Transplanter ridge contouring leveling electric chassis

Abstract

This invention relates to the technical field of transplanting machinery, and more particularly to an electric chassis for a transplanter that follows the contour and levels the soil, comprising a walking and steering device, a leveling device, and a contour detection device. The leveling device consists of a left-right contour leveling mechanism and a ridge height contour planting mechanism. A servo cylinder drives a suspension frame to swing around a leveling rotation axis to achieve left-right leveling of the chassis. A screw jack drives a lifting scissor mechanism to raise and lower the planting platform to ensure consistent depth. The contour detection device uses an angle displacement sensor and a detection plate to acquire real-time height signals from both sides of the ridge surface. This invention achieves coordinated control of the chassis's left-right contour and planting height, ensuring vertical planting posture and uniform depth. The all-electric drive design provides fast response and eliminates oil pollution, balancing operational accuracy and environmental friendliness.

Description

Technical Field

[0001] This invention relates to the technical field of transplanting machinery, and more particularly to an electric chassis for a transplanter that adjusts and levels itself by following the contours of the ridge. Background Technology

[0002] Hilly and mountainous areas account for 43% of my country's total area. Their climate, ecology, and land resources are suitable for vegetable cultivation. However, the terrain is complex, farmland is scattered, and ridges are mostly uneven. Even in relatively flat greenhouses, it is difficult to ensure that the ridge height is completely consistent. During mechanized transplanting, the lateral tilt or front-to-back undulation of the ridge surface can lead to inconsistent seedling planting depths, which directly affect the seedling survival rate and final yield.

[0003] To address the aforementioned terrain adaptability requirements, existing technologies have proposed various solutions. Regarding power, traditional transplanters mostly use diesel engines, while some improved solutions employ a battery and drive motor to form an electric drive mechanism. In terms of contour detection and leveling control, existing solutions often use contour wheels or probes to sense ground changes, combined with tilt or displacement sensors to detect vehicle posture and ground clearance. For the actuators, most operate hydraulic valve groups via linkage mechanisms, with hydraulic cylinders driving lifting mechanisms to adjust chassis ground clearance or planting mechanism height. Some solutions also use electric push rods as actuators to achieve adaptive contouring. Regarding steering, some solutions employ a two-wheel differential steering system or four-wheel drive with a differential for steering. Other solutions combine leveling and height adjustment functions, using probes, angle sensors, and tilt sensors to detect terrain, with a hydraulic power unit providing power to the leveling and height adjustment modules, achieving leveling and height adjustment by adjusting the chassis.

[0004] However, the existing transplanter chassis does not have the function of left and right contour leveling and ridge height contour planting coordinated control, and the hydraulic drive-based execution system has the risk of response lag and oil leakage, making it difficult to balance operation accuracy and environmental protection. Summary of the Invention

[0005] The purpose of this invention is to provide an electric chassis for transplanting machines that follows the contour and adjusts the level, thereby solving the technical problems in the prior art where the transplanting machine chassis does not have the function of coordinated control of left and right contour leveling and ridge height contour planting, and the hydraulic drive-based execution system has the problems of response lag and oil leakage risk, making it difficult to balance the technical problems of operation accuracy and environmental protection.

[0006] In a first aspect, the present invention provides a transplanter with a ridge-following electric chassis for leveling, comprising: A travel steering device, wherein the travel steering device has two parallel front and rear axle steering connecting plates; The ridge leveling device includes a left and right contour leveling mechanism and a ridge height contour planting mechanism; The left and right contouring and leveling mechanism includes a suspension frame, a leveling rotating shaft, and a first servo electric cylinder; the suspension frame has a horizontal frame and a vertical frame; one end of the horizontal frame is rotatably connected to one of the front and rear axle steering connecting plates through one of the leveling rotating shafts, and the other end of the horizontal frame is rotatably connected to another of the front and rear axle steering connecting plates through another leveling rotating shaft. One of the cylinder body end and the piston rod end of the first servo electric cylinder is hinged to the vertical frame, and the other is hinged to the front and rear axle steering connecting piece, so as to drive the suspension frame to swing around the leveling rotation axis. The raised-ridge contour planting mechanism includes a lifting platform, a lifting scissor mechanism, a screw jack assembly, and a planting mechanism. The lifting scissor mechanism is located below the lifting platform, with its upper end connected to the lifting platform and its lower end connected to the transverse frame. The power output end of the screw jack assembly is connected to the lifting scissor mechanism to drive its extension and retraction, thereby raising and lowering the lifting platform. The planting mechanism is fixed to the lifting platform. The contour detection device includes at least two angular displacement sensors. The sensor shaft of each angular displacement sensor is coaxially and fixedly connected to the first end of a swing arm via a rigid flange coupling. A detection plate is fixed to the second end of the swing arm. The two angular displacement sensors are respectively fixed to the front of the planting mechanism.

