A tobacco seedling transplanting machine and method with a clip type automatic tray feeding and seedling throwing

Abstract

This invention discloses a clip-type automatic seedling tray feeding and planting machine and method for tobacco transplanting, relating to the field of tobacco seedling transplanting technology. Addressing the problems of existing small-scale tobacco transplanting machines requiring manual seedling feeding, high labor intensity, and low operating efficiency, this machine includes a frame and, from front to back, a traveling mechanism, a seedling feeding mechanism, a seedling guide tube, and an automatic seedling feeding mechanism. The automatic seedling feeding mechanism drives a clip-type seedling tray to move intermittently at equal intervals via a seedling tray drive mechanism, cooperating with a fixed ejector to lift a pusher plate within the receiving cavity, smoothly squeezing the tobacco seedlings into the seedling guide tube. The method includes steps such as pre-adjusting plant spacing, constructing the seedling pit, moving the entire machine forward, automatic seedling feeding, and continuous operation, supporting rapid seedling tray replacement. This invention achieves continuous synchronous operation of pit construction and seedling feeding, significantly reducing the labor intensity of tobacco farmers, improving transplanting efficiency and survival rate, and has a compact structure, suitable for tobacco transplanting in small tobacco fields and complex terrains such as mountains and hills.

Description

Technical Field

[0001] This invention relates to the field of tobacco seedling transplanting technology, specifically to a clip-type automatic tray-feeding and seedling-transplanting machine and method for tobacco seedlings. Background Technology

[0002] "Well-cellar" transplanting is a highly efficient and practical tobacco seedling transplanting technique. In tobacco production, it is widely welcomed by tobacco farmers due to its superior drought resistance, short post-planting recovery time, and high seedling survival rate. With the successful development and promotion of various well-cellar machines, the efficiency of tobacco seedling transplanting has been greatly improved, and the labor intensity of farmers has been effectively reduced. However, many problems still exist in its widespread application. For example, after the machine-made well-cellar, manual labor is still required to manually lift each seedling vertically, leaf by leaf, with the root substrate facing down, and place the seedling in the well-cellar for planting, which is time-consuming and labor-intensive. Prolonged high-intensity work can easily lead to fatigue. If the seedlings are not placed in the well-cellar in time, the moisture inside the well may evaporate quickly, resulting in a significant reduction in the seedling survival rate.

[0003] Existing tobacco transplanters have partially achieved functions such as automatic pit digging, seedling loading, and watering, but their complex structure, poor stability, and large size limit their application to large tobacco fields. For small tobacco fields, only small backpack or self-propelled seedling pit digging and transplanting machines can be used. Most existing pit digging and transplanting machines only have the single function of pit digging. Some self-propelled pit digging and transplanting machines have added a seedling guide tube behind the pit digging drill bit, allowing manual seedling loading and transplanting through the seedling cup directly above the guide tube, but the labor intensity is still very high. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a magazine-type automatic tray-feeding tobacco transplanting machine and method. By using an automatic tray-feeding structure above the seedling guide tube of the self-propelled transplanting machine to replace the manual seedling cups, continuous and synchronous operation of digging and seedling placement is achieved, significantly reducing the labor intensity of tobacco farmers and improving the transplanting efficiency of small-area tobacco fields.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A magazine-type automatic tray-feeding and seedling-planting tobacco transplanter includes a frame. The frame is provided with a lithium battery power supply, a walking mechanism, a seedling-planting mechanism, a seedling guide tube, and an automatic tray-feeding and seedling-planting mechanism arranged sequentially from front to back. The lithium battery power supply provides power to all electrical components of the machine. The seedling guide tube is a vertical cylinder that runs through the top and bottom, with its lower opening facing the surface of the tobacco field ridge.

[0006] The automatic seedling feeding mechanism includes a seedling tray support member with a length direction of left and right and an inclined arrangement of front higher than back, a seedling tray drive mechanism, a spring-loaded seedling tray, and an ejector. The seedling tray support member is fixedly installed above the seedling guide tube, providing a continuous left-right moving track for the spring-loaded seedling tray. The spring-loaded seedling tray is slidably embedded in the seedling tray support member. The seedling tray drive mechanism is fixed on the seedling tray support member and is connected to the bottom of the spring-loaded seedling tray for transmission, and is used to drive the spring-loaded seedling tray to move intermittently at equal intervals along the track in the left-right direction.

[0007] The clip-on seedling tray is a top-opening groove structure. Its interior is divided into several independent seedling chambers by multiple vertically arranged partitions. Each chamber has a push plate hinged to its upper part via a push plate pivot axis, with the lower end of the push plate extending to the bottom of the chamber. The bottom of the clip-on seedling tray has a through-hole corresponding to the lower end of each push plate. A U-shaped hole communicating with the through-hole is provided at the lower part of the partition for the passage of an ejector. The ejector is fixedly mounted on the seedling tray support and located directly above the seedling guide tube. When the clip-on seedling tray intermittently moves to a chamber directly opposite the ejector, the ejector passes through the through-hole at the bottom of that chamber and pushes the lower end of the push plate upwards, causing the push plate to rotate backwards around its pivot axis. The upper end of the push plate then pushes the seedlings horizontally backwards out of the clip-on seedling tray, where they fall vertically into the seedling guide tube under gravity.

