Tobacco seedling transplanter and speed control method

Abstract

The invention relates to a tobacco seedling transplanter, which comprises a rack, and is characterized in that the rack is provided with a tobacco seedling tray; a seat; a control mechanism; the invention relates to a tobacco seedling punching and transplanting mechanism, which comprises a seedling dropping motor, a charging tray, a separated seedling dropping device, a transmission mechanism and a seedling dropping device opening and closing control mechanism, the seedling dropping motor drives the separated seedling dropping device to rotate through the transmission mechanism, so that the separated seedling dropping device punches tobacco seedling planting holes in tobacco ridges, and the seedling dropping device opening and closing control mechanism is linked with the transmission mechanism to control opening and closing of the separated seedling dropping device; an energy mechanism; the water and fertilizer box is used for conveying water and fertilizer into the separated seedling casting device; and the driving mechanism comprises two driven wheels and two driving wheels, and each driving wheel is driven by an independent driving motor. The device has the advantages that tobacco seedling planting is completed while punching is conducted, and the problem that tobacco seedlings cannot be accurately planted into holes is solved; the rotating speed of the motor can be adjusted in real time, and tobacco seedling transplanting is ensured to proceed at a set speed.

Description

Technical Field

[0001] This invention relates to the field of tobacco seedling planting, and in particular to a tobacco seedling transplanter and a speed control method. Background Technology

[0002] A tobacco seedling transplanter is an agricultural machine specifically designed for tobacco cultivation. It is an automated or semi-automated device used to transplant tobacco seedlings from seedling trays or seedbeds into the field. By replacing traditional manual transplanting with mechanized operation, it significantly improves transplanting efficiency, reduces labor intensity, and ensures transplanting quality and consistency.

[0003] Existing tobacco seedling transplanters, such as the invention patent with application number 201611270233.9, disclose a self-propelled, oil-electric rotary seedling transplanter. This machine consists of an adjustable chassis frame, a rotary seedling-making mechanism, an adjustable transplanting mechanism, a seedling tray mechanism, a gasoline engine, a voltage stabilizing circuit module, an intelligent control cabinet, and a control mechanism. The adjustable chassis frame allows manual adjustment of the overall height of the transplanter according to the required ridge height. The seedling-making mechanism operates in a continuous rotary seedling-making mode. The adjustable transplanting mechanism allows independent adjustment of the planting depth of the tobacco seedling roots. A crank-connecting rod mechanism drives the seedling guide seat up and down. The planting device uses a multi-link self-locking mechanism for opening and closing, providing a simpler seedling tray mechanism. The start-up, stop, walking, and transplanting actions of the transplanter are all controlled by the intelligent control cabinet. It can replace manual planting work in prepared tobacco fields. The gasoline engine provides power to the machine. However, the digging of the planting pits and the transplanting of tobacco seedlings are carried out in separate steps, with the pits being dug first and the seedlings transplanted later. If the speed of the tobacco seedling transplanter changes during operation, the seedlings may not be able to accurately enter the planting pits. Summary of the Invention

[0004] The present invention mainly solves the above-mentioned problems by providing a tobacco seedling transplanter and a speed control method, which can complete the planting of tobacco seedlings while drilling holes, avoiding the problem that the tobacco seedlings cannot be accurately planted in the holes, and can adjust the motor speed in real time to ensure that the tobacco seedlings are transplanted at the set speed.

[0005] The technical solution adopted by this invention to solve its technical problem is a tobacco seedling transplanter, including a frame, on which are arranged: a seedling tray for placing tobacco seedlings; a seat for the operator to sit on; a control mechanism disposed on the side of the seat for operating the tobacco seedling transplanter; and a seedling punching and transplanting mechanism located below the seedling tray, including a seedling feeding motor, a feeding tray, a separate seedling feeder, a transmission mechanism, and a seedling feeder opening and closing control mechanism. The seedling feeding motor drives the feeding tray to rotate on a horizontal plane through the transmission mechanism, causing the tobacco seedlings in the feeding tray to fall sequentially into the separate seedling feeder. The seedling feeding motor drives the detachable seedling feeder to rotate in a vertical plane via a transmission mechanism, causing the detachable seedling feeder to punch planting holes for tobacco seedlings on the tobacco ridges. The opening and closing control mechanism of the seedling feeder is linked with the transmission mechanism to control the opening and closing of the detachable seedling feeder during its rotation. The energy mechanism includes a range extender and a battery to power the tobacco seedling transplanter. The water and fertilizer tank is located on the side of the tobacco seedling punching and transplanting mechanism to deliver water and fertilizer to the detachable seedling feeder. The drive mechanism includes two driven wheels and two drive wheels, each driven by an independent drive motor.

