A seedling transplanting device and a transplanting method

Abstract

This invention discloses a seedling transplanting device and method, belonging to the field of agricultural machinery technology. The device includes a walking mechanism, a seedling planting component, and a seedling box. The walking mechanism has tracks and multiple suspension parts, each with a guide groove. The seedling planting component includes a base shell and, sequentially arranged on the base shell, a soil insertion guide rail, a seedling placement guide rail, and a box removal guide rail. The seedling box is suspended from the guide groove by a hanger and moves circumferentially with the tracks. The seedling box includes a first slot and a second slot rotatably connected by a pivot pin and equipped with a reset element. The soil insertion guide rail guides the seedling box to be vertically inserted into the soil; the seedling placement guide rail causes the top of the seedling box to close and the bottom to open, forming a transplanting nest; and the box removal guide rail guides the seedling box to be vertically pulled out. The method involves placing the seedling into the seedling box and sequentially completing the soil insertion, nest formation, seedling placement, and box removal operations as the walking mechanism moves. This invention achieves vertical insertion and removal of seedlings, resulting in high seedling quality and minimal damage to the seedlings.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology. Specifically, it relates to a seedling transplanting device and transplanting method, which is mainly used for mechanized transplanting of seedlings of vegetables and other crops. Background Technology

[0002] Seedling transplanting is a crucial step in vegetable cultivation, and the quality of transplanting directly affects the survival rate, growth vigor, and final yield of seedlings. Currently, vegetable seedling transplanting mainly relies on manual labor, which is labor-intensive, inefficient, and difficult to meet the needs of large-scale planting. Furthermore, high labor costs reduce the economic benefits of vegetable cultivation.

[0003] To address the aforementioned issues, some mechanized transplanting equipment has emerged in the existing technology.

[0004] For example, one type of transplanter is cylindrical at the top and conical at the bottom. It works by placing seedlings into the cylinder, relying on gravity to move them to the conical opening at the bottom, and then planting them into the soil by moving the cylinder up and down and opening and closing the conical opening. However, this method has the following drawbacks: First, it is very demanding in terms of soil conditions, only suitable for dry, sandy soil, and difficult to work properly in moist, heavy clay soil; second, it lacks a post-planting compaction process, and because the seedlings move forward during the machine's movement, their posture is unstable at the moment of planting, resulting in poor seedling establishment.

[0005] Another common transplanting method uses a circular turntable structure with a conical transplanting device installed on the edge. The rotating disc moves the conical opening downwards and backwards, planting the seedling at the bottom of the disc. While this method can somewhat offset the horizontal velocity through the coordination of rotation and travel speed, the conical opening inserts obliquely into the soil during contact. Furthermore, due to the characteristics of circular motion, the tangential velocity of the conical opening can be decomposed into horizontal and vertical components, causing the force on the seedling to constantly change in both directions, making it difficult to maintain a stable state. Therefore, this method is not ideal in actual production, and farmers have low acceptance of it.

[0006] In summary, during the process of realizing this invention, the inventors discovered that at least one of the following technical problems exists in the prior art: 1. Poor seedling quality can cause seedlings to tilt, affecting their survival rate.

[0007] 2. It has poor soil adaptability and is difficult to operate stably in moist, heavy clay soils.

[0008] 3. The transplanting process can easily damage the seedlings, affecting the quality of transplanting. Summary of the Invention

[0009] Therefore, the present invention aims to provide a seedling transplanting device with simple structure, reliable operation and wide adaptability, as well as a seedling transplanting method with simple operation and high transplanting quality, so as to solve the problem of mechanized transplanting of vegetable seedlings, improve transplanting efficiency and quality, and reduce production costs.

[0010] Through long-term exploration and experimentation, and continuous reform and innovation, the inventor has provided a seedling transplanting device to solve the above-mentioned technical problems. The device comprises: The walking mechanism has tracks and multiple suspension parts disposed on the tracks. The suspension parts are provided with guide grooves, which are always located in the same vertical plane and extend vertically when the seedling box is in contact with the soil. The seedling planting assembly includes a base shell and a soil insertion guide rail, a seedling placement guide rail, and a box removal guide rail, which are sequentially arranged on the base shell along the travel direction of the walking mechanism. The seedling box is suspended from the guide groove by a hanger and moves circumferentially with the track. The seedling box includes a first box groove and a second box groove rotatably connected by a shaft pin. The first box groove is provided with a first upper edge and a first protrusion, and the second box groove is provided with a second upper edge and a second protrusion. An elastic reset member is provided between the first box groove and the second box groove. The soil insertion guide rail is used to apply a downward force to the first and second protruding posts to guide the seedling box to be inserted downward into the soil; the seedling placement guide rail is used to cooperate with the first and second upper edges to compress the top of the seedling box so that the bottom opens to form a transplanting nest; the seedling removal guide rail is used to apply an upward force to the first and second protruding posts to guide the seedling box to be pulled upward.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting up guide grooves that are always located in the same vertical plane, as well as sequentially arranged soil insertion guides, seedling placement guides, and box removal guides, the seedling box remains relatively stationary with the soil during transplanting. This achieves a continuous action of vertical insertion, controllable opening of the bottom to form a transplanting nest, and vertical removal, effectively eliminating the influence of travel speed on seedling posture and significantly improving seedling standing quality and stability. At the same time, the vertical movement of the seedling box reduces dependence on soil conditions and can adapt to heavy, moist soil environments. The controllable opening of the bottom of the seedling box in the soil and its vertical removal avoids the dragging and squeezing damage to the seedling roots and stems caused by traditional equipment. Combined with the automatic soil compaction after removal, this further enhances the uprightness and lodging resistance of the seedlings. Thus, while improving transplanting efficiency, it ensures transplanting quality, reduces labor costs, and has good operational adaptability and promotional application value.