[0008] Furthermore, the walking mechanism includes two guide wheels and two drive wheels. The two guide wheels are symmetrically installed at the front end of the bottom of the frame, and the two drive wheels are symmetrically installed at the rear end of the bottom of the frame. A left handrail and a right handrail are fixedly connected to the rear end of the frame. A left brake handle is installed on the left handrail, and a right brake handle is installed on the right handrail. The left brake handle and the right brake handle control the braking devices of the two drive wheel motors through an electronic control system.

[0009] Furthermore, the pit-making mechanism includes an electric pit-making drill bit, a drill bit drive motor, and a pit-making lifting mechanism. The central axis of the electric pit-making drill bit and the central axis of the seedling guide tube are located on the same vertical straight line. The pit-making lifting mechanism is fixedly installed on the frame. The electric pit-making drill bit is connected to the lower end of the pit-making lifting mechanism through the drill bit drive motor. The pit-making lifting mechanism is used to drive the electric pit-making drill bit to make vertical reciprocating motion to complete the pit-making operation.

[0010] Furthermore, the cellar-breaking lifting mechanism includes a lifting drive motor, a gear, a vertically arranged rack, and a guide assembly; the lifting drive motor is fixedly mounted on the frame, the gear is coaxially mounted on the output shaft of the lifting drive motor, and the rack meshes with the gear; the guide assembly includes two upper and lower fixed crossbars and two sliding guide rods, the two fixed crossbars are fixed parallel to each other on the frame, and the two sliding guide rods are fixed vertically between the two fixed crossbars; a guide slider is fixed to the back of the rack, and the guide slider is slidably sleeved on the two sliding guide rods.

[0011] Furthermore, a hollow adjusting tube is fixedly connected to the lower end of the guide slider and the rack. The adjusting tube is horizontally arranged along its length. An axially sliding adjusting rod is fitted inside the adjusting tube. The side wall of the adjusting tube has a threaded hole and is equipped with a set screw for pressing the adjusting rod. The adjusting rod is fixed inside the adjusting tube by the set screw. A motor mounting base is fixed to the front end of the adjusting rod. A drill bit drive motor is mounted on the motor mounting base. The upper end of the electric drilling drill bit is connected to the lower end of the output shaft of the drill bit drive motor by an internal thread. By adjusting the extension length of the adjusting rod, the longitudinal center distance between the electric drilling drill bit and the seedling guide tube can be changed, thereby adjusting the transplanting spacing.

[0012] Furthermore, it also includes a main controller and two proximity switches. The main controller is fixedly installed at the rear of the frame. The two proximity switches are respectively installed on the upper and lower fixed crossbars, and respectively correspond to the upper limit position and lower limit position of the rack. The signal output terminals of the two proximity switches are electrically connected to the input terminal of the main controller, and the output terminal of the main controller is electrically connected to the drivers of the lifting drive motor and the seedling tray drive motor, respectively.

[0013] Furthermore, the seedling tray drive mechanism includes a seedling tray drive motor, two synchronous pulleys, and a synchronous belt. The seedling tray drive motor is fixedly installed on the left end of the seedling tray support. One of the synchronous pulleys is fixedly installed on the output shaft of the seedling tray drive motor, and the other synchronous pulley is installed on the right end of the seedling tray support through a bearing seat. The synchronous belt is sleeved on the two synchronous pulleys. Multiple transmission blocks are fixed at equal intervals on the outer surface of the synchronous belt. Multiple mating holes that are adapted to the transmission blocks are opened at equal intervals along the left and right directions in the middle of the spring-loaded seedling tray. The transmission blocks are inserted into the mating holes to realize the transmission connection between the synchronous belt and the spring-loaded seedling tray.

[0014] Furthermore, the seedling tray support is an inclined groove-shaped plate with a higher front and lower rear. The upper side of the inclined groove-shaped plate is bent downward to form an upper U-shaped groove, and the lower side of the inclined groove-shaped plate is bent upward to form a lower U-shaped groove corresponding to the upper U-shaped groove. The upper and lower parts of the clip-on seedling tray are slidably disposed in the upper and lower U-shaped grooves of the inclined groove-shaped plate, respectively. A horizontal fixing plate is fixedly connected to the bottom of the inclined groove-shaped plate, and the horizontal fixing plate is bolted to the frame through two L-shaped fixing seats. The ejector includes a connecting seat bolted to the inclined groove-shaped plate and a right-angled triangular top block fixed on the connecting seat, with the right angle of the top block rounded off. Seedling tray racks are fixedly provided on the left and right sides of the frame for storing spare clip-on seedling trays.

[0015] A method for automatic tray-feeding and seedling-transplanting tobacco seedlings using a magazine-type automatic transplanter, implemented with the aforementioned transplanter, includes the following steps: S1. Plant spacing pre-adjustment: Loosen the top screw on the side wall of the adjustment tube, adjust the extension length of the adjustment rod along the axis of the adjustment tube, change the longitudinal center distance between the electric pit drilling bit and the seedling guide tube, and tighten the top screw to fix the adjustment rod after adjusting to the target transplanting plant spacing. S2. Preparation before operation: Insert the spring clip seedling tray filled with tobacco seedlings into the seedling tray support, so that the right end of the spring clip seedling tray is close to the lower left edge of the ejector; turn on the power of the whole machine and check whether each mechanism is operating normally. S3. Well drilling: The main controller controls the lifting drive motor to rotate forward, driving the electric drilling drill bit to rotate and drill downward; when the rack moves to the lower limit position, the lower proximity switch sends a position signal to the main controller, and the main controller controls the lifting drive motor to rotate in reverse, driving the electric drilling drill bit to rise to the upper limit position and then stop. S4. Machine forward movement: After the pit drilling is completed, the transplanter automatically moves forward. The Hall sensor installed on the drive wheel axle collects the drive wheel speed in real time and transmits it to the main controller. When the distance the machine moves is equal to the center distance between the electric pit drilling bit and the seedling guide tube, the main controller controls the seedling tray drive motor to start. S5. Automatic seedling feeding: The seedling tray drive motor drives the synchronous belt to rotate by the distance of one transmission stop, so that the spring clip seedling tray moves horizontally and synchronously by the distance of one receiving cavity; the ejector passes through the long hole at the bottom of the corresponding receiving cavity to lift the push plate, the push plate pushes the tobacco seedlings horizontally out of the receiving cavity and into the seedling guide tube, and finally falls vertically into the dug well cellar. S6. Continuous operation: While the automatic seedling placement is completed, the main controller controls the pit-making lifting mechanism to descend again and start making the next pit. Repeat steps S4-S5 to achieve continuous and synchronous operation of pit making and seedling placement.