[0006] As a preferred embodiment of the above solution, the tobacco seedling punching and transplanting mechanism further includes an installation beam, with both ends of the installation beam fixedly mounted on the frame, a vertical plate in the middle of the installation beam, the seedling feeding motor and the separate seedling feeder located on both sides of the vertical plate, and the feed tray mounted on the installation beam.

[0007] As a preferred embodiment of the above solution, the transmission mechanism includes a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel, a sixth transmission wheel, and a gearbox. The first transmission wheel is connected to the output shaft of the seedling feeding motor, the sixth transmission wheel is connected to the input shaft of the gearbox, and the output shaft of the gearbox is connected to the material tray. The second and fifth transmission wheels are arranged on the vertical plate facing the seedling feeding motor, and the third and fourth transmission wheels are arranged on the vertical plate facing the separate seedling feeder. The first and second transmission wheels, the third and fourth transmission wheels, and the fifth and sixth transmission wheels are connected by transmission belts. The second and third transmission wheels are connected by a first transmission shaft, and the fourth and fifth transmission wheels are connected by a second transmission shaft.

[0008] As a preferred embodiment of the above solution, the transmission mechanism further includes a rotating frame, which includes a bearing frame, a bearing frame rod, a first rod, a second rod, a rotating rod, a first rotating arm, and a second rotating arm. The first rotating arm is fixedly connected to a fourth transmission wheel. The first rod is horizontally positioned at the end of the first rotating arm. The first end of the rotating rod is rotatably connected to the first rod, and the second end of the rotating rod is rotatably connected to the middle of the bearing frame rod. The second rotating arm is rotatably positioned on the side of the vertical plate facing the detachable seedling feeder. The second rod is horizontally positioned, and the first end of the second rod is slidably positioned at the end of the second rotating arm. The second end of the second rod is rotatably connected to the first end of the bearing frame rod. The second end of the bearing frame rod is connected to the bearing frame, and the detachable seedling feeder is positioned within the bearing frame.

[0009] As a preferred embodiment of the above solution, the material tray includes a rotating plate, a fixed plate, and a mounting base arranged sequentially from top to bottom. The fixed plate is fixedly mounted on the mounting beam via the mounting base. The gearbox is fixedly mounted on the mounting base. The output shaft of the gearbox passes vertically upward through the center of the fixed plate and is connected to the rotating plate. The rotating plate has several material cylinders with openings at both ends on its edge. The fixed plate has a discharge port.

[0010] As a preferred embodiment of the above solution, the detachable seedling feeder includes a funnel-shaped opening, a fixed section, and a detachable section connected sequentially from top to bottom. The detachable section is composed of a first semi-cylinder and a second semi-cylinder, which have the same structure. The upper ends of the first and second semi-cylinders are provided with horizontally extending platforms. A first vertical plate is provided on the first side of the platform, and a rope mounting plate is provided on the upper end of the first vertical plate. A second vertical plate is provided on the second side of the platform. The first vertical plate of the first semi-cylinder is rotatably connected to the second vertical plate of the second semi-cylinder, and the second vertical plate of the first semi-cylinder is rotatably connected to the first vertical plate of the first semi-cylinder. The lower end of the detachable section is conical.

