A sorghum substrate seedling automatic transplanting system and a cultivation control method thereof

Abstract

The application discloses a kind of brewing highland millet matrix seedling automatic transplanting system and its cultivation control method, it is related to agricultural planting machinery technical field, comprising: walking chassis;Hole punching subassembly, it is set in the front end of walking chassis, for carrying out hole digging action;Pot seedling conveying subassembly, it is set in the top of walking chassis, for continuously conveying highland millet matrix pot seedling;Vertical flow guide blanking assembly, it is set on walking chassis and located in the rear of hole punching subassembly, and with the working track of hole punching subassembly collinear, for constraint from the highland millet matrix pot seedling of pot seedling conveying subassembly falls, with the attitude of vertical ground falls into the hole of the hole punched by hole punching subassembly;Soil covering subassembly, it is set in the periphery of vertical flow guide blanking assembly, for after planting pot seedling is carried out soil covering.It has the advantages that seedling posture is controllable in planting process, can realize vertical directional into hole, soil covering compaction is sufficient and operation process is continuous and stable.

Description

Technical Field

[0001] This invention belongs to the field of agricultural planting machinery technology, and more specifically it relates to an automatic transplanting system for sorghum substrate seedlings for brewing and its cultivation control method. Background Technology

[0002] Sorghum for brewing is an important economic crop, and the use of substrate seedling transplanting technology can effectively improve its stress resistance and yield. During mechanized transplanting, the quality of the planting operation directly determines the length of the seedling establishment period and the final survival rate.

[0003] Currently, most existing transplanters use rotating duckbill or hanging cup planting mechanisms, and their movement trajectories are mostly circular or cycloidal. This non-linear movement trajectory results in a large angle between the central axis of the planter and the ground at the moment the seedling is inserted into and removed from the soil. This causes the sorghum seedlings to be subjected to lateral thrust or friction when falling into the planting furrow, making it difficult for them to maintain a vertical posture and easily leading to "seedling falling over" or "root exposure".

[0004] Planting sorghum seedlings without vertical positioning not only reduces the close contact between the roots and the soil, leading to a prolonged seedling establishment period and a lower survival rate, but also causes uneven growth among the seedlings in the field, severely impacting subsequent mechanized harvesting. Therefore, given the shortcomings of existing planting mechanisms in controlling movement trajectory and posture, there is an urgent need to develop an automatic transplanting system for brewing sorghum seedlings and its cultivation control method to solve these problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an automatic transplanting system for sorghum substrate seedlings for brewing and its cultivation control method. This system has the advantages of controllable seedling posture during planting, vertical directional planting, sufficient soil compaction, and continuous and stable operation. It effectively avoids seedling collapse and root exposure, improves the survival rate of sorghum substrate seedlings after transplanting, and helps to improve the uniformity of field growth and the effect of subsequent mechanized operations.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automated transplanting system for sorghum substrate seedlings for brewing includes:

[0008] Walking chassis;

[0009] The hole-digging component is located at the front end of the walking chassis and is used to perform hole-digging actions;

[0010] A seedling conveying assembly is located at the top of the traveling chassis and is used to convey sorghum substrate seedlings in pots.

[0011] A vertical guide feeding component is mounted on the walking chassis and located behind the hole-drilling component, and is collinear with the working trajectory of the hole-drilling component. It is used to constrain the sorghum substrate seedlings falling from the seedling delivery component to fall into the hole drilled by the hole-drilling component in a vertical position.

[0012] The soil covering component is located around the vertical guide material feeding component and is used to cover the planted seedlings with soil.

[0013] The advantages of this scheme are at least as follows: In the existing sorghum transplanting process, manual seedling placement is unstable, the seedling posture is difficult to control, it is easy to tilt or even fall over, and the work efficiency is low. This scheme achieves continuous movement of the whole machine by setting up a walking chassis, realizes synchronous hole opening by the hole-opening component, and realizes continuous and orderly supply of sorghum substrate and seedlings by combining the pot seedling conveying component.

[0014] By setting up a vertical guide feeding component, the seedlings released during the conveying process are guided and constrained, so that they always maintain an almost vertical posture during the fall, thus accurately entering the hole formed by the hole-drilling component and avoiding deviation, tipping or jamming.

[0015] Furthermore, by using the soil covering component, the planting holes are promptly covered and compacted with soil after the seedlings are planted, ensuring full contact between the seedlings and the soil and improving survival conditions. The entire process integrates hole digging, transportation, planting, and soil covering, improving the continuity and automation of transplanting operations, significantly enhancing planting accuracy and operational efficiency, while reducing the degree of manual intervention and labor intensity.

[0016] In actual operation, as the chassis moves forward, the hole-digging component at the front end digs holes first, while the seedling delivery component at the top continuously delivers sorghum substrate seedlings downwards. At the same time, the vertical guide feeding component, which is colinear with the working trajectory of the hole-digging component, physically constrains the falling substrate seedlings to ensure that they fall precisely into the hole with a vertical orientation. Finally, the surrounding soil covering component covers the planted seedlings with soil.

[0017] The present invention is further configured such that the acupressure component includes:

[0018] A support frame is fixedly mounted on the front end of the walking chassis;

[0019] The lifting power source is located at the top of the support frame and is used to drive the lifting slide to reciprocate linearly in a direction perpendicular to the walking chassis via a screw drive pair.

[0020] A rotary drilling power source is installed on the lifting slide, and a spiral drill bit is coaxially connected to its bottom output end.

[0021] A protective housing is detachably and fixedly mounted on the lifting slide and surrounds the auger bit circumferentially to form an outer circumferential shield for the auger bit.

[0022] The advantages of this scheme are at least as follows: By setting up a support frame to stably support the hole-drilling component, and using a lifting power source combined with a screw drive to drive the lifting slide table in precise reciprocating motion along the vertical direction, the hole depth can be controlled and adjusted, ensuring consistent hole depth. Simultaneously, by setting a rotating hole-drilling power source on the lifting slide table and coaxially connecting a auger drill bit to its output end, the rotating cutting and soil removal operations are completed during the downward pressing process, resulting in a regular hole structure with stable hole walls that are not prone to collapse. Under the synergistic effect of lifting and rotation, soil resistance can be effectively reduced, improving hole-drilling efficiency and stability. Furthermore, the stroke and speed parameters can be adjusted according to different planting requirements, thereby adapting to different soil conditions and planting specifications, and improving the overall adaptability of the machine.

[0023] By setting a protective shell on the support frame around the auger bit, a circumferential shield and limit are formed around the auger bit when it rotates, so that the soil that is cut and thrown up falls back down or near the bit area under the constraint of the shell, thereby effectively suppressing the disorderly scattering of soil and facilitating subsequent backfilling.

[0024] During operation, the support frame fixed at the front provides a stable structural foundation. The lifting power source converts the rotary motion into high-precision linear motion through the screw drive pair, driving the lifting slide to move smoothly and vertically downward. At the same time, the rotary drilling power source installed on the slide drives the auger drill bit to rotate at high speed to cut soil and form holes. Through the smoothness and high-precision guidance of the screw drive, combined with the coaxial rotary cutting of the auger drill bit, precise control of the drilling depth and hole verticality is achieved.

[0025] The present invention is further configured such that the seedling delivery assembly includes:

[0026] A support frame is fixedly installed on the top of the walking chassis;

[0027] A ring chain drive mechanism is installed on the support frame to form a closed-loop circulating conveying path;

[0028] A conveyor drive motor is connected to the ring chain transmission mechanism to provide rotational cyclic driving force; a seedling dropping area is formed on the cyclic conveying path, and when the seedling carrying cup moves to the seedling dropping area, it is directly above the top opening of the vertical guide feeding component;

[0029] The ring chain drive mechanism includes a driving sprocket, a driven sprocket, and a drive chain wound between the driving sprocket and the driven sprocket;

[0030] The plurality of seedling support cups are sequentially fixed to the outer links of the transmission chain via an extended mounting base;

[0031] Several seedling support cups are evenly spaced and sequentially fixed on the outer links of the transmission chain via extended mounting seats, and move in a closed loop with the transmission mechanism of the annular chain; the seedling support cup is a conical funnel shape that is wider at the top and narrower at the bottom, and the minimum inner diameter of its internal cavity is larger than the outer diameter of the sorghum substrate seedling pot.

