Full-automatic sweet potato transplanter and transplanting method thereof

Abstract

The invention discloses a full-automatic sweet potato transplanter and a transplanting method thereof. The sweet potato transplanter comprises a frame, movable chassis, a seedling feeding mechanism and a seedling taking and transplanting mechanism, wherein the two movable chassis drive the frame to advance; the seedling feeding mechanism comprises a seedling feeding transmission shaft, a grooved wheel shaft, a shifting wheel shaft, a winding transmission shaft I, a winding transmission shaft II, an unwinding shaft and a winding shaft, so that a seedling belt coil intermittently releases part of seedling belts, and orderly conveying of sweet potato seedlings is realized; the seedling taking and transplanting mechanism comprises a seedling taking transmission shaft, a gearbox, a first electromagnetic clutch, a fixing frame, a rotating shaft, a connecting plate, a first connecting rod, a second connecting rod, a third connecting rod, a shifting rod, a seedling clamping connecting piece and a seedling clamping rod, sweet potato seedlings are clamped and transplanted through a five-rod mechanism formed by meshing of double crank gears, and stems of the sweet potato seedlings are driven to be inserted into soil in a ship bottom shape. The full-automatic sweet potato seedling transplanting device can realize full-automatic transplanting work of sweet potato seedlings, and has relatively high transplanting efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery, and particularly relates to a full-automatic sweet potato transplanting machine and a transplanting method thereof. BACKGROUND

[0002] At present, most sweet potato transplanting machines adopt a semi-automatic mode, and rely on manual seedling separation and seedling placing, which is high in labor intensity and low in efficiency, and limits the improvement of the working efficiency of the whole machine. Most existing sweet potato transplanting machines are suitable for horizontal and inclined planting of sweet potatoes, and have poor agronomic adaptability to boat-bottom planting, and it is urgent to design a transplanting mechanism suitable for boat-bottom planting and integrate a mechanized seedling supply system to form a full-automatic sweet potato transplanting machine and improve the efficiency of sweet potato transplanting operation. SUMMARY

[0003] The application aims to overcome the defects of the prior art and provide a full-automatic sweet potato transplanting machine and a transplanting method thereof.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical scheme:

[0005] The full-automatic sweet potato transplanting machine comprises a vehicle frame, a moving chassis, a seedling feeding mechanism and a seedling taking and transplanting mechanism.

[0006] The frame is provided with two moving chassis symmetrically arranged on both sides of the frame and driven by electric motors, the two moving chassis drive the frame to move and to lift; the seedling taking and transplanting mechanism is arranged at the rear end of the frame and comprises a seedling taking transmission shaft, a gearbox, an electromagnetic clutch, a fixing frame, a rotating shaft, a connecting plate, a connecting rod, a connecting rod, a connecting rod, a pushing rod, a seedling clamping connecting piece and a seedling clamping rod; the fixing frame is fixed to the frame, the seedling taking transmission shaft and the rotating shaft are perpendicular to the forward direction of the frame, and the rotating shaft and the fixing frame form a rotating pair; the seedling taking transmission shaft and the frame form a rotating pair, and the rotating pair is driven by one of the moving chassis, and the seedling taking transmission shaft is connected with the input shaft of the gearbox arranged on the frame through a shaft coupling, the output shaft of the gearbox is connected with the rotating shaft through the electromagnetic clutch, the rotating shaft is fixed with a driving gear, the fixing frame is hinged with an intermediate wheel, a driven gear and a driven gear, the intermediate wheel and the driven gear are engaged with the driving gear, the driven gear is engaged with the intermediate wheel, and the driven gear is closer to the rear end of the frame than the driven gear; one end of the connecting plate is fixed with the rotating center of the driven gear, the other end is hinged with one end of the connecting rod, the other end of the connecting rod is hinged with one end of the connecting rod, one end of the connecting rod is hinged with the rotating center of the driven gear, the other end is fixed with a cam plate, and the connecting rod is hinged with the middle part of the connecting rod, and the connecting rod is provided with an arc-shaped slot in the middle part, the eccentric position of the driven gear is provided with an integrally formed column pin, and the column pin is embedded in the arc-shaped slot; the cam plate is provided with a cam groove, the other end of the connecting rod is provided with an integrally formed convex plate, the middle part of the pushing rod is hinged with the convex plate, one end is provided with an integrally formed bent rod, the other end is hinged with two rollers arranged at intervals, and the bent rod and the cam groove form a cam pair; the two seedling clamping connecting pieces are symmetrically arranged, one end is located between the two rollers and forms a rolling friction pair with the two rollers, the middle part is hinged with the convex plate and connected through a torsion spring, and the other end is fixed with two symmetrically arranged seedling clamping rods, and one end of the two seedling clamping rods away from the seedling clamping connecting piece is fixed with a seedling clamping plate.

[0007] The seedling taking mechanism is arranged at the front end of the frame and comprises a seedling taking transmission shaft, a groove shaft, a pushing rod shaft, a winding transmission shaft, a winding transmission shaft, a winding shaft and a winding shaft; the seedling taking transmission shaft, the groove shaft, the pushing rod shaft, the winding transmission shaft, the winding transmission shaft, the winding shaft and the winding shaft are all horizontal and parallel to the forward direction of the frame, and all form rotating pairs with the frame, the seedling taking transmission shaft, the groove shaft and the pushing rod shaft are all located below the winding shaft and the winding shaft, one end of the seedling taking transmission shaft is connected with the rotating shaft through a bevel gear pair, the other end is connected with the groove shaft through a chain transmission mechanism, the front end of the pushing rod shaft is connected with the groove shaft through a groove mechanism and connected with the winding transmission shaft through a chain transmission mechanism, the rear end is fixed with a pushing wheel, the winding transmission shaft is connected with the winding transmission shaft through a cylindrical gear pair, and is coaxially fixed with the winding shaft.

[0008] Preferably, the frame comprises a chassis and a handle, and a handrail seat is fixed at the rear end of the chassis, and two handles are symmetrically arranged on the handrail seat.

