An automatic seedling transplanting vehicle with adjustable transplanting distance

Abstract

The present application relates to the technical field of transplanting device, and discloses an automatic seedling transplanting vehicle with adjustable transplanting distance, which comprises a vehicle body frame, lifting guide rail assemblies are arranged on the two sides of the vehicle body frame, and a lifting adjustable platform is arranged between the guide rails; a transplanting assembly is installed at the bottom of the platform, the core of the transplanting assembly is a vertical pipe, a movable claw that can be opened and closed is hinged to the bottom end of the vertical pipe, a transmission arm is connected to an adjusting ring movably arranged on the vertical pipe above the movable claw; the adjusting ring is connected to the transmission arm in a linkage mode to control the opening and closing of the movable claw, so that the movable claw can be vertically inserted into the ground; a pressure regulator is arranged in the top of the vertical pipe, an L-shaped progressive rack of the pressure regulator is rigidly connected to the adjusting ring, and a movable fluid distribution pressure ring is connected below the pressure regulator; when the adjusting ring drives the movable claw to move, the pressure regulator is synchronously linked to make the taper head of the fluid distribution pressure ring embedded in a specific groove to form waterway communication; water in the water supply hose flows into the inner wall of the vertical pipe through the flow guide cavity and the anti-blocking flow guide ring, and finally drops to the target soil to realize automatic wetting before seedling picking.

Description

Technical Field

[0001] This invention relates to the field of transplanting device technology, and more specifically to an automated transplanting vehicle with adjustable transplanting spacing. Background Technology

[0002] In the field of agricultural planting, seedling transplanting devices are key equipment for improving seedling transplanting efficiency, reducing manual labor intensity, and ensuring survival rate. Among existing technologies, patent CN119384935B discloses a seedling transplanting device for planting Chinese medicinal herbs. This device includes a mobile vehicle, a lifting unit, a lifting plate with perforations, a seedling-feeding cylinder fixed within the perforations, and a floating plate fitted onto the seedling-feeding cylinder. Its working process is as follows: the lifting unit drives the lifting plate downwards, the seedling-feeding cylinder inserts into the ground to form a planting pit, the seedling falls into the pit through the seedling-feeding unit, and then the backfilling unit on the floating plate pushes the surrounding soil into the pit to complete the covering. This design automates transplanting and backfilling, effectively reducing manual backfilling and improving operational efficiency.

[0003] However, the device still has the following technical shortcomings:

[0004] Insufficient soil pretreatment: Before the seedlings are dug up by the seedling collection mechanism (such as the digger), there is a lack of automatic wetting function for the target soil. If the soil moisture is too low, the digging resistance will increase and the seedling roots will be easily damaged. At the same time, dry soil clods are easy to scatter during transportation, which reduces the survival rate of transplanting with soil.

[0005] Seedling descent obstruction: When seedlings carrying soil clods are transferred to the planting pit through the seedling tube, the parallel tube walls are prone to sticking to the damp soil clods, causing the seedlings to get stuck and unable to fall into the pit smoothly. Manual intervention is required to clear the obstruction, which seriously restricts the efficiency of continuous operation. Summary of the Invention

[0006] Based on the deficiencies in the background technology, the technical problem that this invention actually aims to solve is: how to simultaneously achieve automatic soil wetting before seedling removal to ensure the integrity of seedling removal, and how to prevent soil clods from adhering to the inner wall of the transplanting mechanism during the transplanting process, thereby hindering the falling of seedlings and ensuring transplanting efficiency and reliability.

[0007] This invention provides the following technical solution: an automated transplanting cart with adjustable transplanting spacing, comprising a vehicle frame fixedly mounted on the transplanting cart, lifting guide rail assemblies mounted on the left and right inner sides of the vehicle frame, an adjustable platform between the lifting guide rail assemblies, and a transplanting assembly mounted at the bottom of the platform. The transplanting assembly includes a riser, with an openable and closable pawl hinged to the bottom end of the riser. Above the pawl is a transmission arm located beside the riser, one end of which is hinged to the pawl, and the other end is hinged to an adjusting ring movably sleeved around the periphery of the riser. A pressure regulator is mounted at the top of the inner cavity of the riser, and the adjusting ring is rigidly connected to an L-shaped progressive rack in the pressure regulator. Below the pressure regulator is a fluid distribution pressure ring movable within the inner cavity of the riser. By adjusting the lifting and lowering movement of the adjusting ring, the pushing and pulling position of the transmission arm and the axial pressure depth change of the pressure regulator are linked, thereby controlling the opening and closing action of the pawl and adjusting the fluid flow and layering shape of the fluid distribution pressure ring.