[0032] The advantages of this scheme are at least as follows: by setting up a ring chain transmission mechanism, a stable closed-loop conveying path is formed on the support frame, and the conveying drive motor provides continuous and uniform driving force, so that multiple seedling carrier cups move in a cycle with the transmission chain, realizing the continuous and orderly supply of seedlings; at the same time, a seedling dropping area corresponding to the vertical guide feeding component is preset on the circulation path. When the seedling carrier cup moves to this position, it is exactly above the guide channel, so that the seedlings can fall accurately according to the predetermined rhythm, ensuring the consistency of the seedling dropping position;

[0033] By evenly spaced the seedling support cups on the outer links of the transmission chain, a stable conveying distance is maintained, avoiding interference or stacking between adjacent seedlings. Furthermore, the seedling support cups adopt a conical structure design that is wider at the top and narrower at the bottom, with an inner diameter larger than the outer diameter of the seedling, allowing the seedlings to smoothly detach from the support cup under gravity, reducing the phenomenon of hanging or jamming. With the combined effect of the above structures, the seedling conveying, alignment, and unloading process is more stable and reliable, improving the accuracy of seedling placement and overall work efficiency.

[0034] During operation, the conveyor drive motor drives the active sprocket, driven sprocket and transmission chain to perform closed-loop cyclic motion. The carrier cup, which is wider at the top and narrower at the bottom and has a minimum inner diameter larger than the outer diameter of the pot, not only facilitates quick filling of seedlings, but also effectively prevents the seedlings from getting stuck in the cup. When the seedling carrier cup moves to the seedling dropping area with the chain, it is precisely positioned directly above the top opening of the vertical guide feeding component, allowing the seedlings to slide smoothly and without interference into the feeding component under the action of gravity.

[0035] The present invention is further configured such that: the bottom of the seedling support cup is provided with a normally closed mechanical opening and closing bottom door mechanism; the mechanical opening and closing bottom door mechanism includes:

[0036] The first hinged support is fixedly installed on the outer side of the bottom side wall of the seedling support cup;

[0037] The movable bottom door has a support portion covering the bottom opening of the seedling support cup, and a trigger arm extending outward from the support portion and hinged to the first hinge support.

[0038] A reset torsion spring is sleeved on the pin of the first hinge support, with its two ends abutting against the outer wall of the seedling support cup and the movable bottom door, respectively.

[0039] The conveying support frame is fixedly equipped with a lifting component at the position corresponding to the seedling dropping area. The lifting component is used in conjunction with the mechanical opening and closing bottom door mechanism. The lifting component includes a horizontal support, a lifting trigger column fixed on the horizontal support and protruding upward, and a lifting drive component.

[0040] The advantages of this scheme are at least as follows: By setting a normally closed mechanical opening and closing bottom door mechanism at the bottom of the seedling support cup, the movable bottom door is always kept closed under the action of the return torsion spring, thus providing reliable support for the seedlings during transportation and preventing premature seedling drop due to vibration or posture changes; when the support cup moves to the seedling dropping area with the transmission chain, the lifting component set on the conveying support frame lifts the trigger arm, causing the movable bottom door to rotate and open around the first hinge support, thereby realizing the fixed-point release of the seedling at the designated position and ensuring the accuracy of the timing and position of seedling dropping; after the seedling dropping is completed, the lifting component retracts, and the movable bottom door automatically returns to its original position and closes under the action of the return torsion spring, allowing the next cycle to begin without additional control, with a simple structure and reliable operation.

[0041] The present invention is further configured such that: the vertical flow guiding and unloading assembly includes:

[0042] The seedling receiving hopper is located directly below the seedling dropping area and has a guiding inner cavity that is wider at the top and narrower at the bottom;

[0043] The top of the seedling guide tube is connected to the bottom of the seedling receiving hopper, and the central axis of the seedling guide tube is set perpendicular to the ground.

[0044] The inner wall of the seedling guide tube is provided with several longitudinal guide ribs at equal intervals along the vertical direction.

[0045] The advantages of this scheme are at least as follows: by setting a seedling receiving hopper that is wider at the top and narrower at the bottom below the seedling dropping area, the potted seedlings released from the self-supporting cup are initially gathered and guided, so that they complete position convergence before entering the seedling guide channel; then, through the seedling guide tube connected to the seedling receiving hopper and set perpendicular to the central axis, the falling path of the potted seedlings is continuously constrained, so that they fall stably in the vertical direction, thereby ensuring that the seedlings remain basically upright when entering the hole; at the same time, several longitudinal guide ribs are set in the inner wall of the seedling guide tube along the vertical direction, so as to form multi-point contact guidance on the outer wall of the potted seedlings without significantly increasing frictional resistance, effectively reducing swaying and rotation, and avoiding jamming or deviation.

[0046] During operation, the top-wide and bottom-narrow seedling receiving hopper provides a large tolerance range for seedling receiving, smoothly gathering the sorghum substrate seedlings dropped from above and merging them into the seedling guide tube below. Subsequently, the substrate seedlings fall along the seedling guide tube perpendicular to the ground under the action of gravity. At this time, the longitudinal guide ribs on the inner wall of the tube greatly reduce the contact area between the substrate seedling pot and the tube wall, thereby effectively reducing frictional resistance. At the same time, it provides uniform linear physical constraint around the substrate seedlings, preventing the seedlings from rotating, turning over, or tipping over inside the tube.

[0047] The present invention is further configured such that: the soil covering component is specifically a composite soil compaction component, the composite soil compaction component comprising:

[0048] Two symmetrically arranged lateral soil-gathering mechanisms are used to gather the outer soil fragments towards the center of the hole to form an initial soil covering layer around the roots of the seedlings in the substrate.

[0049] The inclined sealing and squeezing mechanism is used to squeeze the soil at the edge of the hole at an angle to seal the gap at the hole opening and provide support for the substrate seedling.

[0050] The in-situ vertical compaction mechanism is used to compact the soil in the initial cover layer and the soil in the holes by pressing and tamping it vertically downwards in situ.

[0051] The advantages of this scheme are at least as follows: By refining the soil covering process into three continuous steps—soil gathering, hole sealing, and compaction—the symmetrically arranged lateral soil gathering mechanism gathers the loose soil around the hole towards the center, forming an initial soil covering layer around the seedling roots. Subsequently, the oblique hole sealing and squeezing mechanism presses the soil at the edge of the hole inward, gradually tightening the hole opening and providing support for the seedling, effectively reducing gaps. On this basis, the in-situ vertical compaction mechanism compacts the soil covering area downward, ensuring that the soil and substrate seedling are fully in contact, enhancing the contact density between the roots and the soil. Under the above multi-level synergistic effect, the soil covering structure gradually transitions from loose to dense, avoiding seedling displacement caused by one-time compaction and improving the uniformity and stability of the soil covering, thereby helping to improve the survival rate of seedlings and the overall transplanting quality.

[0052] In actual operation, after the substrate seedling is placed into the planting hole, the symmetrically arranged lateral soil-gathering mechanism takes the lead in quickly gathering the loose soil around the hole towards the center, forming an initial soil covering layer around the roots of the substrate seedling. Subsequently, the oblique hole-sealing and squeezing mechanism applies an oblique pushing force to the soil at the edge of the hole, effectively sealing the gaps at the hole opening and building preliminary support around the seedling. Finally, the in-situ vertical compaction mechanism vertically presses and compacts the initial soil covering layer and the soil in the hole from top to bottom. Through the lateral soil-gathering mechanism, the oblique hole-sealing and squeezing mechanism, and the in-situ vertical compaction mechanism, the coordinated operation of soil gathering, hole sealing, and compaction is achieved, which greatly enhances the upright stability of the substrate seedling after planting, ensures close contact between the roots and the soil, and thus significantly improves the transplant survival rate of sorghum seedlings.

[0053] The present invention is further configured such that the lateral soil-closing mechanism includes:

[0054] A horizontal bearing base is fixedly installed under the walking chassis, and two transverse linear guide rails are laid parallel on the horizontal bearing base;

[0055] The drive assembly includes a soil-collecting motor mounted on one side of the horizontal bearing base, a lead screw driven by the soil-collecting motor, and a movable slider. The movable slider is threaded to the lead screw and slidably engaged with the transverse linear guide rail.

[0056] The soil-collecting plate is detachably fixed to the movable slider via a connecting rod.