[0011] As a preferred embodiment of the above scheme, the second drive shaft is provided with a cam near the fifth drive wheel, the upper end of the vertical plate is provided with a third rotating arm, the middle of the third rotating arm is provided with a roller that abuts against the cam, the end of the third rotating arm is provided with a pull plate, the pull plate is provided with a pull rope, and the other end of the pull rope is connected to a pull rope mounting plate.

[0012] As a preferred embodiment of the above solution, a height adjustment mechanism is provided at both the driven wheel and the driving wheel, the output shaft of the drive motor is connected to the driving wheel through a belt drive mechanism, and a belt tensioning mechanism is provided on the side of the belt drive mechanism.

[0013] Correspondingly, the present invention also provides a speed control method for the above-mentioned tobacco seedling transplanter, which controls two drive motors and fits the two drive motors as a virtual spindle, including the following steps: S1: Get the set job speed The target rotational speed of the virtual spindle is obtained based on the set operating speed. , The circumference of the drive wheel; S2: Obtain the rotational speed of the virtual spindle fitted by the two motors. , This refers to the current speed of tobacco seedling transplanters; S3: Determine if there is a deviation between the virtual spindle speed and the target virtual spindle speed. If yes, proceed to the next step; otherwise, return to the previous step. S4: Obtain the virtual spindle speed and the speed of each motor at various times over a past period; S5: Calculate the speed weighting coefficient of each motor over a past period. , for Time Motor The weighting coefficients, for Virtual spindle speed at all times for Time Motor The rotational speed; S6: Obtain the relationship function between the speed weighting coefficient of each motor and time over a past period; S7: Calculate the speed weighting coefficient of each motor at the next moment based on the relationship function between the speed weighting coefficient of each motor and time; S8: Calculate the target speed of each motor in the next moment based on the speed weighting coefficient of each motor and the target speed of the virtual spindle, and adjust the speed of each motor to the target speed.

[0014] As a preferred embodiment of the above scheme, in step S6, the relationship function between the speed weighting coefficient of each motor and time is: Among them, setting the past period as , For natural numbers greater than 0, when calculating relational functions, Let t=0, at time... Let t = n.

[0015] The advantages of this invention are: it completes the planting of tobacco seedlings while drilling holes, avoiding the problem of tobacco seedlings not being accurately planted in the holes; and it can adjust the motor speed in real time to ensure that the transplanting of tobacco seedlings proceeds at the set speed. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a tobacco seedling transplanter.

[0017] Figure 2A schematic diagram of a mechanism for punching holes and transplanting tobacco seedlings.

[0018] Figure 3 This is a schematic diagram of another structure for a tobacco seedling perforation and transplanting mechanism.

[0019] Figure 4 This is a schematic diagram of the separator and seedling feeder.

[0020] Figure 5 This is a schematic diagram of the drive wheel.

[0021] 1-Seedling tray 2-Seat 3-Control mechanism 4-Seedling motor 5-Feeding tray 6-Energy mechanism 7-Water and fertilizer tank 8-Drive mechanism 9-Mounting beam 10-Vertical plate 11-First transmission wheel 12-Second transmission wheel 13-Third transmission wheel 14-Fourth transmission wheel 15-Fifth transmission wheel 16-Sixth transmission wheel 17-Gearbox 18-Separable seedling feeder 19-Bearing frame 20-Bearing frame rod 21-First rotating arm 22-First rod 23-Rotating rod 24-Second rotating arm 25-Second rod 26-Cam 27-Third rotating arm 28-Pull plate 29-Height adjustment mechanism 30-Drive motor 31-Belt tensioning mechanism 181-Flare mouth 182-Fixing section 183-Separating section 184-First vertical plate 185-Pull rope mounting plate 186-Second vertical plate 501-Rotating plate 502-Fixing plate 503-Mounting seat 504-Feeding cylinder Detailed Implementation

[0022] The technical solution of the present invention will be further described below through embodiments and in conjunction with the accompanying drawings.