[0008] The fluid distribution pressure ring includes an upper ring frame, which is detachably snapped to the bottom end of a U-shaped connecting rod in the pressure regulator. An anti-clogging guide ring is provided below the upper ring frame. The upper ring frame and the anti-clogging guide ring are connected by a telescopic connecting rod. An annular guide cavity is provided in the lower layer of the upper ring frame. A drain hole is provided in the bottom wall of the guide cavity. A receiving groove is provided in the upper ring of the upper ring frame. An ejector-type unblocking unit is installed in the receiving groove. A water supply hose is provided above the receiving groove, penetrating the top wall of the upper ring frame and connected to the water tank.

[0009] Furthermore, the pressure regulator includes an L-shaped progressive rack, which extends longitudinally and has its two sides slidingly engaged with the inner wall of the riser. The bottom end of the L-shaped progressive rack extends horizontally outward and passes through a slot in the side wall of the riser before being rigidly connected to an adjusting ring. Symmetrical gears are provided between the L-shaped progressive racks near the top of the riser, and the gears mesh with a double-sided guide rack. The bottom end of the double-sided guide rack is rigidly connected to a U-shaped connecting rod parallel to the L-shaped progressive rack, and a fluid distribution pressure ring can be detachably installed at the bottom end of the U-shaped connecting rod. In addition, a limiting seat for limiting the gears and the double-sided guide rack is fixedly installed at the top of the inner cavity of the riser. The gears are rotatably installed in the limiting seat, and the double-sided guide rack slides longitudinally with the limiting seat.

[0010] Furthermore, the ejector-type unblocking unit includes a cone body, which is integrally formed from an arc-shaped cone and a T-shaped frame. The surface of the T-shaped frame has holes that are adapted to the port of the water supply hose. The T-shaped frame is elastically connected to the inner wall of the receiving groove near the arc-shaped cone by a spring. The outer wall of the receiving groove has an opening that allows the arc-shaped cone to protrude, and the inner wall of the riser has an arc-shaped groove that is adapted to the cone body. When the upper ring frame descends to the point where the cone body aligns with the arc-shaped groove, under the elastic force of the spring, the arc-shaped cone of the cone body can be embedded in the arc-shaped groove, causing the hole on the T-shaped frame of the cone body to connect to the water supply hose connected above the upper ring frame.

[0011] Furthermore, the upper surface of the anti-blocking guide ring is fixedly connected with protruding columns that correspond to the drainage holes on the bottom wall of the guide cavity; the outer periphery of the top wall of the anti-blocking guide ring near the riser is set as a downward sloping surface so that the water flow can pass through the guide cavity and then flow out through the drainage holes on its bottom wall, and then be guided to the inner wall of the riser through the anti-blocking guide ring, and finally drip onto the soil near the place to be inserted.

[0012] Furthermore, the pawl includes a pawl base plate, a lower hinge seat, and an upper hinge seat. The lower hinge seat and the upper hinge seat are welded to the upper side wall of the pawl base plate, respectively. The lower hinge seat is hinged to the hinge joint at the bottom end of the transmission arm, and the upper hinge seat is hinged to the fin on the periphery of the bottom end of the riser.

[0013] Furthermore, the adjustment platform is also equipped with an opening and closing drive group for simultaneously driving multiple adjustment rings to achieve up and down sliding.

[0014] Furthermore, the adjustment platform is equipped with an adjustment drive group, which consists of a sliding crossbeam, a third cylinder, and a telescopic rod; wherein the third cylinder is fixedly installed above the vehicle frame, and its telescopic shaft is rigidly connected to the sliding crossbeam, allowing the sliding crossbeam to press against the upper surface of the adjustment platform; the inner cavity of the sliding crossbeam is equipped with multiple sets of sliding telescopic rods; the telescopic shaft of the telescopic rod passes through the adjustment guide groove opened on the surface of the adjustment platform and is connected to the transplanting assembly.

[0015] Furthermore, the pitch guide grooves are symmetrically distributed, with the pitch guide groove at the axial position extending horizontally, while the pitch guide grooves symmetrically distributed on both sides are arranged radially outward at an asymptotic angle of 45°.

[0016] Furthermore, the opening and closing drive assembly includes a support frame, a second cylinder, and a slide block. The support frame has a channel in the middle for supplying movement of the transplanting assembly. The upper end of the support frame is rigidly connected to the telescopic shaft of the second cylinder. The second cylinder is fixedly installed in the slide block, and the slide block is slidably engaged in a relief groove opened on the side of the adjustment platform.

[0017] Furthermore, the adjusting ring includes a base ring, the side wall of which is welded with a hinged ear plate, the hinged ear plate being hinged to the hinge joint at the top of the transmission arm, and the side wall of the base ring is also rigidly connected to a slider located above the hinged ear plate, which is slidably engaged in the track of the support frame.

