A cam link type planting device and a vegetable pot seedling automatic transplanting machine thereof

Abstract

The present application relates to the technical field of vegetable planting, and discloses a cam connecting rod type planting device and a vegetable pot seedling automatic transplanting machine thereof, wherein the duckbill planting device is driven to rotate along a predetermined track through a crank connecting rod mechanism, the crank connecting rod mechanism is driven through a gear chain transmission mechanism, and the rotation of the duckbill planting device is converted into the forward and backward movement of a lead screw connecting assembly through a cam connecting rod mechanism on the crank connecting rod mechanism, so that the opening and closing of the duckbill planting device are controlled through the lead screw connecting assembly. The rotation of the duckbill planting device is converted into the forward and backward movement of the lead screw connecting assembly through the cam connecting rod mechanism, so that the opening and closing of the duckbill planting device are controlled through the lead screw connecting assembly, which is simpler and more reliable than the previous wire pulling method, requires a small installation space, and can be used as a universal planting device of an automatic or semi-automatic transplanting machine. After the movement track of the duckbill planting device is optimized, the straightness of the pot seedling after transplanting is greatly improved compared with the previous planting device.

Description

Technical Field

[0001] This invention relates to the field of vegetable planting technology, specifically to a cam-linkage type planting device and its automatic transplanter for vegetable seedlings. Background Technology

[0002] The existing duckbill-type planting devices mainly adopt the following three technical solutions for opening the duckbill:

[0003] (1) Rotary extrusion type: The duckbill remains closed under the action of a strong spring. When the duckbill and its opening and closing device rotate to the vicinity of the working position, the slider fixed on the duckbill contacts and rolls with the arc-shaped impact block fixed on the machine frame. The reaction force of the impact block forces the duckbill to overcome the spring force and open. After the slider leaves the impact block, the spring force makes the duckbill close quickly. Its structure is simple. However, its opening and closing timing and opening and closing size are fixed and cannot be adjusted according to the working speed or soil conditions. The required working diameter of this device is relatively large, making it unsuitable for small transplanters. There is rigid impact, and the rollers, impact blocks and connecting pins are prone to wear and fatigue.

[0004] (2) Cam-wire type: The cam-wire type is a mechanically forced-drive duckbill opening and closing system that achieves precise control through the synergistic action of "cam-wire-spring". In the non-working state, the duckbill remains closed under the action of the return spring, carrying the seedling. When the cam rotates to the push stroke stage, the cam pushes the follower to produce displacement, and the lever mechanism converts the linear motion of the follower into the linear traction of the wire. The wire is tensioned and pulls the opening rocker arm at the rear of the duckbill, overcoming the spring force to open the duckbill. After the cam enters the return stroke stage, the duckbill closes quickly under the action of the spring force. Its structure is simple; it has high synchronization; and it is easy to maintain. However, its steel wire is prone to plastic deformation under stress. The cumulative deformation under high-speed operation will cause the actual opening action of the duckbill to lag significantly behind the theoretical design point of the cam. The tension of the wire is difficult to adjust. If it is too loose, the action will be sluggish. If it is too tight, the wear will be aggravated and the closure will not be tight. The wire is a wear part and needs to be replaced frequently.

[0005] (3) Pneumatic direct drive type: A small cylinder is integrated on each planting arm, and its piston rod is directly connected to the opening and closing mechanism of the duckbill. The central controller controls the on and off of the solenoid valve based on the planting tray position signal detected by the rotary encoder, which drives the cylinder to move, thereby precisely controlling the opening and closing of the duckbill. Its opening and closing timing, speed, and opening size are fully programmable and extremely flexible. However, its system is extremely complex and costly; it is difficult to adapt to harsh environments. To address this, we have introduced a cam-linkage planting device and its automatic vegetable seedling transplanter. Summary of the Invention

[0006] The purpose of this invention is to provide a cam-linkage planting device and an automatic vegetable seedling transplanter to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A cam-linkage type planting device includes a duckbill planter for receiving potted seedlings and a movable frame for installing the duckbill planter. The upper rear end of the movable frame is connected to a base plate, and a protective cover is fixed on the base plate. The protective cover is equipped with a seedling conveying device, a seedling picking device, and a seedling delivery device.

[0009] The seedling conveying device is used to transport the seedling tray to the predetermined work position. The seedling picking device is used to pick up the potted seedlings from the seedling tray of the seedling conveying device at the predetermined work position by the seedling picking claw. The seedlings are gradually separated as they move away from the seedling picking work position. After reaching the seedling placement work position, the seedling picking claw is released to complete the seedling placement work. The seedling delivery device is used to receive the potted seedlings from the seedling picking device and transport the potted seedlings to the designated work position so that the potted seedlings fall into the duckbill planter.