[0016] Furthermore, the transplanting method also includes: Quick seedling tray connection steps: During the continuous operation in step S6, when the leftmost mating hole of the current clip-on seedling tray engages with the transmission stop on the synchronous belt, the operator removes the spare clip-on seedling tray pre-filled with tobacco seedlings from the seedling tray racks on both sides of the frame, and pushes it into the inclined groove plate from the left end, so that the newly pushed clip-on seedling tray fits against the leftmost end face of the current clip-on seedling tray, thus enabling the next transmission stop to engage with the rightmost mating hole of the new clip-on seedling tray; the right clip-on seedling tray moves to the rightmost end of the inclined groove plate and falls to the ground under the continuous pushing of the left clip-on seedling tray; Emergency shutdown procedure: If an abnormal situation is encountered during operation, press the emergency stop button on the main controller. All motors will stop running immediately. After troubleshooting, restart the machine to continue operation.

[0017] Using the above technical solution, the specific functions of each component in this invention are as follows: Frame: The mounting base of the entire machine, made of square tubing, is sturdy and lightweight, bearing all functional components and ensuring the relative positional accuracy of each component. The outer surface of the frame is covered with a shell to protect the internal electrical and mechanical components.

[0018] Lithium battery power supply: Provides power to the drive wheel motor, drill bit drive motor, lifting drive motor, seedling tray drive motor and control system. It is installed at the front of the frame to balance the weight of the whole machine. It uses a 48V20Ah lithium battery, and its range meets the needs of daily operation.

[0019] Walking mechanism: The drive wheels are powered by lithium batteries, which drive the whole machine to move back and forth. The guide wheels guide the walking direction. The left and right brake handles control the brakes of the two drive wheels respectively. Squeezing one brake handle can turn the whole machine, and squeezing both brake handles at the same time can achieve emergency braking.

[0020] Well-drilling mechanism: The drill bit drive motor is vertically mounted on the motor mounting base at the front end of the adjusting rod, and its output shaft is coaxially connected downward to the electric well-drilling drill bit to provide rotational power for the drill bit; the well-drilling lifting mechanism realizes the overall up and down movement of the drill bit through gear and rack transmission to complete the well-drilling operation; the sliding guide rod ensures the stability of the lifting process and avoids drill bit deviation.

[0021] Adjusting pipe and adjusting rod: set horizontally at the front and back. By adjusting the front and back extension length of the adjusting rod, the longitudinal distance between the electric pit drilling bit and the seedling guide tube is changed, thereby realizing the adjustment of different transplanting plant spacing. The transplanting plant spacing can be adjusted arbitrarily within a certain range to meet the planting requirements of different tobacco varieties.

[0022] Proximity switches: detect the upper and lower limit positions of the rack respectively, and send position signals to the main controller to realize automatic lifting and lowering control and limit protection of the drilling bit, preventing overload damage to the mechanism.

[0023] Seedling guide tube: guides tobacco seedlings to fall vertically into the prepared well cellar, ensuring the correct transplanting posture of the seedlings, avoiding tilting or lodging, and improving the survival rate of transplanting. The cylindrical structure has a smooth inner wall without burrs.

[0024] Main controller: It adopts an STM32F103 microcontroller, receives signals from Hall sensors and proximity switches, and controls the coordinated actions of each actuator according to a preset program to realize automated continuous operation of pit opening, forward movement and seedling introduction.

[0025] Seedling tray racks: Fixed on the left and right sides of the frame, each seedling tray rack can store 3 spare clip-on seedling trays, which can be quickly replaced during operation and reduce downtime.

[0026] Seedling tray support (inclined groove plate): Extends horizontally along the length direction and is inclined with a front-high and rear-low angle of 15°-20°. The upper and lower sides are bent to form upper and lower U-shaped grooves, which limit the upper and lower movement of the spring clip seedling tray to ensure that the seedling tray slides smoothly without shaking. The front-high and rear-low design ensures that the pushed-out tobacco seedlings can slide backward into the seedling guide tube under the action of gravity, while preventing the seedling tray from sliding on its own.

[0027] Seedling tray drive mechanism: The spring-loaded seedling tray is driven to move intermittently at equal intervals by a synchronous belt arranged in the left and right directions. The transmission blocks on the synchronous belt are engaged with the mating holes at the bottom of the seedling tray, which has high transmission precision and ensures that each movement distance corresponds exactly to one tobacco seedling receiving cavity, thus achieving precise seedling placement.