[0057] The advantages of this scheme are at least as follows: By setting a horizontal bearing base under the walking chassis and arranging two transverse linear guide rails on it, the moving slider has clear guidance when moving laterally, making the operation smoother and less prone to deviation; the soil-gathering motor drives the lead screw to rotate, which in turn drives the moving slider connected to it in a linear motion, allowing the soil-gathering plate to be pushed towards the center of the hole in the set direction. During the pushing process, the soil on both sides is gradually pushed to the area around the seedling. The soil-gathering process is continuous and controllable, without any sudden changes in soil amount; at the same time, the guide rails support the slider, maintaining stable movement even when subjected to soil resistance, reducing jamming; in addition, the soil-gathering plate is detachably connected to the slider via a connecting rod, making it convenient to replace or adjust according to different soil conditions, and making it more flexible to use;

[0058] In actual operation, after the seedling is placed, the soil-gathering motor starts and drives the lead screw to rotate. The movable slider, which is threaded to the lead screw, moves in a straight line in the horizontal direction under the guidance of the horizontal linear guide rail. During the movement, the movable slider drives the soil-gathering plate, which is installed through the connecting rod, to move synchronously towards the center of the hole. During the movement, the loose soil on both sides of the hole is gradually pushed towards the center, so that the soil forms an initial accumulation around the seedling. Because the movable slider is constrained by the two horizontal linear guide rails, its movement trajectory remains stable and it is not easy to deviate even when subjected to soil resistance, thus ensuring that the soil-gathering process is continuous and uniform. When the soil-gathering plate moves to the predetermined position, the soil-gathering motor can be stopped or reversed to make the movable slider drive the soil-gathering plate back, preparing for the next operation cycle.

[0059] The present invention is further configured such that: the inclined sealing and extrusion mechanism includes:

[0060] A sliding frame is fixedly connected to the bottom of the walking chassis;

[0061] The mounting base is slidably mounted on the sliding frame, and the traveling chassis is provided with a first telescopic drive member for driving the mounting base to move along the sliding frame;

[0062] The second telescopic drive component is inclinedly disposed on the mounting base, and a sealing extrusion plate is fixed to the power output end of the second telescopic drive component.

[0063] The attitude fine-tuning component includes: a second hinge support disposed on the mounting base, the bottom front end of the second telescopic drive member being hinged to the second hinge support; and a vertical support member disposed on the mounting base and supported on the bottom rear side of the second telescopic drive member.

[0064] The advantages of this scheme are at least as follows: by setting the first telescopic drive component to drive the mounting base to move vertically along the sliding frame, the sealing and extrusion mechanism can be adjusted up and down according to the position of the cavity, thereby accurately moving the sealing and extrusion plate to the working position above the cavity.

[0065] By tilting the second telescopic drive component on the mounting base and setting a sealing and squeezing plate at its output end, the squeezing plate can apply force to the soil at the edge of the hole at a certain angle. During the advancement process, the outer soil is squeezed and gathered inward, so as to gradually close the hole opening and at the same time support the seedling and reduce loose gaps.

[0066] By setting up a posture fine-tuning component and adjusting the height of the vertical support, the overall posture of the second telescopic drive component can be tilted and rotated around the second hinged support, thereby fine-tuning the downward pressing angle of the extrusion plate, so that it can better adapt to different soil conditions and hole shapes, and avoid uneven sealing or insufficient local effect caused by unsuitable extrusion angle.

[0067] During operation, the first telescopic drive component first drives the mounting base to move laterally along the sliding frame to precisely adjust the horizontal relative distance between the sealing and pressing plate and the center of the hole. At the same time, by adjusting the height of the vertical support, the overall posture of the second telescopic drive component can be tilted and rotated around the second hinged support, thereby fine-tuning the downward pressing angle of the pressing plate. After achieving the optimal matching of spatial posture, the second telescopic drive component extends, driving the sealing and pressing plate to precisely push and compact the soil at the edge of the hole at the optimal angle. This structure achieves dual flexible adjustment of the horizontal translation of the sealing and pressing position and the downward pressing angle, thereby improving the sealing effect of the hole and the compaction of the soil around the seedling, which is beneficial to improving the stability and survival rate after transplanting.

[0068] The present invention is further configured such that: the in-situ vertical compaction mechanism includes:

[0069] A linear drive unit is vertically mounted on the chassis to provide a vertical linear reciprocating driving force.

[0070] The annular compactor is horizontally connected to the lower power output end of the linear drive component, and a central clearance hole is provided in its center for the vertical flow guide feeding assembly to pass through.

[0071] An anti-rotation guide assembly is arranged parallel to and spaced apart from the power output end of the linear drive component; the bottom end of the anti-rotation guide assembly is fixedly connected to the upper surface of the annular compactor, and the top end is slidably engaged with the chassis.

[0072] The advantages of this scheme are at least as follows: by setting a linear drive component to provide a stable reciprocating driving force in the vertical direction, the annular compaction component is driven to compact the soil around the hole from top to bottom in situ, making the force direction of the compaction process clear and controllable; at the same time, by setting the compaction component as an annular structure and opening a central clearance hole in its middle, the vertical guide material feeding component can pass through it, thereby compacting the soil around the seedling without affecting the seedling guide structure, ensuring the integrity of the compaction range and avoiding direct compression of the seedling;

[0073] By setting up an anti-rotation guide component, the bottom end of which is connected to the annular compactor and the top end is slidably engaged with the walking chassis, it plays a guiding and limiting role in the process of the compactor moving up and down with the linear drive component, effectively preventing the compactor from rotating or swaying, so that it always maintains a stable posture for compaction, thereby improving the compaction uniformity and operational stability.

[0074] During operation, the clearance hole in the center of the annular compactor can safely accommodate the vertical guide material feeding component passing through it and the substrate seedlings already planted in the hole, effectively preventing any physical damage to the seedlings caused by the compaction action. At the same time, the linear drive component outputs vertical downward power to push the annular compactor to press down and compact the soil around the hole. During this period, the anti-rotation guide components set in parallel intervals maintain a sliding fit between their tops and the walking chassis, effectively offsetting the lateral torque caused by uneven resistance of the surrounding soil, preventing the annular compactor from rotating or tilting and getting stuck during the lifting and lowering process. The in-situ vertical compaction mechanism makes the soil form a uniform and dense compacted layer around the seedling, which is conducive to strengthening the bond between the roots and the soil, improving the stability and survival rate after transplanting.

[0075] A cultivation control method for an automated transplanting system for sorghum substrate seedlings used in brewing includes the following steps:

[0076] S1. Positioning and Hole-digging Steps: Control the walking chassis to move to the target transplanting location; the hole-digging component located at the front end of the chassis is activated and performs the hole-digging action, rotating out a hole in the soil;

[0077] S2. Conveying and Vertical Seedling Dropping Steps: The seedling conveying component located at the top of the chassis conveys the sorghum substrate seedlings and drops them; the dropping seedlings are constrained by the vertical guide feeding component and fall precisely into the holes dug by the hole-drilling component in a vertical position.

[0078] S3. Soil Covering Step: After the seedlings are planted, the soil covering component set around the vertical guide material feeding component is activated to cover the potted seedlings planted in the holes with soil, thus completing the root wrapping.

[0079] S4. Reset cycle steps: Reset all working parts such as the hole-drilling component and the soil-covering component; control the walking chassis to move to the next transplanting position and enter the next single-plant transplanting cycle.

[0080] The advantages of this scheme are at least as follows: In response to the problems of seedlings being difficult to maintain a vertical posture and insufficient soil compaction caused by unreasonable planting trajectory in the existing transplanting process, this scheme divides the transplanting operation into a continuous cycle of positioning and hole digging, transporting and dropping seedlings, covering soil and resetting, and executes them in a coordinated manner in a predetermined order, so that each process can form an effective coordination in time and space.

[0081] The process involves first creating stable planting holes, then combining a seedling delivery component with a vertical guide feeding component to guide the seedlings vertically into the holes under controlled conditions. This effectively avoids lateral interference caused by traditional curved planting methods, thus improving planting verticality. Immediately after planting, the seedlings are covered and compacted with soil, ensuring they are secured before tilting and improving root-soil contact. Through the continuous connection of these steps, the seedlings remain under controlled conditions from planting to soil compaction, reducing seedling collapse and root exposure, shortening the recovery period, increasing survival rate, and ensuring consistent growth of the entire plant population.

[0082] In summary, the present invention has at least the following advantages:

[0083] 1. By setting up a seedling delivery component and forming a seedling drop area corresponding to the vertical guide feeding component on its circulation path, and with the guiding and restraining effect of the vertical guide feeding component, the sorghum substrate seedlings can fall steadily in the vertical direction and accurately enter the planting hole after being delivered to the designated position. This effectively avoids the lateral interference caused by the arc-shaped movement trajectory in the traditional rotary planting process, thereby improving the verticality of the seedlings during planting.