[0023] Example: This embodiment describes a tobacco seedling transplanter, such as... Figure 1 As shown, the machine includes a frame, on which are mounted a seedling tray 1 for holding tobacco seedlings, a seat 2 for the operator, a control mechanism 3 for operating the tobacco seedling transplanter, a seedling punching and transplanting mechanism, an energy mechanism 6 for powering the transplanter, a water and fertilizer tank 7 for supplying water and fertilizer to the separate seedling feeder, and a drive mechanism. The control mechanism 3 is located on the side of the seat 2 and includes a steering wheel and control buttons; the energy mechanism 6 is located at the rear of the frame and includes a range extender and a battery; the seedling punching and transplanting mechanism is located below the seedling tray 1, which is located in front of the seat 2; the water and fertilizer tank 7 is located on the side of the seedling punching and transplanting mechanism; the drive mechanism includes two driven wheels and two drive wheels. A handle for manual steering is also provided at the front of the frame.

[0024] like Figure 2 and Figure 3The tobacco seedling punching and transplanting mechanism includes a seedling feeding motor 4, a material tray 5, a separate seedling feeder 18, a transmission mechanism, and a seedling feeder opening and closing control mechanism. The seedling feeding motor drives the material tray 5 to rotate on a horizontal plane through the transmission mechanism, causing the tobacco seedlings in the material tray to fall into the separate seedling feeder 18 in sequence. The seedling feeding motor 4 drives the separate seedling feeder 18 to rotate on a vertical plane through the transmission mechanism, causing the separate seedling feeder to punch planting holes for the tobacco seedlings on the tobacco ridge. The seedling feeder opening and closing control mechanism is linked with the transmission mechanism to control the opening and closing of the separate seedling feeder during its rotation.

[0025] Specifically, the tobacco seedling punching and transplanting mechanism also includes an installation beam 9, with both ends of the installation beam 9 fixedly mounted on the frame. A vertical plate 10 is provided in the middle of the installation beam, and the seedling feeding motor 4 and the separate seedling feeder 18 are located on both sides of the vertical plate 10. The feed tray 5 is mounted on the installation beam. The transmission mechanism includes a first transmission wheel 11, a second transmission wheel 12, a third transmission wheel 13, a fourth transmission wheel 14, a fifth transmission wheel 15, a sixth transmission wheel 16, and a gearbox 17. The first transmission wheel 11 is connected to the output shaft of the seedling feeding motor 4, the sixth transmission wheel 16 is connected to the input shaft of the gearbox 17, and the output shaft of the gearbox 17 is connected to the material tray 5. The second transmission wheel 12 and the fifth transmission wheel 15 are located on the side of the vertical plate 10 facing the seedling feeding motor 4, and the third transmission wheel 13 and the fourth transmission wheel 14 are located on the side of the vertical plate 10 facing the separate seedling feeder 18. The first transmission wheel 11 and the second transmission wheel 12, the third transmission wheel 13 and the fourth transmission wheel 14, and the fifth transmission wheel 15 and the sixth transmission wheel 16 are connected by a transmission belt. The second transmission wheel 12 and the third transmission wheel 13 are connected by a first transmission shaft, and the fourth transmission wheel 14 and the fifth transmission wheel 15 are connected by a second transmission shaft. The feed tray 5 includes a rotating plate 501, a fixed plate 502, and a mounting base 503 arranged sequentially from top to bottom. The fixed plate 502 is fixedly mounted on the mounting beam 9 via the mounting base 503. The gearbox 17 is fixedly mounted on the mounting base 503. The output shaft of the gearbox 17 extends vertically upward through the center of the fixed plate 502 and connects to the rotating plate 501. The edge of the rotating plate is provided with several feed cylinders 504 with openings at both ends. The fixed plate is provided with a discharge port. The rotating plate 501 is rotated by the seedling feeding motor 4 through a transmission mechanism and the gearbox 17. During the rotation, the worker feeds the feed trays from the tobacco seedling tray into the feed cylinders in sequence. Each feed cylinder is aligned with the discharge port on the fixed plate. When aligned, the tobacco seedlings in the feed cylinders fall into the separate seedling feeder below.

