Electric full-automatic tracked tobacco transplanter and method

Abstract

This invention discloses an electric fully automatic tracked tobacco transplanter and method. The transplanter is purely electric-driven and integrates automatic seedling picking, delivery, planting, and watering functions. The core innovation is a sliding-rail seedling picking and delivery mechanism. A rodless cylinder drives the seedling clamp to linear motion, and dual-position cylinders combined with three limit plates precisely control the clamp's movement. A magnetic ring switch enables position detection, fundamentally solving the problems of high inertia and high seedling damage rate associated with traditional rotary mechanisms. The electric tracked chassis, combined with a scissor lifting frame and height adjustment structure, adapts to complex hilly and mountainous terrain. A single planting motor + corner box power synchronization scheme ensures precise matching of the planting, seedling receiving, and planting sequence. This invention specifically addresses the pain points of existing tobacco transplanting equipment, such as poor terrain adaptability, high seedling damage rate, low automation, and environmental unfriendliness. It offers advantages such as high operating efficiency and stable transplanting quality, meeting the requirements of green agricultural development.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and tobacco transplanting technology, specifically relating to an electric fully automatic tracked tobacco transplanter and method. Background Technology

[0002] Tobacco is an annual herbaceous economic crop that occupies an important position in my country's agricultural economic system, with an annual planting area of ​​over 1,000,000 hectares. Tobacco cultivation primarily relies on seedling transplanting, which involves transplanting seedlings grown in greenhouses into the field at the appropriate time. Currently, tobacco transplanting operations still face several technical challenges: traditional manual transplanting is inefficient, labor-intensive, produces inconsistent quality, and incurs continuously rising labor costs; existing transplanting machinery has poor terrain adaptability, especially in hilly and mountainous areas, exhibiting problems such as inflexible steering, easy slippage on slopes, and low transplant qualification rates; power systems mostly use hydraulic or fuel-driven systems, resulting in complex structures, high maintenance costs, environmental pollution, and insufficient control precision, which is inconsistent with the trend of green agriculture; most equipment lacks sufficient automation, failing to achieve full automation of the entire process from seedling collection and planting, and the adjustment of operating parameters is inconvenient, making it difficult to adapt to the agronomic requirements of different tobacco-growing regions.

[0003] The development of tobacco transplanters has been slower compared to fruit and vegetable transplanters, with most existing machines being semi-automatic. Due to the unique characteristics of tobacco seedlings—thin, wide leaves, slender, fragile stems, weak plant support, and susceptibility to diseases like bacterial wilt and blackleg after mechanical damage—common vegetable transplanters cannot be directly applied to tobacco transplanting. Existing tobacco transplanters often rely on rotary motion for their seedling-grabbing and feeding mechanisms, resulting in high inertia, fixed trajectories, and poor adaptability. The mechanical grippers struggle to apply the appropriate force to the fragile substrate structure, easily leading to substrate breakage or root damage, resulting in a high seedling injury rate and low operational precision.

[0004] In existing technologies, Wang Wanzhang et al. from Henan Agricultural University designed a fully automatic tobacco seedling delivery and transplanting method using pneumatic control (CN202411372693.7), which achieved automatic seedling delivery and retrieval. However, this scheme uses a rotary seedling retrieval mechanism, which has drawbacks such as large inertia, fixed trajectory, and high seedling damage rate, and it does not solve the problem of adaptability to hilly and mountainous terrain. Li Jianke et al. disclosed a tracked tobacco transplanter (CN202321876542.3), but its automation level is insufficient, requiring manual assistance for seedling placement, and it cannot achieve fully unmanned operation. The research progress of tobacco transplanters in hilly and mountainous areas (Transactions of the Chinese Society of Agricultural Engineering, Vol. 39, No. 12, 2023) elaborates on the current technical pain points and development trends of tobacco transplanters in hilly and mountainous areas. The Technical Conditions for Tobacco Transplanters (NY / T2333-2013) clarifies the operational quality requirements and performance indicators of tobacco transplanters. In conclusion, developing an electric tracked fully automatic tobacco transplanter that combines terrain adaptability, full automation, and energy efficiency is key to solving the current challenges in tobacco transplanting. Summary of the Invention