[0010] The duckbill planter rotates along a predetermined trajectory via a crank-connecting rod mechanism. The crank-connecting rod mechanism is driven by a gear and chain transmission mechanism. The cam-connecting rod mechanism on the crank-connecting rod mechanism converts the rotational motion of the duckbill planter into the forward and backward motion of the lead screw connection assembly, thereby controlling the opening and closing of the duckbill planter through the lead screw connection assembly.

[0011] When the duckbill planter rotates to its highest point, the cam linkage mechanism controls the duckbill planter to close and receive the potted seedling. When the duckbill planter rotates to its lowest point, the cam linkage mechanism controls the duckbill planter to open and plant the potted seedling into the soil.

[0012] Preferably, the duckbill implanter includes a front duckbill shell and a rear duckbill shell;

[0013] A front connecting frame is fixed to the side of the front duckbill shell, and a rear connecting frame is fixed to the side of the rear duckbill shell. The tops of the front connecting frame and the rear connecting frame are movably connected.

[0014] Preferably, the crank-connecting rod mechanism includes a long connecting rod, a first crank movably connected to the middle of the long connecting rod via a rocker arm, and a second crank movably connected to the rear end of the long connecting rod;

[0015] The front connecting bracket is installed on the front side of the long connecting rod.

[0016] Preferably, a connecting plate is fixed in the middle of the long connecting rod, and the rocker arm is movably connected to the connecting plate by a pin.

[0017] Preferably, the gear and chain transmission mechanism includes a driven shaft fixed in the middle of a first crank, a driven gear fixed on the driven shaft, a driving shaft fixed in the middle of a second crank, a driving gear fixed on the driving shaft, and a first chain connecting the driven gear and the driving gear.

[0018] Both the driven shaft and the driving shaft extend through the mounting plate, and a tension sprocket is installed on the inner side of the mounting plate. The tension sprocket is connected to the outer side of the bottom of the first chain.

[0019] Preferably, the lead screw connection assembly includes a lead screw and a ball joint assembly connecting the front and rear ends of the lead screw;

[0020] The cam-link mechanism includes a camshaft connected between the rear end of the long connecting rod and the second crank, a cam fixed on the camshaft, a driven connecting rod movably connected to the top of the rear end of the long connecting rod, and a roller mounted on the driven connecting rod.

[0021] The roller is in close contact with the surface of the cam;

[0022] The ball joint assembly includes a connector screwed to the front and rear ends of a lead screw, a ball joint ball disposed in a spherical cavity at the end of the connector, a pull rod fixed on the ball joint ball, and a protruding plate fixed to the bottom of the driven connecting rod and the rear connecting frame.

[0023] The pull rod is fixed to the corresponding protruding plate.

[0024] In addition, to achieve the above objectives, the present invention also provides an automatic vegetable seedling transplanter, including the aforementioned cam-linkage planting device.

[0025] Compared with the prior art, the beneficial effects of the present invention are: the present invention converts the rotational motion of the duckbill planter into the forward and backward motion of the screw connecting assembly through the cam linkage mechanism, thereby controlling the opening and closing of the duckbill planter through the screw connecting assembly. It is simpler and more reliable than the previous pull-wire method, requires less installation space, and can be used as a universal planting device for automatic and semi-automatic transplanters.

[0026] After optimization of the movement trajectory of the duckbill planter, the uprightness of the transplanted seedlings is significantly improved compared to the previous planter. The opening and closing angle of the duckbill planter is adjustable. By rotating the joint and adjusting the screw length of the screw rod and the joint, the opening and closing angle can be adjusted to meet different opening and closing needs. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the mobile frame, mounting plate, and engine mounting and fixing of the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of the entire invention;

[0029] Figure 3 This is a schematic diagram of the structure connecting the duckbill planter, lead screw, long connecting rod, and mounting plate of the present invention.

[0030] Figure 4 This is a three-dimensional structural diagram of the duckbill planter and the lead screw connection of the present invention;

[0031] Figure 5 For the present invention Figure 4 A schematic diagram of the three-dimensional structure from another perspective;

[0032] Figure 6 This is a three-dimensional structural diagram of the connection between the lead screw, connector, and tie rod of the present invention;

[0033] Figure 7 For the present invention Figure 6 A schematic diagram of the cross-sectional structure;

[0034] Figure 8 For the present invention Figure 3 A schematic diagram of the three-dimensional structure from another perspective;

[0035] Figure 9 This is a three-dimensional structural diagram of the seedling conveying device, seedling delivery device, and seedling taking device of the present invention.