[0026] The transmission mechanism also includes a rotating frame, which comprises a support frame 19, a support frame rod 20, a first rod 22, a second rod 25, a rotating rod 23, a first rotating arm 21, and a second rotating arm 24. The first rotating arm 21 is fixedly connected to the fourth transmission wheel 14. The first rod 22 is horizontally positioned at the end of the first rotating arm 21. The first end of the rotating rod 23 is rotatably connected to the first rod 22, and the second end of the rotating rod 23 is rotatably connected to the middle of the support frame rod 20. The second rotating arm 24 is rotatably positioned on the side of the vertical plate 10 facing the separate seedling feeder 18. The second rod 25 is horizontally positioned, with its first end slidably positioned at the end of the second rotating arm 24. The second end of the second rod 25 is rotatably connected to the first end of the support frame rod 20, and the second end of the support frame rod 20 is connected to the support frame 19. The separate seedling feeder 18 is positioned within the support frame. When the seedling feeder motor is running, the motor drives the rotating frame to rotate via the transmission mechanism, causing the separate seedling feeder 18 to rotate on the vertical plane, completing the drilling action.

[0027] like Figure 4 As shown, the detachable seedling feeder 18 includes a funnel-shaped opening 181, a fixed section 182, and a detachable section 183 connected sequentially from top to bottom. The detachable section 183 is composed of a first semi-cylinder and a second semi-cylinder, which have identical structures. A horizontally extending platform is provided at the upper end of both the first and second semi-cylinders. A first vertical plate 184 is provided on the first side of the platform, and a rope mounting plate 185 is provided at the upper end of the first vertical plate. A second vertical plate 186 is provided on the second side of the platform. The first vertical plate of the first semi-cylinder is rotatably connected to the second vertical plate of the second semi-cylinder, and vice versa. The lower end of the detachable section is conical. A spring pull post is provided on the first vertical plate, and a spring pull hole is provided on the second vertical plate. A spring is positioned between the spring pull post and the spring pull hole to keep the first and second semi-cylinders in a closed state when not subjected to external force. Correspondingly, a cam 26 is provided on the side of the second drive shaft near the fifth drive wheel 15, a third rotating arm 27 is provided on the upper end of the vertical plate 10, a roller that abuts against the cam is provided in the middle of the third rotating arm, a pull plate 28 is provided at the end of the third rotating arm 27, a pull rope is provided on the pull plate 28, and the other end of the pull rope is connected to the pull rope mounting plate 185. When the seedling feeding motor is running, it drives the fifth transmission wheel 15 to rotate through the transmission mechanism. When the second transmission wheel rotates, it drives the cam 26 to rotate through the second rotating shaft, which in turn causes the third rotating arm to periodically rise and fall. At the same time, under the action of the seedling feeding motor, the split seedling feeder 18 rotates with the rotating frame, causing the pull rope mounting plate 185 on the split seedling feeder 18 to continuously approach and move away from the pull plate 28 on the third rotating arm. When the two move away, the pull rope is tightened, causing the first semi-cylinder and the second semi-cylinder to separate, so that the tobacco seedlings in the split seedling feeder can fall into the tobacco seedling transplanting hole made by the split seedling feeder. When the two move closer, the first semi-cylinder and the second semi-cylinder close together under the action of the spring.

[0028] like Figure 5 As shown, each of the two driven wheels and two drive wheels is equipped with a height adjustment mechanism 29. Each height adjustment mechanism includes a sleeve and a screw installed within the sleeve. The sleeve is fixedly connected to the frame. The length of the screw extending from the sleeve is adjusted by rotating the screw, thereby achieving height adjustment. Each of the two drive wheels 31 is driven by a drive motor 30. The output shaft of the drive motor is connected to the drive wheels via a belt drive mechanism. A belt tensioning mechanism is provided on the side of the belt drive mechanism. The belt tensioning mechanism keeps the belt taut, preventing the drive motor from failing to drive the drive wheels after the height adjustment mechanism has been adjusted.

[0029] Correspondingly, the present invention also provides a speed control method for the above-mentioned tobacco seedling transplanter, which controls two drive motors and fits the two drive motors as a virtual spindle, including the following steps: S1: Get the set job speed The target rotational speed of the virtual spindle is obtained based on the set operating speed. , This is the circumference of the drive wheel.