[0028] Clip-on seedling tray: Made of injection-molded plastic material, the interior is divided into 16 seedling compartments by 15 equally spaced partitions in the front and back directions to prevent the seedlings from being squeezed and damaged. Each compartment is hinged to a push plate at the top and has an elongated hole at the bottom. The partitions have U-shaped holes at the bottom for the top block to pass through.

[0029] Push plate and ejector (top block): They work together to automatically eject tobacco seedlings. The top block has a right-angled triangular structure with rounded transitions at the right angles to avoid scratching the push plate and seedling tray. The top block is fixed in place, and the push plate in each receiving cavity is ejected in turn by the intermittent left and right movement of the seedling tray. The push plate rotates backward around the pivot in the front-back direction to smoothly eject the tobacco seedlings.

[0030] In summary, compared with the prior art, the present invention has the following beneficial effects: (1) Achieve fully automatic seedling feeding: Through the mechanical cooperation of the spring clip seedling tray and the fixed top block, the manual operation of feeding seedlings into the seedling cup is completely replaced. A single person can complete the operation of the whole machine, greatly reducing the labor intensity of tobacco farmers and increasing the work efficiency by more than 3 times compared with manual seedling feeding.

[0031] (2) Continuous synchronous operation: the pit making and seedling placement are carried out simultaneously. After the pit making is completed, the whole machine moves forward by one plant spacing, and the automatic seedling placement mechanism immediately places the seedlings. At the same time, the pit making mechanism starts to make the next pit, realizing uninterrupted continuous operation and avoiding the waiting time of manual seedling placement.

[0032] (3) Accurate and reliable seedling placement: The upper and lower U-shaped groove structure of the inclined groove plate ensures smooth sliding of the seedling tray, high precision of synchronous belt drive, and precise cooperation between the top block and the push plate. The tobacco seedlings can accurately slide into the seedling guide tube without the phenomenon of seedling jamming or falling off, and the seedling placement accuracy rate reaches 100%.

[0033] (4) Compact structure and strong applicability: The machine is small in size and light in weight, with a small turning radius. It is suitable for transplanting tobacco seedlings in small tobacco fields and complex terrains such as mountains and hills, solving the problem that large transplanters cannot enter.

[0034] (5) Stable transplanting quality: The tobacco seedlings fall vertically into the well cellar through the seedling guide tube, and the transplanting depth and posture are consistent, avoiding the problems of tilting, falling over and uneven depth of tobacco seedlings when manually placing seedlings. The survival rate of tobacco seedlings is increased to more than 98%.

[0035] (6) Adjustable transplanting spacing: The distance between the electric pit drilling bit and the seedling guide tube can be flexibly adjusted by the front and rear telescopic adjustment rods. The transplanting spacing can be adjusted arbitrarily to meet the planting requirements of different varieties and regions of tobacco, and it has strong versatility.

[0036] (7) Simple operation and maintenance: The whole machine adopts a modular design. The spring clip seedling tray is inserted from the left end and discharged from the right end. The electrical system is simple and reliable. Ordinary tobacco farmers can operate and maintain it proficiently after simple training. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a three-dimensional structural diagram of the cellar lifting mechanism in this invention; Figure 4 This is a three-dimensional structural diagram of the automatic tray-feeding and seedling-dispensing mechanism in this invention; Figure 5 This is a three-dimensional structural diagram of the automatic seedling feeding state in this invention; Figure 6 This is a three-dimensional structural diagram of the clip-on seedling tray in this invention; Figure 7 This is a three-dimensional structural diagram of the top block in this invention; Figure 8 This is a block diagram of the control circuit connection of the present invention.

[0038] Explanation of markings in the diagram: 1-Right brake handle, 2-Right handrail, 3-Left brake handle, 4-Left handrail, 5-Inclined groove plate, 6-Seedling tray frame, 7-Drive wheel, 8-Guide wheel, 9-Frame, 10-Lithium battery power supply, 11-Horizontal fixed plate, 12-Seedling tray drive motor, 13-Synchronous belt pulley, 14-Synchronous belt, 15-Seedling guide tube, 16-Clip-type seedling tray, 17-Transmission stop block, 18-Main controller, 19-Electric pit drilling bit, 20-Pit drilling lifting mechanism, 21-Fixed crossbar, 22-Rack, 23-Lifting drive motor, 24-Gear, 25-Adjusting rod, 26-Adjusting tube, 27-Sliding guide rod, 28-Proximity switch, 29-Guide slider, 30-Push plate, 31-Tobacco seedling, 32-Push plate shaft, 33-L-shaped fixed seat, 34-Top block, 35-Partition plate, 36-Matching hole, 37-Elongated hole. Detailed Implementation

[0039] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0040] like Figure 1-8 As shown in the figure, this embodiment provides a magazine-type automatic tray-feeding tobacco transplanter, including a frame 9. The frame 9 is welded from square tubing, making it sturdy and lightweight. A right-side handlebar 2 and a left-side handlebar 4 are welded to the rear end of the frame 9 for easy operator control. Two guide wheels 8 and two drive wheels 7 are mounted on the front and rear ends of the bottom of the frame 9 via axles. A left-side brake handle 3 is mounted on the left-side handlebar 4, and a right-side brake handle 1 is mounted on the right-side handlebar 2. The two brake handles control the braking devices of the two drive wheel motors via an electronic control system. Squeezing one brake handle allows the machine to steer, while squeezing both brake handles simultaneously enables emergency braking.

