A forestry planting, seedling raising and transplanting device

Abstract

This invention relates to the field of seedling transplanting devices, specifically a forestry seedling transplanting device. It includes a connecting frame with a main controller fixed to its side, a vision sensor and a distance sensor, both fixed to the connecting frame and connected to the main controller, a sliding frame slidably connected to the connecting frame, a frequency conversion vibration mechanism between the connecting frame and the sliding frame, an air pump fixed to the sliding frame, and two transplanting mechanisms symmetrically mounted on the sliding frame. Each transplanting mechanism includes a clamping arm and an arc-shaped arm hinged to the sliding frame. A first hydraulic cylinder is located between the arc-shaped arm and the sliding frame. A rotating frame is slidably connected to the arc-shaped arm, and a hemispherical shovel is hinged to the rotating frame. Two second hydraulic cylinders are hinged between the hemispherical shovel and the rotating frame. Three elastic pressure-applying components are installed between the clamping arm and the rotating frame. The beneficial effect of this invention is that it solves the technical problem that existing transplanting devices easily loosen and break the root ball when excavating in sticky, compacted, or root-entangled soil.

Description

Technical Field

[0001] This invention relates to the field of seedling transplanting devices, specifically a forestry seedling transplanting device. Background Technology

[0002] Seedling transplantation is a crucial step in forestry and fruit tree planting, and its quality directly affects the survival rate and subsequent growth of seedlings. Traditional seedling transplantation relies heavily on manual labor, including steps such as root ball excavation, root pruning, positioning and planting, and installation of aeration pipes. This method suffers from high labor intensity, low efficiency, high dependence on operator experience, and a high risk of seedling damage. With the development of mechanization and automation technologies, some seedling transplanting devices have emerged. For example, patent document CN113841581A discloses a transplanting device with a fixed clamping and root ball protection structure, which uses a robotic arm and a fixed shovel to extract the root ball. However, this device still cannot effectively adapt to different soil types and root systems during excavation, especially as it is prone to loosening the root ball or tearing the roots during the excavation process. In summary, existing devices still have several technical problems in seedling transplantation, as follows: During the excavation process, it is difficult to maintain the integrity of the soil ball. The soil ball is easily broken due to soil compaction, root entanglement or mechanical impact, which in turn damages the root system. It is impossible to trim the dehydrated capillary roots of the seedlings at the same time during excavation. The remaining necrotic roots affect the rooting after planting. The irregular shape of the soil ball makes the clamping and positioning unstable, affecting the verticality of planting and the quality of subsequent soil covering. Based on this, the present invention provides a forestry planting seedling transplanting device to solve the problems mentioned in the background art. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a forestry planting and seedling transplanting device to solve the problem that existing devices are difficult to maintain the integrity of the soil ball during the excavation process, and the soil ball is prone to breakage due to soil compaction, root entanglement or mechanical impact, thereby damaging the root system.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A forestry planting seedling transplanting device, including a connecting frame, a main controller fixedly mounted on its side, and further comprising: Both the vision sensor and the ranging sensor are fixedly mounted on the connecting bracket, and both are connected to the main controller for data transfer. The slide is slidably connected to the connecting frame. A frequency conversion vibration mechanism is provided between the connecting frame and the slide. An air pump is fixedly installed on the slide. Two transplanting mechanisms are symmetrically mounted on the carriage; The transplanting mechanism includes a clamping arm and an arc-shaped arm hinged to a slide. A first hydraulic cylinder is provided between the arc-shaped arm and the slide. A rotating frame is slidably connected to the arc-shaped arm. A hemispherical shovel is hinged to the rotating frame. Two second hydraulic cylinders are hinged between the hemispherical shovel and the rotating frame. Three elastic pressure-applying components are installed between the clamping arm and the rotating frame. A bladder clamp assembly connected to an air pump is fixedly mounted on the clamping arm. The drive module is mounted on the carriage and synchronously drives the two carriages to rotate reciprocally or unidirectionally.

[0005] Based on the above technical solution, the present invention can be further improved as follows.