[0012] Based on the above technical solution, the present invention can be further improved as follows: Furthermore: the soil insertion guide rail consists of two parallel downwardly inclined pressure rails, the distance between the two pressure rails is not less than the thickness of the seedling box, and less than the maximum outer end distance between the first protrusion and the second protrusion, and the pressure rails act on the upper curved surfaces of the first protrusion and the second protrusion.

[0013] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: By setting the soil insertion guide rails as two parallel and downward-sloping pressure rails, and ensuring that their spacing is precisely between the thickness of the seedling box and the maximum distance between the outer ends of the two protruding columns, the pressure rails act only on the curved surface of the protruding columns. This achieves vertical downward movement under pure pressure guidance during the seedling box insertion process, avoiding the tilting and instability of the seedlings caused by uncertain force direction or the presence of horizontal component force in existing technologies, and significantly improving the accuracy and consistency of seedling establishment.

[0014] Based on the above technical solution, the present invention can be further improved as follows: Furthermore: the seedling guide rail consists of two parallel horizontal narrowing slide rails, the distance between the inlet ends of the narrowing slide rails being greater than the distance between the outlet ends, which is used to squeeze the first upper edge and the second upper edge in the horizontal direction, so that the top of the seedling box is closed and the bottom is opened.

[0015] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: The horizontally constricted slide rails press the upper edge of the seedling box horizontally, causing the bottom of the seedling box to open in a controlled manner in the soil. This decouples the nest-making action from the direction of travel, avoiding problems such as unstable seedling posture, large soil disturbance, and seedling damage caused by traditional equipment due to oblique insertion or reliance on gravity for opening and closing. This further improves the stability of seedling establishment and its adaptability to heavy clay soil.

[0016] Based on the above technical solution, the present invention can be further improved as follows: Furthermore, the box-removing guide rail includes two concave guide rails with their grooves facing each other. The lower rail of the concave guide rail is an upwardly inclined lifting rail, which is used to apply an upward force to the lower curved surfaces of the first and second protrusions.

[0017] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: The concave guide rails arranged face-to-face and the upwardly inclined lifting rail work together on the lower curved surfaces of the first and second convex pillars to ensure that the seedling box is subjected to balanced force and has a stable movement trajectory during the pulling process. This ensures that the seedling box is always pulled out vertically and avoids dragging damage to the seedlings caused by tilting or jamming.

[0018] Based on the above technical solution, the present invention can be further improved as follows: Furthermore, the seedling assembly also includes a box-out groove and a pressing plate disposed behind the box-pulling guide rail. The box-out groove is located on the inner side and top surface of the base shell, allowing the suspension part and the seedling box to pass through. There are two pressing plates, symmetrically arranged, located below the tail of the base shell. A channel for the transplanted seedlings to pass through is formed between the two pressing plates, which is used to squeeze the soil raised on both sides of the transplanting hole toward the transplanting hole.

[0019] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: By guiding the seedling box to detach smoothly through the ejection slot and simultaneously pressing the soil back down with the pressing plate, the problem of unstable seedlings caused by the lack of a pressing process in existing transplanters is effectively solved, ensuring the uprightness and stability of the seedlings after transplanting.

[0020] Based on the above technical solution, the present invention can be further improved as follows: Furthermore: the suspension part is an L-shaped plate, the L-shaped plate includes a connecting section connected to the track and a suspension section with the guide groove, and the spacing between two adjacent L-shaped plates is set according to the spacing of the transplanted seedlings; the walking mechanism also includes multiple pressure roller shafts and connecting screws, the pressure roller shafts are fixedly connected to the base shell through the connecting screws, and the arrangement of multiple pressure roller shafts ensures that the length of the soil insertion guide rail, the seedling placement guide rail and the box removal guide rail is sufficient to complete the soil insertion, hole making, seedling placement and soil pressing operations.

[0021] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: The L-shaped plate structure allows for flexible adjustment of the seedling box spacing to adapt to different crop spacings. The rigid connection between multiple pressure roller shafts and the base shell ensures that the three guide rails have sufficient working stroke, so that the actions of inserting soil, making nests, removing boxes, and pressing soil can be completed completely, stably, and continuously. This improves the device's structural compactness, operational reliability, and adaptability to different crops and plant spacings.

[0022] Based on the above technical solution, the present invention can be further improved as follows: Furthermore: the hanger includes a sliding rod, a hanging rod, and a U-shaped frame. The sliding rod is slidably engaged with the guide groove. The upper end of the hanging rod is fixedly connected to the sliding rod, and the lower end is fixedly connected to the U-shaped frame. The two ends of the U-shaped frame are rotatably connected to the first box groove and the second box groove respectively through the axle pin. The two ends of the sliding rod are provided with sliders, which are slidably engaged with the guide groove to limit the horizontal displacement of the seedling box relative to the soil.

[0023] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: By using the sliding cooperation of the slide bar, slider and guide groove and the rigid connection of the U-shaped frame, the horizontal direction of the seedling box is precisely constrained throughout the entire process of contact with the soil, so that it can only move in the vertical direction, thereby eliminating the interference of the movement speed on the seedling posture and ensuring the accuracy and stability of seedling establishment.