[0007] Furthermore, the left and right contour leveling mechanism also includes at least two tapered roller bearing seats, which are sleeved on the leveling rotating shaft and are fixedly connected to the front and rear axle steering connecting pieces.

[0008] Furthermore, the left and right contour leveling mechanism also includes at least one chassis frame reinforcing rib, with both ends of the chassis frame reinforcing rib fixed to the transverse frame.

[0009] Furthermore, the screw jack assembly includes a first screw jack, a second screw jack, a coupling, and a servo motor; both ends of the coupling are coaxially and fixedly connected to the input shafts of the first screw jack and the second screw jack, respectively; the output shaft of the servo motor is coaxially and fixedly connected to the input shaft of either the first or the second screw jack; the lifting ends of both the first and second screw jacks are fixedly connected to the lifting platform.

[0010] Furthermore, the lifting scissor mechanism includes at least one set of single scissor levers and at least two sets of double scissor levers; the single scissor levers are arranged between the two sets of double scissor levers. The scissor lift bar has a fixed end and a movable end. Its fixed end is fixed to the side of the transverse frame by a welding plate, and its movable end is slidably disposed in a slide rail of the lower frame of the lifting platform by a cylindrical roller bearing. The scissor lift has a fixed end and a movable end. The fixed end is fixed to the lifting platform by a connector, and the movable end is slidably disposed in a limiting groove of the transverse frame by a cylindrical roller bearing.

[0011] Furthermore, the walking and steering device includes two second servo electric cylinders and a four-wheel linkage steering linkage mechanism; the power output ends of the two second servo electric cylinders are respectively connected to the steering nodes of the front wheel group and the rear wheel group; the four-wheel linkage steering linkage mechanism includes multiple steering connecting plates and multiple steering connecting rods, which are used to connect the front and rear wheels on the same side and the wheels on the left and right sides into a linkage whole.

[0012] Furthermore, the walking and steering device also includes at least one cam divider, which is disposed in the transmission path between the power output end of the second servo electric cylinder and the wheel steering knuckle.

[0013] Furthermore, the driving and steering device also includes at least one differential; the differential is disposed between the left and right wheels of the front wheel assembly, and / or between the left and right wheels of the rear wheel assembly.

[0014] Furthermore, it also includes a control system, which includes a controller; the controller is electrically connected to the angle displacement sensor, the first servo cylinder, and the screw jack assembly.

[0015] Furthermore, the stroke of the second servo electric cylinder is 50mm; the stroke of the first servo electric cylinder is 160mm, and the angle displacement sensor outputs a 0-10V analog signal.

[0016] Compared with existing technologies, the transplanter provided by this invention features a ridge-following electric chassis. Through a left-right contouring and leveling mechanism comprised of front and rear axle steering connectors, a suspension frame, a leveling rotating shaft, and a first servo cylinder, the suspension frame actively swings relative to the travel steering device. Simultaneously, a ridge-height contouring planting mechanism, consisting of a lifting platform, a lifting scissor mechanism, and a screw jack assembly, allows the planting mechanism to automatically rise and fall with the ridge surface. The two mechanisms work together to ensure that the chassis maintains the planting mechanism parallel to the ridge surface and at a consistent planting depth even under complex ridge shapes with left-right tilts and front-back undulations, significantly improving the seedling planting posture. The verticality and depth uniformity are excellent. Furthermore, by employing a fully electric first servo cylinder and screw jack assembly as actuators, the environmental pollution caused by hydraulic oil leakage is avoided at its source. The electric drive also provides fast response, ensuring real-time and accurate leveling in complex terrain. The contour detection device uses an angle displacement sensor in conjunction with a rigid flange coupling, a swing arm, and a detection plate in a mechanical linkage structure. It directly conforms to the ridge surface to obtain independent height change signals on both sides, achieving high detection accuracy and strong anti-interference capabilities. This provides a reliable quantitative basis for left-right leveling and height compensation, comprehensively balancing operational accuracy, terrain adaptability, and environmental friendliness. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the electric chassis for leveling and conforming to the shape of the transplanter provided in this embodiment of the invention; Figure 2 This is a schematic diagram of the left and right contouring and leveling mechanisms in the electric chassis of the transplanter provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the contour detection device in the electric chassis of the transplanter that follows the contour and levels the soil, as provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the walking and steering device in the electric chassis of the transplanter that follows the contour and adjusts the soil level, as provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the ridge height conforming planting mechanism in the electric chassis of the transplanter provided in an embodiment of the present invention.