[0006] As a preferred technical solution of the present invention, the frequency conversion vibration mechanism includes a first hydraulic motor fixedly mounted on a connecting frame. A cam is mounted on the output shaft of the first hydraulic motor. Three pushing arc segments are arranged in an array along the circumferential direction on the cam. A sliding roller is rotatably connected to the slide. The three pushing arc segments alternately abut against the sliding roller, and the driving stroke of the three pushing arc segments on the sliding roller is different. Two guide slides are fixedly mounted on the slide. Both guide slides are slidably connected to the connecting frame. A return spring is installed on the bottom surface of both guide slides. The bottom end of both return springs is fixedly connected to the connecting frame.

[0007] As a preferred technical solution of the present invention, the elastic pressure member includes a T-shaped guide post fixedly mounted on the back of the clamping arm, the T-shaped guide post being slidably connected to the rotating frame, and a pressure spring being sleeved on the T-shaped guide post at a position corresponding to the position between the clamping arm and the rotating frame.

[0008] As a preferred technical solution of the present invention, the clamp assembly includes a clamp bag fixed on the clamping arm, the tail of the clamp bag is connected to a corrugated metal connecting pipe, the other end of the corrugated metal connecting pipe is connected to the air outlet port of the air pump, the clamp bag is equipped with a pressure probe and a pressure relief valve, the data terminal of the pressure probe and the electrical control terminal of the pressure relief valve are both connected to the main controller, and the clamp bag is made of rubber, and its surface is evenly distributed with friction texture.

[0009] As a preferred technical solution of the present invention, the hinge joint between the arc-shaped arm and the slide is provided with a hinge shaft, the connecting frame is provided with a plurality of positioning connection holes, and both hemispherical shovels are provided with serrated cutting blades, and the two serrated cutting blades mesh with each other.

[0010] As a preferred technical solution of the present invention, the transplanting mechanism further includes a hollow rotating shaft rotatably sleeved on the hinge shaft and a synchronous shaft rotatably connected to the arc-shaped arm. The hollow rotating shaft is driven by a drive module, and a first synchronous belt is connected between the hollow rotating shaft and the synchronous shaft. A synchronous gear is installed on the synchronous shaft, and an arc tooth ring is fixedly installed on the rotating frame. The arc tooth ring meshes with the synchronous gear, and the arc angle corresponding to the effective meshing arc segment on the arc tooth ring is 170°.

[0011] As a preferred embodiment of the present invention, the drive module includes a tensioning slide slidably connected to a slide frame, a tensioning push rod installed between the tensioning slide and the slide frame, a second hydraulic motor fixedly mounted on the tensioning slide, a second synchronous belt and a third synchronous belt respectively drivenly connected to the output shaft of the second hydraulic motor, a half-tooth gear and two reciprocating toothed gears rotatably connected to the slide frame, the half-tooth gear being drivenly connected to the second synchronous belt, both reciprocating toothed gears being drivenly connected to the third synchronous belt, a driven gear fixedly mounted on one hollow rotating shaft, a one-way gear fixedly mounted on the other hollow rotating shaft, the two reciprocating toothed gears alternately meshing with the driven gear, the half-tooth gear meshing with the one-way gear, and a fourth synchronous belt drivingly connecting the two hollow rotating shafts.

[0012] As a preferred technical solution of the present invention, the two reciprocating toothed gears are symmetrically arranged with the vertical plane containing the axis of the driven gear as the axis. The arc angle corresponding to the effective meshing arc segment on the reciprocating toothed gear is 45°, and the arc angle corresponding to the effective meshing arc segment on the half-tooth gear is 180°.

[0013] As a preferred embodiment of the present invention, the axis of the tensioning push rod is perpendicular to the axis of the second hydraulic motor, the tensioning slide is disposed between two hollow rotating shafts, and both the first and second hydraulic motors have integrated encoders, the data terminals of the encoders being connected to the main controller.

[0014] 1) This invention solves the technical problem of soil ball easily loosening and breaking when digging in sticky, compacted, or root-entangled soil by linking and coordinating the variable frequency vibration mechanism with the reciprocating rotation drive module of the swivel frame. Specifically, when the device is working, the first hydraulic motor drives the cam with three different stroke push arc segments to rotate, causing the slide to vibrate up and down with varying amplitude. This mechanical adaptive variable frequency vibration can efficiently and gently loosen the soil around the roots. At the same time, the drive module uses a tension switching mechanism to make the reciprocating toothed gears mesh alternately, driving the two swivel frames to drive the hemispherical shovel to reciprocate by ±15°, combining vibration and rotary cutting actions. During the excavation and insertion phase, the vibration works synchronously and in synergy, reducing the friction and enveloping resistance of the soil against the shovel body. This creates a loose working environment for the serrated cutting blade, while the reciprocating rotary cutting acts like a loosening knife, cutting off the loosened soil and tangled roots. This combined action of vibration loosening and rotary cutting and stripping replaces the single rigid pressing or fixed frequency vibration of existing technologies, achieving adaptability to complex soil conditions. While greatly reducing the resistance to insertion, it maintains the structural integrity of the soil ball to the greatest extent, avoiding soil ball breakage and root tearing caused by forced excavation. This significantly improves the excavation success rate and the protection level of the original root system of the seedlings.