[0030] S2: Obtain the rotational speed of the virtual spindle fitted by the two motors. , This refers to the current speed of the tobacco seedling transplanter.

[0031] S3: Determine if there is a deviation between the virtual spindle speed and the virtual spindle target speed. If yes, proceed to the next step; otherwise, return to the previous step.

[0032] S4: Obtain the virtual spindle speed and the speed of each motor at various times over a past period.

[0033] S5: Calculate the speed weighting coefficient of each motor over a past period. , for Time Motor The weighting coefficients, for Virtual spindle speed at all times for Time Motor The rotational speed.

[0034] S6: Obtain the relationship function between the speed weighting coefficient of each motor and time over a past period. The relationship function between the speed weighting coefficient of each motor and time is as follows: Here, let the past period be 1000. , For natural numbers greater than 0, when calculating relational functions, Let t=0, at time... Let t = n.

[0035] S7: Calculate the speed weighting coefficient of each motor at the next moment based on the relationship function between the speed weighting coefficient of each motor and time; S8: Calculate the target speed of each motor in the next moment based on the speed weighting coefficient of each motor and the target speed of the virtual spindle, and adjust the speed of each motor to the target speed.

[0036] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A tobacco seedling transplanter, comprising a frame, characterized in that, The frame is equipped with: Tobacco seedling tray, used to hold tobacco seedlings; A seat for the operator to sit in; The control mechanism, located on the side of the seat, is used to operate the tobacco seedling transplanter; The tobacco seedling perforation and transplanting mechanism, located below the tobacco seedling tray, includes a seedling feeding motor, a feeding tray, a detachable seedling feeder, a transmission mechanism, and a seedling feeder opening and closing control mechanism. The seedling feeding motor drives the feeding tray to rotate on a horizontal plane through the transmission mechanism, causing the tobacco seedlings in the feeding tray to fall sequentially into the detachable seedling feeder. The seedling feeding motor also drives the detachable seedling feeder to rotate on a vertical plane through the transmission mechanism, causing the detachable seedling feeder to punch planting holes for the tobacco seedlings on the tobacco ridge. The seedling feeder opening and closing control mechanism is linked to the transmission mechanism, controlling the opening and closing of the detachable seedling feeder during its rotation. The energy system, including the range extender and battery, powers the tobacco seedling transplanter. The water and fertilizer tank is located on the side of the tobacco seedling punching and transplanting mechanism and is used to deliver water and fertilizer to the separate seedling feeder. The drive mechanism includes two driven wheels and two drive wheels, each of which is driven by an independent drive motor.

2. The tobacco seedling transplanter according to claim 1, characterized in that: The tobacco seedling punching and transplanting mechanism also includes an installation beam, with both ends of the installation beam fixedly mounted on the frame. A vertical plate is provided in the middle of the installation beam, and the seedling feeding motor and the separate seedling feeder are located on both sides of the vertical plate. The feed tray is mounted on the installation beam.

3. The tobacco seedling transplanter according to claim 2, characterized in that: The transmission mechanism includes a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel, a sixth transmission wheel, and a gearbox. The first transmission wheel is connected to the output shaft of the seedling feeding motor, the sixth transmission wheel is connected to the input shaft of the gearbox, and the output shaft of the gearbox is connected to the material tray. The second and fifth transmission wheels are located on the side of the vertical plate facing the seedling feeding motor, and the third and fourth transmission wheels are located on the side of the vertical plate facing the separate seedling feeder. The first and second transmission wheels, the third and fourth transmission wheels, and the fifth and sixth transmission wheels are connected by transmission belts. The second and third transmission wheels are connected by a first transmission shaft, and the fourth and fifth transmission wheels are connected by a second transmission shaft.