[0019] Figure label: 100. Travel and steering device; 110. Front and rear axle steering connecting plates; 120. Steering drive components; 121. Second servo electric cylinder; 122. Four-wheel linkage steering linkage mechanism; 123. Steering connecting plate; 124. Steering connecting rod; 125. Cam divider; 130. Differential; 200. Leveling device for rows; 210. Left and right contour leveling mechanism; 211. Suspension frame; 2111. Horizontal frame; 2112. Vertical frame; 212. Leveling rotating shaft; 213. First servo electric cylinder; 214. Tapered roller bearing housing; 215. Chassis frame reinforcing rib; 220. Ridge-mounted contour planting mechanism; 221. Lifting platform; 222. Lifting scissor lift mechanism; 23. Screw jack assembly; 224. Planting mechanism; 225. Welded plate; 300. Contouring detection device; 301. Angle displacement sensor; 302. Rigid flange coupling; 303. Swing arm; 304. Detection plate. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These terms are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] like Figures 1 to 5 As shown in the figure, this embodiment provides a transplanter with a ridge-following and leveling electric chassis, which is particularly suitable for complex terrains such as hilly areas and greenhouses where the ridge surface is undulating and tilted from side to side, and is used to achieve fully automatic and high-precision transplanting of vegetables and other crops. The electric chassis mainly includes: a walking and steering device 100, a ridge-following and leveling device 200, a contour detection device 300, and a control system (not fully shown in the figure).

[0028] Please see Figure 1 and Figure 2 The travel and steering device 100 provides travel and steering functions for the entire chassis. Its core structure includes two parallel front and rear axle steering connecting plates 110, which form the main frame connecting the chassis to the underlying travel mechanism. In this embodiment, the travel and steering device 100 further includes a steering drive component 120, which adopts a fully electric drive design.

[0029] Specifically, please combine Figure 4 The steering drive unit 120 includes two second servo electric cylinders 121 and a four-wheel linkage steering linkage mechanism 122. The stroke of the two second servo electric cylinders 121 is preferably 50 mm, and their power output ends are connected to the steering nodes (e.g., steering knuckle arms) of the front and rear wheel sets, respectively. The four-wheel linkage steering linkage mechanism 122 is hinged from multiple steering connecting plates 123 and multiple steering connecting rods 124, used to connect the front and rear wheels on the same side and the wheels on the left and right sides into a linked whole. When the second servo electric cylinders 121 extend or retract, the four wheels can be simultaneously and at the same angle steered through the transmission of the four-wheel linkage steering linkage mechanism 122, significantly reducing the turning radius and improving maneuverability in narrow ditches.

[0030] To improve the repeatability and stability of steering, the travel steering device 100 also includes at least one cam divider 125. The cam divider 125 is located in the transmission path between the power output end of the second servo cylinder 121 and the wheel steering knuckle. As a high-precision mechanical indexing mechanism, the cam divider 125 can precisely limit the steering swing angle, ensuring consistent steering angles each time without cumulative error, and effectively absorbs road impacts to prevent wheel vibration. Furthermore, to accommodate the speed difference between the inner and outer wheels during steering, the travel steering device 100 is also equipped with a differential 130. The differential 130 is located between the left and right wheels of the front wheel assembly and between the left and right wheels of the rear wheel assembly. It automatically distributes torque and speed between the left and right wheels during turning, ensuring that the outer wheel rotates faster than the inner wheel, thereby preventing tire slippage, jamming, and running over obstacles.