[0005] This invention aims to overcome the shortcomings of existing tobacco transplanting equipment and solve the following technical problems: 1. Existing transplanters have poor terrain adaptability. When operating in hilly and mountainous areas, they are not flexible in steering, are prone to slipping on slopes, and tend to tilt during planting. 2. The inertia of the seedling feeding mechanism is large and the seedling damage rate is high, making it difficult to adapt to the fragile physiological characteristics of tobacco seedlings in pots. 3. Low level of automation, unable to achieve full automation of the entire process of seedling collection, pond preparation, planting, and watering; 4. Fuel-powered and hydraulic drive systems pollute the environment, have complex structures, and high maintenance costs; 5. The separate driving of multiple motors leads to asynchronous timing of pond preparation, seedling reception, and seedling planting, which can easily result in problems such as missing seedlings and improper planting.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: An electric fully automatic tracked tobacco transplanter includes an electric tracked chassis, a seedling picking and placing mechanism, a seedling conveying mechanism, a seedling tray frame, a tray delivery mechanism, a planting mechanism, a watering mechanism, a power system, and a control system. The electric tracked chassis includes a tracked walking device and a height adjustment device for multi-level adjustment of the machine's walking and working height, adapting to complex terrains such as hilly areas and uneven ridges. The power system includes a battery and an air compressor. The battery provides power to the machine, and the air compressor provides air to the pneumatic components, with a working pressure threshold of 6.5 MPa. The control system includes an electrical control box, indicator lights, and multiple sensors for controlling the coordinated operation of each mechanism. The seedling picking and placing mechanism is a slide rail structure, including a mounting frame, a linear drive device, a slide rail assembly, a displacement drive device, and multiple seedling clips. The linear drive device drives the seedling clips along the slide rail to move back and forth between the seedling picking position and the seedling placing position, while the displacement drive device drives the seedling clips to converge and disperse along the slide rail. The planting mechanism includes a power unit, a power distribution device, a planter, and operation execution components. The power unit synchronously drives the planter and the seedling conveying mechanism through the power distribution device to achieve sequential coordinated operation of pond preparation, seedling reception, and seedling planting.

[0007] Furthermore, the mounting frame of the seedling feeding mechanism includes two vertically spaced and parallel mounting side plates. A front mounting plate for the rodless cylinder is located between the front sides of the two mounting side plates, and a rear mounting plate for the rodless cylinder is located between the rear sides. The front and rear ends of the rodless cylinder are fixedly connected to the front and rear mounting plates, respectively. The slide rail assembly includes a seedling pulling cylinder seat, two optical shafts, two box-type linear bearings, a seedling clip slide rail fixing plate, and a seedling clip slide rail. The two optical shafts are set parallel to the rodless cylinder, and their ends are fixed to the left and right mounting side plates through embedded bearing seats, respectively. The two box-type linear bearings are respectively sleeved on the two optical shafts, and the left and right ends of the seedling pulling cylinder seat are fixedly connected to the two linear bearings, respectively. The bottom of the slider of the rodless cylinder is fixedly connected to the top of the seedling pulling cylinder seat, driving it to move back and forth along the optical shaft.

[0008] Furthermore, a tension spring is connected between the rear of the seedling-pulling cylinder seat and the rear mounting plate of the rodless cylinder to buffer motion inertia and eliminate mechanism jamming points. Two optical axis fixing rings are fixed on each optical axis to limit the range of motion of the seedling-pulling cylinder seat in the seedling-picking position and the seedling-throwing position, respectively.

[0009] Furthermore, the displacement drive device includes a front displacement cylinder and a rear displacement cylinder, which are fixed side-by-side on the upper part of the seedling pulling cylinder seat. The piston rod of the front displacement cylinder extends forward and is hinged to the rear of the left seedling clip box via a Y16 cylinder connector; the piston rod of the rear displacement cylinder extends backward and is hinged to the front of the right seedling clip box via a Y-shaped cylinder fisheye connector. A seedling clip sliding track is fixed to the upper part of the left and right seedling clip boxes, and eight sliders are slidably connected on this track. Each slider fixes one seedling clip, and a total of eight seedling clips are arranged at equal intervals.