[0084] 2. By setting a normally closed mechanical opening and closing bottom door mechanism at the bottom of the seedling support cup and triggering it in conjunction with the lifting component set in the seedling dropping area, the support cup remains closed during the transportation process to stably support the seedlings. It opens when it reaches the designated position to achieve fixed-point release, thereby avoiding premature seedling drop or retention, and improving the accuracy of seedling dropping timing and position control.

[0085] 3. By setting up a seedling receiving bucket that is wider at the top and narrower at the bottom and a vertically set seedling guide tube, and setting several longitudinal guide ribs on the inner wall of the seedling guide tube along the vertical direction, the seedlings in the pot are first gathered and guided by the seedling receiving bucket during the falling process, and then constrained at multiple points in the seedling guide tube and descend along the vertical path, thereby reducing swinging, rotation and jamming, and further ensuring the stability of the posture of the seedlings when they enter the hole.

[0086] 4. By setting up a composite soil-gathering and compaction component consisting of a lateral soil-gathering mechanism, an oblique hole-sealing and squeezing mechanism, and an in-situ vertical compaction mechanism, the lateral soil-gathering mechanism pushes the soil on both sides of the hole toward the center to form an initial covering layer. The oblique hole-sealing and squeezing mechanism squeezes the soil at the edge of the hole inward to achieve sealing and form support. The in-situ vertical compaction mechanism then compacts the covering area downward, so that the covering process is gradually completed from loose to dense, thereby improving the uniformity and density of soil covering and avoiding disturbance to the seedlings.

[0087] 5. By setting up a collaborative working structure of hole-drilling components, seedling conveying components, and soil covering components, and combining it with a walking chassis to achieve sequential and continuous execution of each process, hole-drilling, seedling conveying, and soil covering and compaction are closely coordinated in time and space. This ensures timely connection between hole formation, seedling placement, and soil covering and compaction, thereby reducing the possibility of seedlings tilting in an unfixed state and improving the stability, consistency, and overall efficiency of transplanting operations. Attached Figure Description

[0088] Figure 1 This is an overall schematic diagram of this embodiment;

[0089] Figure 2 This is a partial overall schematic diagram of this embodiment;

[0090] Figure 3 This is an overall schematic diagram of the ring chain drive mechanism in this embodiment;

[0091] Figure 4 for Figure 2 An enlarged schematic diagram of part A in the middle;

[0092] Figure 5 This is an overall schematic diagram of the vertical flow guiding and feeding assembly in this embodiment;

[0093] Figure 6 This is a partial schematic diagram of the area beneath the chassis in this embodiment;

[0094] Figure 7 This is an overall schematic diagram of the composite soil compaction assembly in this embodiment;

[0095] Figure 8 This is an overall schematic diagram of the lateral soil-collecting mechanism in this embodiment;

[0096] Figure 9 This is an overall schematic diagram of the oblique sealing and extrusion mechanism in this embodiment;

[0097] Figure 10 This is a schematic diagram of the in-situ vertical compaction mechanism in this embodiment.

[0098] Reference numerals: 100, Walking chassis; 200, Hole-drilling assembly; 201, Support frame; 202, Lifting power source; 203, Screw drive pair; 204, Lifting slide; 205, Rotary hole-drilling power source; 206, Spiral drill bit; 207, Protective shell; 300, Seedling conveying assembly; 301, Support frame; 302, Ring chain drive mechanism; 302a, Driving sprocket; 302b, Driven sprocket; 302c, Transmission chain; 303, Conveyor drive motor; 304, Seedling carrying cup; 305, Extended mounting base; 306, Mechanical opening and closing bottom door mechanism; 306a, First hinged support; 306b, Movable bottom door; 306c, Trigger arm; 306d, Return torsion spring; 307, Lifting assembly; 307a, Lateral support; 307b, Lifting trigger column; 307c, Lifting drive component; 400, Vertical 401. Seedling receiving hopper; 402. Seedling guide pipe; 403. Longitudinal guide rib; 500. Composite soil compaction assembly; 510. Lateral soil compaction mechanism; 511. Horizontal bearing base; 512. Lateral linear guide rail; 513. Drive assembly; 513a. Soil compaction motor; 513b. Lead screw; 513c. Moving slider; 514. Soil compaction plate; 520. Inclined sealing and extrusion mechanism; 521. Slide... 522. Mounting base; 523. First telescopic drive component; 524. Second telescopic drive component; 525. Sealing and extruding plate; 526. Attitude fine-tuning component; 526a. Second hinged support; 526b. Vertical support component; 530. In-situ vertical compaction mechanism; 531. Linear drive component; 532. Annular compaction component; 532a. Central clearance hole; 533. Anti-rotation guide component; 600. Seedling drop area. Detailed Implementation

[0099] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0100] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0101] Example 1

[0102] like Figure 1As shown, an automatic transplanting system for sorghum substrate seedlings for brewing includes: a walking chassis 100, a hole-drilling component 200, a seedling delivery component 300, and a vertical guide and feeding component 400. It also includes a power supply and a control system mounted on the walking chassis 100. The power supply provides power to drive the hole-drilling component 200, the seedling delivery component 300, the vertical guide and feeding component 400, and the walking chassis 100. The control system is electrically connected to the hole-drilling component 200, the seedling delivery component 300, the vertical guide and feeding component 400, and the walking chassis 100, and controls the start / stop, operating rhythm, and sequence of actions of each component.

[0103] Furthermore, the control system is used to coordinate the digging action of the hole-digging component 200, the conveying rhythm of the seedling conveying component 300, and the seedling dropping process of the vertical guide feeding component 400, so that each process is executed sequentially according to the preset program, thereby realizing the linkage operation of hole-digging, conveying and seedling dropping processes; at the same time, the control system is also used to match and adjust the working rhythm of each component according to the traveling speed of the walking chassis 100, so as to ensure that the seedling dropping position corresponds to the hole position, thereby improving the accuracy and stability of the transplanting operation.

[0104] The walking chassis 100 is used to carry the various functional components and drive the whole machine to move along the planting direction. It includes a chassis frame, a walking drive component, and a walking support component. The chassis frame is an integral load-bearing structure used to install the hole-drilling component 200, the seedling conveying component 300, the vertical guide material feeding component 400, and the soil covering component, and to provide the installation foundation and structural support for each component.

[0105] The walking support assembly is located below the chassis frame and is used to contact the ground and support the movement of the entire machine. In this embodiment, the walking support assembly can adopt a tracked structure or a wheeled structure, preferably a tracked structure, to improve passability and stability in soft soil conditions. The walking drive assembly is located on the chassis frame and is connected to the walking support assembly for driving the entire machine to move in a predetermined direction. The walking drive assembly may include a drive motor, a reduction mechanism, and a transmission assembly. Power is output by the drive motor, and after the speed and torque are adjusted by the reduction mechanism, it is transmitted to the walking support assembly, thereby achieving smooth movement of the entire machine. Furthermore, a control unit for adjusting the travel speed can also be provided on the chassis frame to match the travel speed according to the work rhythm, so as to maintain coordination between processes such as hole digging, seedling placement, and soil covering.

[0106] In some preferred embodiments, a camera is installed at the bottom of the walking chassis 100. The camera is used to collect image information of the holes after the hole-drilling component 200 has operated. Furthermore, the camera is electrically connected to the control system. The control system identifies and locates the hole positions based on the collected image information and adjusts the working positions or action sequences of the seedling conveying component 300 and the vertical guide feeding component 400, thereby enabling the substrate seedlings to fall more accurately into the target holes.

[0107] Example 2

[0108] like Figure 1 , Figure 2 As shown, in this embodiment, the hole-digging component 200 is disposed at the front end of the walking chassis 100 and is used to perform hole-digging action; the hole-digging component 200 includes: a support frame 201, a lifting power source 202, a rotating hole-digging power source 205, and a protective shell 207.

[0109] The support frame 201 is fixedly mounted at the front end of the walking chassis 100, providing a stable installation foundation and structural support for the entire hole-drilling assembly 200, ensuring good operational stability as it moves with the walking chassis 100. The lifting power source 202 is located at the top of the support frame 201, driving the lifting slide 204 to reciprocate linearly in a direction perpendicular to the walking chassis 100 via a screw drive pair 203. The lifting slide 204 is slidably connected to the support frame 201. In some preferred embodiments, to prevent soil particles, dust, and other impurities from entering the screw drive pair 203 and affecting its normal operation, dustproof telescopic sleeves are provided at both ends of the lifting slide 204. These dustproof telescopic sleeves are fitted onto the outside of the screw drive pair 203 and extend and retract along its axial direction.