[0024] Based on the above technical solution, the present invention can be further improved as follows: Further: The first box slot includes a first upper slot plate, a first lower slot plate, and two first end plates; the second box slot includes a second upper slot plate, a second lower slot plate, and two second end plates. Both the first and second end plates are parallelogram plates. The two adjacent sides at one obtuse angle of the parallelogram plate are respectively connected to the upper and lower slot plates, and a connecting ring that rotatably engages with the shaft pin is provided at the other obtuse angle. The first and second box slots are symmetrically arranged, and the connecting ring of the second end plate overlaps with the connecting ring of the first end plate and is sleeved on the shaft pin.

[0025] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: By setting the first end plate and the second end plate as parallelogram plates and overlapping the connecting rings on the same pivot pin, the first and second box slots maintain precise symmetrical movement during rotation, ensuring that the bottom of the seedling box moves smoothly and with a consistent trajectory when opening and closing. This avoids jamming or squeezing damage to the seedlings caused by asynchronous rotation, thus improving the reliability of the transplanting action and the safety of the seedlings.

[0026] Based on the above technical solution, the present invention can be further improved as follows: Furthermore: the elastic reset component is a torsion spring, and the torsion of the torsion spring is configured to allow the bottom of the seedling box to open normally without causing shear damage to the seedlings when the edges of the two lower slot plates are in contact; preferably, a friction damping structure is provided between the connecting rings of the first end plate and the second end plate to reduce the closing speed of the bottom of the seedling box.

[0027] Compared with the existing technology, the beneficial effects of adopting the above-mentioned further technical solution are as follows: By precisely configuring the torsion spring torque, the bottom of the seedling box can reliably open to form a transplanting nest, while preventing damage to the seedlings when closing. Combined with a friction damping structure to slow down the closing speed of the bottom of the box, it effectively avoids shearing and squeezing damage to the stems and leaves of the seedlings during the closing process, further improving the transplant survival rate.

[0028] The present invention also provides a seedling transplanting method, which uses the aforementioned seedling transplanting device and includes the following steps: Place the seedlings into the seedling box; As the walking mechanism moves forward, the seedling box moves with the track until it comes into contact with the soil surface; The soil insertion guide rail engages with the first and second protruding posts to guide the seedling box to be inserted vertically into the soil. The seedling guide rails mate with the first and second upper edges, compressing the top of the seedling box to open the bottom, forming a transplanting hole in the soil, where the seedling falls into the transplanting hole; The seedling box guide rail cooperates with the first and second protruding posts to guide the seedling box to be pulled out vertically upwards, leaving the seedling in the transplanting hole; The pressure plate applies pressure to the soil raised on both sides of the transplanting hole, making the seedlings planted firmly.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: The entire process, which involves a soil insertion guide rail to guide the seedling box to be inserted vertically, a seedling placement guide rail to control the bottom of the seedling box to open in the soil to form a transplanting nest, and a seedling removal guide rail to guide the seedling box to be pulled out vertically while the pressing plate automatically presses the soil back in, achieves a relatively static transplanting of the seedling box and the soil. This effectively eliminates the influence of the travel speed on the seedling posture, significantly improves the quality and stability of seedling establishment, reduces dependence on soil conditions, and avoids dragging and squeezing damage to seedlings during transplanting. It improves transplanting efficiency while ensuring transplanting quality. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a front view structural schematic diagram of a preferred embodiment of the seedling transplanting device of the present invention.

[0032] Figure 2 yes Figure 1 A schematic diagram of the left-side view structure.

[0033] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure.

[0034] Figure 4 This is a front view schematic diagram of the seedling transplanting component in a preferred embodiment of the seedling transplanting device of the present invention.

[0035] Figure 5 yes Figure 4 A schematic diagram of the right-side structure.

[0036] Figure 6 yes Figure 4 A schematic diagram of the left-side view structure.

[0037] Figure 7 yes Figure 4 A schematic diagram of the rear view structure.

[0038] Figure 8 yes Figure 4 A top-view structural diagram.

[0039] Figure 9 yes Figure 4 A schematic diagram of the structure viewed from below.

[0040] Figure 10 yes Figure 4 A schematic diagram of the three-dimensional structure.

[0041] Figure 11 This is a three-dimensional structural diagram of the seedling box in the closed state in a preferred embodiment of the seedling transplanting device of the present invention.

[0042] Figure 12 This is a three-dimensional structural diagram of the seedling box in the open state in a preferred embodiment of the seedling transplanting device of the present invention.

[0043] Figure 13 This is a schematic diagram of the relative positions of the seedling boxes in a preferred embodiment of the seedling transplanting device of the present invention. Figure 13 In the diagram, position I is the position for waiting to insert the soil, position II is the position for waiting to start planting the seedlings after inserting the soil, position III is the position for waiting to remove the seedlings after removing the seedlings, and position IV is the position for waiting to pass through the seedling tray after removing the seedlings.

[0044] Figure 14 yes Figure 13 Schematic diagram of the AA cross-section structure.

[0045] The markings in the diagram are as follows: 100 walking mechanism 110 tracks, 120 pressure roller shaft, 121 connecting screw, 130L type plate, 131 guide groove, 200 seedling units, 210 base shell, 220 soil insertion guide rail, 230 seedling guide rail, 240 box puller rail, 250 box slot, 260 pressure plate, 300 seedling boxes, 310 hanger, 311 slide bar 312 boom, 313 U-shaped frame, 314 shaft pin, 320 First box slot, 321 First upper edge, 322 First protruding post, 323 First end plate, 330 Second Box Slot 331 Second upper edge, 332 Second convex post, 333 Second end plate, 340 elastic reset component. Detailed Implementation

[0046] The following description, in conjunction with the accompanying drawings and a specific embodiment, will be provided.

[0047] 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 a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present 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.

[0048] 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 need not be further defined and explained in subsequent figures.