[0018] The technical effects and advantages of this invention are as follows:

[0019] This invention controls the opening and closing of the claw by adjusting the lifting and lowering of the ring to link the transmission arm, thereby adjusting the claw base plate to a vertical insertion state. The synchronous transmission pressure regulator allows the cone body to be embedded in the arc-shaped groove to form a water channel connection. The water delivery hose guides the seedling moistening water through the guide cavity of the upper ring frame and the anti-blocking guide ring to the inner wall of the riser, and finally drips onto the target soil, realizing automatic soil moistening before seedling removal. This design can effectively reduce digging resistance, protect the integrity of the seedling root structure, ensure that the soil clods do not break apart during transplanting with soil, and significantly improve the transplant survival rate.

[0020] This invention utilizes a secondary lifting mechanism driven by a support frame to further extend the claws to their maximum unfolding angle, reducing the attachment surface of the seedlings with soil attached. Simultaneously, a pressure regulator, linked to a fluid distribution ring, causes the cone-shaped body to automatically cut off the water supply hose and seal the port after disengaging from the arc-shaped groove. At the same time, an anti-blocking guide ring, upon contacting the ground surface, reverses and seals the drainage holes of the upper ring frame, forming a dual anti-blocking protection mechanism. Finally, when the upper ring frame is pressed down, it generates a directional thrust on the soil inside the riser, enabling the seedlings with soil attached to quickly fall into the pit. This design seamlessly connects the soil preparation and seedling placement processes, ensuring the automatic opening and closing of the water supply system while preventing channel blockage through mechanical protection, significantly improving the continuity and reliability of transplanting operations. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall structure of the present invention in its initial state.

[0023] Figure 3 For the present invention Figure 2 A schematic diagram of the bottom view of the middle structure.

[0024] Figure 4 For the present invention Figure 2 Schematic diagram of the structure at point A in the middle.

[0025] Figure 5 For the present invention Figure 2 A schematic diagram showing the adjustment of transplanting spacing in the middle structure.

[0026] Figure 6 For the present invention Figure 5 A schematic diagram of the middle structure adjusting its descent height.

[0027] Figure 7 For the present invention Figure 2 Schematic diagram of the connection structure between the transplanting assembly and the support frame.

[0028] Figure 8 For the present invention Figure 7 Schematic diagram of the structure at point B.

[0029] Figure 9This is a schematic diagram of the transplanting assembly of the present invention in its initial stage.

[0030] Figure 10 For the present invention Figure 9 Schematic diagram of the structure at point C.

[0031] Figure 11 This is a schematic diagram of the soil-moistening and seedling-taking stage of the transplanting assembly of the present invention.

[0032] Figure 12 For the present invention Figure 11 Schematic diagram of the structure at point D.

[0033] Figure 13 This is a schematic diagram of the seedling pushing and releasing stage of the transplanting assembly of the present invention.

[0034] Figure 14 For the present invention Figure 13 Schematic diagram of the structure at point E in the middle.

[0035] Figure 15 This is a schematic diagram of the local connection structure of the upper ring frame, anti-clogging guide ring, water delivery hose and ejector-type unblocking unit of the present invention.

[0036] Figure 16 For the present invention Figure 15 A schematic diagram of the remaining structure after removing the ejector-type dredging unit.

[0037] The attached figures are labeled as follows: 1. Vehicle frame; 2. Lifting guide rail assembly; 21. Frame mounting base; 22. Side plate; 23. First cylinder; 3. Adjustment platform; 31. Adjustment guide groove; 32. Retreat groove; 4. Transplanting assembly; 41. Riser; 411. Through groove; 412. Arc-shaped groove; 42. Paw; 421. Gripper base plate; 422. Lower hinge seat; 423. Upper hinge seat; 43. Transmission arm; 44. Adjusting ring; 441. Base ring; 442. Hinge ear plate; 443. Slider; 45. Pressure regulator; 451. L-shaped conveyor. 452. Gear; 453. Double-sided guide rack; 454. Limit seat; 455. U-shaped connecting rod; 46. Fluid distribution pressure ring; 461. Upper ring frame; 462. Anti-clogging guide ring; 463. Water supply hose; 464. Telescopic connecting rod; 465. Ejector-type unblocking unit; 4651. Conical head; 4652. Spring; 47. Connecting seat; 5. Opening and closing drive assembly; 51. Bearing frame; 52. Second cylinder; 53. Slide seat; 6. Adjustable distance drive assembly; 61. Sliding crossbeam; 62. Third cylinder; 63. Telescopic boom. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The automated seedling transplanter with adjustable transplanting spacing involved in the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Reference Figure 1 - Figure 3 and Figure 7 - Figure 16 The present invention provides an automated transplanting vehicle with adjustable transplanting spacing, including a vehicle frame 1 fixedly installed on the transplanting vehicle, a lifting guide rail assembly 2 on both the left and right inner sides of the vehicle frame 1, an adjustable platform 3 between the lifting guide rail assemblies 2, and a transplanting assembly 4 at the bottom of the adjustable platform 3.