[0110] During the reciprocating motion of the lifting slide 204, the dustproof telescopic sleeve can extend and retract synchronously, thus always effectively covering the lead screw drive pair 203, preventing external dirt, dust, and moisture from entering the transmission area, and avoiding problems such as jamming, accelerated wear, or transmission failure caused by the accumulation of impurities. At the same time, the dustproof telescopic sleeve can also reduce grease loss, maintain good lubrication of the lead screw pair, thereby improving transmission accuracy and operational stability, extending the service life of the lead screw drive pair 203, and enhancing the reliability and durability of the whole machine in complex farmland environments.

[0111] A rotary drilling power source 205 is installed on the lifting slide 204. Its output shaft is set vertically downward, and its bottom output end is coaxially connected to a spiral drill bit 206. During the downward movement of the lifting slide 204, the rotary drilling power source 205 drives the spiral drill bit 206 to rotate at high speed, cutting the soil and simultaneously discharging the soil, thereby forming a well-structured and stable hole.

[0112] Furthermore, the protective shell 207 is detachably and fixedly mounted on the lifting slide 204 and surrounds the circumference of the auger drill bit 206, with its lower opening facing the ground. When the auger drill bit 206 rotates, the protective shell 207 effectively shields its outer periphery, causing the soil thrown up by the cutting to fall back near the drill bit under the constraint of the shell, thereby reducing soil scattering and facilitating the reuse of soil in subsequent covering processes.

[0113] In actual operation, after the chassis 100 moves to the predetermined position, the lifting power source 202 is activated, driving the lifting slide 204 to descend smoothly in the vertical direction through the screw drive pair 203. At the same time, the rotating drilling power source 205 drives the auger drill bit 206 to rotate and cut, gradually forming holes in the soil. When the set depth is reached, the lifting slide 204 moves upward in the opposite direction to complete the retraction action. Because the screw drive has good self-locking and transmission accuracy, combined with the coaxial rotating structure of the auger drill bit 206, it can effectively ensure the consistency of drilling depth and the verticality of the hole axis, providing a reliable foundation for the vertical placement of the substrate seedlings.

[0114] Example 3

[0115] like Figure 2 , Figure 3 As shown, in this embodiment, the seedling conveying assembly 300 is disposed at the top of the walking chassis 100 to realize the continuous and orderly conveying of sorghum substrate seedlings. The seedling conveying assembly 300 includes a support frame 301, a ring chain drive mechanism 302, a conveying drive motor 303, and a plurality of seedling carrying cups 304.

[0116] The support frame 301 is fixedly installed on the top of the walking chassis 100 to provide an installation base for each conveying component; the ring chain drive mechanism 302 is installed on the support frame 301 and consists of a drive sprocket 302a, a driven sprocket 302b, and a drive chain 302c wound between the drive sprocket 302a and the driven sprocket 302b to form a closed-loop cyclic conveying path; the conveying drive motor 303 is connected to the ring chain drive mechanism 302 to provide rotational cyclic driving force.

[0117] On the outer links of the transmission chain 302c, a plurality of seedling support cups 304 are evenly spaced and fixedly arranged by the extended mounting base 305. Each seedling support cup 304 moves synchronously in a closed loop with the transmission chain 302c. The seedling support cup 304 has a cone-shaped funnel structure that is wider at the top and narrower at the bottom. The minimum inner diameter of its internal cavity is larger than the outer diameter of the sorghum substrate seedling pot, so that the seedling has an appropriate gap during the carrying process. This facilitates loading and allows for smooth release under gravity, avoiding jamming or hanging. In some preferred embodiments, a protective shell is detachably installed on the support frame 301. The protective shell is located on the periphery of the ring chain transmission mechanism 302, which can effectively prevent external dust, dirt and other impurities from entering the ring chain transmission mechanism 302, reducing the contamination and wear of the chain and transmission components, thereby improving the stability and reliability of the transmission process. At the same time, the protective shell adopts a detachable structure, which facilitates daily inspection, maintenance and replacement of internal components, which helps to reduce maintenance difficulty and extend the service life of the device.

[0118] A seedling dropping area 600 is formed on the circulating conveying path. Specifically, a seedling dropping area 600 corresponding to the vertical guide feeding component 400 is set on the closed-loop circulating path. When the seedling carrying cup 304 moves to the seedling dropping area 600, it is exactly above the top opening of the vertical guide feeding component 400, so that the seedling can fall accurately at the predetermined position. By setting the correspondence between the conveying path and the seedling dropping position, each seedling is aligned and released in sequence according to a predetermined rhythm, thereby ensuring the consistency of the seedling dropping position and the stability of the operation rhythm.

[0119] In actual operation, after the conveyor drive motor 303 starts, it drives the active sprocket 302a, driven sprocket 302b, and transmission chain 302c to perform closed-loop cyclic motion, causing the evenly distributed seedling support cups 304 to pass through the seedling loading area, conveying area, and seedling dropping area 600 in sequence. After the seedlings are loaded, they are stably conveyed with the support cups. When they reach the seedling dropping area 600, because the inner diameter of the support cup is larger than the outer diameter of the pot and the structure is conical, the seedlings can naturally and smoothly detach from the support cup under the action of gravity and fall accurately into the vertical guide feeding assembly 400 below.

[0120] like Figure 4 As shown, in order to further improve the controllability and accuracy of the seedling release process, in some preferred embodiments, the bottom of the seedling support cup 304 is provided with a normally closed mechanical opening and closing bottom door mechanism 306; the mechanical opening and closing bottom door mechanism 306 includes: the mechanical opening and closing bottom door mechanism 306 includes a first hinged support 306a, a movable bottom door 306b and a reset torsion spring 306d.

[0121] The first hinge support 306a is fixedly disposed on the outer side of the bottom side wall of the seedling support cup 304; the movable bottom door 306b includes a support portion covering the bottom opening of the seedling support cup 304, and a trigger arm 306c extending outward from the support portion and hinged to the first hinge support 306a; the trigger arm 306c is hinged to the first hinge support 306a, so that the movable bottom door 306b can rotate to open or close around the hinge point.

[0122] The reset torsion spring 306d is sleeved on the pin of the first hinge support 306a, and its two ends abut against the outer wall of the seedling support cup 304 and the movable bottom door 306b respectively, so as to apply a continuous reset force to the movable bottom door 306b and keep it closed in its natural state.

[0123] Furthermore, the conveying support frame 301 is fixedly provided with a lifting component 307 at the position corresponding to the seedling dropping area 600. The lifting component 307 is used in conjunction with the mechanical opening and closing bottom door mechanism 306 to trigger the opening of the movable bottom door 306b. The lifting component 307 includes a horizontal support 307a, a lifting trigger column 307b fixed on the horizontal support 307a and protruding upward, and a lifting drive component 307c. The lifting drive component 307c can be any one of an electric telescopic rod, a cylinder, or a hydraulic cylinder, or it can be a linear drive mechanism composed of a drive motor and a lead screw 513b transmission pair, and is electrically connected to the control system. The lifting trigger column 307b is protruding upward, and its position corresponds to the movement trajectory of the trigger arm 306c.

[0124] In actual operation, the seedling-carrying cup 304 moves cyclically along a closed-loop path under the drive of the ring chain transmission mechanism 302. Before entering the seedling dropping area 600, the movable bottom door 306b remains closed under the action of the reset torsion spring 306d, providing stable support for the seedlings inside and thus preventing premature seedling drop due to vibration or posture changes during transport. When the seedling-carrying cup 304 reaches the seedling dropping area 600, the lifting drive component 307c is activated, driving the lifting trigger column 307b to move upward and press against the trigger arm 306c, causing the movable bottom door 306b to rotate around the first hinge support 306a and open. Under the action of gravity, the seedlings are smoothly released from the bottom opening and accurately fall into the vertical guide feeding assembly 400 located below.

[0125] After the seedling is placed, the lifting drive component 307c controls the lifting trigger column 307b to fall back, releasing the pressure on the trigger arm 306c. At this time, the movable bottom door 306b automatically rotates back to its original position and closes again under the action of the reset torsion spring 306d, thus restoring the support state for the next potted seedling and entering the next cycle.

[0126] Example 4

[0127] In other preferred embodiments, a seedling tray system for holding seedlings is also provided on the top of the walking chassis 100 and is located on one side of the seedling conveying component 300 to continuously provide seedlings to the seedling conveying component 300.