[0015] 2) This invention effectively solves the problems of secondary root damage and poor planting verticality caused by unstable seedling posture during transplanting through the precise coordination of an intelligent clamping system combining a bladder assembly and elastic pressure components with the unidirectional rotation and flipping action of the rotating frame. After the hemispherical shovel closes to form a complete soil ball, the device switches to unidirectional rotation mode, driving the two rotating frames to rotate synchronously by 100°, achieving stable flipping and lifting of the seedling with the soil ball. During this crucial process, the air pump inflates the rubber bladder according to the instructions of the main controller, and the friction texture on its surface increases the gripping force. The T-shaped guide post of the clamping arm and the pressure spring form an elastic buffer to avoid rigid impact. More importantly, the air pressure probe monitors the clamping force in real time, the visual sensor detects the tilt angle of the seedling simultaneously, and the main controller dynamically adjusts the air pressure of the clamping bags on both sides to achieve dynamic pressure adjustment and real-time posture calibration of the seedling trunk. This ensures that the seedling is always flexibly and stably kept in a vertical posture throughout the entire process of turning, transporting and lowering, and the root system is not pulled by asymmetrical tension, thus ensuring the verticality when planting in the pit and laying a solid foundation for rapid rooting and survival. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a forestry planting seedling transplanting device according to the present invention; Figure 2 For the present invention Figure 1 A structural diagram from another perspective; Figure 3 For the present invention Figure 2A magnified schematic diagram of the partial structure at point A in the middle; Figure 4 This is a schematic diagram of the structure of the pushing arc segment and the ranging sensor of the present invention; Figure 5 This is a schematic diagram of the air pump and clamping arm of the present invention; Figure 6 This is a schematic diagram of the hemispherical shovel and rotating frame of the present invention; Figure 7 For the present invention Figure 6 A magnified schematic diagram of the local structure at point B; Figure 8 This is a schematic diagram of the driven gear and synchronizing gear of the present invention; Figure 9 This is a schematic diagram of the structure of the second hydraulic motor of the present invention; Figure 10 This is a schematic diagram of the T-shaped guide post of the present invention.

[0017] The attached diagram lists the components represented by each number as follows: 1. Connecting frame; 2. Main controller; 3. Vision sensor; 4. Distance sensor; 5. Slide; 6. Air pump; 7. Clamping arm; 8. Arc-shaped clamping arm; 9. First hydraulic cylinder; 10. Rotating frame; 11. Hemispherical shovel; 12. Second hydraulic cylinder; 13. First hydraulic motor; 14. Cam; 15. Pushing arc segment; 16. Sliding roller; 17. Guide slide; 18. Return spring; 19. T-shaped guide post; 20. Compression spring; 21. Clamping bag; 22. Air pressure probe; 23. Hinge shaft; 24. Positioning connection hole; 25. Serrated cutting blade; 26. Hollow rotating shaft; 27. Synchronous shaft; 28. Synchronous gear; 29. ​​Arc gear ring; 30. Tensioning slide; 31. Tensioning push rod; 32. Second hydraulic motor; 33. Half-tooth gear; 34. Reciprocating toothed gear; 35. Driven gear; 36. One-way gear. Detailed Implementation