[0010] Furthermore, each seedling clip is fixed with a seedling clip limiting plate at its upper part, and the upper part of the seedling clip box is fixed with a middle seedling clip limiting plate, a double-hole seedling clip limiting plate, and two side seedling clip limiting plates in sequence from the inside to the outside. When the piston rod of the displacement cylinder extends, the seedling clips converge inward, and the limiting plate engages with a set of limiting holes in the limiting plate, so that the spacing between the seedling clips is consistent with the spacing between the seedling trays; when the piston rod extends, the seedling clips disperse outward, and the limiting plate engages with another set of limiting holes, so that the spacing between the seedling clips is consistent with the spacing between the seedling cups of the seedling conveying mechanism.

[0011] Furthermore, the seedling picking and dispensing mechanism is equipped with two magnetic ring switches, respectively installed at the front and rear ends of the rodless cylinder body, to detect whether the rodless cylinder has moved to the seedling picking and dispensing position. The seedling picking and dispensing mechanism also includes an integrated valve body, fixed to the outside of the left mounting plate, which is connected to the air compressor and various pneumatic components through quick connectors to centrally control the air circuit.

[0012] Furthermore, the power splitting device is an angle box, with the input shaft connected to the planting motor reducer via a coupling, outputting two mutually perpendicular power sources: one power is transmitted to the planter via a chain, and the other power is transmitted to the seedling conveying mechanism via the angle box's horizontal output shaft, sprocket, and chain, thus achieving simultaneous planting and seedling conveying operations.

[0013] Furthermore, the tray feeding mechanism includes a tray feeding motor, a tray feeding chain, a tray feeding rotating shaft, a first tray feeding drive sprocket, and a second tray feeding drive sprocket. A fixed crossbeam is horizontally fixed to the upper part of the seedling tray conveying frame. Diamond-shaped bearing seats are fastened to the fixed crossbeam by fixed U-bolts. Both ends of the tray feeding rotating shaft are rotatably connected to the diamond-shaped bearing seats. The tray feeding motor drives the tray feeding chain to intermittently feed the seedling trays forward; the feeding distance is adjustable to adapt to different seedling picking positions.

[0014] Furthermore, the electric tracked chassis is also equipped with a standing platform, a tray, and a water tank. The water tank is connected to a water injection mechanism, which automatically injects water to settle the roots after detecting that the tobacco seedlings have been planted.

[0015] The present invention also provides an electric fully automatic tracked tobacco transplanting method, which uses the above-mentioned transplanter and includes the following steps: S1: The system starts up. The operator inputs the transplanting speed, plant spacing and planting height parameters, and the system enters the work preparation state. S2: The air compressor starts. When the pressure reaches 6.5MPa, the seedling feeding mechanism and the seedling conveying mechanism enter the standby state. S3: The rodless cylinder slider moves backward, driving the seedling pulling cylinder seat and seedling clip to the rear seedling picking position; the piston rods of the two displacement cylinders retract simultaneously, driving the left and right seedling clip boxes to move inward, causing the seedling clips to converge inward until they are consistent with the spacing between the seedling trays. S4: After the control system detects that the magnetic ring switch and the inner sensor at the seedling position are both triggered, it waits for the seedling cup proximity switch to be triggered. S5: After the seedling cup is in place, the tray delivery motor starts, driving the seedling tray forward to a hole spacing; the integrated valve body controls the seedling clamp to close at the same time, clamping the tobacco seedling pot; S6: The rodless cylinder slider moves forward, driving the seedling clip to move towards the seedling placement position; at the same time, the planting motor, which is always working, synchronously drives the planter and the seedling conveying mechanism through the corner box. S7: Upon reaching the seedling placement position, the piston rods of the two displacement cylinders extend to both sides, driving the seedling clips to disperse outwards until they are aligned with the spacing between the seedling cups; the magnetic ring switch and the outer sensor for detecting the seedling placement position are both triggered; S8: The seedling clips open simultaneously, and the tobacco seedlings fall into the seedling cups; the seedling conveying mechanism drives the seedling cups to rotate, transporting the tobacco seedlings to the top of the planting mechanism; S9: The planter drives the shovel to move to the lowest point to make a hole. When the shovel moves upward to the highest point, the duckbill moves to the highest point to catch the tobacco seedling. Then the duckbill moves downward to the lowest point to complete the planting. S10: The water injection mechanism automatically injects a fixed amount of water to establish the roots, completing one transplanting operation. The system repeats the above steps in a cycle.