[0128] Specifically, the seedling tray system includes a tray support frame 301 and several seedling trays disposed thereon. The seedling trays are used to centrally place rows of sorghum substrate seedlings. In a further preferred embodiment, the tray support frame 301 is provided with a guide rail, and multiple seedling trays are arranged sequentially along the guide rail to form a storage queue. When the seedling tray at the front end is emptied, under the action of gravity or a pushing mechanism, the subsequent fully loaded seedling trays automatically move forward along the rail to fill the gap, while the empty trays are guided to the recycling end. The recycling end can be provided with an empty tray collection frame for centralized recycling of the emptied seedling trays.

[0129] Furthermore, the seedling tray system can be configured in conjunction with a seedling retrieval mechanism, which is used to remove substrate seedlings one by one from the seedling tray according to a preset rhythm and accurately place them into the passing seedling support cup 304.

[0130] Example 5

[0131] like Figure 5 As shown, in this embodiment, the vertical guide feeding component 400 is disposed on the walking chassis 100 and located behind the hole-making component 200, and is collinear with the working trajectory of the hole-making component 200. It is used to constrain the sorghum substrate seedlings falling from the seedling delivery component 300 to fall into the hole made by the hole-making component 200 in a vertical position.

[0132] The vertical guide feeding assembly 400 includes a seedling receiving hopper 401 and a seedling guiding tube 402. The seedling receiving hopper 401 is located directly below the seedling dropping area 600 and has a guide cavity that is wider at the top and narrower at the bottom, used to initially receive and collect the potted seedlings released from above, and guide and converge their position. The top of the seedling guiding tube 402 is connected to the bottom of the seedling receiving hopper 401, and the central axis of the seedling guiding tube 402 is perpendicular to the ground. Furthermore, the inner wall of the seedling guiding tube 402 is provided with several longitudinal guide ribs 403 at equal intervals along the vertical direction. Each guide rib extends axially, used to form multi-point linear contact with the outer wall during the falling of the potted seedlings, constraining and correcting their posture. While ensuring the guiding effect, the guide ribs reduce the actual contact area between the potted seedlings and the tube wall, thereby effectively reducing frictional resistance and avoiding jamming.

[0133] In actual operation, after the seedling carrier cup 304 releases the seedling in the seedling dropping area 600, the seedling first enters the seedling receiving hopper 401, which is wider at the top and narrower at the bottom. Under the guidance of the inner cavity, the seedling is initially concentrated and smoothly transitions into the seedling guide tube 402 below. Subsequently, under the action of gravity, the seedling moves downward along the vertically arranged seedling guide tube 402. During the descent, the longitudinal guide ribs 403 on the inner wall of the seedling guide tube 402 form a uniform circumferential constraint on the seedling, restricting it from rotating, tilting or swaying, and keeping it basically upright. Finally, the seedling falls stably along the axis of the seedling guide tube 402 into the hole formed by the hole-making component 200, achieving precise positioning and planting.

[0134] Example 6

[0135] like Figure 6 , Figure 7 As shown, in this embodiment, the soil covering component is disposed around the vertical guide material feeding component 400 and is used to cover the planted seedlings with soil. The soil covering component is specifically a composite soil gathering and compaction component 500, which includes a lateral soil gathering mechanism 510, an oblique hole sealing and squeezing mechanism 520, and an in-situ vertical compaction mechanism 530.

[0136] The lateral soil-gathering mechanism 510 has two symmetrically arranged parts, which are used to gather the outer soil fragments towards the center of the hole to form an initial soil covering layer around the roots of the substrate seedling. Through the synchronous inward action of both sides, the outer soil fragments are gradually gathered around the roots of the seedling, thereby forming an initial soil covering layer in a short time, initially covering the substrate seedling and filling the gaps around the hole.

[0137] The inclined sealing and squeezing mechanism 520 is used to obliquely squeeze the soil at the edge of the planting hole to seal the gap at the hole opening and provide support for the substrate seedling. Specifically, the inclined sealing and squeezing mechanism 520 applies an inward and downward squeezing force to the hole opening area at a certain angle, causing the gathered soil to compress and converge at the hole opening, thereby gradually sealing the gap at the hole opening. At the same time, during the squeezing process, the soil forms a covering structure around the seedling, providing lateral support and effectively reducing the possibility of the seedling tilting.

[0138] The in-situ vertical compaction mechanism 530 is used to press and compact the soil in the initial covering layer and the hole in the in-situ vertical downward. Through the vertical pressure from top to bottom, the soil is further compacted, improving the adhesion between the soil and the substrate seedling roots, thereby enhancing the contact stability between the roots and the soil.

[0139] like Figure 8As shown, the lateral soil-collecting mechanism 510 is located below the walking chassis 100. Specifically, the lateral soil-collecting mechanism 510 includes a horizontal bearing base 511, a drive assembly 513, and a soil-collecting plate 514. The horizontal bearing base 511 is fixedly installed below the walking chassis 100, and two transverse linear guide rails 512 are laid parallel on the horizontal bearing base 511 to provide stable guiding support for the moving parts.

[0140] The drive assembly 513 includes a soil-collecting motor 513a mounted on one side of the horizontal bearing base 511, a lead screw 513b driven by the soil-collecting motor 513a, and a movable slider 513c. The movable slider 513c is threadedly connected to the lead screw 513b and slidably fitted onto the transverse linear guide rail 512. In some preferred embodiments, to prevent soil particles, dust, and other impurities from adhering to the surface of the lead screw 513b and affecting its transmission accuracy and operational stability, dustproof telescopic sleeves are provided at both ends of the movable slider 513c. The sleeve is fitted around the outer circumference of the lead screw 513b and extends and retracts synchronously with the movement of the sliding block 513c. By setting a dustproof telescopic sleeve, the transmission pair of the lead screw 513b can be effectively protected. During the reciprocating motion of the sliding block 513c, external impurities are blocked, reducing the entry of soil and dust into the threaded meshing area of ​​the lead screw 513b, thereby reducing wear and jamming risks and improving the smoothness and reliability of the transmission process. At the same time, this structure can extend the service life of the lead screw 513b and reduce the maintenance frequency, making it suitable for complex working conditions such as farmland with dust and soil.

[0141] The soil-gathering plate 514 is detachably fixed to the movable slider 513c via a connecting rod and moves synchronously with the movable slider 513c, used to push the soil together during the movement.

[0142] like Figure 9 As shown, the inclined sealing and extrusion mechanism 520 includes a sliding frame 521, a mounting base 522, a first telescopic drive member 523, a second telescopic drive member 524, and a posture fine-tuning component 526. The first telescopic drive member 523 and the second telescopic drive member 524 can be any one of an electric telescopic rod, a cylinder, or a hydraulic cylinder, or a linear drive mechanism composed of a motor and a lead screw 513b transmission pair. In this embodiment, an electric telescopic rod is preferred. The first telescopic drive member 523 and the second telescopic drive member 524 can achieve precise stroke control and position adjustment according to the control system instructions to meet the displacement adjustment and angle adjustment requirements of the sealing and extrusion mechanism under different working conditions.

[0143] The sliding frame 521 is fixedly connected to the bottom of the walking chassis 100, serving as a guide support structure for the mounting base 522. The mounting base 522 is slidably mounted on the sliding frame 521, and the walking chassis 100 is provided with a first telescopic drive member 523 for driving the mounting base 522 to move along the sliding frame 521. The second telescopic drive member 524 is inclinedly mounted on the mounting base 522, and a sealing extrusion plate 525 is fixed to the power output end of the second telescopic drive member 524. This plate is used to apply a downward extrusion force to the soil at the edge of the hole during the extension process, causing the outer soil to converge towards the center of the hole and compact it, thereby gradually sealing the hole and forming a support structure around the seedling.

[0144] The attitude fine-tuning component 526 includes: a second hinged support 526a, disposed on the mounting base 522, with the bottom front end of the second telescopic drive member 524 hinged to the second hinged support 526a; and a vertical support 526b, disposed on the mounting base 522 and supported on the bottom rear side of the second telescopic drive member 524. The vertical support 526b can be any one of a threaded adjusting rod, a lead screw 513b lifting mechanism, an electric lifting rod, a pneumatic lifting rod, or a hydraulic lifting rod, or a lifting adjustment component driven by a motor. In this embodiment, an electric lifting rod is preferred. By adjusting the height of the vertical support 526b, the second telescopic drive member 524 can be tilted and rotated around the second hinged support 526a, thereby finely adjusting the downward pressing angle of the sealing extrusion plate 525 to adapt to different soil conditions and hole shapes, avoiding uneven sealing or insufficient local compaction caused by improper extrusion angle.