[0009] More preferably, two end face tooth plates are fixed on the handrail seat and arranged vertically and at intervals, and a thread rod is integrally formed at the center of each of the two end face tooth plates, and the two thread rods pass through the through holes respectively formed in the two handles and are respectively connected with the two fixing sleeves through threads.

[0010] Preferably, the moving chassis comprises an electric cylinder, a connecting rod one, a connecting rod two, a connecting rod three, a driving shaft, a driven shaft, a front shaft, a rear shaft, a front wheel shaft and a rear wheel shaft, the driving shaft, the driven shaft, the front shaft, the rear shaft, the front wheel shaft and the rear wheel shaft are horizontal and perpendicular to the forward direction of the chassis, the driving shaft, the driven shaft, the front shaft and the rear shaft form rotary pairs with the chassis, the driven shaft is coaxially arranged with the driving shaft and is connected through the electromagnetic clutch two, the front shaft and the rear shaft are respectively arranged at the front end and the rear end of the chassis, the connecting rod one and the connecting rod two are parallel and arranged at intervals, the connecting rod three is horizontal and perpendicular to the driving shaft, the upper end of the connecting rod one is fixed with the front shaft, the middle part is hingedly connected with one end of the electric cylinder, and the lower end forms a compound hinge with one end of the connecting rod three and the front wheel shaft, the front wheel is fixed on the front wheel shaft, the upper end of the connecting rod two is hingedly connected with the other end of the electric cylinder, the middle part forms a rotary pair with the rear shaft, and the lower end forms a compound hinge with the other end of the connecting rod three and the rear wheel shaft, and the rear wheel is fixed on the rear wheel shaft; the driven shaft is connected with the rear shaft through the chain transmission mechanism three, and the rear shaft is connected with the rear wheel shaft through the chain transmission mechanism four; the driving shafts of the two moving chassis are connected through the shaft coupling two, and the driving shaft of one of the moving chassis is driven to rotate by the electric motor, and the rear shaft of the moving chassis is connected with the seedling taking transmission shaft through the chain transmission mechanism five.

[0011] Preferably, the groove wheel mechanism comprises a dial and a groove wheel, and the dial and the groove wheel are respectively fixed on the groove wheel shaft and the dial wheel shaft, and the dial is provided with an integrally formed column pin two.

[0012] Preferably, the unwinding shaft is fixed with a ratchet wheel, one end of the pawl is hingedly connected with the chassis and connected through the torsional spring two, and the other end is embedded in one of the ratchet grooves of the ratchet wheel.

[0013] Preferably, the winding transmission shaft is connected with the winding shaft through the one-way rotation buffer.

[0014] The seedling transplanting method of the full-automatic sweet potato transplanting machine is as follows:

[0015] The inner side of the seedling tape sleeve on the seedling tape roll is installed on the unwinding shaft, and the outer side of the seedling tape sleeve is wound from below the dial wheel and installed on the winding shaft, the seedling tape of the seedling tape roll is engaged with the dial wheel, and a plurality of sweet potato seedlings are arranged at intervals on the seedling tape; in the initial state, the electromagnetic clutch one is separated.

[0016] Two mobile chassis drive frames move in the field: the controller controls the motor to drive the driving shaft of the corresponding mobile chassis to rotate, the driving shaft of the mobile chassis drives the driving shaft of the other mobile chassis to rotate through the shaft coupling, the two driving shafts drive the two driven shafts to rotate through the two electromagnetic clutches, the two driven shafts drive the two rear shafts to rotate through the two chain transmission mechanisms, the two rear shafts drive the two rear wheel shafts to rotate through the two chain transmission mechanisms, and then drive the two rear wheels to rotate, so that the frame advances along a straight path in the field; while the frame advances in the field, the controller controls the electromagnetic clutch one to engage, so that when one of the rear shafts drives the seedling taking transmission shaft to rotate through the chain transmission mechanism five, the seedling taking transmission shaft drives the rotating shaft to rotate through the gearbox and the electromagnetic clutch one, the power of the rotating shaft is transmitted to the fluted shaft through the bevel gear pair, the seedling feeding transmission shaft and the chain transmission mechanism one in turn, the fluted shaft drives the ratchet shaft to rotate intermittently through the fluted wheel mechanism, the ratchet shaft drives the winding shaft to rotate intermittently through the chain transmission mechanism two, the winding transmission shaft one, the cylindrical gear pair and the winding transmission shaft two, the winding shaft drives the corresponding seedling belt sleeve to intermittently wind the seedling belt, the ratchet shaft intermittently drives the seedling belt through the ratchet, and then the unwinding shaft is intermittently rotated synchronously, the seedling belt roll intermittently releases part of the seedling belt, and with the advancement of the frame, each sweet potato seedling on the seedling belt is transported to the seedling taking position; in addition, the rotating shaft drives the driving gear to rotate, the driving gear meshes with the intermediate gear and the driven gear two, the intermediate gear meshes with the driven gear one, and then the driven gear one and the driven gear two rotate synchronously and reversely, the driven gear one drives the connecting rod one to rotate through the connecting plate, the driven gear two drives the cylindrical pin one to move along the arc-shaped groove until the cylindrical pin one moves to the end of the arc-shaped groove, the driven gear two drives the connecting rod two to rotate through the cylindrical pin one and the arc-shaped groove, the connecting rod one and the connecting rod two jointly drive the connecting rod three to rotate, the connecting rod three drives the ends of the clamping boards to move along the hook-shaped trajectory through the clamping seedling connecting pieces and the clamping seedling rods.When link three rotates, the relative angle between link two and link three changes, causing the cam plate to rotate relative to link three. This causes the bent rod to move along the cam groove and drive the lever to oscillate back and forth. When the bent rod moves along the return section of the cam groove, the lever drives the two rollers to move away from the seedling clamping rod along the outer walls of the two seedling clamping connectors. The restoring force of each torsion spring causes the ends of the two seedling clamping connectors near the seedling clamping rod to move towards each other, which in turn drives the two seedling clamping plates to move towards each other through the two seedling clamping rods. At this time, link three drives the lever, seedling clamping connectors, seedling clamping rods, and seedling clamping plates to move towards the seedling picking position. When the bent rod begins to move near the resting section of the cam groove, the two seedling clamping plates move to the seedling picking position and close, clamping the sweet potato seedling stem located at the seedling picking position. As link one and link two rotate, the two seedling clamping plates remove the sweet potato seedling from the seedling belt and drive the sweet potato seedling towards the planting position. The machine moves to position the sweet potato seedling, causing its stem to insert into the soil in a boat-bottom shape. When the two clamping plates move to the planting position, the bending rod begins to move along the push section of the cam groove. The lever drives the two rollers to move along the outer walls of the two clamping connectors towards the clamping rod, causing the ends of the two clamping connectors near the clamping rod to move in opposite directions. This, in turn, causes the two clamping plates to move in opposite directions through the two clamping rods, separating the two clamping plates and releasing the clamping of the sweet potato seedling. As the connecting rods one and two rotate, the two clamping plates move away from the soil. When the bending rod begins to move along the far rest section of the cam groove, the two clamping plates remain separated until the bending rod begins to enter the return section of the cam groove, thus completing the transplanting of the sweet potato seedling. As the frame moves forward, the seedling feeding mechanism intermittently transports each sweet potato seedling to the seedling picking position, where the seedling picking and transplanting mechanism completes the picking and transplanting of each sweet potato seedling.