[0016] Using the above technical solution, the electric fully automatic tracked tobacco transplanter of the present invention mainly consists of seven systems, and the functions of the main components of each system are as follows: (a) Electric tracked chassis system Chassis frame: The basic load-bearing structure of the entire machine, providing an installation platform for all operating mechanisms; Tracks: Increase the contact area with the ground, reduce the ground pressure, and improve the passability in muddy and soft fields; Track drive wheels: drive the tracks to rotate, enabling the machine to move; Track tensioning mechanism: Adjusts the track tension to prevent track slippage and ensure smooth movement; Scissor lift: Achieves a wide range of lifting and adjusting of the work platform through a scissor-type structure; Height adjustment mechanism: In conjunction with the scissor lift, it enables three-level precise adjustment of the working height to adapt to different ridge heights and terrains; Work platform: It accommodates all working mechanisms and operators, providing a flat working space.

[0017] (ii) Power System Battery: The power source of the whole machine, providing DC power to all electric components. It uses a lithium battery pack and the driving time can reach more than 8 hours. Air compressor: Provides compressed air for pneumatic components such as seedling feeding and dispensing mechanisms, with a stable working pressure between 6.5-7 MPa.

[0018] (III) Control System Electrical control box: The control center of the whole machine, with a built-in PLC controller to realize the timing control and logic operation of each mechanism; Operating indicator lights: Display the real-time operating status of the equipment, including power indicator, running indicator, and fault indicator; Multiple sensors, including magnetic ring switches, seedling cup proximity switches, and duckbill detection sensors, are used to collect the position and status information of each mechanism in real time.

[0019] (iv) Seedling collection and delivery system Seedling Picking and Dispensing Mechanism Mounting Frame: The basic support structure for the seedling picking and dispensing mechanism, fixed in the middle of the working platform; Mounting side plates: symmetrically arranged on the left and right sides, providing a mounting base for components such as rodless cylinders and optical shafts; Front mounting plate and rear mounting plate of rodless cylinder: connect the left and right mounting side plates and provide mounting support for the rodless cylinder; Rodless cylinder: Take the linear drive device of the seedling feeding mechanism, drive the seedling pulling cylinder seat to make linear reciprocating motion in the front and back direction; Seedling pulling cylinder seat: a bridge-type structure that supports the displacement drive device and seedling clip assembly, and moves together with the rodless cylinder slider; Optical axis: provides guidance for the movement of the seedling-pulling cylinder seat, ensuring the linear accuracy of the movement; Box-type linear bearing: Reduces the frictional resistance between the seedling-pulling cylinder seat and the optical shaft, making the movement smoother; Optical axis fixing ring: limits the range of motion of the seedling pulling cylinder seat and prevents it from exceeding the seedling picking position and seedling putting position; Tension spring: buffers the inertial impact of the seedling pulling cylinder seat during movement reversal, eliminates the jamming point of the mechanism, and assists the movement of the rodless cylinder to reduce energy consumption; Seedling clip slide rail fixing plate: Fixes the seedling clip slide rail and provides guidance for the left and right movement of the seedling clip; Seedling clip slide rail: works with the side plate of the track to allow the seedling clip to slide left and right; Track side plate: Fixed to the inside of the mounting side plate, providing support for the seedling clip slide rail; T-shaped bushing: Reduces friction between the seedling clamp slide rail and the track side plate, improving motion accuracy and service life; Positioning cylinder mounting plate: Fixes the front and rear positioning cylinders to ensure the installation accuracy of the two cylinders; Front displacement cylinder and rear displacement cylinder: drive the left and right seedling clip boxes to move towards and away from each other, so as to realize the gathering and dispersing of the seedling clips; Y16 cylinder connector, Y-shaped cylinder fisheye connector: realizes the hinged connection between the cylinder piston rod and the seedling clamp box, allowing a certain angle deviation and avoiding cylinder jamming; Seedling clip box: It carries the seedling clip sliding track and limit plate assembly, and moves together with the displacement cylinder; Sliding track for seedling clips: provides guidance for the left and right sliding of the seedling clips; Seedling clamp: Performs the action of clamping and releasing tobacco seedlings, is pneumatically driven, and has adjustable clamping force; Seedling clip positioning plate: works in conjunction with the positioning plate to precisely control the gathering and dispersing positions of the seedling clips; The three types of limiting plates work together to control the movement position of the eight seedling clips, enabling precise switching between the two spacing options. Integrated valve body: centrally controls the air supply and disconnection of all pneumatic components of the seedling feeding mechanism, simplifies pipeline layout, and improves system reliability; Quick connectors: enable quick connection and disconnection of air tubes for easy maintenance; Quick-connect plug for seedling clips: Provides an independent air circuit connection for each seedling clip; Magnetic ring switch: detects the position of the slider of the rodless cylinder to achieve precise positioning of the seedling picking and seedling placement positions; Magnetic ring switch mounting plate: Fixes the magnetic ring switch and facilitates adjustment of its installation position; Seedling pick-up and drop-off cover: Protects the internal components of the seedling pick-up and drop-off mechanism, prevents dust and dirt from entering, and improves the safety of the equipment.