[0049] See Figures 1 to 3 The seedling transplanting device described in this embodiment includes a walking mechanism 100, a seedling planting component 200, and multiple seedling boxes 300.

[0050] The walking mechanism 100 has a track 110 and multiple suspension parts disposed on the track 110. In this embodiment, the suspension part is an L-shaped plate 130, which includes a connecting section connected to the track 110 and a suspension section with a guide groove. The spacing between two adjacent L-shaped plates 130 is set according to the spacing between transplanted seedlings. The guide groove is always located in the same vertical plane and extends vertically when the seedling box 300 is in contact with the soil. The number of suspension parts is equal to the number of seedling boxes 300, and one seedling box 300 is mounted on each suspension part.

[0051] The walking mechanism 100 also includes multiple pressure roller shafts 120 and connecting screws 121. The pressure roller shafts 120 are fixedly connected to the base shell 210 of the seedling assembly 200 via the connecting screws 121. Pressure rollers for pressing the tracks 110 are mounted on the pressure roller shafts 120. The pressure rollers support and guide the tracks 110, ensuring that the tracks 110 maintain stable tension during circumferential movement. Simultaneously, the pressure roller shafts 120 serve as the base for mounting the connecting screws 121, providing a core installation site for the base shell 210 of the seedling assembly 200, allowing the base shell 210 to be securely connected to the walking mechanism 100. The arrangement of the multiple pressure roller shafts 120 ensures that the lengths of the soil insertion guide rail 220, the seedling placement guide rail 230, and the box removal guide rail 240 are sufficient to complete the soil insertion, seedling making, seedling placement, and soil pressing operations.

[0052] Throughout the entire process of planting, placing seedlings and creating nests, and removing the seedling boxes, the seedling box 300 strictly follows the preset trajectory to complete its movements under the combined action of the guide groove and soil resistance. Its motion constraint and attitude control mechanism are as follows: 1. The fit between the slide rod and the guide groove The slide rod 311 of the hanger 310 has a double mating relationship with the guide groove 131 on the L-shaped plate 130: (1) Sliding fit relationship The sliders at both ends of the slide rod 311 form a sliding engagement with the side wall of the suspension part, and the slide rod 311 also slides against the inner wall of the guide groove, allowing the slide rod 311 to slide freely along the length of the guide groove. This sliding freedom ensures the vertical movement capability of the seedling box 300, enabling it to be vertically inserted and removed under the action of the soil insertion guide rail 220 and the box removal guide rail 240.

[0053] (2) Rotational fit relationship A rotational clearance is provided between the slide rod 311 and the guide groove, allowing the slide rod 311 to rotate relative to the guide groove within a certain angle range around its own axis without external constraints. This rotational degree of freedom is used to accommodate the attitude changes of the suspension unit as it moves circumferentially with the track 110.

[0054] 2. The constraining effect of soil resistance When the seedling box 300 comes into contact with the soil, the soil exerts resistance on the seedling box 300. This resistance constrains the rotation of the slide bar 311 through the following mechanism: After the seedling box 300 is inserted into the soil, the soil applies normal pressure to the outer walls of the first box groove 320 and the second box groove 330, and this pressure is transmitted to the slide bar 311 through the hanger 310. Under the action of soil resistance, the rotational freedom of the slide rod 311 is effectively restricted, preventing it from rotating relative to the guide groove, thereby locking the motion relationship between the slide rod 311 and the guide groove into a pure sliding fit; At this time, the seedling box 300 can only move vertically relative to the guide groove, and the horizontal displacement is constrained by the guide groove, ensuring that the seedling box 300 always maintains a vertical posture during the process of inserting soil, placing seedlings, and removing the box.

[0055] This constraint mechanism ensures the movement accuracy of the seedling box 300 when it operates in the soil, and avoids a decline in seedling quality caused by tilting or shaking of the seedling box 300.

[0056] 3. Maintain the vertical position of the hanger. The hanger 310 remains vertical under the weight of the seedling box 300. The mechanism is as follows: The slide bar 311 is fixedly connected to the hanger 312, the hanger 312 is set vertically, and the U-shaped frame 313 is fixedly connected to the lower end of the hanger 312; The seedling box 300 is rotatably connected to both ends of the U-shaped frame 313 via the pivot pin 314, and the center of gravity of the seedling box 300 is located on the extension line of the axis of the hanging rod 312; Under the influence of gravity, the hanger 310 forms a self-balancing vertical suspension system. No matter how the posture of the suspension part changes, the hanger 310 always remains vertical in the direction of its own weight.

[0057] 4. Motion state of the suspension unit and compensation for the rotation of the sliding rod The suspension unit (L-shaped plate 130) moves in a circular motion with the track 110, and its movement trajectory is a closed loop. Since the L-shaped plate 130 is fixedly connected to the track 110, its posture changes periodically with the movement of the track 110.

[0058] During the movement, the L-shaped plate 130 always points towards the inner side of the track 110 ring, that is, the suspension section of the L-shaped plate 130 always points towards the inner side of the track 110 ring, and its spatial posture changes continuously with the movement of the track 110.

[0059] When the seedling box 300 is not in contact with the soil (such as during no-load operation or after passing through the exit groove 250), the slide rod 311 can rotate freely relative to the guide groove. This degree of rotational freedom compensates for the influence of the change in the posture of the suspension part on the vertical state of the hanger 310, so that the hanger 310 always remains vertical under the gravity of the seedling box 300, while the slide rod 311 rotates adaptively in the guide groove, avoiding the tilting of the seedling box 300 caused by the change in the posture of the suspension part.