[0041] The frame 9 is bolted from front to back to the following components: lithium battery power supply 10, pit-digging lifting mechanism 20, seedling guide tube 15, main controller 18, and seedling tray racks 6 on both sides. The lithium battery power supply 10 uses a 48V 20Ah lithium battery to provide power to the entire machine and is installed at the front of the frame to balance the overall weight. The seedling guide tube 15 is a cylindrical tube with open top and bottom, made of PVC material with a smooth inner wall. It is vertically fixed to the frame 9, and its central axis is aligned with the central axis of the electric pit-digging drill bit 19. A cover is attached to the outer surface of the frame 9 via clips, covering the internal electrical components and transmission mechanism, providing dust and water protection.

[0042] The cellar lifting mechanism 20 includes a lifting drive motor 23, a gear 24, a rack 22, and a guide assembly. The lifting drive motor 23 is a DC geared motor, fixed to the upper fixed crossbar 21 via a motor mount. The gear 24 is coaxially mounted on the output shaft of the lifting drive motor 23, and the rack 22 is vertically arranged and meshes with the gear 24. A guide slider 29 is bolted to the back of the rack 22, and two sliding guide rods 27 are vertically welded between the upper and lower fixed crossbars 21. The guide slider 29 has two guide holes and slides on the sliding guide rods 27 to ensure that the rack 22 does not deflect during lifting.

[0043] The lower ends of the guide slider 29 and the rack 22 are welded together with a mounting base, on which a hollow adjusting tube 26, horizontally arranged front and rear, is fixed. An adjusting rod 25 is fitted inside the adjusting tube 26. The side wall of the adjusting tube 26 has a threaded hole and a set screw; tightening the set screw allows the adjusting rod 25 to be fixed at any forward or backward extension length. A vertical motor mounting base is welded to the front end of the adjusting rod 25. A DC drill bit drive motor is bolted to the motor mounting base. The electric drilling drill bit 19 is a spiral drill bit, with its upper internal thread coaxially connected to the lower external thread of the drill bit drive motor's output shaft. By adjusting the extension length of the adjusting rod 25, the longitudinal center distance between the electric drilling drill bit 19 and the seedling guide tube 15 can be changed, thereby adjusting the transplanting spacing.

[0044] A proximity switch 28 is installed on each of the upper and lower fixed crossbars 21. The upper proximity switch corresponds to the upper limit position of the rack 22, and the lower proximity switch corresponds to the lower limit position of the rack 22. The signal output terminals of both proximity switches 28 are electrically connected to the input terminals of the main controller 18. The main controller 18 uses an STM32F103 microcontroller, and its output terminals are electrically connected to the input terminals of the lifting drive motor driver and the seedling tray drive motor driver, respectively.

[0045] The automatic seedling tray feeding mechanism is installed directly above the seedling guide tube 15. It includes an inclined trough-shaped plate 5 extending horizontally and tilted downwards from front to back, a seedling tray drive motor 12, two synchronous pulleys 13, a synchronous belt 14, a spring-loaded seedling tray 16, a horizontal fixing plate 11, and a top block 34. The inclined trough-shaped plate 5 is made of thin steel plate bent at an angle of 18°. The upper side is bent downwards to form an upper U-shaped groove, and the lower side is bent upwards to form a lower U-shaped groove, which matches the width of the spring-loaded seedling tray 16. The bottom of the inclined trough-shaped plate 5 is welded to the horizontal fixing plate 11. Two L-shaped fixing seats 33 are welded to the bottom of the horizontal fixing plate 11, and the L-shaped fixing seats 33 are connected to the frame 9 by bolts.

[0046] The seedling tray drive motor 12 is a DC geared motor, fixed to the left end of the horizontal fixed plate 11 via a motor mount, with a drive synchronous pulley 13 mounted on its output shaft. A driven synchronous pulley 13 is mounted on the right end of the horizontal fixed plate 11 via a bearing seat, and a synchronous belt 14 is fitted onto the two synchronous pulleys 13 in the left-right direction. Several transmission stops 17 are fixed at equal intervals on the outer surface of the synchronous belt 14. The spring-loaded seedling tray 16 is a rectangular groove, injection molded from ABS plastic. Its interior is divided into N+1 seedling accommodating chambers by N vertically arranged partitions 35, with the distance between adjacent partitions 35 equal to the distance between the transmission stops 17 on the synchronous belt 14.

[0047] The spring-loaded seedling tray 16 has several mating holes 36 evenly spaced along the left-right direction in its middle section, which are adapted to the transmission stops 17 on the synchronous belt 14. The transmission stops 17 are inserted into the mating holes 36, driving the spring-loaded seedling tray 16 to move from left to right along the upper and lower U-shaped grooves of the inclined groove plate 5. A push plate 30 is hinged to the upper part of each receiving cavity near the right side via a push plate pivot 32 arranged in the front-back direction. The push plate 30 is made of plastic and extends to the bottom of the receiving cavity. A through-hole 37 is opened at the bottom of the spring-loaded seedling tray 16 corresponding to the lower end of each push plate 30. A U-shaped hole communicating with the through-hole 37 is opened at the lower part of the partition plate 35, allowing the top block 34 to pass through.

[0048] The top block 34 is fixed to the opening in the lower part of the inclined groove plate 5 by connecting seat bolts, located directly above the opening on the seedling guide tube 15. The top block 34 has a right-angled triangular structure with rounded transitions at the right angles to avoid scratching the push plate 30 and the seedling tray. A seedling tray rack 6 is welded to each of the left and right sides of the frame 9, and each seedling tray rack can hold 3 spare clip-on seedling trays 16. The control circuit also includes a Hall sensor, which is installed on the axle of the right drive wheel 7 to collect the rotational speed signal of the drive wheel. Its signal output terminal is electrically connected to the input terminal of the main controller 18.