[0031] Please continue reading. Figure 1 and Figure 2 The leveling device 200 is fixedly installed on the two front and rear axle steering connecting plates 110 of the walking and steering device 100, and is used to adjust the attitude of the chassis relative to the ridge surface and control the planting depth. The device specifically includes a left and right contour leveling mechanism 210 and a ridge height contour planting mechanism 220.

[0032] The left and right contour leveling mechanism 210 is used to adjust the lateral levelness of the chassis in real time. Its specific structure includes a suspension frame 211, a leveling rotating shaft 212, and a first servo electric cylinder 213. The suspension frame 211 has a horizontal frame 2111 and a vertical frame 2112. The front and rear ends of the horizontal frame 2111 are respectively rotatably connected to the corresponding front and rear axle steering connecting plates 110 via a leveling rotating shaft 212. To support and ensure smooth rotation, each leveling rotating shaft 212 is fitted with a tapered roller bearing seat 214, which is fixedly connected to the front and rear axle steering connecting plates 110. The stroke of the first servo electric cylinder 213 is preferably 160mm. Its cylinder end (or piston rod end) is hinged to the vertical frame 2112, and its piston rod end (or cylinder end) is hinged to the front and rear axle steering connecting plates 110. When the first servo cylinder 213 extends or retracts, it drives the entire suspension frame 211 to swing left and right around the axes of the two front and rear leveling rotating shafts 212, thereby causing all the components above it (including the ridge height contour planting mechanism 220) to swing together, achieving left and right leveling of the chassis. In order to enhance the strength of the structure, the left and right contour leveling mechanism 210 is also equipped with at least one chassis frame reinforcing rib 215, whose two ends are respectively fixed to different parts of the transverse frame 2111, effectively preventing structural deformation under long-term operation.

[0033] Please see Figure 1 and Figure 5 The raised bed contour planting mechanism 220 is fixedly installed on the horizontal frame 2111 of the suspended frame 211, and is used to adjust the planting height in real time to ensure consistent planting depth. The mechanism includes a lifting platform 221, a lifting scissor mechanism 222, a screw jack assembly 23, and a planting mechanism 224.

[0034] The scissor lift mechanism 222 is located below the lifting platform 221. Its structure consists of a double scissor bar with a wall thickness of 6mm, a single scissor bar with a wall thickness of 8mm, and a positioning pin. Specifically, the single scissor bar is positioned between the two sets of double scissor bars. Each single scissor bar has a fixed end and a movable end. The fixed end is fixed to the side of the transverse frame 2111 via a welding plate 225, and the movable end is slidably mounted in a slide rail within the lower frame of the lifting platform 221 via a cylindrical roller bearing. Each double scissor bar has a fixed end and a movable end. The fixed end is fixed to the lifting platform 221 via a connector, and the movable end is slidably mounted in a limiting groove within the transverse frame 2111 via a cylindrical roller bearing. This alternating double-bar and single-bar scissor lift structure provides excellent lifting stability and lateral rigidity.

[0035] The screw jack assembly 230, serving as the lifting power source, includes a first screw jack, a second screw jack, a coupling, and a servo motor. The two ends of the coupling are coaxially and fixedly connected to the input shafts of the first and second screw jacks, respectively, achieving rigid linkage between them. The output shaft of the servo motor is coaxially and fixedly connected to the input shaft of one of the screw jacks. The lifting ends of both screw jacks are fixedly connected to the lifting platform 221. During operation, the servo motor drives the two screw jacks to rotate synchronously, converting the rotational motion into linear motion of the lifting ends through a worm gear mechanism, thereby driving the lifting platform 221 to rise and fall smoothly.

[0036] The planting mechanism 224 is fixed to the lifting platform 221 and rises and falls synchronously with the lifting platform 221. In this embodiment, the planting mechanism 224 is a double-row planting mechanism, specifically including a parallelogram double-crank mechanism and a duckbill mechanism. The parallelogram double-crank mechanism consists of an inertial double crank, a connecting rod, and a frame, the frame of which is fixed to the lifting platform 221. An inertial block is installed on the inertial double crank to overcome the dead point of motion. The duckbill mechanism is installed on the connecting rod and is used to complete the specific actions of digging holes, placing seedlings, and covering with soil. Since the overall structure and working principle of the planting mechanism 224 are well known in the art, they will not be described in detail here.