[0040] The transplanting assembly 4 includes a riser 41, a claw 42, a transmission arm 43, an adjusting ring 44, a pressure regulator 45, and a fluid distribution pressure ring 46. The bottom end of the riser 41 is hinged to a claw 42 that can be opened and closed. Above the claw 42, a transmission arm 43 located beside the riser 41 is provided. One end of the transmission arm 43 is hinged to the claw 42, and the other end is hinged to the adjusting ring 44 that is movably sleeved around the periphery of the riser 41. The pressure regulator 45 is installed at the top of the inner cavity of the riser 41. The adjusting ring 44 is rigidly connected to the L-shaped progressive rack 451 in the pressure regulator 45. Below the pressure regulator 45, a fluid distribution pressure ring 46 that can move within the inner cavity of the riser 41 is connected. By the lifting and lowering movement of the adjusting ring 44, the pushing and pulling position of the transmission arm 43 and the axial pressure depth change of the pressure regulator 45 are linked. On the one hand, the opening and closing action of the claw 42 is controlled, and on the other hand, the fluid flow and stacking shape of the fluid distribution pressure ring 46 are adjusted.

[0041] The pressure regulator 45 includes an L-shaped progressive rack 451, gears 452, a double-sided guide rack 453, a limiting seat 454, and a U-shaped connecting rod 455. The L-shaped progressive rack 451 extends longitudinally, with its two side edges forming a sliding fit with the inner wall of the riser 41. The bottom end of the L-shaped progressive rack 451 extends horizontally outward and passes through a through groove 411 opened in the side wall of the riser 41 before being rigidly connected to the adjusting ring 44. Symmetrical gears 452 are provided between the L-shaped progressive racks 451 near the top of the riser 41. The transmission meshes between the wheels 452 with a double-sided guide rack 453. The bottom end of the double-sided guide rack 453 is rigidly connected to a U-shaped connecting rod 455 that runs parallel to the L-shaped progressive rack 451. The bottom end of the U-shaped connecting rod 455 is detachably fitted with a fluid distribution pressure ring 46. In addition, a limiting seat 454 for limiting the gear 452 and the double-sided guide rack 453 is fixedly installed at the top of the inner cavity of the riser 41. The gear 452 is rotatably installed in the limiting seat 454, and the double-sided guide rack 453 slides longitudinally with the limiting seat 454.

[0042] The fluid distribution pressure ring 46 includes an upper ring frame 461, an anti-clogging guide ring 462, a water supply hose 463, a telescopic connecting rod 464, and an ejector-type unblocking unit 465. The upper ring frame 461 is detachably snapped and fixed to the bottom end of the U-shaped connecting rod 455 in the pressure regulator 45. The anti-clogging guide ring 462 is provided below the upper ring frame 461. The upper ring frame 461 and the anti-clogging guide ring 462 are connected by the telescopic connecting rod 464. The lower layer of the upper ring frame 461 is provided with an annular guide cavity. The bottom wall of the guide cavity is provided with a drain hole. The upper ring of the upper ring frame 461 is provided with a receiving groove. The ejector-type unblocking unit 465 is installed in the receiving groove. The water supply hose 463 is provided above the receiving groove, penetrating the top wall of the upper ring frame 461 and connected to the water tank.

[0043] The ejector-type unblocking unit 465 includes a cone body 4651 and a spring 4652. The cone body 4651 is integrally formed from an arc-shaped cone and a T-shaped frame. The surface of the T-shaped frame has holes that are adapted to the port of the water supply hose 463. The T-shaped frame is elastically connected to the inner wall of the receiving groove near the arc-shaped cone by the spring 4652. The outer wall of the receiving groove has an opening for the arc-shaped cone to protrude. The inner wall of the riser 41 has an arc-shaped groove 412 that is adapted to the cone body 4651. When the upper ring frame 461 descends to the point where the cone body 4651 aligns with the arc-shaped groove 412, under the elastic force of the spring 4652, the arc-shaped cone of the cone body 4651 can be embedded in the arc-shaped groove 412, so that the hole on the T-shaped frame of the cone body 4651 is connected to the water supply hose 463 connected above the upper ring frame 461.

[0044] The upper surface of the anti-blocking guide ring 462 is fixedly connected with a protruding post corresponding to the drainage hole on the bottom wall of the guide cavity. When the anti-blocking guide ring 462 contacts the ground surface, it will move in the opposite direction to the bottom wall of the upper ring frame 461. With the retraction of the telescopic connecting rod 464, the protruding post on the top wall of the anti-blocking guide ring 462 will be inserted into the drainage hole of the upper ring frame 461 to protect the drainage hole from being blocked by the soil during the pressing process. The outer periphery of the top wall of the anti-blocking guide ring 462 near the riser 41 is set as a downward sloping surface so that the water flow can pass through the guide cavity and then flow out through the drainage hole on its bottom wall, and then be guided to the inner wall of the riser 41 through the anti-blocking guide ring 462, and finally drip onto the soil near the insertion point.