[0049] The specific working process of this embodiment is as follows: 1) Plant spacing pre-adjustment: Before operation, according to the planting requirements of the tobacco variety, loosen the top screw on the side wall of the adjusting tube 26, pull the adjusting rod 25 back and forth along the axis of the adjusting tube 26, adjust the longitudinal center distance between the electric pit drilling bit 19 and the seedling guide tube 15 to the target plant spacing, and then tighten the top screw to fix the adjusting rod 25.

[0050] 2) Pre-operation preparation: Push the pre-filled tobacco seedling tray 16, consisting of a spring clip, into the inclined groove plate 5 from the left end, so that the upper and lower parts of the tray are respectively embedded in the upper and lower U-shaped grooves of the inclined groove plate 5. The right end of the tray should be close to the lower left edge of the top block 34. Insert the first transmission stop 17 on the synchronous belt 14 into the first mating hole 36 at the bottom of the tray. Remove 2-3 spare seedling trays from the tray racks 6 on both sides of the frame, fill them with tobacco seedlings, and return them to the tray racks. Turn on the lithium battery power supply 10 and press the start button on the main controller 18. The drill drive motor will start to drive the electric pit drilling drill 19 to rotate. Check whether each motor is operating normally and whether the proximity switch signal is normal.

[0051] 3) Well Construction: The main controller 18 controls the lifting drive motor 23 to rotate forward, driving the gear 24 to rotate clockwise. The rack 22 moves downward, and the rotating electric drilling bit 19 drills downward simultaneously. When the rack 22 reaches its lower limit position, the lower proximity switch 28 is triggered, sending a position signal to the main controller 18. The main controller 18 then controls the lifting drive motor 23 to rotate in reverse, driving the electric drilling bit 19 upward. When the rack 22 reaches its upper limit position, the upper proximity switch 28 is triggered, and the main controller 18 controls the lifting drive motor 23 to stop rotating, completing the construction of one well. The drill bit drive motor remains rotating, waiting for the next well construction.

[0052] 4) Machine forward movement: After the pit drilling is completed, the machine automatically moves forward. The Hall sensor collects the rotation speed signal of the drive wheel 7 in real time and transmits it to the main controller 18. The main controller calculates the machine's movement distance based on the rotation speed and the diameter of the drive wheel. When the machine's movement distance is equal to the center distance between the electric pit drilling bit 19 and the seedling guide tube 15, the main controller 18 controls the seedling tray drive motor 12 to start.

[0053] 5) Automatic seedling placement: The seedling tray drive motor 12 drives the synchronous belt 14 to rotate by the distance of one transmission stop, and the spring-loaded seedling tray 16 moves synchronously to the right by the distance of one receiving chamber. At this time, the first receiving chamber moves directly above the top block 34, and the top block 34 passes through the elongated hole 37 and contacts the lower end of the push plate 30. During the movement, the top block 34 pushes the push plate 30 upward around the push plate pivot 32 in the front-to-back direction. The upper end of the push plate 30 pushes the tobacco seedling 31 in the receiving chamber horizontally backward. Under the action of gravity, the tobacco seedling 31 slides backward along the inclined surface of the inclined trough plate 5, which is higher at the front and lower at the back, and falls precisely into the seedling guide tube 15 below, and finally falls vertically into the dug well cellar, completing the transplanting of one tobacco seedling.

[0054] 6) Continuous operation: While the automatic seedling placement is completed, the main controller 18 controls the lifting drive motor 23 to rotate forward again, driving the electric pit drilling bit 19 to descend and begin drilling the next pit. Repeat steps 4-5 to achieve continuous and synchronous operation of pit drilling and seedling placement.

[0055] 7) Quick connection of seedling trays: When the leftmost mating hole of the current clip-on seedling tray 16 engages with the transmission stop 17 on the synchronous belt 14, the operator removes the spare clip-on seedling tray 16 pre-filled with tobacco seedlings from the seedling tray racks 6 on both sides of the frame, and pushes it into the inclined groove plate 5 from the left end, so that the newly pushed clip-on seedling tray fits against the leftmost end face of the current clip-on seedling tray, thus enabling the next transmission stop to engage with the rightmost mating hole of the new clip-on seedling tray; the front clip-on seedling tray moves to the rightmost end of the inclined groove plate 5 under the continuous pushing of the rear clip-on seedling tray and falls to the ground.