4. The tobacco seedling transplanter according to claim 3, characterized in that: The transmission mechanism further includes a rotating frame, which comprises a support frame, a support frame rod, a first rod, a second rod, a rotating rod, a first rotating arm, and a second rotating arm. The first rotating arm is fixedly connected to a fourth transmission wheel. The first rod is horizontally positioned at the end of the first rotating arm. The first end of the rotating rod is rotatably connected to the first rod, and the second end of the rotating rod is rotatably connected to the middle of the support frame rod. The second rotating arm is rotatably positioned on the side of the vertical plate facing the detachable seedling feeder. The second rod is horizontally positioned, and the first end of the second rod is slidably positioned at the end of the second rotating arm. The second end of the second rod is rotatably connected to the first end of the support frame rod. The second end of the support frame rod is connected to the support frame. The detachable seedling feeder is positioned within the support frame.

5. The tobacco seedling transplanter according to claim 3, characterized in that: The material tray includes a rotating plate, a fixed plate, and a mounting base arranged sequentially from top to bottom. The fixed plate is fixedly mounted on the mounting beam via the mounting base. The gearbox is fixedly mounted on the mounting base. The output shaft of the gearbox passes vertically upward through the center of the fixed plate and is connected to the rotating plate. The rotating plate has several material cylinders with openings at both ends on its edge. The fixed plate has a discharge port.

6. The tobacco seedling transplanter according to claim 3, characterized in that: The detachable seedling feeder includes a funnel-shaped opening, a fixed section, and a detachable section connected sequentially from top to bottom. The detachable section is composed of a first semi-cylinder and a second semi-cylinder, which have the same structure. The upper ends of the first and second semi-cylinders are provided with horizontally extending platforms. A first vertical plate is provided on the first side of the platform, and a rope mounting plate is provided on the upper end of the first vertical plate. A second vertical plate is provided on the second side of the platform. The first vertical plate of the first semi-cylinder is rotatably connected to the second vertical plate of the second semi-cylinder, and the second vertical plate of the first semi-cylinder is rotatably connected to the first vertical plate of the first semi-cylinder. The lower end of the detachable section is conical.

7. The tobacco seedling transplanter according to claim 6, characterized in that: The second drive shaft has a cam near the fifth drive wheel. The upper end of the vertical plate has a third rotating arm. The middle of the third rotating arm has a roller that abuts against the cam. The end of the third rotating arm has a pull plate. The pull plate has a pull rope. The other end of the pull rope is connected to the pull rope mounting plate.

8. The tobacco seedling transplanter according to claim 1, characterized in that: Each of the driven wheel and the drive wheel is provided with a height adjustment mechanism. The output shaft of the drive motor is connected to the drive wheel through a belt drive mechanism. The belt drive mechanism is provided with a belt tensioning mechanism on its side.

9. A speed control method for the tobacco seedling transplanter according to any one of claims 1-8, comprising controlling two drive motors, wherein the two drive motors are fitted as a virtual spindle, characterized in that: Includes the following steps: S1: Get the set job speed The target rotational speed of the virtual spindle is obtained based on the set operating speed. , The circumference of the drive wheel; S2: Obtain the rotational speed of the virtual spindle fitted by the two motors. , This refers to the current speed of tobacco seedling transplanters; S3: Determine if there is a deviation between the virtual spindle speed and the target virtual spindle speed. If yes, proceed to the next step; otherwise, return to the previous step. S4: Obtain the virtual spindle speed and the speed of each motor at various times over a past period; S5: Calculate the speed weighting coefficient of each motor over a past period. , for Time Motor The weighting coefficients, for Virtual spindle speed at all times for Time Motor The rotational speed; S6: Obtain the relationship function between the speed weighting coefficient of each motor and time over a past period; S7: Calculate the speed weighting coefficient of each motor at the next moment based on the relationship function between the speed weighting coefficient of each motor and time; S8: Calculate the target speed of each motor in the next moment based on the speed weighting coefficient of each motor and the target speed of the virtual spindle, and adjust the speed of each motor to the target speed.

10. The speed control method according to claim 9, characterized in that: In step S6, the relationship function between the speed weighting coefficient of each motor and time is as follows: Among them, setting the past period as , For natural numbers greater than 0, when calculating relational functions, Let t=0, at time Let t = n.

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