[0045] In this embodiment, it should be noted that the pawl 42 includes a gripper base plate 421, a lower hinge seat 422, and an upper hinge seat 423. The lower hinge seat 422 and the upper hinge seat 423 are welded to the upper side wall of the gripper base plate 421, respectively. The lower hinge seat 422 is hinged to the hinge joint at the bottom end of the transmission arm 43, and the upper hinge seat 423 is hinged to the fin on the periphery of the bottom end of the riser 41. When the adjusting ring 44 slides upward along the outer surface of the periphery of the riser 41 and pulls the hinge joint at the top end of the transmission arm 43, the hinge joint at the bottom end of the transmission arm 43 pulls the outer end of the lower hinge seat 422 upward, causing the pawl 42 to rotate outward with the hinge axis between the upper hinge seat 423 and the fin on the periphery of the bottom end of the riser 41 as the center, so that the two closed pawls 42 gradually open outward.

[0046] The adjustment platform 3 is also equipped with an opening and closing drive group 5 for simultaneously driving multiple adjustment rings 44 to achieve up and down sliding.

[0047] Reference Figure 1 - Figure 8 To achieve efficient adjustment of the transplanting spacing between the four transplanting assemblies, the transplanting vehicle structure needs to be optimized as follows: An adjustment drive group 6 is added to the adjustment platform 3. The adjustment drive group 6 consists of a sliding crossbeam 61, a third cylinder 62, and a telescopic rod 63. The third cylinder 62 is fixedly installed above the vehicle frame 1, and its telescopic shaft is rigidly connected to the sliding crossbeam 61, allowing the sliding crossbeam 61 to press against the upper surface of the adjustment platform 3. Multiple sets of sliding telescopic rods 63 are provided inside the sliding crossbeam 61. The telescopic shaft of the telescopic rod 63 passes through the adjustment guide groove 31 opened on the surface of the adjustment platform 3 and connects to the transplanting assembly 4.

[0048] In this embodiment, it should be noted that the adjustment guide grooves 31 are symmetrically distributed. The adjustment guide grooves 31 at the axial position are horizontally extended, while the adjustment guide grooves 31 symmetrically distributed on both sides are arranged radially outward at a 45° asymptotic angle. When it is necessary to expand the transplanting spacing, the telescopic shaft of the third cylinder 62 drives the sliding crossbeam 61 and the telescopic rod 63 to move along the upper surface of the adjustment platform 3. The telescopic rod 63 can slide outward along the sliding crossbeam 61 under the guidance of the outwardly inclined adjustment guide grooves 31, so that the corresponding transplanting assemblies 4 can move outward along the support frame 51 in sync, thereby adjusting the transplanting spacing between the transplanting assemblies 4.

[0049] In order to enable multiple adjusting rings 44 to move up and down simultaneously without affecting the adjustment of the transplanting spacing of the transplanting assembly 4, the structure of the opening and closing drive group 5 and the adjusting rings 44 is further optimized: the opening and closing drive group 5 includes a support frame 51, a second cylinder 52 and a slide 53. The middle part of the support frame 51 is provided with a channel for the transplanting assembly 4 to move. The upper end of the support frame 51 is rigidly connected to the telescopic shaft of the second cylinder 52. The second cylinder 52 is fixedly installed in the slide 53. The slide 53 is slidably engaged in the relief groove 32 opened on the side of the adjustment platform 3.

[0050] The adjusting ring 44 includes a base ring 441, and a hinge ear plate 442 is welded to the side wall of the base ring 441. The hinge ear plate 442 is hinged to the hinge joint at the top of the transmission arm 43. The side wall of the base ring 441 is also rigidly connected to a slider 443 located above the hinge ear plate 442, which is slidably engaged in the track of the support frame 51.

[0051] Furthermore, in order to achieve coordinated lifting and lowering adjustment of the adjustment platform 3, transplanting assembly 4, and opening and closing drive group 5, and to make the transplanting assembly 4 detachable and replaceable: the further lifting guide rail assembly 2 includes a frame mounting seat 21, which is fixedly installed on the inner side of the vehicle frame 1. A side plate 22 is fixedly installed on the upper surface of the frame mounting seat 21, and a first cylinder 23 is fixedly installed between the side plates 22. The telescopic shaft of the first cylinder 23 is rigidly connected to the adjustment platform 3. A transverse rail is installed at the upper end of the sliding groove on the inner wall of the side plate 22. The transverse rail extends across the first cylinder 23 and forms a sliding engagement with the side block at the end of the sliding crossbeam 61. This structure is prior art and will not be described in detail here.