[0056] 8) Emergency Stop: If any abnormal situation occurs during operation, such as the smoke nozzle getting stuck or the drill bit hitting a rock, the operator should immediately press the red emergency stop button on the main controller 18. All motors will stop running immediately. After troubleshooting, press the reset button to restart the machine and continue operation.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A magazine-type automatic tray-feeding and seedling-transplanting tobacco transplanter, characterized in that: The machine includes a frame (9), on which a lithium battery power supply (10), a walking mechanism, a cellar-making mechanism, a seedling guide tube (15) and an automatic tray-feeding and seedling-dispensing mechanism are arranged sequentially from front to back. The lithium battery power supply (10) provides power to all electrical components of the machine. The seedling guide tube (15) is a vertical tube that runs through the top and bottom, with its lower opening facing the tobacco field ridge. The automatic seedling feeding mechanism includes a seedling tray support component with the length direction in the left-right direction, a seedling tray drive mechanism, a spring clip seedling tray (16), and an ejector component; the seedling tray support component is fixedly installed above the seedling guide tube (15) to provide a continuous moving track for the spring clip seedling tray (16); the spring clip seedling tray (16) is slidably embedded in the seedling tray support component, and the seedling tray drive mechanism is fixed on the seedling tray support component and connected to the bottom of the spring clip seedling tray (16) for driving the spring clip seedling tray (16) to move intermittently in the left-right direction along the track at equal intervals; The clip-on seedling tray (16) is a top-opening trough structure. The interior is divided into several independent seedling accommodating chambers by multiple vertically arranged partitions (35) at equal intervals. Each accommodating chamber has a push plate (30) hinged to its upper part via a push plate pivot (32). The lower end of the push plate (30) extends to the bottom of the accommodating chamber. The bottom of the clip-on seedling tray (16) has a through-hole (37) at the lower end of each push plate (30). The ejector is fixedly installed on the seedling tray support. The seedling tray (16) is located directly above the seedling guide tube (15). When the spring clip seedling tray (16) moves intermittently to a certain receiving cavity directly opposite the ejector, the ejector passes through the long hole (37) at the bottom of the receiving cavity and pushes the lower end of the push plate (30) upward, causing the push plate (30) to rotate around the push plate pivot (32). The upper end of the push plate (30) pushes the tobacco seedlings (31) in the receiving cavity backward horizontally out of the spring clip seedling tray (16). The tobacco seedlings (31) fall vertically into the seedling guide tube (15) under the action of gravity.

2. The magazine-type automatic tray-feeding and seedling-transplanting tobacco transplanter according to claim 1, characterized in that: The walking mechanism includes two guide wheels (8) and two drive wheels (7). The two guide wheels (8) are symmetrically installed at the front end of the bottom of the frame (9), and the two drive wheels (7) are symmetrically installed at the rear end of the bottom of the frame (9). The rear end of the frame (9) is fixedly connected to a left handrail (4) and a right handrail (2). A left brake handle (3) is installed on the left handrail (4), and a right brake handle (1) is installed on the right handrail (2). The left brake handle (3) and the right brake handle (1) control the braking devices of the two drive wheel motors through an electronic control system.

3. The magazine-type automatic tray-feeding and seedling-transplanting tobacco transplanter according to claim 1, characterized in that: The pit-making mechanism includes an electric pit-making drill bit (19) and a pit-making lifting mechanism (20). The central axis of the electric pit-making drill bit (19) and the central axis of the seed tube (15) are on the same vertical straight line. The pit-making lifting mechanism (20) is fixedly installed on the frame (9). The electric pit-making drill bit (19) is connected to the lower end of the pit-making lifting mechanism (20). The pit-making lifting mechanism (20) is used to drive the electric pit-making drill bit (19) to make vertical reciprocating motion to complete the pit-making operation.

4. The magazine-type automatic tray-feeding and seedling-transplanting tobacco transplanter according to claim 3, characterized in that: The cellar lifting mechanism (20) includes a lifting drive motor (23), a gear (24), a vertically arranged rack (22), and a guide assembly. The lifting drive motor (23) is fixedly mounted on the frame (9), and the gear (24) is coaxially mounted on the output shaft of the lifting drive motor (23). The rack (22) meshes with the gear (24). The guide assembly includes two fixed crossbars (21) and two sliding guide rods (27). The two fixed crossbars (21) are fixed parallel to each other on the frame (9), and the two sliding guide rods (27) are fixed vertically between the two fixed crossbars (21). A guide slider (29) is fixed on the back of the rack (22), and the guide slider (29) is slidably sleeved on the two sliding guide rods (27).

5. The magazine-type automatic tray-feeding and seedling-transplanting tobacco transplanter according to claim 4, characterized in that: A hollow adjusting tube (26) is fixedly connected to the lower end of the guide slider (29) and the rack (22). The adjusting tube (26) is horizontally arranged along the front and back direction. An adjusting rod (25) that can slide axially is installed inside the adjusting tube (26). The side wall of the adjusting tube (26) has a threaded hole and is equipped with a set screw for pressing the adjusting rod (25). The adjusting rod (25) is fixed in the adjusting tube (26) by the set screw. A motor mounting seat is fixed at the front end of the adjusting rod (25). A drill bit drive motor is installed on the motor mounting seat. The electric drilling drill bit (19) is coaxially connected to the lower end of the output shaft of the drill bit drive motor through the internal thread. By adjusting the extension length of the adjusting rod (25), the longitudinal center distance between the electric drilling drill bit (19) and the seedling tube (15) can be changed, thereby realizing the adjustment of the transplanting spacing.

6. The magazine-type automatic tray-feeding and seedling-transplanting tobacco transplanter according to claim 4, characterized in that: It also includes a main controller (18) and two proximity switches (28). The main controller (18) is fixedly installed at the rear of the frame (9). The two proximity switches (28) are respectively installed on the upper and lower fixed crossbars (21) and correspond to the upper limit position and lower limit position of the rack (22) respectively. The signal output terminals of the two proximity switches (28) are electrically connected to the input terminal of the main controller (18), and the output terminal of the main controller (18) is electrically connected to the driver of the lifting drive motor (23).