[0020] (v) Planting Mechanism System Planting mechanism mounting frame: The basic support structure of the planting mechanism, fixed to the front of the working platform; Planting motor: The common power source for the planting mechanism and the seedling conveying mechanism; Planting motor reducer: reduces the speed of the planting motor and increases the output torque; Coupling: Connects the output shaft of the planting motor reducer to the input shaft of the angle box, transmits power and compensates for coaxiality error; Corner box: a power splitting device that decomposes one input power into two mutually perpendicular output power, which drive the planter and the seedling conveying mechanism respectively; Corner box horizontal output shaft: The horizontal output shaft of the corner box transmits power to the seedling conveying mechanism; First sprocket and second sprocket: cooperate with the chain at the input end of the seedling conveying mechanism to transmit the power of the corner box to the seedling conveying mechanism; The input chain of the seedling conveying mechanism connects the first sprocket and the second sprocket to achieve power transmission; Gear mounting bearing: supports the second sprocket and driven shaft, ensuring smooth rotation; Planter mounting plate: Fixes corner boxes, planters, sensors, and other components; Planter: It converts the rotational motion into the reciprocating motion of the shovel and the duckbill to realize the actions of shoveling and planting seedlings; Digging pits: Digging suitable pits in the field to prepare for planting tobacco seedlings; Duckbill: It catches the tobacco seedlings delivered by the seedling conveying mechanism and vertically implants them into the soil hole; Corner box output chain: connects the vertical output shaft of the corner box to the input sprocket of the planter, transmitting power; Chain tension wheel: Adjusts the tension of the chain at the input end of the seedling conveying mechanism to ensure smooth transmission; Tensioner wheel fixing shaft: Fixes the chain tensioner wheel; Duckbill detection sensor: detects the position of the duckbill to ensure that the duckbill is in a high position when the machine stops, thus avoiding damage to the mechanism; Sensor mounting plate: Used to secure the duckbill detection sensor; Planter adjustment rod: Adjust the installation angle of the planter to adjust the spacing between transplanting plants.

[0021] (vi) Tray delivery mechanism system Seedling tray conveyor: The basic support structure for the tray delivery mechanism; Bearing seat mounting plate: Fixes the seedling tray conveyor frame to the seedling feeding mechanism mounting frame; Fixed crossbeam: Horizontally fixed to the upper part of the seedling tray conveyor frame, providing an installation base for the diamond bearing seat; Rhomboid bearing housing: supports the rotating shaft of the feed tray, ensuring its smooth rotation; Fixed U-bolts: Secure the diamond bearing housing to the fixed crossbeam, making installation convenient and secure; The tray feeding rotating shaft transmits the power of the tray feeding motor and drives the tray feeding drive sprocket to rotate; Feeding tray motor: The power source for the feeding tray mechanism, driving the seedling trays to feed intermittently; The first sprocket and the second sprocket of the disc feeding drive form a reduction transmission mechanism that converts the high-speed rotation of the disc feeding motor into the low-speed motion of the disc feeding chain. The tray feeding chain drives the seedling trays forward intermittently, achieving automatic seedling delivery.