[0060] When the seedling box 300 comes into contact with the soil, as mentioned above, the soil resistance restricts the rotation of the slide bar 311. At this time, although the suspension part is still moving, the seedling box 300 remains relatively stationary with the soil. The movement of the suspension part is absorbed by the sliding of the slide bar 311 in the guide groove and will not affect the vertical posture of the seedling box 300.

[0061] Through the synergistic effect of the above mechanisms, this device achieves the following technical effects: (1) When the seedling box 300 is not in contact with the soil, it can move freely with the suspension part and adapt to the circumferential movement trajectory of the track 110; (2) After the seedling box 300 comes into contact with the soil, its degree of freedom of movement is precisely constrained to ensure the verticality and stability of the process of inserting the seedling, placing the seedling, and removing the box. (3) The hanging frame 310 always remains vertical, ensuring that the seedling box 300 can receive the seedlings in the correct posture at any position; (4) The entire motion control does not require additional sensors or electronic control systems, and is achieved entirely through the ingenious coordination of mechanical structures, which has the advantages of high reliability and low cost.

[0062] like Figures 1 to 10 As shown, the seedling planting assembly 200 includes a base shell 210, and a soil insertion guide rail 220, a seedling placement guide rail 230, a box removal guide rail 240, a box exiting groove 250, and a pressing plate 260 arranged sequentially in the opposite direction of the traveling direction of the traveling mechanism 100 on the base shell 210.

[0063] The soil insertion guide rail 220, seedling placement guide rail 230, seedling removal guide rail 240, and pressing plate 260 are all symmetrically arranged with the same vertical plane as the plane of symmetry (hereinafter referred to as plane of symmetry A for ease of explanation). This design is one of the core technical features of the present invention, ensuring the force balance and movement stability of the seedling box 300 throughout the entire transplanting process.

[0064] The plane of symmetry A is a vertical plane passing through the longitudinal centerline of the base shell 210. This plane is parallel to the traveling direction of the traveling mechanism 100 and perpendicular to the ground. The soil insertion guide rail 220, the seedling placement guide rail 230, the box removal guide rail 240, and the pressing plate 260 are all symmetrically arranged with respect to the plane of symmetry A, so that the forces acting on both sides of the seedling box 300 are always symmetrical and balanced, preventing the seedling box from deflecting or tilting during operation.

[0065] The soil insertion guide rail 220 consists of two parallel downward-sloping pressure rails, arranged symmetrically with symmetry plane A as the plane of symmetry. Each pressure rail is a long strip-shaped guide rail, and its inclination direction is consistent with the travel direction of the traveling mechanism 100. The downward inclination angle is set according to soil conditions, transplanting depth requirements, and the contact length between the track and the ground, and is recommended to be set to 5° to 30°.

[0066] The distance between the two pressure rails is not less than the thickness of the seedling box 300, and less than the maximum distance between the outer ends of the first protrusion 322 and the second protrusion 332. When the seedling box 300 moves with the track 110 to the soil insertion guide rail section, the first upper edge 321 and the second upper edge 331 enter between the two pressure rails, and the first protrusion 322 and the second protrusion 332 respectively enter directly below the tracks of the two pressure rails.

[0067] In this coordinated state, the lower surface of the pressure rail acts on the upper curved surfaces of the first protrusion 322 and the second protrusion 332, applying a symmetrical, downward force to the seedling box 300. At the same time, the first upper edge 321 and the second upper edge 331 are restricted between the two pressure rails to prevent the seedling box 300 from deflecting laterally, thus guiding the seedling box 300 to be vertically inserted into the soil.

[0068] Since the two pressure rails are symmetrical about the plane of symmetry A, the forces on the first protrusion 322 and the second protrusion 332 are equal in magnitude and symmetrical in direction. The limiting effects of the first upper edge 321 and the second upper edge 331 are also symmetrically distributed, ensuring that the seedling box 300 always maintains a vertical posture during the insertion into the soil and does not undergo lateral deflection or torsion.

[0069] The seedling placement guide rail 230 consists of two parallel, horizontally tapering slide rails, arranged symmetrically with symmetry plane A as the plane of symmetry. Each tapering slide rail extends horizontally, with the distance between its inlet ends greater than the distance between its outlet ends, forming a gradually narrowing slide. The seedling placement guide rail 230 is smoothly connected to the soil insertion guide rail 220.

[0070] Two narrowing slide rails act on the first upper edge 321 and the second upper edge 331 respectively. When the seedling box 300 moves to the seedling guide section, the first upper edge 321 and the second upper edge 331 enter the two narrowing slide rails respectively. As the distance between the slide rails gradually decreases, the narrowing slide rails symmetrically squeeze the first upper edge 321 and the second upper edge 331 in the horizontal direction, so that the top of the seedling box 300 gradually closes and the bottom gradually opens.

[0071] Since the two narrowing slide rails are symmetrical about the plane of symmetry A, the squeezing forces on the first upper edge 321 and the second upper edge 331 are equal in magnitude and opposite in direction, ensuring that the bottom of the seedling box 300 opens symmetrically, forming a symmetrical transplanting hole in the soil, providing good growth space for the seedlings.

[0072] The box-removing guide rail 240 includes two concave guide rails, which are symmetrically arranged facing each other with symmetry plane A as the plane of symmetry, and the grooves of the two concave guide rails are face to face. Each concave guide rail is a long strip-shaped guide rail, with its lower rail being an upwardly inclined lifting rail and its upper rail being a limiting rail parallel to the lower rail. The upper rail is smoothly connected to the constricted slide rail.

