechanism. Several alternating first arc-shaped notches 206 and U-shaped notches 207 are opened on the outer ring surface of the intermittent disk 205. The first arc-shaped notches 206 and U-shaped notches 207 cooperate with the limiting disk 210 and the limiting pin 213 to achieve intermittent rotation of the intermittent disk 205. The top end of the fixed shaft 209 passes upward through the elliptical through hole 102 and is rotatably inserted into the bottom surface of the fixed cylinder 200.

[0057] The intermittent mechanism includes a limiting plate 210 and a limiting pin 213. The limiting plate 210 and the limiting swing arm 212 are fixedly mounted in sequence on the upper middle part of the fixed shaft 209. The limiting plate 210 engages with the first arc-shaped notch 206 to limit the intermittent plate 205. The limiting plate 210 has a second arc-shaped notch 211, which provides movement space for the limiting swing arm 212.

[0058] The limiting arm 212 is perpendicular to the fixed shaft 209 along the second arc-shaped notch 211, and the outer end of the limiting arm 212 is fixed with a limiting pin 213. The limiting arm 212 rotates with the fixed shaft 209, and drives the intermittent disk 205 by moving the U-shaped notch 207 through the limiting pin 213. The outer ring surface of the limiting disk 210 is slidably engaged in the corresponding first arc-shaped notch 206, and the limiting pin 213 is slidably engaged in the corresponding U-shaped notch 207. The limiting pin 213 is engaged in the U-shaped notch 207 to transmit power and drive the intermittent disk 205.

[0059] The front end of the fixed plate 208 is rotatably inserted with a through-drive shaft 215, which provides power to the intermittent mechanism and the reversing transmission mechanism under the drive of the servo motor 214; the front end of the top of the fixed plate 208 is fixedly mounted with a servo motor 214 with its output end facing downward, which drives the drive shaft 215 to rotate and provides power; the end of the motor shaft of the servo motor 214 is fixedly connected to the top end of the drive shaft 215.

[0060] A first sprocket is concentrically fixed to the upper middle part of the drive shaft 215, and a second sprocket is concentrically fixed to the bottom end of the fixed shaft 209. The first sprocket is synchronously meshed with the second sprocket through the first chain belt 216. The first chain belt 216 connects the first and second sprockets to realize synchronous transmission between the drive shaft 215 and the fixed shaft 209.

[0061] The working principle of this embodiment is as follows: Under the drive of the servo motor 214, its output shaft drives the drive shaft 215 and the first sprocket fixed to the upper part of the drive shaft 215 to rotate synchronously. The first sprocket forms a synchronous meshing transmission with the second sprocket at the bottom end of the fixed shaft 209 through the first chain belt 216, thereby driving the fixed shaft 209 to rotate continuously around its axis.

[0062] When the fixed shaft 209 rotates, the limiting disk 210 fixed in its upper part rotates synchronously with the limiting swing arm 212. The limiting pin 213 at the outer end of the limiting swing arm 212 is embedded in the U-shaped notch 207 on the outer ring surface of the intermittent disk 205. As the limiting swing arm 212 moves in a circular motion, the limiting pin 213 moves the U-shaped notch 207, causing the intermittent disk 205 to rotate. At the same time, the outer ring surface of the limiting disk 210 is tightly engaged in the first arc-shaped notch 206 of the intermittent disk 205, forming a rotation limit.

[0063] When the limiting arm 212 rotates to a specific angle, the engagement between the limiting disc 210 and the first arc-shaped notch 206 is released, and the action of the limiting pin 213 on the U-shaped notch 207 causes the intermittent disc 205 to complete one precise rotation; then the limiting disc 210 engages with the next first arc-shaped notch 206 again, locking the position of the intermittent disc 205, until the limiting arm 212 completes the next round of rotation;

[0064] Through the cooperation of the aforementioned limiting and transmission structures, the intermittent disk 205 achieves periodic intermittent rotation with the continuous rotation of the fixed shaft 209, thereby driving the coaxially fixed intermittent shaft 202, fixed disk 203 and transplanting cylinder 204 to rotate intermittently according to a preset rhythm, ensuring that the timing of seedling placement and transplanting duckbill 315 is precisely matched.