[0052] The transplanting assembly 4 also includes a connecting seat 47. The bottom and top of the connecting seat 47 are detachably installed on the top of the riser 41 and the bottom of the telescopic shaft of the telescopic rod 63 by bolts, respectively. The connecting seat 47 is slidably engaged with the bottom side of the adjusting guide groove 31 in the extension direction. This structure can constrain and guide the movement of the connecting seat 47 in the horizontal direction, and at the same time provide reliable connection support in the vertical direction, thereby ensuring that when the adjusting platform 3 is raised and lowered, it can drive all the connecting seats 47 and the transplanting assembly 4 connected to them to move synchronously through the adjusting guide groove 31.

[0053] The telescopic design of the telescopic boom 63 allows it to adapt to the stroke changes when the first cylinder 23 drives the adjustment platform 3 and the transplanting assembly 4 to move downward, ensuring dynamic coordination of the motion parameters in the two dimensions of transplanting spacing adjustment and working height adjustment.

[0054] Working principle of this invention:

[0055] The transplanting vehicle is driven to the location of the seedlings to be removed, so that the transplanting assembly 4 is placed directly above the seedlings. When removing the seedlings, the soil needs to be pre-treated first, so that the transplanting assembly 4 is switched from the initial state to the soil-moistening seedling removal mode, so as to achieve automatic soil moistening before removal to ensure the integrity of the seedlings. The specific operation process of the mode switching is as follows: First, the second cylinder 52 is started, and the telescopic shaft of the second cylinder 52 drives the support frame 51 to move up and down to adjust the push and pull position of the transmission arm 43, thereby controlling the opening and closing action of the pawl 42; for example, when the telescopic shaft of the second cylinder 52 carries the support frame 51 from its position to its position, the pawl 42 moves up and down. When the movable lowest point is raised, the support frame 51 can carry the adjusting ring 44 to move synchronously, causing the adjusting ring 44 to slide upward along the outer surface of the riser 41 and pull the hinge joint at the top of the transmission arm 43 and the L-shaped progressive rack 451 to move upward together. This causes the hinge joint at the bottom of the transmission arm 43 to pull up the outer end of the lower hinge seat 422, causing the hinge seat 423 above the pawl 42 and the hinge axis of the fin at the bottom of the riser 41 to rotate outward with the hinge axis as the center. This causes the two closed pawls 42 to gradually open outward until the pawl base plate 421 points to the vertical direction, at which point the second pawl is paused. The cylinder 52 is driven to adjust the gripper base plate 421 to a vertical insertion position; simultaneously, as the L-shaped progressive rack 451 moves with the adjusting ring 44, the L-shaped progressive rack 451 will drive the double-sided guide rack 453 to move in the opposite direction through the gear 452 meshing with it, causing the double-sided guide rack 453, U-shaped connecting rod 455 and the connected fluid distribution pressure ring 46 to move downward together until the cone body 4651 aligns with the arc-shaped groove 412. Under the elastic force of the spring 4652, the arc-shaped cone of the cone body 4651 can be embedded in the arc-shaped groove 412, causing the cone to... The holes in the T-shaped frame of body 4651 are connected to the water supply hose 463 connected above the upper ring frame 461. The water supply hose 463 can transport water to the guide cavity in the lower layer of the upper ring frame 461 and flow out through the drainage hole on its bottom wall. Then, it is guided to the inner wall of the riser 41 through the anti-blocking guide ring 462 and finally drips near the soil to be inserted. This achieves automatic wetting of the target soil before excavation to maintain appropriate soil moisture, thereby reducing excavation resistance, protecting the integrity of the seedling root system, and ensuring that the soil clods remain compacted and do not fall apart during transportation, ultimately improving the survival rate of transplanting with soil.

[0056] Furthermore, by controlling the adjustment platform 3 and the transplanting assembly 4 at its bottom through the first cylinder 23, coordinated lowering and lifting actions are achieved, so that the open claw 42 and the riser 41 can penetrate vertically into the soil layer, completely excavating the seedling along with the surrounding soil ball. Then the transplanting vehicle is positioned at the location of the transplanting pit, making full preparations for the transplanting operation of the seedling with soil.