[0017] Preferably, before transplanting, the motor is not working, and the controller controls each electric cylinder to extend or shorten. Each electric cylinder drives the frame to descend or rise through the corresponding connecting rod one and the corresponding connecting rod two, adjusting the height of the frame to adjust the transplanting depth. In addition, the output shaft speed of the gearbox is adjusted to change the speed of the rotating shaft, thus adjusting the transplanting spacing of the sweet potato seedlings.

[0018] Preferably, when the frame needs to turn, the controller controls the disengagement of electromagnetic clutch one and the disengagement of electromagnetic clutch two located on the left or right side of the frame, so that the drive shaft and driven shaft in the movable chassis located on the left or right side of the frame are disconnected, and the rear wheels located on the left or right side of the frame stop rotating, thereby creating a differential speed between the two rear wheels, allowing the frame to turn differentially until the frame turn is completed. Then, the controller controls the engagement of electromagnetic clutch one and the engagement of electromagnetic clutch two located on the left or right side of the frame.

[0019] The present invention has the following beneficial effects:

[0020] 1. This invention enables the orderly transport, clamping, and transplanting of sweet potato seedlings, achieving fully automated transplanting with high efficiency. Specifically, in this invention, two moving chassis drive the frame forward. In the seedling feeding mechanism, the grooved wheel shaft drives the dial wheel shaft to rotate intermittently via the grooved wheel mechanism. The dial wheel shaft drives the winding shaft to rotate synchronously and intermittently via the chain transmission mechanism two. The winding shaft drives the seedling belt to wind onto the corresponding seedling belt sleeves and intermittently wind the seedling belt. The dial wheel shaft intermittently moves the seedling belt via the dial wheel, thereby causing the unwinding shaft to rotate synchronously and intermittently, allowing the seedling belt to be released intermittently, thus achieving orderly transport of sweet potato seedlings. The seedling picking and transplanting mechanism uses a five-bar linkage composed of double crank gears to clamp and transplant the sweet potato seedlings. The rotating shaft drives the driving gear to rotate, and the driving gear drives the driven gear one to rotate via the intermediate wheel. The driven gear one drives the connecting rod one to rotate, and the driving gear also drives the connecting rod two to rotate via the driven gear two. Connecting rod one and connecting rod two drive the connecting rod three to move, so that connecting rod three moves through each seedling clamping connection. The components and each seedling clamping rod drive each seedling clamping plate to move along a hook-shaped trajectory. At the same time, the relative angle between connecting rod two and connecting rod three changes, the cam plate rotates relative to connecting rod three, the bent rod moves along the cam groove, and drives the lever to swing back and forth around the hinge center of its connection with the upper convex plate of connecting rod three. The two rollers on the lever move along the outer walls of the two seedling clamping connectors hinged on the convex plate, so that the two seedling clamping connectors drive the two seedling clamping plates to close or open through the two seedling clamping rods, realizing the clamping and release of sweet potato seedlings. In turn, when the two seedling clamping plates move along the hook-shaped trajectory, they clamp the stem of the sweet potato seedling transported to the seedling picking position, and drive the sweet potato seedling stem to insert into the soil in a boat-bottom shape, and then leave the soil. This realizes the clamping and transplanting of sweet potato seedlings, and makes the film breaks on the plastic film covering the soil smaller, so as to avoid affecting the film covering effect.

[0021] 2. This invention utilizes a single power source to enable the forward movement of the frame and the orderly transport, clamping, and transplanting of sweet potato seedlings, reducing energy consumption. Specifically, this invention uses an electric motor to drive the drive shaft of the corresponding moving chassis to rotate. This drive shaft drives the drive shaft of another moving chassis to rotate via coupling two. Each drive shaft drives the corresponding rear wheel to rotate via a corresponding electromagnetic clutch two, driven shaft, chain drive mechanism three, rear axle, chain drive mechanism four, and rear wheel axle, allowing the frame to move along a straight path in the field. The rear axle of the moving chassis drives the rotating shaft to rotate via chain drive mechanism five, seedling picking drive shaft, gearbox, and electromagnetic clutch one, thus advancing the frame forward. The machine can clamp and transplant sweet potato seedlings. The rotating shaft drives the grooved wheel shaft to rotate through the bevel gear pair, seedling transmission shaft and chain transmission mechanism, thereby realizing the orderly transportation of sweet potato seedlings. Furthermore, when the frame turns, the invention controls the electromagnetic clutch to disconnect the output shaft of the gearbox from the rotating shaft, stopping the orderly transportation, clamping and transplanting of sweet potato seedlings. By controlling the electromagnetic clutch, the machine disconnects the drive shaft and driven shaft in the moving chassis on the corresponding side when the frame turns, thereby stopping the rear wheel on the corresponding side from rotating. This creates a differential speed on both sides of the frame, thus realizing the differential steering operation of the frame.