[0037] Please see Figure 1 and Figure 3 The contour detection device 300 is used to perceive changes in the terrain of the ridge surface in real time and with precision. It includes at least two angular displacement sensors 301, preferably two in this embodiment. Each angular displacement sensor 301 outputs an analog signal of 0-10V. Each sensor shaft is coaxially fixed to the first end of a swing arm 303 via a rigid flange coupling 302 with an inner diameter of 6mm. A detection plate 304 is fixed to the second end of the swing arm 303. The two angular displacement sensors 301 are respectively fixed in front of the two beaks of the planting mechanism 224 and located at the front end of the chassis in the forward direction. During operation, the detection plate 304 always moves in contact with the ridge surface under its own weight or the action of a light spring (not shown in the figure). When the ridge surface undulates or tilts left or right, the detection plate 304 swings with the terrain, causing the swing arm 303 and the sensor shaft to rotate, thereby accurately converting the mechanical displacement into an electrical signal.

[0038] The control system (not shown in the figure) is the brain of the entire chassis. It includes a controller (preferably a Siemens S7-200smart series PLC in this embodiment), a sensor group (including at least the two angle displacement sensors 301 mentioned above), and a drive module. The angle displacement sensors 301 are connected to the analog input terminal of the controller. The drive module is connected to the output terminal of the controller and is electrically connected to the first servo cylinder 213, the servo motor of the screw jack assembly 23, and the second servo cylinder 121 of the travel steering device 100, respectively. The controller is configured to execute the following control logic to achieve automatic contouring operation.

[0039] The following, in conjunction with the above structure, details the working process and control method of the transplanter's ridge-following electric chassis leveling mechanism provided in this embodiment.

[0040] Before the operation begins, the operator starts the control system through a human-machine interface (such as a touch screen). The system initializes, including resetting each mechanism (lifting platform 221, suspension frame 211, etc.) to its initial position and performing a self-check. The operator can select "automatic control mode" and preset various parameters required for the transplanting operation, such as the action speed of the first servo cylinder 213, the lifting speed of the lifting platform 221, the operating frequency of the planting mechanism 224, and the standard ridge height h (e.g., set to 250mm).

[0041] After the operation begins, the contour detection device 300 operates in real time. The two angular displacement sensors 301 convert the changes in ridge height sensed by the left and right detection plates 304 into voltage signals of 0-10V. The analog-to-digital converter module inside the controller reads these signals as values ​​of 0-100, which are recorded as the left sensor output value X1 and the right sensor output value X2, respectively.

[0042] The controller has pre-stored conversion formulas derived from extensive experimental calibration. By recording the sensor output values ​​and height changes after altering the ridge angle, the conversion coefficient between the output value and the ridge angle is found to be 3.73, and the conversion relationship between the output value and the ridge height is h≈8X-1. Specifically, the relationship between the sensor output value x and the ridge angle θ is: θ≈3.73×x; the relationship between the sensor output value x and the ridge height h (in mm) is: h≈8x-1.

[0043] The controller calculates in real time according to the above formula: The height of the ridge corresponding to the left sensor is: h1≈8X1-1 The height of the ridge corresponding to the right sensor is: h2≈8X2-1 Left and right contour leveling control process: The controller first calculates the left-right height difference Δh = h1 - h2. To avoid frequent and ineffective actuator movements due to minor terrain fluctuations, a left-right contouring leveling dead zone is set in the system. Multiple tests showed that the planting effect is best when the height difference converted from the left and right sensors is ±50mm; therefore, the left-right contouring leveling dead zone range is set to [-50mm, 50mm]. When Δh is within this range, the system considers the chassis to be level and does not trigger the leveling action.

[0044] If Δh > 50mm, it indicates that the left side of the ridge is higher than the right side, and the controller determines that the chassis is tilted to the right. To restore level, the controller sends a command to the drive module to drive the first servo cylinder 213 on the left or right side to retract (the specific drive logic can be designed to drive one or both sides according to the mechanical structure). By changing the extension and retraction of the cylinder, the suspension frame 211 is driven to rotate around the leveling rotation axis 212 until Δh falls back into the dead zone of [-50mm, 50mm].