[0145] like Figure 10 As shown, the in-situ vertical compaction mechanism 530 is disposed around the vertical guide and unloading assembly 400. The in-situ vertical compaction mechanism 530 includes a linear drive component 531, an annular compaction component 532, and an anti-rotation guide component 533. The linear drive component 531 is vertically mounted on the walking chassis 100 and is used to provide a linear reciprocating driving force in the vertical direction. The linear drive component 531 can be any one of an electric telescopic rod, a pneumatic cylinder, or a hydraulic cylinder, or it can be a linear actuator consisting of a drive motor and a lead screw 513b transmission pair.

[0146] Furthermore, the linear drive 531 can achieve stable vertical linear motion under the control of the control system, so as to provide continuous and controllable downward pressure to the annular compaction component 532, thereby meeting the adjustment requirements of compaction depth and compaction force under different soil conditions; the annular compaction component 532 is horizontally connected to the lower power output end of the linear drive 531 and moves up and down synchronously with it; the center of the annular compaction component 532 is provided with a central clearance hole 532a for the vertical guide material feeding component 400 to pass through, so that the seedling guide structure is not interfered with during the compaction process, and at the same time avoids the compaction component from directly squeezing the substrate seedlings that have been planted in the hole, thereby ensuring that the compaction range covers the soil around the seedling while effectively protecting the seedling itself from damage;

[0147] The anti-rotation guide component 533 is arranged parallel to and spaced apart from the power output end of the linear drive component 531; the bottom end of the anti-rotation guide component 533 is fixedly connected to the upper surface of the annular compactor 532, and the top end is slidably engaged with the chassis 100. During the up-and-down movement of the annular compactor 532 driven by the linear drive component 531, the anti-rotation guide component 533 guides and limits the movement of the annular compactor 532, so that the annular compactor 532 always moves along a predetermined vertical path, effectively preventing it from rotating or swaying when subjected to uneven force.

[0148] When the seedling delivery component 300 delivers the substrate seedling to the vertical guide feeding component 400 and completes the guided descent, the substrate seedling accurately falls into the hole pre-formed by the hole-making component 200 under the action of gravity. At this time, the soil covering component begins to work in coordination.

[0149] First, before the substrate seedling falls, the in-situ vertical compaction mechanism 530 is activated first. Under the control of the control system, it moves downward by a preset stroke, so that the annular compaction component 532 is in a clearance position, thereby avoiding possible leaf scraping or squeezing damage caused by sudden intervention from above after the substrate seedling has fallen. Then, the symmetrically arranged lateral soil gathering mechanism 510 is activated first. Under the action of the drive component 513, the soil gathering plate 514 is pushed forward synchronously in the direction of the transverse direction towards the center of the hole, quickly and continuously gathering the loose soil on both sides of the hole towards the center, so that the soil forms an initial covering layer around the seedling, and achieves the initial wrapping of the roots of the substrate seedling.

[0150] Subsequently, the oblique sealing and squeezing mechanism 520 is activated, and the first telescopic drive member 523 drives the mounting base 522 to move along the sliding frame 521, so that the sealing and squeezing plate 525 is aligned with the center of the hole in the horizontal direction. At the same time, by adjusting the height of the vertical support member 526b, the second telescopic drive member 524 is tilted and rotated around the second hinged support 526a, thereby pre-adjusting the downward angle of the sealing and squeezing plate 525. After the position and posture are matched, the second telescopic drive member 524 extends, driving the sealing and squeezing plate 525 to apply a pushing action to the soil at the edge of the hole at the set oblique angle, so that the outer soil is compressed and gathered inward, gradually sealing the gap at the opening of the hole, and forming a preliminary support structure around the seedling.

[0151] After the hole is sealed, the in-situ vertical compaction mechanism 530 continues to operate while maintaining a clearance relationship. The linear drive component 531 outputs a stable vertical downward driving force, driving the annular compaction component 532 to move downward in the vertical direction, compacting the initial covering soil layer around the hole and the internal soil from top to bottom in-situ. During the compaction process, the clearance hole set in the center of the annular compaction component 532 provides clearance space for the vertical guide material feeding component 400 and the substrate seedlings that have been placed in the hole, so that the compaction effect is mainly applied to the soil area around the seedling, thereby avoiding direct compression of the seedlings. At the same time, the anti-rotation guide component 533 maintains a sliding cooperation with the walking chassis 100 during the lifting and lowering process, guiding and limiting the annular compaction component 532, effectively counteracting the lateral torque generated by uneven soil resistance, preventing the compaction component from rotating, swaying or jamming, and ensuring that it always maintains a stable posture to complete the compaction operation.

[0152] Once the compaction reaches the set stroke, the linear drive component 531 reverses its movement, causing the annular compaction component 532 to reset. Each mechanism returns to its initial position in sequence, preparing for the next planting cycle of substrate seedlings.

[0153] Example 7

[0154] Based on Examples 1 to 6, the present invention also provides a cultivation control method for an automatic transplanting system for sorghum substrate seedlings for brewing, comprising the following operational steps:

[0155] S1. Positioning and Hole-digging Steps: Control the walking chassis 100 to move to the target transplanting position; the hole-digging component 200 located at the front end of the chassis is activated and performs hole-digging action, creating a hole in the soil. Specifically, the hole-digging component 200 is activated, and the lifting power source 202 drives the rotating auger bit 206 to descend vertically and cut into the soil, creating a hole and forming a soil-breaking ring around the hole. After hole-digging is completed, the auger bit 206 returns to its original position and rises.

[0156] S2. Conveying and Vertical Seedling Dropping Steps: The seedling conveying assembly 300 located at the top of the chassis conveys and drops the sorghum substrate seedlings; the dropping seedlings are constrained by the vertical guide feeding assembly 400 and fall precisely into the holes dug by the hole-drilling assembly 200 in a vertical position. Specifically, the conveying drive motor 303 of the seedling conveying assembly 300 is controlled to move in a stepping motion to convey the seedling carrying cup 304 containing the sorghum substrate seedlings to the seedling dropping area 600; the lifting drive component 307c is controlled to drive the lifting trigger column 307b of the lifting assembly 307 to lift the trigger arm 306c upward, overcoming the torque of the reset torsion spring 306d to make the movable bottom door 306b flip downward and open; the sorghum substrate seedlings fall off under the action of gravity and are constrained by the longitudinal guide ribs 403 on the inner wall of the seedling receiving hopper 401 and the seedling guide tube 402, maintaining a vertical position of the central axis as they fall into the holes.

[0157] S3. Soil Covering Step: After the seedlings are planted, the soil covering component set around the vertical guide feeding component 400 is activated to cover the potted seedlings in the planting holes with soil, completing the root wrapping. This specifically includes:

[0158] Lateral soil gathering step: After the seedling is placed, the lateral soil gathering mechanism 510 is triggered and controlled to move; the soil gathering motor 513a rotates forward, and through the lead screw 513b, it drives the moving sliders 513c on both sides to move the soil gathering plate 514 synchronously along the transverse linear guide rail 512 towards the center of the hole, pushing the broken soil around the hole into the hole over a large area, completing the initial wrapping of the roots of the substrate seedling and forming the initial soil covering layer; it is worth mentioning that before the substrate seedling is placed, the in-situ vertical compaction mechanism 530 should be started first, and under the control of the control system, it moves downward by a preset stroke first, so that the annular compaction part 532 is in a avoidance position, thereby avoiding the possible leaf scraping or squeezing damage caused by sudden intervention from above after the substrate seedling is placed, and controlling the action of the in-situ vertical compaction mechanism.

[0159] Inclined sealing step: After the lateral soil gathering mechanism 510 completes the soil gathering stroke, the inclined sealing and pressing mechanism 520 is controlled to move; the first telescopic drive member 523 drives the mounting base 522 to move along the sliding frame 521 to the set working position, and then the second telescopic drive member 524 extends, driving the sealing and pressing plate 525 to press obliquely downward into the soil at the edge of the hole, sealing the gap at the opening of the hole;

[0160] In-situ vertical compaction step: The linear drive component 531 drives the annular compaction component 532 to rapidly move vertically downward along the periphery of the vertical flow guide component 400 under the guidance and constraint of the anti-rotation guide component 533, so as to compact the initial soil layer in-situ by gravity, so as to completely eliminate the soil void layer at the root of the substrate seedling.