[0022] 3. By controlling the extension or retraction of each electric cylinder, each electric cylinder drives the frame to descend or rise through corresponding connecting rod one and corresponding connecting rod two, thereby adjusting the height of the frame and thus adjusting the transplanting depth. Furthermore, by adjusting the output shaft speed of the gearbox, the rotational speed of the rotating shaft is changed, thereby adjusting the transplanting spacing of sweet potato seedlings. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 for Figure 1 Side view after removing chain drive mechanism 6;

[0025] Figure 3 This is a top view of the present invention;

[0026] Figure 4 This is a schematic diagram of the seedling transplanting mechanism in this invention;

[0027] Figure 5 This is a partial structural diagram of the seedling transplanting mechanism in this invention;

[0028] Figure 6 This is a partial structural diagram of the frame and seedling delivery mechanism in this invention. Detailed Implementation

[0029] The present invention will now be further described with reference to the accompanying drawings.

[0030] like Figure 1 As shown, the present invention provides a fully automatic sweet potato transplanter, comprising a frame 1, a mobile chassis 2, a seedling picking and transplanting mechanism 3, and a seedling delivery mechanism 4.

[0031] like Figure 1 and Figure 2 As shown, the frame 1 includes a frame 101 and a control lever 105. A handrail seat 102 is fixed to the rear end of the frame 101. Two control levers 105 are symmetrically arranged on the handrail seat 102. The two control levers 105 are used by the operator to hold and assist the frame 101 in moving forward or turning.

[0032] like Figure 1 , Figure 2 and Figure 3 As shown, two symmetrically arranged movable chassis 2 are provided on both sides of the frame 101. The movable chassis 2 includes an electric cylinder 203, connecting rod one 204, connecting rod two 205, connecting rod three 206, a drive shaft 207, a driven shaft 208, a front axle 210, a rear axle 211, a front wheel axle 212, and a rear wheel axle 213. The drive shaft 207, driven shaft 208, front axle 210, rear axle 211, front wheel axle 212, and rear wheel axle 213 are horizontal and perpendicular to the forward direction of the frame. The drive shaft 207, driven shaft 208, front axle 210, and rear axle 211 all form a rotating pair with the frame 101. The driven shaft 208 is coaxially arranged with the drive shaft 207 and connected by an electromagnetic clutch two 209. The front axle 210 and rear axle 211 are respectively located at the front and rear ends of the frame 101. The connecting rod one 204 and connecting rod three 206... Rods 205 are arranged parallel and spaced apart. Connecting rod 3 206 is horizontal and perpendicular to the drive shaft 207. The upper end of connecting rod 1 204 is fixed to the front axle 210, the middle part is hinged to one end of the electric cylinder 203, and the lower end forms a compound hinge with one end of connecting rod 3 206 and the front wheel axle 212. The front wheel 214 is fixed on the front wheel axle 212. The upper end of connecting rod 205 is hinged to the other end of the electric cylinder 203, the middle part forms a rotating pair with the rear axle 211, and the lower end forms a compound hinge with the other end of connecting rod 3 206 and the rear wheel axle 213. The rear wheel 215 is fixed on the rear wheel axle 213. The driven shaft 208 is connected to the rear axle 211 through chain drive mechanism 3, and the rear axle 211 is connected to the rear wheel axle 213 through chain drive mechanism 4. The drive shafts 207 of the two mobile chassis are connected by coupling 2, and the drive shaft 207 of one of the mobile chassis is driven to rotate by motor 201.

[0033] like Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, the seedling picking and transplanting mechanism is located at the rear end of the frame 101, including a seedling picking drive shaft 301, a gearbox 302, an electromagnetic clutch 303, a fixed frame 304, a rotating shaft 305, an intermediate shaft 306, a gear shaft 307, a gear shaft 308, a connecting plate 313, a connecting rod 314, a connecting rod 315, a connecting rod 316, a lever 317, a seedling clamping connector 320, and a seedling clamping rod 321; the fixed frame 304 is fixed to the frame 101, and the seedling picking drive shaft 301, rotating shaft 305, intermediate shaft 306, gear shaft 307, and gear shaft 308 are all parallel to the drive shaft 207. The rotating shaft 305, intermediate shaft 306, gear shaft 307, and gear shaft 308 are all parallel to the drive shaft 207. Both axle 1 307 and gear shaft 2 308 form a rotating pair with the fixed frame 304, with gear shaft 1 307 closer to the rear end of the frame 101 than gear shaft 2 308. The seedling-taking drive shaft 301 forms a rotating pair with the frame 101, and is connected to one of the rear axles 211 via a chain drive mechanism 5. It is also connected to the input shaft of the gearbox 302 mounted on the frame 101 via a coupling 1. The output shaft of the gearbox 302 is connected to the rotating shaft 305 via an electromagnetic clutch 1 303. A driving gear 309, an intermediate gear 310, a driven gear 1 311, and a driven gear 2 308 are respectively fixed on the rotating shaft 305, the intermediate shaft 306, gear shaft 1 307, and gear shaft 2 308. Driven gear 2 312, intermediate gear 310, and driven gear 2 312 all mesh with driving gear 309. Driven gear 1 311 meshes with intermediate gear 310. One end of connecting plate 313 is fixed to the rotation center of driven gear 1 311, and the other end is hinged to one end of connecting rod 1 314. The other end of connecting rod 1 314 is hinged to one end of connecting rod 316. One end of connecting rod 2 315 is hinged to gear shaft 2 308, and the other end is fixed with cam plate 318 and hinged to the middle of connecting rod 316. An arc-shaped groove is provided in the middle of connecting rod 2 315. An integrally formed pin 1 is provided at the eccentric position of driven gear 2 312, and the pin 1 is embedded in the arc-shaped groove. The cam plate 318 has a cam groove, and the other end of the connecting rod 316 has an integrally formed convex plate. The middle part of the lever 317 is hinged to the convex plate, and one end has an integrally formed bent rod. The other end is hinged to two rollers 319 arranged at intervals. The bent rod and the cam groove form a cam pair. Two symmetrically arranged seedling clamping connectors 320 are located between the two rollers 319 and form rolling friction pairs with the two rollers 319 respectively. The middle part of each connector is hinged to the convex plate and connected by a torsion spring. The other end of each connector is fixed with two symmetrically arranged seedling clamping rods 321. The end of each seedling clamping rod 321 away from the seedling clamping connector 320 is fixed with a seedling clamping plate 322.