[0045] If Δh < -50mm, it means that the right side of the ridge is higher than the left side. The controller will then control the first servo cylinder 213 to extend until Δh returns to the dead zone.

[0046] Control process of raised bed planting: Once the chassis has been leveled left and right or is in a horizontal state, the controller calculates the average height of the ridge corresponding to the left and right sensors, h~average~=(h1+h2) / 2, and then compares it with the preset standard ridge height h~standard~ to obtain the height deviation value ΔH=h~average~-h~standard~.

[0047] Similarly, to avoid ineffective adjustments, a height adjustment dead zone is set in the system. Multiple tests showed that the best planting effect is achieved when the average height output by the left and right sensors differs from the standard ridge height by ±30mm. Therefore, the height adjustment dead zone range is set to [-30mm, 30mm]. When ΔH is within this range, the system considers the current planting depth to be within the required range and does not trigger any adjustment action.

[0048] If ΔH < -30mm, it means that the current actual ridge surface is lower than the standard ridge height (i.e., the planting point is too far from the ridge surface, which will result in shallow planting). The controller sends a control signal to the servo motor of the screw jack assembly 23, driving the screw jack to extend downwards, which in turn causes the lifting scissor mechanism 222 to retract, so that the lifting platform 221 and the planting mechanism 224 fixed on it descend as a whole to compensate for the height difference until ΔH rises back to the dead zone of [-30mm, 30mm].

[0049] If ΔH>30mm, it means that the current actual ridge surface is higher than the standard ridge height (which will lead to planting too deep). The controller will then control the screw jack assembly 23 to retract upward, so that the lifting platform 221 and the planting mechanism 224 rise as a whole until ΔH falls back to the dead zone.

[0050] The aforementioned left-right leveling and ridge height contour control processes are independent, parallel closed-loop control loops. The angle displacement sensor 301 continuously samples at an extremely high frequency (e.g., once every 10 milliseconds), and the controller synchronously performs calculations, judgments, and command outputs, enabling the chassis to adapt to the three-dimensional terrain changes of the ridge surface in real time and dynamically. Simultaneously, the walking and steering device 100, under the combined action of the second servo cylinder 121, the cam divider 125, and the differential 130, ensures that the chassis can travel and steer smoothly and accurately along the ridge.

[0051] In addition, the control system is equipped with a manual control mode, allowing operators to independently control left and right steering, lifting and lowering of the lifting platform, leveling of the suspended frame, and planting actions via joysticks or buttons. The system also features comprehensive fault protection, overload protection, and limit protection functions. For example, when the lifting platform 221 rises or falls to its limit position, the limit switch will be triggered, and the controller will immediately stop the operation of the screw jack assembly 23 to ensure equipment safety.

[0052] In summary, the transplanter provided in this embodiment, with its ridge-following electric chassis, achieves adaptive contouring to complex ridge terrain through its sophisticated mechanical structure, high-precision sensing and detection, and intelligent collaborative control strategy. This fundamentally ensures the consistency of transplanting depth and the verticality of seedling posture, significantly improving transplanting quality and seedling survival rate. Furthermore, the all-electric drive design eliminates the risk of hydraulic oil leakage, offering advantages such as environmental friendliness, rapid response, and precise control, making it highly suitable for widespread use in complex agricultural environments such as hilly and mountainous areas.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transplanter with a ridge-following, leveling electric chassis, characterized in that, include: A travel steering device, wherein the travel steering device has two parallel front and rear axle steering connecting plates; The ridge leveling device includes a left and right contour leveling mechanism and a ridge height contour planting mechanism; The left and right contouring and leveling mechanism includes a suspension frame, a leveling rotating shaft, and a first servo electric cylinder; the suspension frame has a horizontal frame and a vertical frame; one end of the horizontal frame is rotatably connected to one of the front and rear axle steering connecting plates through one of the leveling rotating shafts, and the other end of the horizontal frame is rotatably connected to another of the front and rear axle steering connecting plates through another leveling rotating shaft. One of the cylinder body end and the piston rod end of the first servo electric cylinder is hinged to the vertical frame, and the other is hinged to the front and rear axle steering connecting piece, so as to drive the suspension frame to swing around the leveling rotation axis. The raised-ridge contour planting mechanism includes a lifting platform, a lifting scissor mechanism, a screw jack assembly, and a planting mechanism. The lifting scissor mechanism is located below the lifting platform, with its upper end connected to the lifting platform and its lower end connected to the transverse frame. The power output end of the screw jack assembly is connected to the lifting scissor mechanism to drive its extension and retraction, thereby raising and lowering the lifting platform. The planting mechanism is fixed to the lifting platform. The contour detection device includes at least two angular displacement sensors. The sensor shaft of each angular displacement sensor is coaxially and fixedly connected to the first end of a swing arm via a rigid flange coupling. A detection plate is fixed to the second end of the swing arm. The two angular displacement sensors are respectively fixed to the front of the planting mechanism.