[0036] In the diagram: 1. Engine; 2. Seedling conveying device; 3. Protective cover; 4. Seedling delivery device; 5. Base plate; 6. Duckbill planter; 601. Front duckbill shell; 602. Rear duckbill shell; 7. Mounting plate; 8. Engine chain; 9. Drive shaft; 10. Drive wheel; 11. Engine shaft; 12. Second chain; 13. Moving frame; 14. Driven wheel; 15. Long connecting rod; 16. Lead screw; 17. Connector; 18. 19. First crank; 20. First chain; 21. Drive gear; 22. Connecting plate; 23. Rocker arm; 24. Tensioning sprocket; 25. Driven gear; 26. Driven connecting rod; 27. Roller; 28. Cam; 29. ​​Camshaft; 30. Seedling taking device; 31. Front connecting frame; 32. Rear connecting frame; 33. Protruding plate; 34. Tie rod; 35. Joint ball; 36. Sixth transmission gear. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Example:

[0039] Please see Figures 1-9 The present invention provides a technical solution:

[0040] A cam-linkage planting device includes a duckbill planter 6 for receiving potted seedlings and a movable frame 13 for mounting the duckbill planter. The duckbill planter 6 rotates along a predetermined trajectory via a crank-connecting rod mechanism, which is driven by a gear and chain transmission mechanism. The cam-linkage mechanism on the crank-connecting rod mechanism converts the rotational motion of the duckbill planter 6 into the forward and backward motion of a screw connecting assembly, thereby controlling the opening and closing of the duckbill planter 6 through the screw connecting assembly. When the duckbill planter 6 rotates to its highest point, the cam-linkage mechanism controls the duckbill planter 6 to close and receive the potted seedlings. When the duckbill planter 6 rotates to its lowest point, the cam-linkage mechanism controls the duckbill planter 6 to open and plant the potted seedlings into the soil.

[0041] The duckbill planter 6 includes a front duckbill shell 601 and a rear duckbill shell 602; a front connecting frame 31 is fixed to the side of the front duckbill shell 601, and a rear connecting frame 32 is fixed to the side of the rear duckbill shell 602, with the tops of the front connecting frame 31 and the rear connecting frame 32 being movably connected.

[0042] The duckbill planter 6 adopts a double-duckbill opening and closing structure. The design of the front duckbill shell 601 and the rear duckbill shell 602 can stably hold the seedlings in pots, preventing them from falling off or being damaged during transportation and planting. The front connecting frame 31 and the rear connecting frame 32 are movably connected at the top, providing a structural basis for the flexible opening and closing of the duckbill. At the same time, the front connecting frame 31 is fixed to the front side of the long connecting rod 15, ensuring that the duckbill planter 6 moves synchronously with the long connecting rod 15, thus ensuring the stability of the planting trajectory. The opening and closing angle of the duckbill planter 6 is adjustable. By adjusting the screw length of the screw rod 16 and the connector 17 through the limiting nut on the rotary joint 17, the opening and closing angle can be adjusted to adapt to different opening and closing needs.

[0043] The crank-connecting rod mechanism includes a long connecting rod 15, a first crank 19 movably connected to the middle of the long connecting rod 15 via a rocker arm 23, and a second crank 18 movably connected to the rear end of the long connecting rod 15; a front connecting frame 31 is installed on the front side of the long connecting rod 15, a connecting plate 22 is fixed in the middle of the long connecting rod 15, and the rocker arm 23 is movably connected to the connecting plate 22 by a pin.

[0044] The crank-connecting rod mechanism (including a long connecting rod 15, a first crank 19, a second crank 18, a rocker arm 23, and a connecting plate 22) serves as the core transmission component. The long connecting rod 15 is movably connected to the rocker arm 23 via the connecting plate 22 in the middle, and to the second crank 18 at the rear end. It carries the duckbill planter 6 at the front end, converting the rotation of the first crank 19 and the second crank 18 into its own stable rotational motion, providing the duckbill planter 6 with a predetermined planting trajectory (from receiving the seedling at the highest point to planting it in the soil at the lowest point). The rocker arm 23 is connected to the connecting plate 22 by a pin, allowing for flexible adjustment of the rotation amplitude of the long connecting rod 15 to suit the planting height requirements of different crop seedlings. The connecting plate 22 is fixed in the middle of the long connecting rod 15, enhancing its structural strength, preventing deformation under long-term stress, and extending the device's service life.