[0018] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0019] The present invention provides the following preferred embodiments. like Figure 1-10 As shown, a forestry planting seedling transplanting device includes a connecting frame 1, on which a main controller 2 is fixedly mounted, and the connecting frame 1 is provided with a plurality of positioning connection holes 24. During operation, the positioning connector is used for the installation of the connector and to connect the connecting frame 1 to the external load equipment. The external load equipment provides power and hydraulic oil to this device. Also includes: The vision sensor 3 and the ranging sensor 4 are both fixed on the connecting bracket 1, and both are connected to the main controller 2 for data transmission. The visual sensor 3 is used to identify the type of forestry seedlings to be transplanted and to identify the radius of the forestry seedlings to be transplanted through feedback from the ranging sensor 4; The slide 5 is slidably connected to the connecting frame 1. A frequency conversion vibration mechanism is provided between the connecting frame 1 and the slide 5. An air pump 6 is fixedly installed on the slide 5. The frequency conversion vibration mechanism includes a first hydraulic motor 13 fixedly mounted on the connecting frame 1. A cam 14 is mounted on the output shaft of the first hydraulic motor 13. Three pushing arc segments 15 are arranged in an array along the circumferential direction on the cam 14. A sliding roller 16 is rotatably connected to the slide 5. The three pushing arc segments 15 alternately abut against the sliding roller 16, and the driving stroke of the three pushing arc segments 15 on the sliding roller 16 is different. Two guide slides 17 are fixedly mounted on the slide 5. Both guide slides 17 are slidably connected to the connecting frame 1. A return spring 18 is installed on the bottom surface of both guide slides 17. The bottom ends of both return springs 18 are fixedly connected to the connecting frame 1. During operation, the first hydraulic motor 13 drives the cam 14 to rotate. The three pushing arc segments 15 of its circumferential array will alternately contact the sliding rollers 16 on the slide 5 due to different driving strokes. Combined with the sliding engagement of the guide slide 17 and the connecting frame 1 and the elastic restoring effect of the return spring 18, the slide 5 will generate variable frequency up and down vibration along the connecting frame 1. This structure achieves adaptive frequency conversion vibration through mechanical transmission, eliminating the need for an additional frequency conversion control module and simplifying the structural design. The vibration process can effectively loosen the soil and reduce the frictional resistance when the hemispherical shovel 11 enters the soil. It is especially suitable for cohesive or compacted soil, avoiding the soil clumping or jamming problem caused by traditional rigid soil entry. Meanwhile, the gentle characteristics of variable frequency vibration can reduce the violent disturbance to the soil around the seedling roots, protect the integrity of the roots, and provide a foundation for the survival rate of subsequent transplanting. Compared with fixed frequency vibration, it has a stronger ability to adapt to different soil hardness, which improves the versatility of the device. Two transplanting mechanisms are symmetrically installed on the carriage 5; The transplanting mechanism includes a clamping arm 7 and an arc-shaped holding arm 8 hinged to a slide 5. A hinge shaft 23 is provided at the hinge point between the arc-shaped holding arm 8 and the slide 5. A first hydraulic cylinder 9 is provided between the arc-shaped holding arm 8 and the slide 5. The first hydraulic cylinder 9 is used to adjust the included angle between the arc-shaped holding arm 8 and the slide 5, thereby controlling the opening and closing of the two arc-shaped holding arms 8. A rotating frame 10 is slidably connected to the arc-shaped arm 8. A guide arc groove is fixedly opened on the arc-shaped arm 8, and an arc-shaped slide table that is slidably connected to the guide arc groove is fixedly installed on the rotating frame 10. A hemispherical shovel 11 is hinged to the rotating frame 10, and two second hydraulic cylinders 12 are hinged between the hemispherical shovel 11 and the rotating frame 10. Both hemispherical shovels 11 are provided with serrated cutting blades 25, and the two serrated cutting blades 25 mesh with each other; The hemispherical shovel 11 is made of stainless steel; During operation, the two second hydraulic cylinders 12 work synchronously and control the hemispherical shovel 11 to rotate on the rotating frame 10 to perform soil rotary shoveling; Three elastic pressure-applying components are installed between the clamping arm 7 and the rotating frame 10, and a bladder clamp assembly connected to the air pump 6 is fixedly mounted on the clamping arm 7. The elastic pressure component includes a T-shaped guide post 19 fixedly mounted on the back of the clamping arm 7. The T-shaped guide post 19 is slidably connected to the rotating frame 10. A pressure spring 20 is sleeved on the T-shaped guide post 19 at a position corresponding to the position between the clamping arm 7 and the rotating frame 10.