[0065] Example 3: Based on Example 2, this example adds a reversing transmission mechanism composed of a notched bevel gear 217 and a fixed bevel gear 302, and a transplanting spout 315 opening and closing structure driven by a second electric telescopic cylinder 311. This solves the problems of controlling the soil penetration depth of the transplanting spout 315 and the synchronization of seedling placement during seedling transplanting, achieving precise coordinated operation of spout penetration, opening for seedling placement, and resetting and closing. It also includes:

[0066] In the specific implementation process, such as Figure 7 and Figure 8 As shown, the rear end of the flip shaft 301 extends backward through the L-shaped connecting plate 300 and is fixedly fitted with a pair of symmetrically distributed fixed bevel gears 302. The bottom end of the drive shaft 215 extends downward and is fitted with a concentrically fixed notched bevel gear 217. The notched bevel gear 217 rotates with the drive shaft 215 and alternately meshes with the fixed bevel gears 302 to drive the flip shaft 301 to rotate back and forth. The notched bevel gear 217 is located between a pair of fixed bevel gears 302, and the notched bevel gear 217 alternately meshes with a pair of fixed bevel gears 302. The fixed bevel gears 302 and the notched bevel gear 217 alternately mesh to transmit power to the flip shaft 301 to achieve reversal.

[0067] A third sprocket is concentrically fixed to the front part of the flip shaft 301. The rear end of the driven shaft 305 extends backward through the elliptical connecting plate 304 and is concentrically fixed to the fourth sprocket. The third sprocket is synchronously meshed with the fourth sprocket through the second chain belt 303. The third sprocket, the second chain belt 303, and the fourth sprocket connect the flip shaft 301 and the driven shaft 305 to ensure the vertical posture of the L-shaped bracket 306.

[0068] The L-shaped bracket 306 has a pair of symmetrically distributed rectangular notches 308, which provide space for the extension shafts 314 to move. Each transplanting beak 315 has an extension shaft 314 fixedly inserted through it at its top. The extension shaft 314 connects the transplanting beak 315 to the driven swing arm 316 to transmit swing and achieve opening and closing. Each extension shaft 314 rotates through the L-shaped bracket 306 and is inserted into the rectangular notch 308 on the corresponding side. The front end of each pair of extension shafts 314 is fixed with a pair of staggered driven swing arms 316. The driven swing arms 316 cooperate with the positioning pin 313 through elliptical pin holes 317 to drive the transplanting beak 315 to open and close. Each driven swing arm 316 has an elliptical pin hole 317 at its outer end. The elliptical pin hole 317 provides sliding space for the positioning pin 313 to convert power.

[0069] A vertically distributed fixed connecting plate 310 is fixedly installed in the center of the front of the receiving funnel 309. A second electric telescopic cylinder 311 with its telescopic end facing downward is fixedly installed at the front end of the fixed connecting plate 310. The second electric telescopic cylinder 311 drives the rectangular connecting block 312 to move and control the opening and closing of the transplanting duckbill 315. A rectangular connecting block 312 is fixedly installed at the end of the telescopic rod of the second electric telescopic cylinder 311. The rectangular connecting block 312 connects the second electric telescopic cylinder 311 and the positioning pin 313 to transmit power. The rectangular connecting block 312 is slidably engaged between a pair of driven swing arms 316. A through-distributed positioning pin 313 is fixedly inserted in the middle of the rectangular connecting block 312. The front and rear ends of the positioning pin 313 are slidably inserted into a pair of elliptical pin holes 317. The positioning pin 313 is inserted into the elliptical pin holes 317 to drive the driven swing arms 316 to swing and realize the opening and closing of the duckbill.

[0070] The working principle of this embodiment is as follows: When the drive shaft 215 rotates continuously under the drive of the servo motor 214, the notched bevel gear 217 at its bottom end rotates synchronously. Due to the special tooth structure of the notched bevel gear 217, it alternately meshes with a pair of fixed bevel gears 302 at the rear end of the flip shaft 301.

[0071] When the notched bevel gear 217 meshes with the fixed bevel gear 302 in front, it drives the flipping shaft 301 to rotate clockwise, causing the elliptical connecting plate 304, driven shaft 305 and L-shaped bracket 306 to flip to the left.

[0072] When the notched bevel gear 217 rotates to the notched position and the meshing state switches to the rear fixed bevel gear 302, the flipping shaft 301 rotates counterclockwise, driving the above-mentioned components to flip to the right, forming a reciprocating left and right flipping motion.