[0045] The gear and chain drive mechanism includes a driven shaft fixed in the middle of the first crank 19, a driven gear 25 fixed on the driven shaft, a driving shaft fixed in the middle of the second crank 18, a driving gear 21 fixed on the driving shaft, and a first chain 20 connecting the driven gear 25 and the driving gear 21. Both the driven shaft and the driving shaft extend through the mounting plate 7, and a tension sprocket 24 is installed on the inner side of the mounting plate 7. The tension sprocket 24 is connected to the outer side of the bottom of the first chain 20.

[0046] The lead screw connection assembly includes a lead screw 16 and a ball joint assembly connecting the front and rear ends of the lead screw 16; the cam linkage mechanism includes a camshaft 29 connecting the rear end of the long connecting rod 15 and the second crank 18, a cam 28 fixed on the camshaft 29, a driven connecting rod 26 movably connected to the top of the rear end of the long connecting rod 15, and a roller 27 mounted on the driven connecting rod 26, with the roller 27 closely attached to the surface of the cam 28; the ball joint assembly includes a connector 17 screwed to the front and rear ends of the lead screw 16, a ball joint 35 disposed in the spherical cavity at the end of the connector 17, a pull rod 34 fixed on the ball joint 35, and a protrusion 33 fixed to the bottom of the driven connecting rod 26 and the rear connecting frame 32, with the pull rod 34 fixed to the corresponding protrusion 33.

[0047] Cam-linkage mechanism (including camshaft 29, cam 28, driven link 26, and roller 27): Cam 28 is fixed on camshaft 29 and rotates synchronously with second crank 18. Its contour design can precisely control the movement trajectory of roller 27, thereby realizing the reciprocating swing of driven link 26 and providing precise power transmission for the opening and closing of duckbill planter 6; Roller 27 is in close contact with the surface of cam 28, converting the rotation of cam 28 into its own rolling, reducing the friction between the two, reducing component wear, and ensuring smooth motion transmission; Driven link 26 is movably connected to the top of the rear end of long link 15, which can flexibly transmit the power of cam 28, adapt to the rotational movement of long link 15, and ensure that the opening and closing action and rotational trajectory of duckbill planter 6 are precisely synchronized.

[0048] The lead screw connection assembly (including lead screw 16, ball joint assembly, pull rod 34, and protruding plate 33) connects the front and rear ends of lead screw 16 to pull rod 34 via ball joint assembly. The ball joint 35 in the ball joint assembly can rotate flexibly within the spherical cavity of connector 17, which can compensate for the angular deviation between the rotational motion of long connecting rod 15 and the opening and closing motion of duckbill, and prevent lead screw 16 from being twisted or damaged by force. Lead screw 16 is screwed to connector 17, and the total length of lead screw 16 and connector 17 can be adjusted according to actual needs to adapt to the opening and closing stroke of duckbill planters 6 of different sizes, thereby improving the versatility of the device. Protruding plate 33 is fixed to the bottom of driven connecting rod 26 and rear connecting frame 32 respectively, providing a stable connection fulcrum for pull rod 34, ensuring accurate power transmission, and enhancing the structural strength of the connection part.

[0049] In addition, to achieve the above objectives, the present invention also provides an automatic vegetable seedling transplanter, including a cam-linkage planting device and a movable frame 13 for fixing the mounting plate 7. An engine 1 is fixed at the rear end of the movable frame 13. An engine shaft 11 is connected to the output end of the engine 1. A first transmission gear and a second transmission gear are fixed on the engine shaft 11. The first transmission gear is connected to a third transmission gear through an engine chain 8. The third transmission gear is fixed to a transmission shaft 9 installed at the rear end of the movable frame 13, and a fourth transmission gear is fixed at the other end of the transmission shaft 9. Transmission boxes are installed on both sides of the rear end of the movable frame 13. A drive wheel 10 is connected to the inner bottom of the transmission box by a wheel axle. The other ends of the wheel axle and the transmission shaft 9 extend into the transmission box and are connected to a fifth transmission gear. A transmission chain connects the fifth transmission gears. Driven wheels 14 are provided on the front and rear sides of the movable frame 13. A sixth transmission gear 36 is fixed after one end of the drive shaft extends through the mounting plate 7. The sixth transmission gear 36 is connected to the second transmission gear fixed on the engine shaft 11 through a second chain 12.