[0034] like Figure 1 , Figure 2 , Figure 3 and Figure 6As shown, the seedling feeding mechanism is located at the front end of the frame 101, including a seedling feeding drive shaft 401, a grooved wheel shaft 402, a dial wheel shaft 403, a dial wheel 404, a first winding drive shaft 405, a second winding drive shaft 406, a winding shaft 408, an unwinding shaft 409, a ratchet 410, and a pawl 411. The seedling feeding drive shaft 401, grooved wheel shaft 402, dial wheel shaft 403, first winding drive shaft 405, second winding drive shaft 406, winding shaft 408, and unwinding shaft 409 are all arranged horizontally and perpendicularly to the drive shaft 207, and all form a rotating pair with the frame 101. The seedling feeding drive shaft 401, grooved wheel shaft 402, and dial wheel shaft 403 are all located below the winding shaft 408 and the unwinding shaft 409, and the seedling feeding drive shaft 401... One end of the gear shaft 403 is connected to the rotating shaft 305 via a bevel gear pair, and the other end is connected to the Geneva wheel shaft 402 via a chain drive mechanism 1. The front end of the gear shaft 403 is connected to the Geneva wheel shaft 402 via a Geneva wheel mechanism, and is connected to the take-up drive shaft 405 via a chain drive mechanism 2. The rear end is fixed with a gear 404. The take-up drive shaft 405 is connected to the take-up drive shaft 406 via a cylindrical gear pair. The take-up drive shaft 406 and the take-up shaft 408 are coaxially connected via a one-way rotating buffer 407. A ratchet 410 is fixed on the unwind shaft 409. One end of the pawl 411 is hinged to the frame 101 and connected via a torsion spring 2, and the other end is embedded in a ratchet groove of the ratchet 410.

[0035] In a preferred embodiment, two vertically arranged and spaced-apart end face gear discs 104 are fixed on the armrest seat 102. Each end face gear disc 104 has an integrally formed threaded rod at its center. The two threaded rods pass through through holes opened on the two operating rods 105 and are connected to the two fixing sleeves 103 by threads. Each fixing sleeve 103 presses against the corresponding operating rod 105, so that each fixing sleeve 103 and the corresponding end face gear disc 104 clamp the corresponding operating rod 105.

[0036] In a preferred embodiment, the housing of the motor 201 is fixed to the frame 101 by the motor support 202, and the output shaft of the motor 201 is connected to the drive shaft 216 by the coupling three. The drive shaft 216 and the frame 101 form a rotating pair, and are connected to the corresponding drive shaft 207 by the chain drive mechanism six.

[0037] In a preferred embodiment, the Geneva mechanism includes a dial 412 and a Geneva wheel 413, which are respectively fixed on the Geneva wheel shaft 402 and the dial wheel shaft 403. The dial 412 is provided with an integrally formed pin.

[0038] Among them, the electric motor 201, the electromagnetic clutch 303, each electric cylinder 203 and each electromagnetic clutch 209 are all controlled by the controller, and the controller, the electric motor 201, the electromagnetic clutch 303, each electric cylinder 203 and each electromagnetic clutch 209 are all powered by the lithium battery 106 located on the frame 101.

[0039] The present invention discloses a transplanting method for a fully automatic sweet potato transplanter, as detailed below:

[0040] The inner seedling sleeve 501 of the seedling roll 5 is installed on the unwinding shaft 409, and the outer seedling sleeve 501 passes under the dial wheel 404 and is installed on the rewinding shaft 408. The seedling strip 502 of the seedling roll is engaged with the dial wheel 404, and multiple sweet potato seedlings are arranged at intervals on the seedling strip 502. In the initial state, the electromagnetic clutch 303 is in the disengaged state.