2. The transplanter's electric chassis for leveling and conforming to the ridge shape as described in claim 1, characterized in that, The left and right contour leveling mechanism also includes at least two tapered roller bearing seats, which are sleeved on the leveling rotating shaft and are fixedly connected to the front and rear axle steering connecting plates.

3. The transplanter's electric chassis for leveling and conforming to the ridge shape, as described in claim 2, is characterized in that... The left and right contour leveling mechanism also includes at least one chassis frame reinforcing rib, with both ends of the chassis frame reinforcing rib fixed to the transverse frame.

4. The transplanter's ridge-following, leveling electric chassis according to claim 1, characterized in that, The screw jack assembly includes a first screw jack, a second screw jack, a coupling, and a servo motor; both ends of the coupling are coaxially and fixedly connected to the input shafts of the first screw jack and the second screw jack, respectively; the output shaft of the servo motor is coaxially and fixedly connected to the input shaft of either the first or the second screw jack; the lifting ends of both the first and second screw jacks are fixedly connected to the lifting platform.

5. The transplanter's electric chassis for leveling and conforming to the ridge shape, as described in claim 4, is characterized in that... The lifting scissor mechanism includes at least one set of single scissor levers and at least two sets of double scissor levers; the single scissor levers are arranged between the two sets of double scissor levers. The scissor lift bar has a fixed end and a movable end. Its fixed end is fixed to the side of the transverse frame by a welding plate, and its movable end is slidably disposed in a slide rail of the lower frame of the lifting platform by a cylindrical roller bearing. The scissor lift has a fixed end and a movable end. The fixed end is fixed to the lifting platform by a connector, and the movable end is slidably disposed in a limiting groove of the transverse frame by a cylindrical roller bearing.

6. The transplanter's electric chassis for leveling and conforming to the ridge shape as described in claim 1, characterized in that, The walking and steering device includes two second servo electric cylinders and a four-wheel linkage steering linkage mechanism; the power output ends of the two second servo electric cylinders are respectively connected to the steering nodes of the front wheel group and the rear wheel group; the four-wheel linkage steering linkage mechanism includes multiple steering connecting plates and multiple steering connecting rods, which are used to connect the front and rear wheels on the same side and the wheels on the left and right sides into a linkage whole.

7. The transplanter's electric chassis for leveling and conforming to the ridge shape as described in claim 6, characterized in that, The walking and steering device also includes at least one cam divider, which is disposed in the transmission path between the power output end of the second servo electric cylinder and the wheel steering knuckle.

8. The transplanter's ridge-following, leveling electric chassis according to claim 6, characterized in that, The driving and steering device further includes at least one differential; the differential is disposed between the left and right wheels of the front wheel assembly, and / or between the left and right wheels of the rear wheel assembly.

9. The transplanter's electric chassis for leveling and conforming to the ridge shape as described in claim 1, characterized in that, It also includes a control system, which includes a controller; the controller is electrically connected to the angle displacement sensor, the first servo cylinder and the screw jack assembly.

10. The transplanter's ridge-following, leveling electric chassis according to claim 6, characterized in that, The stroke of the second servo electric cylinder is 50mm; the stroke of the first servo electric cylinder is 160mm; and the angle displacement sensor outputs a 0-10V analog signal.

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