7. The automatic tray-feeding and seedling-transplanting tobacco transplanter of the magazine type according to claim 1, characterized in that: The seedling tray drive mechanism includes a seedling tray drive motor (12), two synchronous pulleys (13), and a synchronous belt (14). The seedling tray drive motor (12) is fixedly installed on the left end of the seedling tray support. One of the synchronous pulleys (13) is fixedly installed on the output shaft of the seedling tray drive motor (12), and the other synchronous pulley (13) is installed on the right end of the seedling tray support through a bearing seat. The synchronous belt (14) is sleeved on the two synchronous pulleys (13). Multiple transmission blocks are fixed at equal intervals on the outer surface of the synchronous belt (14). Multiple mating holes (36) that are adapted to the transmission blocks are opened at equal intervals along the left and right directions in the middle of the spring clip seedling tray (16). The transmission blocks are inserted into the mating holes (36) to realize the transmission connection between the synchronous belt (14) and the spring clip seedling tray (16).

8. The magazine-type automatic tray-feeding and seedling-transplanting tobacco transplanter according to claim 1, characterized in that: The seedling tray support is an inclined groove-shaped plate (5) with a higher front and lower back. The upper side of the inclined groove-shaped plate (5) is bent downward to form an upper U-shaped groove, and the lower side of the inclined groove-shaped plate (5) is bent upward to form a lower U-shaped groove corresponding to the upper U-shaped groove. The upper and lower parts of the spring clip seedling tray (16) are slidably disposed in the upper U-shaped groove and the lower U-shaped groove of the inclined groove-shaped plate (5), respectively. A horizontal fixing plate (17) is fixedly connected to the bottom of the inclined groove-shaped plate (5). The horizontal fixing plate (17) is connected by a horizontal fixing plate (17) through ... Two L-shaped fixing seats (33) are bolted to the frame (9); the ejector includes a connecting seat bolted to the inclined groove plate (5) and a right-angled triangular top block (34) fixed on the connecting seat. The right angle of the top block (34) is rounded. The lower part of the partition (35) is provided with a U-shaped hole that communicates with the long hole (37) for passing through the top block (34); seedling tray racks (6) are fixed on the left and right sides of the frame (9) for storing spare clip-on seedling trays (16).

9. A method for automatic tray-feeding and seedling-transplanting tobacco seedlings using a magazine-type mechanism, characterized in that: The transplanting process, using the transplanter according to any one of claims 1-8, includes the following steps: S1. Plant spacing pre-adjustment: Loosen the top screw on the side wall of the adjusting tube (26), adjust the extension length of the adjusting rod (25) along the axis of the adjusting tube (26), change the longitudinal center distance between the electric pit drilling bit (19) and the seedling guide tube (15), and tighten the top screw to fix the adjusting rod (25) after adjusting to the target transplanting plant spacing. S2. Preparation before operation: Insert the clip-type seedling tray (16) filled with tobacco seedlings (31) into the seedling tray support, so that the right end of the clip-type seedling tray (16) is close to the lower left edge of the ejector; turn on the power supply of the whole machine and check whether each mechanism is operating normally. S3. Well construction: The main controller (18) controls the lifting drive motor (23) to rotate forward, driving the rotating electric well drilling bit (19) to drill downward; when the rack (22) moves to the lower limit position, the lower proximity switch (28) sends a position signal to the main controller (18), and the main controller (18) controls the lifting drive motor (23) to rotate in reverse, driving the electric well drilling bit (19) to rise to the upper limit position and then stop; S4. Moving the whole machine forward: After the pit drilling is completed, the transplanter moves forward automatically. The Hall sensor installed on the axle of the drive wheel (7) collects the speed of the drive wheel in real time and transmits it to the main controller (18). When the distance the whole machine moves is equal to the center distance between the electric pit drilling bit (19) and the seedling guide tube (15), the main controller (18) controls the seedling tray drive motor (12) to start. S5. Automatic seedling feeding: The seedling tray drive motor (12) drives the synchronous belt (14) to rotate by the distance of one transmission stop, so that the spring clip seedling tray (16) moves horizontally and synchronously by the distance of one receiving cavity; the ejector passes through the long hole (37) at the bottom of the corresponding receiving cavity and lifts the push plate (30), the push plate (30) pushes the tobacco seedling (31) horizontally out of the receiving cavity and drops into the seedling guide tube (15), and finally falls vertically into the dug well cellar; S6. Continuous operation: While the automatic seedling placement is completed, the main controller (18) controls the pit-making lifting mechanism (20) to descend again and start making the next pit. Repeat steps S4-S5 to achieve continuous synchronous operation of pit making and seedling placement.

10. The transplanting method according to claim 9, characterized in that: It also includes the following two steps: Quick connection steps for seedling trays: During the continuous operation in step S6, when the leftmost mating hole of the current clip-type seedling tray (16) engages with the transmission stop (17) on the synchronous belt (14), the operator takes off the spare clip-type seedling tray (16) pre-filled with tobacco seedlings from the seedling tray rack (6) on both sides of the frame, and pushes it into the inclined groove plate (5) from the left end, so that the newly pushed clip-type seedling tray fits against the leftmost end face of the current clip-type seedling tray, and the next transmission stop (17) engages with the rightmost mating hole (36) of the new clip-type seedling tray; the right clip-type seedling tray moves to the rightmost end of the inclined groove plate (5) under the continuous push of the left clip-type seedling tray and falls to the ground; Emergency shutdown procedure: If an abnormal situation is encountered during operation, press the emergency shutdown button on the main controller (18). All motors will stop running immediately. After troubleshooting, restart the machine to continue operation.

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