[0020] The clamp assembly includes a clamp 21 fixed on the clamping arm 7. The tail of the clamp 21 is connected to a corrugated metal pipe, and the other end of the corrugated metal pipe is connected to the air outlet port of the air pump 6. A pressure probe 22 and a pressure relief valve are installed on the clamp 21. The data terminal of the pressure probe 22 and the electrical control terminal of the pressure relief valve are both connected to the main controller 2. The clamp 21 is made of rubber and its surface is evenly covered with friction texture. Two clamps 21 are used to support the main trunk of the forestry seedlings to be transplanted; The elastic pressure component provides a continuous and buffered pressure effect to the clamping arm 7 through the sliding guidance of the T-shaped guide post 19 and the elastic force of the pressure spring 20, avoiding sudden changes in clamping force caused by rigid connection. When the clamp assembly is working, the air pump 6 inflates the rubber clamp 21 through the corrugated metal connecting pipe. The friction texture increases the friction between the clamp 21 and the main stem of the seedling, ensuring stable clamping. The air pressure probe 22 collects the air pressure data of the clamp 21 in real time and feeds it back to the main controller 2. The pressure relief valve dynamically adjusts the air pressure according to the command. With the visual sensor 3 detecting the inclination and tilt direction of the seedling, the expansion range of the two clamps 21 can be precisely adjusted so that the seedling maintains a vertical and stable state throughout the transplanting process. This combined structure achieves integrated clamping with elastic buffering, dynamic pressure adjustment, and posture calibration. It solves the problem that traditional rigid clamping is prone to damaging the seedling epidermis or breaking the main stem, and avoids root pulling damage caused by seedling tilting during transplanting. At the same time, the corrugated metal connecting pipe can adapt to the complex movements of the slide 5 vibration and the rotating frame 10 rotation, ensuring the stability of air pressure transmission and further improving the reliability of clamping and transplanting.

[0021] The drive module is mounted on the carriage 5 and synchronously drives the two rotating carriages 10 to reciprocate or rotate in one direction.

[0022] The transplanting mechanism also includes a hollow rotating shaft 26 rotatably mounted on the hinge shaft 23 and a synchronous shaft 27 rotatably connected to the arc-shaped arm 8. The hollow rotating shaft 26 is driven by a drive module. A first synchronous belt is connected between the hollow rotating shaft 26 and the synchronous shaft 27. A synchronous gear 28 is installed on the synchronous shaft 27. An arc tooth ring 29 is fixedly installed on the rotating frame 10. The arc tooth ring 29 meshes with the synchronous gear 28. The arc angle corresponding to the effective meshing arc segment on the arc tooth ring 29 is 170°.

[0023] During operation, the drive module drives the hollow rotating shaft 26 to rotate, and the power is transmitted to the synchronous shaft 27 through the first synchronous belt. The synchronous gear 28 on the synchronous shaft 27 meshes with the arc gear ring 29 of the rotating frame 10 for transmission. With the help of the 170° effective meshing arc segment, the rotating frame 10 can achieve precise angular rotation.

[0024] The design of the 170° effective engagement arc segment perfectly matches the stroke requirements of the hemispherical shovel 11 from unfolding to closing, ensuring the effective stroke of the rotating frame 10 while preventing structural interference or jamming caused by excessive engagement. There is no significant delay in the power transmission process, ensuring that the two rotating frames 10 move synchronously, so that the shoveling and closing actions of the hemispherical shovel 11 are consistent and smooth, avoiding the loosening of the soil ball or damage to the root system due to asynchronous actions on both sides. Compared with traditional linkage transmission, it has higher transmission efficiency, less wear, and extends the service life of the device. The drive module includes a tensioning slide 30 slidably connected to the slide 5, a tensioning push rod 31 installed between the tensioning slide 30 and the slide 5, a second hydraulic motor 32 fixedly mounted on the tensioning slide 30, a second synchronous belt and a third synchronous belt respectively driven and connected to the output shaft of the second hydraulic motor 32, a half-tooth gear 33 and two reciprocating toothed gears 34 rotatably connected to the slide 5, the half-tooth gear 33 being driven and connected to the second synchronous belt, and both reciprocating toothed gears 34 being driven and connected to the third synchronous belt, a driven gear 35 fixedly mounted on a hollow rotating shaft 26, and a one-way gear 36 fixedly mounted on another hollow rotating shaft 26, the two reciprocating toothed gears 34 alternately meshing with the driven gear 35, the half-tooth gear 33 meshing with the one-way gear 36, and a fourth synchronous belt driving and connecting the two hollow rotating shafts 26.