[0041] Two mobile chassis drive the frame 101 to move in the field. Specifically, the controller controls the motor 201 to drive the drive shaft 207 of the corresponding mobile chassis to rotate. The drive shaft 207 of the mobile chassis drives the drive shaft 207 of the other mobile chassis to rotate through the coupling. The two drive shafts 207 drive the two driven shafts 208 to rotate through the two electromagnetic clutches 209. The two driven shafts 208 drive the two rear shafts 211 to rotate through the two chain drive mechanisms 3. The two rear shafts 211 drive the two rear wheel axles 213 to rotate through the two chain drive mechanisms 4, which in turn drive the two rear wheels 215 to rotate, so that the frame 101 moves forward. As the frame 101 moves forward in the field, the controller engages the electromagnetic clutch 303, causing one of the rear axles 211 to rotate the seedling-collecting drive shaft 301 via the chain drive mechanism 5. The seedling-collecting drive shaft 301 then drives the rotating shaft 305 to rotate via the gearbox and the electromagnetic clutch 303. The power of the rotating shaft 305 is transmitted sequentially through the bevel gear pair, the seedling-feeding drive shaft 401, and the chain drive mechanism 1 to the grooved wheel shaft 402. This causes the grooved wheel shaft 402 to intermittently rotate the dial wheel shaft 403 via the grooved wheel mechanism. 3. The winding shaft 408 is driven to rotate synchronously and intermittently via the chain drive mechanism 2, the winding drive shaft 1 405, the cylindrical gear pair, the winding drive shaft 2 406, and the one-way rotating buffer 409. The winding shaft 408 drives the corresponding seedling sleeve 501 to intermittently wind the seedling belt, and the deflector shaft 403 intermittently actuates the seedling belt through the deflector 404, thereby causing the unwinding shaft 409 to rotate synchronously and intermittently. The seedling belt is intermittently released, and as the frame 101 moves forward, each sweet potato seedling on the seedling belt is transported to the seedling picking position one by one; in addition, the rotating shaft 305 drives the driving gear 309 to rotate. The driving gear 309 meshes with the intermediate gear 309 and the driven gear 311. The intermediate gear 309 meshes with the driven gear 310, causing the driven gear 310 and the driven gear 311 to rotate synchronously but in opposite directions. The driven gear 310 drives the connecting rod 314 to rotate through the connecting plate 313. The driven gear 311 drives the pin 1 to move along the arc-shaped groove until the pin 1 moves to the end of the arc-shaped groove. The driven gear 311 then pushes the pin 1 through the arc-shaped groove. When connecting rod 2 315 rotates, connecting rod 1 314 and connecting rod 2 315 together drive connecting rod 3 316 to rotate. Connecting rod 3 316 drives the ends of each seedling clamping plate 322 to move in a hook-shaped trajectory through each seedling clamping connector 320 and each seedling clamping rod 321. (The hook-shaped trajectory is a closed curve composed of three arc segments, which are the seedling holding stage, the return stage, and the seedling picking stage, respectively. The openings of the two arc segments corresponding to the seedling holding stage and the return stage are facing upwards, and the intersection of these two arc segments is the tip of the hook-shaped trajectory.)When connecting rod 316 rotates, the relative angle between connecting rod 2 315 and connecting rod 316 changes, causing cam plate 318 to rotate relative to connecting rod 316. This causes the bent rod to move along the cam groove and drive lever 317 to oscillate back and forth. When the bent rod moves along the return section of the cam groove, lever 317 drives two rollers 319 to move along the outer walls of the two seedling clamping connectors 320 away from the seedling clamping rod 321. The restoring force of each torsion spring 1 causes the two seedling clamping connectors 320 to move closer to the seedling clamping rod 321. One end of the first link moves towards the other, which in turn drives the two clamping rods 321 to move the two clamping plates 322 towards the other. At this time, the connecting rod 316 drives the lever 317, each clamping connector 320, each clamping rod 321 and each clamping plate 322 to move towards the seedling picking position. When the bending rod begins to move along the near rest section of the cam groove, the two clamping plates 322 move to the seedling picking position and close, clamping the sweet potato seedling stem located at the seedling picking position. With the rotation of the connecting rod 1 314 and the connecting rod 2 315, the two clamping plates 322 move towards the seedling picking position. The sweet potato seedling is removed from the seedling strip and moved towards the planting position, causing the stem of the seedling to insert into the soil in a boat-bottom shape. When the two seedling clamping plates 322 move to the planting position, the bending rod begins to move along the push section of the cam groove. The lever 317 drives the two rollers 319 to move along the outer wall of the two seedling clamping connectors 320 towards the seedling clamping rod 321, causing the ends of the two seedling clamping connectors 320 near the seedling clamping rod 321 to move in opposite directions. This, in turn, causes the two seedling clamping plates 322 to move in opposite directions via the two seedling clamping rods 321. The back movement causes the two seedling clamping plates 322 to separate, releasing the grip on the sweet potato seedling. As connecting rods 314 and 315 rotate, the two clamping plates 322 leave the soil. When the bending rod begins to move along the far resting section of the cam groove, the two clamping plates 322 remain separated until the bending rod begins to enter the return section of the cam groove, thus completing the transplanting of the sweet potato seedling. As the frame advances, the seedling feeding mechanism intermittently transports each sweet potato seedling to the seedling picking position, where the seedling picking and transplanting mechanism completes the clamping and transplanting of each seedling.

[0042] Before transplanting, the electric motor is not in operation. The controller controls the extension or retraction of each electric cylinder 203. Each electric cylinder 203 drives the frame 101 to rise or fall via corresponding connecting rod 1 204 and corresponding connecting rod 2 205. Adjusting the height of the frame 101 allows for adjustment of the transplanting depth. Furthermore, adjusting the output shaft speed of the gearbox 302 changes the speed of the rotating shaft 305, thereby adjusting the transplanting spacing of the sweet potato seedlings. When the frame 101 needs to turn, the controller controls the electromagnetic clutch 1 303 to disengage and control the position of the clutch on the left or right side of the frame 101. When the electromagnetic clutch 209 on the side disengages, the drive shaft 207 and driven shaft 208 in the movable chassis located on the left or right side of the frame 101 are disconnected, and the rear wheels 215 located on the left or right side of the frame 101 stop rotating, thus causing a differential speed situation between the two rear wheels 215. At the same time, the operator uses two control levers 105 to rotate the frame 101 to the left or right, thereby achieving differential steering of the frame 101 until the frame steering is completed. The controller controls the electromagnetic clutch 303 to engage and controls the electromagnetic clutch 209 located on the left or right side of the frame 101 to engage. In addition, during the rotation of the take-up shaft 408, the damping effect generated by the one-way rotation buffer 407 between the take-up drive shaft 406 and the take-up shaft 408 can effectively prevent the take-up shaft 408 from rotating in the opposite direction and keep the end of the seedling belt 416 close to the take-up shaft 408 taut. During the rotation of the ratchet 410 driven by the unwind shaft 409, when one of the ratchet teeth of the ratchet 410 contacts the pawl 411, the ratchet tooth pushes the pawl 411 to move outward. When the ratchet tooth disengages from the pawl 411, the restoring force of the torsion spring 2 causes the pawl 411 to embed into a groove adjacent to the ratchet tooth, thereby effectively preventing the unwind shaft 409 from rotating in the opposite direction and keeping the end of the seedling belt 416 close to the unwind shaft 409 taut.