[0073] When the seedling box 300 moves to the pull-out guide section, the first protrusion 322 and the second protrusion 332 respectively enter the grooves of the two concave guide rails. The lower rail of the concave guide rail acts on the lower curved surface of the first protrusion 322 and the second protrusion 332, applying a symmetrical and upward force to the seedling box 300, guiding the seedling box 300 to be pulled vertically upward from the transplanting hole.

[0074] Since the two concave guide rails are symmetrical about the plane of symmetry A, the forces on the first protrusion 322 and the second protrusion 332 are equal in magnitude and symmetrical in direction, ensuring that the seedling box 300 does not deflect laterally or get stuck during the pulling process, thus avoiding dragging damage to the seedlings.

[0075] The box-out slot 250 is located behind the box-out guide rail 240 and is set on the inner side and top surface of the base shell 210, allowing the L-shaped plate 130 and the seedling box 300 to pass through.

[0076] There are two pressing plates 260, which are symmetrically arranged with symmetry plane A as the symmetry plane. The two pressing plates are respectively located below the tail of the base shell 210, behind the box-pulling guide rail 240, and directly below the box-exit groove 250, forming a channel for the transplanted seedlings to pass through between the two pressing plates.

[0077] In an alternative embodiment, the pressing plate 260 can also be configured as a ridging plowshare structure. Specifically, the front end of the pressing plate 260 is provided with a soil guiding slope, and the two pressing plates 260 are symmetrically arranged, with their inner sides forming a channel for the transplanted seedlings to pass through, and their outer sides being soil guiding surfaces that open to both sides. When the traveling mechanism 100 moves, the pressing plate 260 acts on the soil on both sides of the transplanting hole, and gathers the soil on both sides towards the middle through its outer soil guiding surface, causing the soil to backfill towards the transplanting hole, while simultaneously creating a slight ridging effect on the transplanting area.

[0078] As a further optimization, the width of the inner channel of the pressing plate 260 can be adjusted according to the size of the transplanted seedlings, ensuring that seedlings of different sizes can pass through safely without being pinched or buried. The pressing plate 260 and the base shell 210 can be detachably connected, making it easy to replace the pressing plate 260 of the appropriate size according to different crop types and soil conditions.

[0079] The lower surface of each pressing plate is a flat surface or a slightly outward-sloping surface, used to contact the soil surface. After the seedling box 300 completes the removal action, the soil on both sides of the transplanting hole is raised due to the bottom of the seedling box being pushed open. As the traveling mechanism 100 continues to move forward, the two symmetrically arranged pressing plates apply pressure to the raised soil on both sides, pushing the soil back towards the direction of symmetry A (i.e., the direction of the transplanting hole).

[0080] Because the two pressure plates are symmetrical about plane A, the squeezing force on the soil on both sides is equal in magnitude and opposite in direction, ensuring that the backfilled soil evenly covers the area around the seedling roots, so that the seedlings are firmly planted in the transplanting hole.

[0081] See Figures 1 to 3 , Figure 11 , Figure 12 The seedling box 300 is suspended from the guide groove 131 of the L-shaped plate 130 by the hanger 310 and moves in a circular motion with the track 110.

[0082] The hanger 310 includes a sliding rod 311, a hanging rod 312, and a U-shaped frame 313. The sliding rod 311 is slidably engaged with the guide groove 131, and both ends of the sliding rod 311 are equipped with sliders that are slidably engaged with the suspension section to limit the horizontal displacement of the seedling box 300 relative to the soil. The hanging rod 312 remains vertical under the weight of the seedling box 300, with its upper end fixedly connected to the sliding rod 311 and its lower end fixedly connected to the U-shaped frame 313.

[0083] The seedling box 300 includes a first groove 320 and a second groove 330 rotatably connected by a pivot pin 314. The first groove 320 has a first upper edge 321 and a first protrusion 322, and the second groove 330 has a second upper edge 331 and a second protrusion 332. The two ends of the U-shaped frame 313 are rotatably connected to the first groove 320 and the second groove 330 respectively by the pivot pin 314.

[0084] The first slot 320 includes a first upper slot plate, a first lower slot plate, and two first end plates 323. The second slot 330 includes a second upper slot plate, a second lower slot plate, and two second end plates 333. Both the first end plate 323 and the second end plate 333 are parallelogram plates. Two adjacent sides at one obtuse angle of the parallelogram plate connect to the upper and lower slot plates respectively, and a connecting ring that rotatably engages with the shaft pin 314 is provided at the other obtuse angle. The first slot 320 and the second slot 330 are symmetrically arranged, and the connecting ring of the second end plate 333 overlaps with the connecting ring of the first end plate 323 and is fitted onto the shaft pin 314.

[0085] An elastic reset element is provided between the first slot 320 and the second slot 330. In this embodiment, the elastic reset element is a torsion spring 340, and the torsion of the torsion spring 340 is configured to ensure that the bottom of the seedling box 300 can open normally without causing shear damage to the seedlings when the edges of the two lower slot plates are in contact. As a further improvement, a friction damping structure can also be provided between the connecting rings of the first end plate 323 and the second end plate 333 to reduce the closing speed of the bottom of the seedling box 300, ensuring that the bottom of the seedling box 300 is fully closed only after it has completely left the exit slot 250.

[0086] like Figure 11 As shown, in the initial state, the seedling box 300, formed by the first slot 320 and the second slot 330, is open at the top and closed at the bottom, with the lower parts of the two lower slot plates and the two end plates forming a pointed insertion part; as Figure 12 As shown, when the seedlings are released, the bottom of the seedling box 300 is open and the top is closed.