[0025] Two reciprocating toothed gears 34 are symmetrically arranged about the vertical plane containing the axis of the driven gear 35. The arc angle corresponding to the effective meshing arc segment on the reciprocating toothed gear 34 is 45°, and the arc angle corresponding to the effective meshing arc segment on the half-tooth gear 33 is 180°.

[0026] The axis of the tensioning push rod 31 is perpendicular to the axis of the second hydraulic motor 32. The tensioning slide 30 is set between the two hollow rotating shafts 26. The first hydraulic motor 13 and the second hydraulic motor 32 both have integrated encoders. The data terminals of the encoders are connected to the main controller 2.

[0027] In a preferred embodiment, the reciprocating rotation of the swivel frame 10 is adapted to allow the hemispherical shovel 11 to be swiveled into the soil until the two hemispherical shovels 11 complete the closing stage, during which the first hydraulic motor 13 operates and causes the slide 5 to vibrate. The reciprocating rotation type has a reciprocating rotation angle of ±15° for the two rotating frames 10; When the two hemispherical shovels 11 are fully closed, the two rotating frames 10 rotate synchronously in one direction, with an angle of 100° during the unidirectional rotation. After the 100° rotation is completed, the two rotating frames 10 are synchronously reset to the initial state under the drive of the second hydraulic motor 32. When the two hemispherical shovels 11 are fully closed, the first hydraulic motor 13 stops working. When the load equipment moves, the second hydraulic motor 32 is turned off. During operation, the tensioning slide 30 is driven to slide by the tensioning push rod 31, which enables the alternating tensioning of the second and third synchronous belts. When the tensioning slide 30 moves to the right, the third synchronous belt is tensioned and the second synchronous belt is relaxed. The two symmetrically arranged reciprocating toothed gears 34 alternately mesh with the driven gear 35, driving the rotating frame 10 to achieve reciprocating rotation of ±15°. When the tensioning slide 30 moves to the left, the second synchronous belt is tensioned and the third synchronous belt is relaxed. The half-tooth gear 33 meshes with the one-way gear 36, and with the linkage of the fourth synchronous belt, the rotating frame 10 is driven to achieve a 100° one-way rotation. The encoders integrated by the first hydraulic motor 13 and the second hydraulic motor 32 can feed back the speed data to the main controller 2 to achieve precise control of the rotation angle. This design, through the combination of a second hydraulic motor 32 and a tension switching structure, enables the switching between two rotation modes of the slewing frame 10 without the need for an additional drive mechanism, simplifying the overall structure and reducing equipment costs and energy consumption. The reciprocating rotation mode combined with frequency conversion vibration enables the hemispherical shovel 11 to form a compound action of rotary cutting and vibration in the soil, which greatly improves the soil penetration efficiency and is especially suitable for difficult-to-excavate soil. The one-way rotation mode can achieve smooth flipping and repositioning of seedlings with soil balls. Combined with the meshing saw-tooth cutting blade 25 of the hemispherical shovel 11, it can quickly cut off the roots or weeds entangled in the soil, ensuring the soil ball is intact. This solves the problems of soil ball being easy to scatter, low digging efficiency, and easy damage to the root system in traditional transplanting. Meanwhile, precise angle control avoids structural damage or seedling damage caused by excessive rotation, further improving the accuracy and reliability of transplanting operations.