[0057] When transplanting seedlings with soil to the pit, the height of the adjustment platform 3 and the transplanting assembly 4 at its bottom are first adjusted by the first cylinder 23 to deliver the pawl 42 to the pit opening. Then, the seedlings with soil transferred from the transplanting assembly 4 need to be discharged. To expedite the seedlings' smooth descent into the pit and avoid obstruction, the transplanting assembly 4 is switched from the soil-moistening seedling-retrieving mode to the pushing seedling-releasing mode to facilitate rapid seedling detachment. The specific operation process for this mode switch is as follows: The second cylinder 52 is activated again to continue lifting the support frame 51 upwards, increasing the outward rotation angle of the pawl 42, causing the two pawls 42 to extend further outwards from the vertical ground, thus removing the soil support within the pawls 42. Simultaneously, the L-shaped progressive rack 451 continues to move upwards with the adjusting ring 44, causing the double-sided guide rack 453... The U-shaped connecting rod 455 and the connected fluid distribution pressure ring 46 move further down, and the cone head 4651 slides out from the arc-shaped groove 412 and compresses the spring 4652 inward, causing the cone head 4651 to retract back into the receiving groove of the upper ring frame 461 to automatically block and seal the port of the water supply hose 463 and stop the water supply. When the anti-blocking guide ring 462 contacts the ground surface, it will adhere to the bottom wall of the upper ring frame 461 in the opposite direction. With the retraction of the telescopic connecting rod 464, the protrusion on the top wall of the anti-blocking guide ring 462 will insert into the drainage hole of the upper ring frame 461 to protect the drainage hole from being blocked by the soil during the downward pressure. Then, as the protected upper ring frame 461 continues to descend, it will apply a pushing force to the soil periphery of the inner cavity of the riser 41, causing the seedlings with soil to fall into the pit quickly, ensuring transplanting efficiency and reliability.

[0058] When the transplanting spacing needs to be adjusted, the third cylinder 62 is activated. The telescopic shaft of the third cylinder 62 pushes and pulls the position of the sliding crossbeam 61, changing the trajectory of the telescopic rods 63 on the sliding crossbeam 61 along the adjustment guide groove 31, thereby changing the transplanting distance between the transplanting assemblies 4 assembled at the bottom of each telescopic rod 63. For example, when the transplanting spacing needs to be increased, the telescopic shaft of the third cylinder 62 drives the sliding crossbeam 61 and the telescopic rods 63 to move along the upper surface of the adjustment platform 3. The telescopic rods 63 can slide outward along the sliding crossbeam 61 under the guidance of the outward-inclined adjustment guide groove 31, so that the corresponding transplanting assemblies 4 can move outward along the support frame 51 simultaneously, thereby adjusting the transplanting spacing between the transplanting assemblies 4. It is particularly noteworthy that the telescopic design of the telescopic rods 63 allows them to adapt to the stroke changes when the first cylinder 23 drives the adjustment platform 3 and the transplanting assemblies 4 to move downward, avoiding motion interference and ensuring that the motion parameters of the two dimensions of transplanting spacing adjustment and working height adjustment are dynamically coordinated.

[0059] The above is merely 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, in accordance with the technical plan and its improved concept, should be included under the protection of the present invention.

Claims

1. An automated transplanting vehicle with adjustable transplanting spacing, comprising a vehicle frame (1) fixedly mounted on the transplanting vehicle, wherein lifting guide rail assemblies (2) are mounted on the left and right inner sides of the vehicle frame (1), and an adjustable platform (3) is provided between the lifting guide rail assemblies (2), and a transplanting assembly (4) is provided at its bottom, characterized in that: The transplanting assembly (4) includes a riser (41). A hinged pawl (42) is connected to the bottom end of the riser (41). Above the pawl (42) is a transmission arm (43) located beside the riser (41), one end of which is hinged to the pawl (42), and the other end is hinged to an adjusting ring (44) movably sleeved around the periphery of the riser (41). A pressure regulator (45) is mounted on the top of the inner cavity of the riser (41). The adjusting ring (44) is connected to the pressure regulator... The L-shaped progressive rack (451) in the regulator (45) is rigidly connected, and the fluid distribution pressure ring (46) that can move in the inner cavity of the riser (41) is connected below the pressure regulator (45). By adjusting the lifting and lowering movement of the ring (44), the push and pull position of the transmission arm (43) and the axial pressure depth change of the pressure regulator (45) are linked. On the one hand, the opening and closing action of the pawl (42) is manipulated, and on the other hand, the fluid flow and stacking shape of the fluid distribution pressure ring (46) are adjusted. The fluid distribution pressure ring (46) includes an upper ring frame (461), which is detachably snapped to the bottom end of the U-shaped connecting rod (455) in the pressure regulator (45). An anti-blocking guide ring (462) is provided below the upper ring frame (461). The upper ring frame (461) and the anti-blocking guide ring (462) are connected by a telescopic connecting rod (464). The lower layer of the upper ring frame (461) is provided with an annular guide cavity. A drain hole is provided on the bottom wall of the guide cavity. A receiving groove is provided in the upper ring of the upper ring frame (461). An ejector-type unblocking unit (465) is installed in the receiving groove. A water supply hose (463) is provided above the receiving groove, penetrating the top wall of the upper ring frame (461) and connected to the water tank. The pressure regulator (45) includes an L-shaped progressive rack (451), which extends longitudinally and has its two sides slidingly fitted with the inner wall of the riser (41). The bottom end of the L-shaped progressive rack (451) extends horizontally outward and passes through a slot (411) on the side wall of the riser (41) before being rigidly connected to the adjusting ring (44). Symmetrical gears (452) are provided between the L-shaped progressive racks (451) near the top of the riser (41), and the gears (452) mesh with a double-sided guide rack. (453), the bottom end of the double-sided guide rack (453) is rigidly connected to a U-shaped connecting rod (455) that runs parallel to the L-shaped progressive rack (451), and the bottom end of the U-shaped connecting rod (455) can be detachably installed with a fluid distribution pressure ring (46); in addition, a limiting seat (454) for limiting gear (452) and double-sided guide rack (453) is fixedly installed at the top of the inner cavity of the riser (41), and the gear (452) is rotatably installed in the limiting seat (454), and the double-sided guide rack (453) and the limiting seat (454) slide longitudinally; The ejector-type unblocking unit (465) includes a cone body (4651), which is integrally formed from an arc-shaped cone and a T-shaped frame. The surface of the T-shaped frame has holes that fit the port of the water delivery hose (463). The T-shaped frame is elastically connected to the inner wall of the receiving groove near the arc-shaped cone by a spring (4652). The outer wall of the receiving groove has an opening for the arc-shaped cone to protrude, and the inner wall of the riser (41) has an opening that fits the arc-shaped cone. The cone head (4651) is fitted with an arc-shaped groove (412). When the upper ring frame (461) descends to the point where the cone head (4651) aligns with the arc-shaped groove (412), under the elastic force of the spring (4652), the arc-shaped cone head of the cone head (4651) can be embedded in the arc-shaped groove (412), causing the hole opened on the T-shaped frame of the cone head (4651) to connect to the water supply hose (463) connected above the upper ring frame (461).