[0073] During the rotation of the flipping shaft 301, the third sprocket at the front part of the shaft engages synchronously with the fourth sprocket at the rear end of the driven shaft 305 through the second chain belt 303, ensuring that the driven shaft 305 and the L-shaped bracket 306 always maintain a vertical posture, so that a pair of transplanting duckbill 315 are vertically inserted into the soil to form a pit of standard depth.

[0074] When the transplanted duckbill 315 is placed in the soil, the second electric telescopic cylinder 311 is activated, and its telescopic rod extends to drive the rectangular connecting block 312 to move downward, and the positioning pin 313 in the middle is inserted into the elliptical pin hole 317 of the driven swing arm 316.

[0075] Due to the limiting effect of the elliptical pin hole 317, the downward movement of the positioning pin shaft 313 forces the driven swing arm 316 to swing outward around the extended connecting shaft 314, which drives the transplanting duckbill 315 to open synchronously, so that the seedlings in the receiving funnel 309 fall into the pit through the square through hole 307.

[0076] After the seedlings are transplanted, the telescopic rod of the second electric telescopic cylinder 311 is shortened, which pulls the rectangular connecting block 312 upward. The positioning pin 313 is disengaged from the extreme position of the elliptical pin hole 317, and the transplanting duckbill 315 closes towards the center under the reset rotation of the flipping shaft 301.

[0077] At this time, the meshing state of the notched bevel gear 217 and the fixed bevel gear 302 is switched, driving the transplanting spout 315 to exit from the soil and reset, waiting to receive the next batch of seedlings that have slipped off the transplanting cylinder 204, and enter the next round of transplanting cycle. This ensures the precise timing of the transplanting spout 315 in each stage of entering the soil, opening, dropping seedlings and resetting, which significantly improves the efficiency and survival rate of seedling transplanting.

[0078] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent self-propelled fully automatic multi-row seedling transplanter, comprising a U-shaped horizontal plate, characterized in that: Below the U-shaped horizontal plate are several L-shaped sliding plates that are evenly distributed. Each L-shaped sliding plate has an elliptical through hole at its front end. The U-shaped horizontal plate is connected to several L-shaped sliding plates through a sliding mechanism. A fixing cylinder is fixed at the front end of the top of the L-shaped sliding plate. A through-type inclined channel steel is fixed at the front end of the bottom of the fixing cylinder. An intermittent shaft is rotatably inserted in the middle of the fixing cylinder. A fixed plate is concentrically fixed at the top end of the intermittent shaft. Several transplanting cylinders are fixed on the outer ring surface of the fixed plate. An L-shaped connecting plate is fixed to the bottom back of the inclined channel steel, and a fixing plate is fixed to the top back of the L-shaped connecting plate. A through-type fixing shaft is rotatably inserted into the rear end of the fixing plate, and the fixing shaft is connected to the intermittent shaft through an intermittent mechanism. A through-type flipping shaft is rotatably inserted into the bottom end of the L-shaped connecting plate, and an elliptical connecting plate is fixed to the front end of the flipping shaft. A through-type driven shaft is rotatably inserted into the outer end of the elliptical connecting plate, and an L-shaped bracket is fixed to the front end of the driven shaft. A square through hole is opened at the front end of the L-shaped bracket, and a receiving funnel is fixed to the top end of the square through hole. The receiving funnel corresponds to the bottom end of the inclined channel steel, and a pair of symmetrically distributed transplanting duckbill are installed at the bottom end of the square through hole. The front end of the fixed plate is rotatably inserted with a through-distributed drive shaft. The front end of the top of the fixed plate is fixedly mounted with a servo motor with the output end facing downward. The end of the motor shaft of the servo motor is fixedly connected to the top end of the drive shaft. The upper middle part of the drive shaft is fitted with a first sprocket that is concentrically fixed. The bottom end of the fixed shaft is fitted with a second sprocket that is concentrically fixed. The first sprocket is synchronously meshed with the second sprocket through a first chain belt. The rear end of the flip shaft extends backward through an L-shaped connecting plate and is fitted with a pair of symmetrically distributed fixed bevel gears. The bottom end of the drive shaft extends downward and is fitted with a concentrically fixed notched bevel gear. The notched bevel gear is located between a pair of fixed bevel gears, and the notched bevel gear alternately meshes with a pair of fixed bevel gears. The front middle part of the flip shaft is fitted with a concentrically fixed third sprocket. The rear end of the driven shaft extends backward through an elliptical connecting plate and is fitted with a concentrically fixed fourth sprocket. The third sprocket is synchronously meshed with the fourth sprocket through a second chain belt.