[0028] The specific steps for using this invention are as follows: When the present invention is working, the device is first fixed to the external load device through the positioning connection hole 24 on the connecting frame 1. The load device provides power and hydraulic supply. The vision sensor 3 and the distance sensor 4 on the connecting frame 1 will accurately identify the type and radius of the seedling to be transplanted and feed it back to the main controller 2. Subsequently, the main controller 2 starts the relevant mechanisms. The first hydraulic motor 13 drives the cam 14 to rotate. The three different drive stroke push arc segments 15 of its circumferential array alternately abut against the sliding rollers 16 on the slide 5. Together with the guide slide 17 and the return spring 18, the slide 5 generates frequency-converted vibration. At the same time, the tension push rod 31 in the drive module pushes the tension slide 30 to the right, so that the third synchronous belt is tensioned and the second synchronous belt is relaxed. The second hydraulic motor 32 drives two symmetrically arranged reciprocating toothed gears 34 to alternately mesh with the driven gears 35 through the third synchronous belt, driving the two rotating frames 10 to reciprocate at ±15°. The serrated cutting blades 25 on the hemispherical shovel 11 mesh with each other and spin into the soil. During this stage, the first hydraulic motor 13 continues to work to keep the slide 5 vibrating until the two hemispherical shovels 11 are completely closed. After the hemispherical shovel 11 closes, the first hydraulic motor 13 stops working, the tensioning slide 30 moves to the left to tension the second synchronous belt and loosen the third synchronous belt. The second hydraulic motor 32 drives the semi-tooth gear 33 to mesh with the one-way gear 36 through the second synchronous belt. With the linkage of the fourth synchronous belt, the two rotating frames 10 are driven to rotate 100° synchronously in one direction, realizing the smooth flipping of the seedling with soil ball. After a single rotation is completed, the rotating frame 10 is reset to the initial state under the drive of the second hydraulic motor 32. During this period, the bladder assembly on the clamping arm 7 is inflated by the air pump 6. The rubber bladder 21 with friction texture is dynamically pressured by the air pressure probe 22 and the pressure relief valve. With the buffer pressure effect of the elastic pressure application component, the seedling is always kept vertical and stable, avoiding damage to the epidermis or breakage of the main stem. When the external load equipment drives the device to move and transfer the seedling, the second hydraulic motor 32 stops working, completing the entire transplanting process. The ±15° reciprocating rotation of the rotating frame 10 works in conjunction with the variable frequency vibration of the slide frame 5. The vibration can effectively loosen the sticky or compacted soil, greatly reduce the frictional resistance of the hemispherical shovel 11 when it enters the soil, and avoid soil clumping or shovel jamming caused by traditional rigid entry. The reciprocating rotary cutting combined with the saw-tooth cutting blade 25 can quickly cut the roots or weeds entangled in the soil, and ensure the integrity of the soil ball to the greatest extent. After the hemispherical shovel 11 is closed, it switches to 100° unidirectional rotation to achieve stable flipping of seedlings with soil balls, avoiding root pulling damage during transplanting. The two rotation modes can be switched by switching the tensioning state of the synchronous belt through the tensioning slide 30, without the need for an additional drive mechanism, which simplifies the overall structure and reduces equipment cost and energy consumption. The precise start-stop control of the first hydraulic motor 13 and the second hydraulic motor 32 reduces ineffective energy consumption and avoids unnecessary movements that could damage seedlings and equipment. At the same time, the precise control of the reciprocating and unidirectional rotation angles of the rotating frame 10 prevents structural interference caused by excessive meshing. Combined with the dynamic attitude calibration of the clamp assembly, this significantly improves the efficiency, accuracy, and seedling survival rate of transplanting operations, effectively solving the problems of easy soil ball disintegration, low digging efficiency, and easy root damage in traditional transplanting.

[0029] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A forestry planting seedling transplanting device, comprising a connecting frame (1), wherein a main controller (2) is fixedly mounted on its side, characterized in that, Also includes: The visual sensor (3) and the ranging sensor (4) are both fixed on the connecting frame (1), and both are connected to the main controller (2) for data transmission. The slide (5) is slidably connected to the connecting frame (1). A frequency conversion vibration mechanism is provided between the connecting frame (1) and the slide (5). An air pump (6) is fixedly installed on the slide (5). Two transplanting mechanisms are symmetrically installed on the carriage (5); The transplanting mechanism includes a clamping arm (7) and an arc-shaped arm (8) hinged on a slide (5). A first hydraulic cylinder (9) is provided between the arc-shaped arm (8) and the slide (5). A rotating frame (10) is slidably connected to the arc-shaped arm (8). A hemispherical shovel (11) is hinged to the rotating frame (10). Two second hydraulic cylinders (12) are hinged between the hemispherical shovel (11) and the rotating frame (10). Three elastic pressure-applying components are installed between the clamping arm (7) and the rotating frame (10). A bladder clamp assembly connected to an air pump (6) is fixedly mounted on the clamping arm (7). The drive module is set on the slide (5) and synchronously drives the two rotating frames (10) to reciprocate or rotate in one direction.