[0161] S4. Reset Cycle Steps: The hole-drilling component 200, the soil-covering component, and other working parts are reset; the walking chassis 100 is controlled to move to the next transplanting position and enter the next single-plant transplanting cycle. Specifically, the in-situ vertical pressing mechanism, the oblique hole-sealing and squeezing mechanism 520, and the lateral soil-gathering mechanism 510 are reset in reverse order. After the movable bottom door 306b disengages from the lifting trigger column 307b, it closes under the action of the reset torsion spring 306d, and the walking chassis 100 is controlled to move to the next transplanting position and enter the next single-plant transplanting cycle.

[0162] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0163] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic transplanting system for sorghum substrate seedlings for brewing, characterized in that, include: Chassis (100); A hole-digging component (200) is disposed at the front end of the walking chassis (100) and is used to perform hole-digging actions; A seedling delivery assembly (300) is disposed at the top of the walking chassis (100) for delivering sorghum substrate seedlings; A vertical guide feeding component (400) is set on the walking chassis (100) and located behind the hole-making component (200), and is collinear with the working trajectory of the hole-making component (200). It is used to constrain the sorghum substrate seedlings falling from the seedling delivery component (300) to fall into the hole made by the hole-making component (200) in a vertical position. The soil covering component is located around the vertical guide material feeding component (400) and is used to cover the potted seedlings with soil after planting.

2. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 1, characterized in that: The acupressure component (200) includes: A support frame (201) is fixedly installed at the front end of the walking chassis (100); The lifting power source (202) is located on the top of the support frame (201) and is used to drive the lifting slide (204) to reciprocate linearly in a direction perpendicular to the walking chassis (100) through the lead screw transmission pair (203); A rotary drilling power source (205) is installed on the lifting slide (204), and a spiral drill bit (206) is coaxially connected to its bottom output end. A protective housing (207) is detachably and fixedly mounted on the lifting slide (204) and surrounds the auger bit (206) circumferentially to form an outer circumferential shield for the auger bit (206).

3. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 1, characterized in that: The seedling delivery assembly (300) includes: A support frame (301) is fixedly installed on the top of the walking chassis (100); A ring chain drive mechanism (302) is installed on the support frame (301) to form a closed-loop circulating conveying path; A conveying drive motor (303) is connected to the ring chain transmission mechanism (302) to provide rotational cyclic driving force; a seedling drop area (600) is formed on the cyclic conveying path, and when the seedling carrier cup (304) moves to the seedling drop area (600), it is directly above the top opening of the vertical guide feeding assembly (400); The ring chain drive mechanism (302) includes a driving sprocket (302a), a driven sprocket (302b), and a drive chain (302c) wound between the driving sprocket (302a) and the driven sprocket (302b). The plurality of seedling support cups (304) are sequentially fixed to the outer links of the transmission chain (302c) via the extended mounting base (305); Several seedling support cups (304) are evenly spaced and sequentially fixed on the outer links of the transmission chain (302c) via an extended mounting base (305), and move in a closed loop with the transmission mechanism (302). The seedling support cup (304) is a cone-shaped funnel with a wider top and a narrower bottom, and the minimum inner diameter of its internal cavity is greater than the outer diameter of the sorghum substrate seedling pot.

4. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 3, characterized in that: The bottom of the seedling support cup (304) is provided with a normally closed mechanical opening and closing bottom door mechanism (306); the mechanical opening and closing bottom door mechanism (306) includes: The first hinged support (306a) is fixedly installed on the outer side of the bottom side wall of the seedling support cup (304); The movable bottom door (306b) has a support portion covering the bottom opening of the seedling support cup (304) and a trigger arm (306c) extending outward from the support portion and hinged to the first hinge support (306a). The reset torsion spring (306d) is sleeved on the pin of the first hinge support (306a), and its two ends abut against the outer wall of the seedling support cup (304) and the movable bottom door (306b), respectively. The conveying support frame (301) is fixedly provided with a lifting component (307) at the position corresponding to the seedling dropping area (600). The lifting component (307) is used in conjunction with the mechanical opening and closing bottom door mechanism (306). The lifting component (307) includes a horizontal support (307a), a lifting trigger column (307b) fixed on the horizontal support (307a) and protruding upward, and a lifting drive component (307c).

5. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 1, characterized in that: The vertical flow guide feeding assembly (400) includes: The seedling receiving hopper (401) is located directly below the seedling dropping area (600) and has a guide cavity that is wider at the top and narrower at the bottom; The top end of the seedling guide tube (402) is connected to the bottom of the seedling receiving hopper (401), and the central axis of the seedling guide tube (402) is set perpendicular to the ground. The inner wall of the seedling guide tube (402) is provided with several longitudinal guide ribs (403) at equal intervals along the vertical direction.

6. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 1, characterized in that: The soil covering component is specifically a composite soil compaction component (500), which includes: Two lateral soil-gathering mechanisms (510) are symmetrically arranged to gather the outer soil fragments toward the center of the hole to form an initial soil covering layer around the roots of the substrate seedlings; The inclined sealing and squeezing mechanism (520) is used to squeeze the soil at the edge of the hole at an angle to seal the gap at the opening of the hole and to support the substrate seedling. The in-situ vertical compaction mechanism (530) is used to compact the soil in the initial cover layer and the soil in the hole vertically downwards.

7. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 6, characterized in that: The lateral soil-closing mechanism (510) includes: A horizontal bearing base (511) is fixedly installed below the walking chassis (100), and two transverse linear guide rails (512) are laid parallel on the horizontal bearing base (511). The drive assembly (513) includes a soil-collecting motor (513a) mounted on one side of the horizontal bearing base (511), a lead screw (513b) driven by the soil-collecting motor (513a), and a movable slider (513c). The movable slider (513c) is threaded to the lead screw (513b) and slidably engaged with the transverse linear guide rail (512). The soil-collecting plate (514) is detachably fixed to the movable slider (513c) via a connecting rod.

8. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 6, characterized in that: The oblique sealing and extrusion mechanism (520) includes: A sliding frame (521) is fixedly connected to the bottom of the walking chassis (100); The mounting base (522) is slidably mounted on the sliding frame (521), and the traveling chassis (100) is provided with a first telescopic drive member (523) for driving the mounting base (522) to move along the sliding frame (521). The second telescopic drive member (524) is inclinedly disposed on the mounting base (522), and the power output end of the second telescopic drive member (524) is fixed with a sealing extrusion plate (525). The attitude fine-tuning component (526) includes: a second hinge support (526a) disposed on the mounting base (522), the bottom front end of the second telescopic drive member (524) being hinged to the second hinge support (526a); and a vertical support member (526b) disposed on the mounting base (522) and supported on the bottom rear side of the second telescopic drive member (524).

9. The automatic transplanting system for sorghum substrate seedlings for brewing according to claim 6, characterized in that: The in-situ vertical compaction mechanism (530) includes: A linear drive unit (531) is vertically mounted on the walking chassis (100) to provide a vertical linear reciprocating driving force; The annular compactor (532) is horizontally connected to the lower power output end of the linear drive (531), and has a central clearance hole (532a) for the vertical guide feeding assembly (400) to pass through. The anti-rotation guide assembly (533) is arranged parallel to and spaced apart from the power output end of the linear drive component (531); the bottom end of the anti-rotation guide assembly (533) is fixedly connected to the upper surface of the annular compaction component (532), and the top end is slidably engaged with the walking chassis (100).

10. A cultivation control method for an automatic transplanting system for sorghum substrate seedlings used in brewing, characterized in that, The following work steps are included: S1. Positioning and Hole-digging Steps: Control the walking chassis (100) to move to the target transplanting position; the hole-digging component (200) located at the front end of the chassis is activated and performs hole-digging action, creating holes in the soil; S2, Conveying and Vertical Seedling Dropping Steps: The seedling conveying component (300) located at the top of the chassis conveys the sorghum substrate seedlings and drops them; the dropping seedlings are constrained by the vertical guide feeding component (400) and fall precisely into the holes dug by the hole-drilling component (200) in a vertical position to the ground. S3, Soil Covering Step: After the seedlings are planted, the soil covering component set outside the vertical guide material feeding component (400) is activated to cover the potted seedlings planted in the holes with soil and complete the root wrapping. S4. Reset cycle steps: Reset all working parts such as the hole-drilling component (200) and the soil covering component; control the walking chassis (100) to move to the next transplanting position and enter the next single-plant transplanting cycle.

Images