2. The automated seedling transplanter with adjustable transplanting spacing according to claim 1, characterized in that: The upper surface of the anti-blocking guide ring (462) is fixedly connected with a protruding post that corresponds to the drainage hole of the bottom wall of the guide cavity; the outer periphery of the top wall of the anti-blocking guide ring (462) near the riser (41) is set as a downward sloping surface so that the water flow can pass through the guide cavity and then flow out through the drainage hole of its bottom wall, and then be guided to the inner wall of the riser (41) through the anti-blocking guide ring (462), and finally drip onto the soil to be inserted.

3. The automated seedling transplanter with adjustable transplanting spacing according to claim 1 or 2, characterized in that: The claw (42) includes a claw base plate (421), a lower hinge seat (422) and an upper hinge seat (423). The lower hinge seat (422) and the upper hinge seat (423) are welded to the upper side wall of the claw base plate (421). The lower hinge seat (422) is hinged to the hinge joint at the bottom end of the transmission arm (43), and the upper hinge seat (423) is hinged to the fin on the periphery of the bottom end of the riser (41).

4. The automated seedling transplanter with adjustable transplanting spacing according to claim 1, characterized in that: The adjustment platform (3) is also equipped with an opening and closing drive group (5) for simultaneously driving multiple adjustment rings (44) to achieve up and down sliding.

5. The automated seedling transplanter with adjustable transplanting spacing according to claim 4, characterized in that: The adjustment platform (3) is provided with a distance adjustment drive group (6), which consists of a sliding crossbeam (61), a third cylinder (62) and a telescopic rod (63). The third cylinder (62) is fixedly installed above the vehicle frame (1), and its telescopic shaft is rigidly connected to the sliding crossbeam (61) so that the sliding crossbeam (61) can press against the upper surface of the adjustment platform (3). The inner cavity of the sliding crossbeam (61) is provided with multiple sets of sliding telescopic rods (63). The telescopic shaft of the telescopic rod (63) passes through the distance adjustment guide groove (31) opened on the surface of the adjustment platform (3) and is connected to the transplanting assembly (4).

6. The automated seedling transplanter with adjustable transplanting spacing according to claim 5, characterized in that: The adjustable guide grooves (31) are symmetrically distributed. The adjustable guide grooves (31) at the axial position are horizontally extended, while the adjustable guide grooves (31) symmetrically distributed on both sides are arranged radially outward at a 45° asymptotic angle.

7. The automated seedling transplanter with adjustable transplanting spacing according to claim 6, characterized in that: The opening and closing drive assembly (5) includes a support frame (51), a second cylinder (52) and a slide (53). The middle part of the support frame (51) is provided with a channel for the transplanting assembly (4) to move. The upper end of the support frame (51) is rigidly connected to the telescopic shaft of the second cylinder (52). The second cylinder (52) is fixedly installed in the slide (53). The slide (53) is slidably engaged in the relief groove (32) opened on the side of the adjustment platform (3).

8. The automated seedling transplanter with adjustable transplanting spacing according to claim 7, characterized in that: The adjusting ring (44) includes a base ring (441), and a hinge ear plate (442) is welded to the side wall of the base ring (441). The hinge ear plate (442) is hinged to the hinge joint at the top of the transmission arm (43). The side wall of the base ring (441) is also rigidly connected to a slider (443) located above the hinge ear plate (442), which is slidably engaged in the track of the support frame (51).

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