2. The intelligent self-propelled fully automatic multi-row seedling transplanter according to claim 1, characterized in that: The translation mechanism includes a hinged short rod and a hinged long rod. A pair of parallel I-shaped slide rails are fixed on the back of the U-shaped horizontal plate. Several pairs of equidistant U-shaped slide plates are slidably fitted on the pair of I-shaped slide rails. Each pair of U-shaped slide plates is fixedly connected to the corresponding L-shaped translation plate. On the back center of the pair of L-shaped sliding plates on the left and right sides, there is a pair of short hinged rods in a "V" shape. On the back center of the remaining L-shaped sliding plates, there is a pair of long hinged rods in an "X" shape. The two ends of the long hinged rods and the outer ends of the short hinged rods are hinged to each other.

3. The intelligent self-propelled fully automatic multi-row seedling transplanter according to claim 2, characterized in that: A pair of first electric telescopic cylinders with their telescopic ends facing inward are fixedly installed on both sides of the U-shaped horizontal plate. Each first electric telescopic cylinder has a fixed connecting block at the end of its telescopic rod. Each fixed connecting block is fixedly connected to the L-shaped sliding plate on the same side. The two sides of the U-shaped horizontal plate are fixed with a pair of symmetrically distributed Z-shaped load-bearing plates. Each Z-shaped load-bearing plate has an electric roller rotatably installed at its bottom end. Each Z-shaped load-bearing plate has an L-shaped load-bearing plate extending forward fixed at its bottom end. Each L-shaped load-bearing plate has a driven roller rotatably installed at its bottom end. Each Z-shaped load-bearing plate has a fixed connecting rod extending backward fixed at its bend. A connecting frame is fixed between the rear ends of a pair of fixed connecting rods.

4. The intelligent self-propelled fully automatic multi-row seedling transplanter according to claim 3, characterized in that: The bottom end of the intermittent shaft passes downward through the elliptical through hole and is fitted with a concentrically fixed intermittent disc. Several alternating first arc-shaped notches and U-shaped notches are opened on the outer ring surface of the intermittent disc. The top end of the fixed shaft passes upward through the elliptical through hole and is rotatably inserted into the bottom surface of the fixed cylinder.

5. The intelligent self-propelled fully automatic multi-row seedling transplanter according to claim 4, characterized in that: The intermittent mechanism includes a limiting plate and a limiting pin. The limiting plate and the limiting swing arm are fixed in sequence on the upper middle part of the fixed shaft. A second arc-shaped notch is opened on the limiting plate. The limiting arm is perpendicular to the fixed axis along the second arc-shaped notch, and the outer end of the limiting arm is fixed with a limiting pin. The outer ring surface of the limiting plate is slidably engaged in the corresponding first arc-shaped notch, and the limiting pin is slidably engaged in the corresponding U-shaped notch.

6. The intelligent self-propelled fully automatic multi-row seedling transplanter according to claim 5, characterized in that: The L-shaped bracket has a pair of symmetrically distributed rectangular notches. Each transplanted duckbill has a through-type extended shaft fixedly inserted at the top. Each extended shaft rotates through the L-shaped bracket and is inserted into the rectangular notch on the corresponding side. The front end of the pair of extended shafts is fixed with a pair of staggered driven swing arms. Each driven swing arm has an elliptical pin hole at its outer end.

7. The intelligent self-propelled fully automatic multi-row seedling transplanter according to claim 6, characterized in that: A vertically distributed fixed connecting plate is fixedly installed in the center of the front of the receiving funnel. A second electric telescopic cylinder with its telescopic end facing downward is fixedly installed at the front end of the fixed connecting plate. A rectangular connecting block is fixedly installed at the end of the telescopic rod of the second electric telescopic cylinder. The rectangular connecting block is slidably engaged between a pair of driven swing arms. A through-type positioning pin is fixedly inserted in the center of the rectangular connecting block. The front and rear ends of the positioning pin are slidably inserted into a pair of elliptical pin holes.

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