[0050] The upper rear end of the mobile frame 13 is connected to a base plate 5, on which a protective cover 3 is fixed. The protective cover 3 is equipped with a seedling conveying device 2, a seedling retrieval device 30, and a seedling delivery device 4. The seedling conveying device 2 transports the seedling tray to a predetermined work position. The seedling retrieval device 30 uses a retrieval claw to clamp the seedlings from the seedling tray of the seedling conveying device at the predetermined retrieval work position, gradually separating them as they move away from the retrieval work position. Upon reaching the seedling placement work position, the retrieval claw is released to complete the seedling placement. The seedling delivery device 4 receives the seedlings from the retrieval device and transports them to the designated work position. After the seedling cup of the delivery device 4 opens, the seedling falls into the duckbill planter 6. The seedling conveying device 2, the seedling retrieval device 30, and the seedling delivery device 4 are all existing technologies; any model available on the market that meets the usage requirements can be selected.

[0051] Specifically, when using it:

[0052] 1. Power transmission start-up: The power of the device comes from an external drive (such as the engine 1 of the automatic vegetable seedling transplanter). The power is transmitted to the sixth transmission gear 36 through the second chain 12. Since the sixth transmission gear 36 is fixed on the drive shaft, it drives the drive shaft to rotate, completing the initial power input and providing the power foundation for the operation of the entire planting device.

[0053] 2. Rotational motion of the crank-connecting rod mechanism: When the driving shaft rotates, it drives the second crank 18, which is fixedly connected to it, to rotate synchronously. The second crank 18 is connected to the driven gear 25 via the first chain 20 (the driving gear 21 is fixed on the driving shaft and meshes with the driven gear 25 via the first chain 20; the tension sprocket 24 is pressed tightly against the bottom outer side of the first chain 20 to ensure transmission stability), thereby driving the driven shaft and the first crank 19 fixed on it to rotate synchronously. The first crank 19 is movably connected to the connecting plate 22 in the middle of the long connecting rod 15 via the rocker arm 23, and the second crank 18 is movably connected to the rear end of the long connecting rod 15. Therefore, the synchronous rotation of the first crank 19 and the second crank 18 will drive the long connecting rod 15 to make a stable rotational motion along a predetermined trajectory, while the duckbill planter 6 is fixed to the front side of the long connecting rod 15 via the front connecting frame 31 and completes the rotational motion together with the long connecting rod 15.

[0054] 3. Opening and closing control of the duckbill planter 6: A camshaft 29 is connected between the rear end of the long connecting rod 15 and the second crank 18. The cam 28 is fixed on the camshaft 29 and rotates synchronously with the second crank 18. A driven connecting rod 26 is movably connected to the top of the rear end of the long connecting rod 15. The roller 27 installed on the driven connecting rod 26 is in close contact with the surface of the cam 28. When the cam 28 rotates, its contour changes and pushes the roller 27 to move up and down, thereby driving the driven connecting rod 26 to swing back and forth.

[0055] Both the bottom of the driven link 26 and the rear connecting frame 32 are fixed with protruding plates 33. The pull rod 34 of the screw connection assembly is fixed to the protruding plate 33 through the ball joint assembly (the ball joint assembly includes a screw 16, a connector 17, and a ball joint 35. The connector 17 is screwed to the screw 16, the ball joint 35 is set in the spherical cavity of the connector 17, and the pull rod 34 is fixed on the ball joint 35). Therefore, the reciprocating swing of the driven link 26 will be converted into forward and backward linear motion through the screw connection assembly, thereby pulling the rear connecting frame 32 to move relative to the front connecting frame 31 (the front connecting frame 31 and the top of the rear connecting frame 32 are movably connected), realizing the opening and closing of the front duckbill shell 601 and the rear duckbill shell 602 of the duckbill planter 6.

[0056] 4. The entire process of potted seedling planting: When the duckbill planter 6 rotates with the long connecting rod 15 to the highest point, the contour of the cam 28 pushes the roller 27 to drive the driven connecting rod 26 to move. Through the screw connecting assembly, the rear connecting frame 32 is pulled, causing the duckbill planter 6 to close, at which point it receives the potted seedlings transported from the outside. Then, the duckbill planter 6 continues to move downward along the rotation trajectory with the long connecting rod 15. When it moves to the lowest point (soil planting depth), the contour of the cam 28 changes, causing the roller 27 to reset. The driven connecting rod 26 drives the screw connecting assembly to pull back, and the duckbill planter 6 opens, smoothly planting the potted seedlings into the soil. After planting, the duckbill planter 6 continues to rotate with the long connecting rod 15, returning to the highest point, and enters the next round of receiving and planting cycle, realizing continuous automated planting.