Claims

1. A full-automatic sweet potato transplanter, comprising a vehicle frame, a moving chassis, a seedling feeding mechanism and a seedling taking and transplanting mechanism, characterized in that: The frame has two symmetrically arranged movable chassis on both sides, driven by an electric motor. These two chassis drive the frame to move and raise / lower. The seedling-grabbing and transplanting mechanism is located at the rear of the frame and includes a seedling-grabbing drive shaft, a gearbox, an electromagnetic clutch (I), a fixed frame, a rotating shaft, a connecting plate, connecting rods (I, II, III), a lever, a seedling clamping connector, and a seedling clamping rod. The fixed frame is fixed to the frame. Both the seedling-grabbing drive shaft and the rotating shaft are perpendicular to the forward direction of the frame, and the rotating shaft forms a rotating pair with the fixed frame. The seedling-grabbing drive shaft forms a rotating pair with the frame and is driven to rotate by one of the movable chassis. It is connected to the input shaft of the gearbox on the frame via a coupling (I). The output shaft of the gearbox is connected to the rotating shaft via the electromagnetic clutch (I). A drive gear is fixed on the rotating shaft. An intermediate wheel, a driven gear (I), and a driven gear (II) are hinged on the fixed frame. Both the intermediate wheel and the driven gear (II) mesh with the drive gear. The driven gear (I) meshes with the intermediate wheel, and the driven gear (I) is closer to the frame than the driven gear (II). The rear end; one end of the connecting plate is fixed to the rotation center of the driven gear one, and the other end is hinged to one end of the connecting rod one. The other end of the connecting rod one is hinged to one end of the connecting rod three. One end of the connecting rod two is hinged to the rotation center of the driven gear two, and the other end is fixed with a cam plate and hinged to the middle of the connecting rod three. An arc-shaped groove is provided in the middle of the connecting rod two. An integrally formed pin one is provided at the eccentric position of the driven gear two, and the pin one is embedded in the arc-shaped groove. A cam groove is provided on the cam plate, and the connecting rod three... The other end is provided with an integrally formed convex plate, the middle part of the lever is hinged to the convex plate, one end is provided with an integrally formed bent rod, and the other end is hinged to two rollers arranged at intervals. The bent rod and the cam groove form a cam pair; two symmetrically arranged seedling clamping connectors are located between the two rollers at one end and form rolling friction pairs with the two rollers respectively. The middle part of each connector is hinged to the convex plate and connected by a torsion spring. The other end of each connector is fixed with two symmetrically arranged seedling clamping rods. The end of each seedling clamping rod away from the seedling clamping connector is fixed with a seedling clamping plate. The seedling feeding mechanism is located at the front end of the frame and includes a seedling feeding drive shaft, a grooved wheel shaft, a dial wheel shaft, a first winding drive shaft, a second winding drive shaft, an unwinding shaft, and a winding shaft. The seedling feeding drive shaft, grooved wheel shaft, dial wheel shaft, first winding drive shaft, second winding drive shaft, winding shaft, and unwinding shaft are all horizontal and parallel to the forward direction of the frame, and all form a rotating pair with the frame. The seedling feeding drive shaft, grooved wheel shaft, and dial wheel shaft are all located below the winding shaft and unwinding shaft. One end of the seedling feeding drive shaft is connected to the rotating shaft through a bevel gear pair, and the other end is connected to the grooved wheel shaft through a first chain drive mechanism. The front end of the dial wheel shaft is connected to the grooved wheel shaft through a grooved wheel mechanism, and is connected to the first winding drive shaft through the second chain drive mechanism. A dial wheel is fixed at the rear end. The second winding drive shaft is connected to the first winding drive shaft through a cylindrical gear pair and is coaxially fixed with the winding shaft.

2. The full-automatic sweet potato transplanter according to claim 1, characterized in that: The vehicle frame includes a frame and control levers. A handrail is fixed to the rear end of the frame, and two control levers are fixed on the handrail.

3. The full-automatic sweet potato transplanter according to claim 2, characterized in that: The handrail seat is fixed with two end face tooth plates arranged vertically and at intervals, and a thread rod is integrally arranged at the center of each end face tooth plate.

4. The full-automatic sweet potato transplanter according to claim 1, characterized in that: The moving chassis comprises an electric cylinder, a connecting rod one, a connecting rod two, a connecting rod three, a driving shaft, a driven shaft, a front shaft, a rear shaft, a front wheel shaft and a rear wheel shaft, the driving shaft, the driven shaft, the front shaft, the rear shaft, the front wheel shaft and the rear wheel shaft are horizontal and perpendicular to the advancing direction of the frame, the driving shaft, the driven shaft, the front shaft and the rear shaft form rotary pairs with the frame, the driven shaft is coaxially arranged with the driving shaft and is connected through an electromagnetic clutch two, the front shaft and the rear shaft are arranged at the front end and the rear end of the frame respectively, the connecting rod one and the connecting rod two are parallel and arranged at intervals, the connecting rod three is horizontal and perpendicular to the driving shaft, the upper end of the connecting rod one is fixed with the front shaft, the middle part is hingedly connected with one end of the electric cylinder, and the lower end forms a composite hinge with one end of the connecting rod three and the front wheel shaft, the front wheel shaft is fixed with a front wheel, the upper end of the connecting rod two is hingedly connected with the other end of the electric cylinder, the middle part forms a rotary pair with the rear shaft, and the lower end forms a composite hinge with the other end of the connecting rod three and the rear wheel shaft, the rear wheel shaft is fixed with a rear wheel; the driven shaft is connected with the rear shaft through a chain transmission mechanism three, and the rear shaft is connected with the rear wheel shaft through a chain transmission mechanism four; the driving shafts of the two moving chassis are connected through a shaft coupling two, and the driving shaft of one of the moving chassis is driven to rotate by an electric motor, and the rear shaft of the moving chassis is connected with a seedling taking transmission shaft through a chain transmission mechanism five.

5. The full-automatic sweet potato transplanter according to claim 1, characterized in that: The slot wheel mechanism comprises a dial and a slot wheel, and the dial and the slot wheel are fixed on a slot wheel shaft and a dial wheel shaft respectively, and a column pin two is integrally arranged on the dial.

6. The full-automatic sweet potato transplanter according to claim 1, characterized in that: The unwinding shaft is fixed with a ratchet wheel, one end of the pawl is hingedly connected with the frame and connected through a torsional spring two, and the other end is embedded in a ratchet groove of the ratchet wheel.

7. The full-automatic sweet potato transplanter according to claim 1, characterized in that: The winding transmission shaft is connected with the winding shaft through a one-way rotation buffer.