[0087] Furthermore, the center of gravity of the first slot 320 and the second slot 330 is designed to be below the pivot pin 314. This is to ensure that when the seedling box 300 is in a freely suspended state, the first slot 320 and the second slot 330 maintain their vertical plane of symmetry under gravity, thereby ensuring that the seedling box 300 receives the seedlings in the correct posture. As a preferred embodiment, the position of the center of gravity of the first slot 320 and the second slot 330 can be achieved by: adding counterweights or increasing the thickness of the lower part of the first and / or second lower slot plates; or setting the material density of the first and second lower slot plates to be greater than that of the upper slot plate; or by designing the shape of the end plates so that the material distribution in the lower part of the slot is greater than that in the upper part. Those skilled in the art can select a suitable method for adjusting the center of gravity according to actual needs.

[0088] Specifically, when the first slot 320 and the second slot 330 are rotatably connected to the U-shaped frame 313 via the pivot pin 314, since their centers of gravity are both located below the pivot pin 314, the first slot 320 and the second slot 330 will automatically rotate around the pivot pin 314 under the action of gravity until they reach a balanced state. In this balanced state, the plane of symmetry of the first slot 320 and the second slot 330 coincides with the vertical direction, that is, they are in a symmetrical closed state.

[0089] The following is combined with Figure 13 and Figure 14 The working process of this device is described in detail. Figure 13 In the diagram, I represents the position waiting to insert the soil, II represents the position waiting to open the seedling tray after inserting the soil, III represents the position waiting to remove the seedling tray after removing the seedling tray, and IV represents the position waiting to pass through the tray exit slot after removing the seedling tray. Figure 14 This is a schematic diagram of the cross-sectional structure at location I.

[0090] Step S1: Place the seedlings When the seedling box 300 is in its initial state (open at the top and closed at the bottom), the seedlings with substrate blocks attached to their roots are placed into the seedling box 300 manually or by a robotic arm.

[0091] Step S2: Insert into the soil The traveling mechanism 100 moves forward, and the seedling box 300 moves to position I under the drive of the track 110. At this point, the lower part of the seedling box 300 just touches the soil surface, and the guide groove extends vertically. The traveling mechanism 100 continues to move, and the seedling box 300 remains stationary relative to the soil, but moves relative to the base shell 210. The soil insertion guide rail 220 cooperates with the first protrusion 322 and the second protrusion 332, applying a downward force to the upper curved surfaces of the first protrusion 322 and the second protrusion 332, guiding the seedling box 300 to be vertically inserted into the soil. When the seedling box 300 moves to position II, the soil insertion action is completed.

[0092] Step S3: Release seedlings and build nests The traveling mechanism 100 continues to move, while the seedling box 300 remains stationary relative to the soil, but moves relative to the base shell 210. The seedling placement guide rail 230 cooperates with the first upper edge 321 and the second upper edge 331, pressing the first upper edge 321 and the second upper edge 331 in the horizontal direction, causing the top of the seedling box 300 to close and the bottom to open. During the opening of the bottom, the two lower groove plates push the soil to both sides to form a transplanting nest, and the substrate block carried by the seedling falls into the transplanting nest. When the seedling box 300 moves to position III, the seedling placement action is completed.

[0093] Step S4: Remove the box The traveling mechanism 100 continues to move, while the seedling box 300 remains stationary relative to the soil and seedlings, but moves relative to the base shell 210. The concave lower rail of the pull-out guide rail 240 applies an upward force to the lower curved surfaces of the first protrusion 322 and the second protrusion 332, guiding the seedling box 300 to be pulled vertically upward from the transplanting hole, leaving the seedling in the transplanting hole. When the seedling box 300 moves to position IV, the pull-out action is completed.

[0094] Step 5: Backfilling and compaction The walking mechanism 100 continues to move forward, and the seedling box 300, driven by the track 110, passes through the exit groove 250, detaching from contact with the soil. Simultaneously, the pressing plate 260 applies pressure to the raised soil on both sides of the transplanting hole, pushing the soil back towards the transplanting hole, ensuring the seedling is firmly planted in the hole. After passing through the exit groove 250, the first groove 320 and the second groove 330 return to their initial state (lower end closed, upper end open) under the action of the torsion spring 340, ready to receive the next seedling.

[0095] This invention proposes a seedling transplanting device based on the principle of "dynamic-static separation". By utilizing the precise coordination between the self-weight of the walking mechanism and the guide rail structure, the seedlings are "statically planted" in the soil. That is, the entire process of inserting soil, placing seedlings, and removing seedlings is completed while the seedling box and the soil remain relatively still. This fundamentally solves the technical problems of poor seedling quality and easy damage to seedlings caused by dynamic planting in existing transplanting machines.

[0096] Existing transplanters (such as cylindrical transplanters and rotary transplanters) all adopt a "dynamic planting" mode, which means that the seedling is placed in the soil while the transplanting mechanism is moving relative to the soil. In this mode, the seedling has a horizontal speed in the same direction as the machine's movement when it enters the soil, which causes the seedling to lean forward and become unstable, especially in high-humidity, heavy clay soils.

[0097] This invention overturns the traditional design concept: through the self-weight of the walking mechanism 100 and the precise guidance of the three guide rails (soil insertion guide rail 220, seedling placement guide rail 230, and box removal guide rail 240), the seedling box 300 remains relatively stationary with respect to the soil during contact. The traveling motion of the walking mechanism 100 is absorbed by the guide rail system and converted into the vertical motion of the seedling box 300, while the horizontal position of the seedling box 300 remains locked in the soil. This "separation of motion and stillness" mechanism achieves true "static planting"—the seedling's horizontal velocity relative to the ground is zero the instant it is placed in the transplanting hole, ensuring the uprightness and stability of the seedling.