[0057] This invention enables 'zero-speed' transplanting; reduces soil disturbance, shortens the recovery period after transplanting seedlings, and improves planting results and production efficiency.

[0058] The present invention has a simple and compact structure, requires little installation space, and can be used as a universal planting device for automatic and semi-automatic transplanters.

[0059] After the motion trajectory of the duckbill planter 6 of the present invention was optimized, the uprightness of the transplanted seedlings was improved by at least 30% compared with the previous planter.

[0060] The present invention has a simple and reliable structure, which can prevent seedling clamping caused by plastic deformation of the wire and the device is impact-free.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A cam-linkage type planting device, comprising a duckbill planter for receiving potted seedlings and a movable frame for mounting the duckbill planter, characterized in that: The upper rear end of the mobile frame is connected to a base plate, and a protective cover is fixed on the base plate. The protective cover is equipped with a seedling conveying device, a seedling taking device, and a seedling delivery device. The duckbill planter rotates along a predetermined trajectory via a crank-connecting rod mechanism. The crank-connecting rod mechanism is driven by a gear and chain transmission mechanism. The cam-connecting rod mechanism on the crank-connecting rod mechanism converts the rotational motion of the duckbill planter into the forward and backward motion of the lead screw connection assembly, thereby controlling the opening and closing of the duckbill planter through the lead screw connection assembly. When the duckbill planter rotates to its highest point, the cam linkage mechanism controls the duckbill planter to close and receive the potted seedling. When the duckbill planter rotates to its lowest point, the cam linkage mechanism controls the duckbill planter to open and plant the potted seedling into the soil. The lead screw connection assembly includes a lead screw and a ball joint assembly connecting the front and rear ends of the lead screw. The cam-link mechanism includes a camshaft connected between the rear end of the long connecting rod and the second crank, a cam fixed on the camshaft, a driven connecting rod movably connected to the top of the rear end of the long connecting rod, and a roller mounted on the driven connecting rod. The roller is in close contact with the surface of the cam; The ball joint assembly includes a connector screwed to the front and rear ends of a lead screw, a ball joint ball disposed in a spherical cavity at the end of the connector, a pull rod fixed on the ball joint ball, and a protruding plate fixed to the bottom of the driven connecting rod and the rear connecting frame. The pull rod is fixed to the corresponding protruding plate; The gear and chain transmission mechanism includes a driven shaft fixed in the middle of a first crank, a driven gear fixed on the driven shaft, a driving shaft fixed in the middle of a second crank, a driving gear fixed on the driving shaft, and a first chain connecting the driven gear and the driving gear. Both the driven shaft and the driving shaft extend through the mounting plate, and a tension sprocket is installed on the inner side of the mounting plate. The tension sprocket is connected to the outer side of the bottom of the first chain.

2. The cam-linkage planting device according to claim 1, characterized in that: The duckbill implanter includes a front duckbill shell and a rear duckbill shell; A front connecting frame is fixed to the side of the front duckbill shell, and a rear connecting frame is fixed to the side of the rear duckbill shell. The tops of the front connecting frame and the rear connecting frame are movably connected.

3. The cam-linkage planting device according to claim 2, characterized in that: The crank-connecting rod mechanism includes a long connecting rod, a first crank movably connected to the middle of the long connecting rod via a rocker arm, and a second crank movably connected to the rear end of the long connecting rod. The front connecting bracket is installed on the front side of the long connecting rod.

4. The cam-linkage planting device according to claim 3, characterized in that: A connecting plate is fixed in the middle of the long connecting rod, and the rocker arm is movably connected to the connecting plate by a pin.

5. The cam-linkage planting device according to claim 1, characterized in that: The seedling conveying device is used to transport the seedling tray to the predetermined work position. The seedling picking device is used to pick up the potted seedlings from the seedling tray of the seedling conveying device at the predetermined work position by picking up the seedlings with the picking claws. The seedlings are gradually separated as they move away from the seedling picking work position. After reaching the seedling placement work position, the picking claws are released to complete the seedling placement work. The seedling delivery device is used to receive the potted seedlings from the seedling picking device and transport the potted seedlings to the designated work position so that the potted seedlings fall into the duckbill planter.

6. An automatic vegetable seedling transplanter, characterized in that, Includes the cam-linkage planting device as described in any one of claims 1-5.

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