8. The transplanting method of the full-automatic sweet potato transplanter according to claim 4, characterized in that: Specifically as follows: The inner side of the seedling tape sleeve of the seedling tape roll is installed on the unwinding shaft, the outer side of the seedling tape sleeve passes below the dial wheel and is installed on the winding shaft, the seedling tape of the seedling tape roll is engaged with the dial wheel, and a plurality of sweet potato seedlings are arranged at intervals on the seedling tape; in the initial state, the electromagnetic clutch one is separated; Two mobile chassis drive frames move in the field: the controller controls the motor to drive the driving shaft of the corresponding mobile chassis to rotate, the driving shaft of the mobile chassis drives the driving shaft of the other mobile chassis to rotate through the shaft coupling, the two driving shafts drive the two driven shafts to rotate through the two electromagnetic clutches, the two driven shafts drive the two rear shafts to rotate through the two chain transmission mechanisms, the two rear shafts drive the two rear wheel shafts to rotate through the two chain transmission mechanisms, and then drive the two rear wheels to rotate, so that the frame advances along a straight path in the field; while the frame advances in the field, the controller controls the electromagnetic clutch I to engage, so that one of the rear shafts drives the seedling taking transmission shaft to rotate through the chain transmission mechanism V, the seedling taking transmission shaft drives the rotating shaft to rotate through the gearbox and the electromagnetic clutch I, the power of the rotating shaft is transmitted to the fluted shaft through the bevel gear pair, the seedling taking transmission shaft and the chain transmission mechanism I in turn, the fluted shaft drives the ratchet shaft to rotate intermittently through the fluted wheel mechanism, the ratchet shaft drives the winding shaft to rotate intermittently through the chain transmission mechanism II, the winding transmission shaft I, the cylindrical gear pair and the winding transmission shaft II, the winding shaft drives the corresponding seedling belt sleeve to intermittently wind the seedling belt, the ratchet shaft intermittently drives the seedling belt through the ratchet, and then the unwinding shaft is intermittently rotated synchronously, the seedling belt roll intermittently releases part of the seedling belt, and with the advancement of the frame, each sweet potato seedling on the seedling belt is transported to the seedling taking position; in addition, the rotating shaft drives the driving gear to rotate, the driving gear meshes with the intermediate gear and the driven gear II, the intermediate gear meshes with the driven gear I, and then the driven gear I and the driven gear II rotate synchronously and reversely, the driven gear I drives the connecting rod I to rotate through the connecting plate, the driven gear II drives the cylindrical pin I to move along the arc-shaped groove, until the cylindrical pin I moves to the end of the arc-shaped groove, the driven gear II drives the connecting rod II to rotate through the cylindrical pin I and the arc-shaped groove, the connecting rod I and the connecting rod II together drive the connecting rod III to rotate, the connecting rod III drives the ends of the seedling clamping plates to move along the hook-shaped trajectory through the seedling clamping connecting pieces and the seedling clamping rods.When the connecting rod three rotates, the relative angle between the connecting rod two and the connecting rod three changes, the cam plate rotates relative to the connecting rod three, so that the bending rod moves along the cam groove, and drives the lever to reciprocate, wherein, when the bending rod moves along the return section of the cam groove, the lever drives the two rollers to move along the outer side wall of the two seedling clamping connectors to the direction away from the seedling clamping rod, the restoring force of each torsional spring one makes the two seedling clamping connectors on the end close to the seedling clamping rod move towards each other, and then drives the two seedling clamping rods to move towards each other, at this time, the connecting rod three drives the lever, the seedling clamping connector, the seedling clamping rod and the seedling clamping plate to move to the seedling taking position, when the bending rod starts to move along the near idle section of the cam groove, the two seedling clamping plates move to the seedling taking position and close, clamping the sweet potato stem part located at the seedling taking position, with the rotation of the connecting rod one and the connecting rod two, the two seedling clamping plates take the sweet potato seedling from the seedling belt and drive the sweet potato seedling to move to the seedling planting position, so that the sweet potato stem part is inserted into the soil in the shape of a boat bottom, when the two seedling clamping plates move to the seedling planting position, the bending rod starts to move along the push section of the cam groove, the lever drives the two rollers to move along the outer side wall of the two seedling clamping connectors to the direction close to the seedling clamping rod, so that the two seedling clamping connectors on the end close to the seedling clamping rod move away from each other, and then drive the two seedling clamping rods to move away from each other, so that the two seedling clamping plates are separated, the clamping of the sweet potato seedling is released, and with the rotation of the connecting rod one and the connecting rod two, the two seedling clamping plates move away from the soil, when the bending rod starts to move along the far idle section of the cam groove, the two seedling clamping plates remain in the separated state until the bending rod starts to enter the return section of the cam groove, and then the transplanting work of the sweet potato seedling is completed; with the advance of the rack, the seedling feeding mechanism intermittently feeds each sweet potato seedling to the seedling taking position, and the seedling taking and transplanting mechanism completes the clamping and transplanting of each sweet potato seedling.

9. The transplanting method of the full-automatic sweet potato transplanter according to claim 8, characterized in that: Before the transplanting work is performed, the electric motor is not operated, the controller controls the electric cylinders to be elongated or shortened, the electric cylinders drive the frame to be lowered or raised through the corresponding connecting rod one and the corresponding connecting rod two, the height of the frame is adjusted, the adjustment of the transplanting depth is completed, the speed of the output shaft of the gearbox is adjusted, the speed of the rotary shaft is changed, and the adjustment of the transplanting interval of the sweet potato seedlings is completed.

10. The transplanting method of claim 8, wherein the automatic sweet potato transplanting machine comprises a plurality of the sweet potato transplanting units, and the sweet potato transplanting units are arranged in a row. When the frame needs to be turned, the controller controls the electromagnetic clutch one to be separated, and controls the electromagnetic clutch two on the left side or the right side of the frame to be separated, so that the driving shaft and the driven shaft in the moving chassis on the left side or the right side of the frame are disconnected, the rear wheels on the left side or the right side of the frame stop rotating, and then the two rear wheels appear differential speed, so that the frame is differentially turned on both sides until the frame is turned, and the controller controls the electromagnetic clutch one to be engaged and controls the electromagnetic clutch two on the left side or the right side of the frame to be engaged.

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