2. The forestry seedling transplanting device according to claim 1, characterized in that, The frequency conversion vibration mechanism includes a first hydraulic motor (13) fixedly mounted on the connecting frame (1). A cam (14) is mounted on the output shaft of the first hydraulic motor (13). Three push arc segments (15) are arranged in an array along the circumferential direction on the cam (14). A sliding roller (16) is rotatably connected to the slide (5). The three push arc segments (15) alternately contact and connect with the sliding roller (16), and the driving stroke of the three push arc segments (15) on the sliding roller (16) is different. Two guide slides (17) are fixedly mounted on the slide (5). Both guide slides (17) are slidably connected to the connecting frame (1). A return spring (18) is installed on the bottom surface of both guide slides (17). The bottom end of both return springs (18) is fixedly connected to the connecting frame (1).

3. The forestry seedling transplanting device according to claim 1, characterized in that, The elastic pressure-applying component includes a T-shaped guide post (19) fixedly mounted on the back of the clamping arm (7), the T-shaped guide post (19) being slidably connected to the rotating frame (10), and a pressure spring (20) being sleeved on the T-shaped guide post (19) at a position corresponding to the position between the clamping arm (7) and the rotating frame (10).

4. The forestry seedling transplanting device according to claim 1, characterized in that, The clamp assembly includes a clamp (21) fixed on the clamping arm (7). The tail of the clamp (21) is connected to a corrugated metal pipe. The other end of the corrugated metal pipe is connected to the air outlet port of the air pump (6). A pressure probe (22) and a pressure relief valve are installed on the clamp (21). The data terminal of the pressure probe (22) and the electrical control terminal of the pressure relief valve are both connected to the main controller (2). The clamp (21) is made of rubber and its surface is evenly covered with friction texture.

5. A forestry seedling transplanting device according to claim 2, characterized in that, The hinge shaft (23) is provided at the hinge joint between the arc-shaped arm (8) and the slide (5). The connecting frame (1) is provided with multiple positioning connection holes (24). Both hemispherical shovels (11) are provided with serrated cutting blades (25), and the two serrated cutting blades (25) mesh with each other.

6. A forestry seedling transplanting device according to claim 5, characterized in that, The transplanting mechanism also includes a hollow rotating shaft (26) rotatably sleeved on the hinge shaft (23) and a synchronous shaft (27) rotatably connected to the arc-shaped arm (8). The hollow rotating shaft (26) is driven by a drive module. A first synchronous belt is connected between the hollow rotating shaft (26) and the synchronous shaft (27). A synchronous gear (28) is installed on the synchronous shaft (27). An arc tooth ring (29) is fixedly installed on the rotating frame (10). The arc tooth ring (29) meshes with the synchronous gear (28). The arc angle corresponding to the effective meshing arc segment on the arc tooth ring (29) is 170°.

7. A forestry seedling transplanting device according to claim 6, characterized in that, The drive module includes a tensioning slide (30) slidably connected to the slide (5). A tensioning push rod (31) is installed between the tensioning slide (30) and the slide (5). A second hydraulic motor (32) is fixedly mounted on the tensioning slide (30). A second synchronous belt and a third synchronous belt are respectively driven and connected to the output shaft of the second hydraulic motor (32). A half-tooth gear (33) and two reciprocating toothed gears (34) are rotatably connected to the slide (5). 3) Connected to the second synchronous belt drive, both of the reciprocating toothed gears (34) are connected to the third synchronous belt drive, a driven gear (35) is fixed on one of the hollow shafts (26), a one-way gear (36) is fixed on the other hollow shaft (26), the two reciprocating toothed gears (34) are alternately meshed with the driven gear (35), the half-tooth gear (33) is meshed with the one-way gear (36), and a fourth synchronous belt is connected between the two hollow shafts (26).

8. A forestry seedling transplanting device according to claim 7, characterized in that, The two reciprocating toothed gears (34) are symmetrically arranged with the vertical plane containing the axis of the driven gear (35) as the axis. The arc angle corresponding to the effective meshing arc segment on the reciprocating toothed gear (34) is 45°, and the arc angle corresponding to the effective meshing arc segment on the half-tooth gear (33) is 180°.

9. A forestry seedling transplanting device according to claim 8, characterized in that, The axis of the tensioning push rod (31) is perpendicular to the axis of the second hydraulic motor (32). The tensioning slide (30) is set between two hollow rotating shafts (26). The first hydraulic motor (13) and the second hydraulic motor (32) are both equipped with encoders. The data terminal of the encoder is connected to the main controller (2).

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