[0098] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 this invention.

[0099] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0100] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0101] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0102] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A seedling transplanting device, characterized in that, include: The walking mechanism has tracks and multiple suspension parts disposed on the tracks. The suspension parts are provided with guide grooves, which are always located in the same vertical plane and extend vertically when the seedling box is in contact with the soil. The seedling planting assembly includes a base shell and a soil insertion guide rail, a seedling placement guide rail, and a box removal guide rail, which are sequentially arranged on the base shell along the travel direction of the walking mechanism. The seedling box is suspended from the guide groove by a hanger and moves circumferentially with the track. The seedling box includes a first box groove and a second box groove rotatably connected by a shaft pin. The first box groove is provided with a first upper edge and a first protrusion, and the second box groove is provided with a second upper edge and a second protrusion. An elastic reset member is provided between the first box groove and the second box groove. The soil insertion guide rail is used to apply a downward force to the first and second protruding posts to guide the seedling box to be inserted downward into the soil; the seedling placement guide rail is used to cooperate with the first and second upper edges to compress the top of the seedling box so that the bottom opens to form a transplanting nest; the seedling removal guide rail is used to apply an upward force to the first and second protruding posts to guide the seedling box to be pulled upward.

2. The seedling transplanting device according to claim 1, characterized in that, The soil insertion guide rail consists of two parallel downward-sloping pressure rails. The distance between the two pressure rails is not less than the thickness of the seedling box and is less than the maximum distance between the outer ends of the first and second protrusions. The pressure rails act on the upper curved surfaces of the first and second protrusions.

3. The seedling transplanting device according to claim 1, characterized in that, The seedling guide rail consists of two parallel horizontal narrowing slide rails. The distance between the inlet ends of the narrowing slide rails is greater than the distance between the outlet ends. This is used to squeeze the first and second upper edges in the horizontal direction, causing the top of the seedling box to close and the bottom to open.

4. The seedling transplanting device according to claim 1, characterized in that, The box-removing guide rail includes two concave guide rails with their grooves facing each other. The lower rail of the concave guide rail is an upwardly inclined lifting rail, which is used to apply an upward force to the lower curved surfaces of the first and second protrusions.

5. The seedling transplanting device according to claim 1, characterized in that, The seedling assembly also includes a box-out groove and a pressing plate located behind the box-out guide rail. The box-out groove is located on the inner side and top surface of the base shell, allowing the suspension part and the seedling box to pass through. There are two pressing plates, symmetrically arranged, located below the tail of the base shell. A channel for the transplanted seedlings to pass through is formed between the two pressing plates, which is used to squeeze the soil raised on both sides of the transplanting hole towards the transplanting hole.

6. The seedling transplanting device according to claim 1, characterized in that, The suspension part is an L-shaped plate, which includes a connecting section connected to the track and a suspension section with the guide groove. The spacing between two adjacent L-shaped plates is set according to the spacing of the transplanted seedlings. The walking mechanism also includes multiple pressure roller shafts and connecting screws. The pressure roller shafts are fixedly connected to the base shell through the connecting screws. The arrangement of the multiple pressure roller shafts ensures that the lengths of the soil insertion guide rail, seedling placement guide rail, and box removal guide rail are sufficient to complete the soil insertion, hole making, seedling placement, and soil pressing operations.

7. The seedling transplanting device according to claim 1, characterized in that, The hanging frame includes a sliding rod, a hanging rod, and a U-shaped frame. The sliding rod is slidably engaged with the guide groove. The upper end of the hanging rod is fixedly connected to the sliding rod, and the lower end is fixedly connected to the U-shaped frame. The two ends of the U-shaped frame are rotatably connected to the first box groove and the second box groove respectively through the axle pin. The two ends of the sliding rod are provided with sliders, which are slidably engaged with the guide groove to limit the horizontal displacement of the seedling box relative to the soil.

8. The seedling transplanting device according to claim 1, characterized in that, The first slot includes a first upper slot plate, a first lower slot plate, and two first end plates. The second slot includes a second upper slot plate, a second lower slot plate, and two second end plates. Both the first and second end plates are parallelogram plates. The two adjacent sides at one obtuse angle of the parallelogram plate are respectively connected to the upper and lower slot plates. A connecting ring that rotatably engages with the shaft pin is provided at the other obtuse angle. The first and second slots are symmetrically arranged. The connecting ring of the second end plate overlaps with the connecting ring of the first end plate and is sleeved on the shaft pin.

9. The seedling transplanting device according to claim 1, characterized in that, The elastic reset component is a torsion spring, and the torsion of the torsion spring is configured to allow the bottom of the seedling box to open normally without causing shear damage to the seedlings when the edges of the two lower slot plates are in contact; preferably, a friction damping structure is provided between the connecting rings of the first end plate and the second end plate to reduce the closing speed of the bottom of the seedling box.

10. A method for transplanting seedlings, using the seedling transplanting device according to any one of claims 1 to 9, characterized in that, Includes the following steps: Place the seedlings into the seedling box; As the walking mechanism moves forward, the seedling box moves with the track until it comes into contact with the soil surface; The soil insertion guide rail engages with the first and second protruding posts to guide the seedling box to be inserted vertically into the soil. The seedling guide rails mate with the first and second upper edges, compressing the top of the seedling box to open the bottom, forming a transplanting hole in the soil, where the seedling falls into the transplanting hole; The seedling box guide rail cooperates with the first and second protruding posts to guide the seedling box to be pulled out vertically upwards, leaving the seedling in the transplanting hole; The pressure plate applies pressure to the soil raised on both sides of the transplanting hole, making the seedlings planted firmly.

Images