[0022] (vii) Auxiliary systems Seedling tray rack: Stores spare seedling trays, and can store multiple seedling trays at the same time, reducing the frequency of operators replenishing seedling trays; Seedling delivery mechanism: It transports the tobacco seedlings dropped by the seedling receiving and dispensing mechanism to the planting mechanism above it. It adopts a rotating structure and the delivery is stable. Seedling cup: It holds the tobacco seedlings and rotates together with the seedling conveying mechanism; Watering mechanism: Automatically injects a fixed amount of water to settle the roots after the tobacco seedlings are planted, improving the survival rate of the tobacco seedlings; Water tank: Stores water for root establishment; Standing pedal: for operators to stand on while operating, the surface has no anti-slip texture, and there are handrails for personnel to hold on to; Tray: Used to hold spare seedling trays and tools for easy access by operators.

[0023] In summary, the present invention has the following significant beneficial effects: (1) Strong terrain adaptability: The electric tracked chassis is equipped with a scissor lift and a tracked chassis height adjustment structure to achieve three-level adjustment of the machine's walking and working height. It can flexibly adapt to complex tobacco area terrains such as hilly mountains and uneven ridges, avoid problems such as slope slippage and inconvenient turning, and ensure transplanting verticality and qualification rate.

[0024] (2) Precise operation and low seedling damage: The most core improvement of this invention is that it adopts a sliding rail seedling picking and placing mechanism to replace the traditional rotary seedling picking and placing structure. The seedling clamp is driven by a rodless cylinder to make linear reciprocating motion. With the help of a tension spring buffer structure, the technical problem of large inertia and easy damage to seedlings by the rotary mechanism is fundamentally solved. The double displacement cylinder and three limit plates precisely control the action of the seedling clamp, avoiding the breaking of tobacco seedling stems and substrate, greatly reducing the seedling damage rate and improving the survival rate of tobacco seedlings.

[0025] (3) Full-process automation and time synchronization: It integrates five core functions: automatic seedling picking, seedling delivery, pond preparation, planting, and water injection. It adopts a power synchronization scheme of single planting motor + corner box to replace the traditional multi-motor separate drive method. It ensures that the timing of the three actions of pond preparation, seedling receiving, and seedling planting is accurately matched, avoiding problems such as seedling leakage and improper planting caused by the asynchronous timing of multiple motors. No manual intervention is required in the planting process, which greatly reduces labor intensity and improves work efficiency.

[0026] (4) Green, energy-saving and easy to maintain: The pure electric drive system replaces the traditional fuel and hydraulic drive, which has low energy consumption, low noise and no environmental pollution. It also has a simple structure and is easy to maintain, reducing the cost of use in the later stage.

[0027] (5) High versatility: The equipment can flexibly adjust the operating parameters according to the size of the tobacco seedlings, adapt to the agronomic requirements of different tobacco areas, and has outstanding practicality. Attached Figure Description

[0028] Figure 1 This is a three-dimensional axial view of the electric fully automatic tracked tobacco transplanter of the present invention; Figure 2 This is an axial view of the planting mechanism, seedling receiving and dispensing mechanism, and tray delivery mechanism assembly of the present invention; Figure 3 This is a side view of the planting mechanism, seedling receiving and dispensing mechanism, and tray delivery mechanism assembly of the present invention; Figure 4 This is a top view of the transmission mechanism of the planting mechanism of the present invention; Figure 5 This is an axial view of the seedling feeding mechanism of the present invention; Figure 6 This is a top view of the slide rail type seedling picking and throwing mechanism of the present invention; Figure 7 This is an axial view of the main mounting frame of the seedling feeding mechanism of the present invention; Figure 8 This is an axial view of the seedling-pulling cylinder seat of the present invention; Figure 9 This is a flowchart of the transplanting operation control process of the present invention.

[0029] The component names corresponding to each number in the diagram are as follows: 1-1. Storage battery, 1-2. Electrical control box, 1-3. Work indicator light, 1-4. Seedling picking and placing mechanism, 1-5. Seedling conveying mechanism, 1-6. Seedling tray rack, 1-7. Tray delivery mechanism, 1-8. Tray, 1-9. Air compressor, 1-10. Water tank, 1-11. Standing platform, 1-12. Watering mechanism, 1-13. Track tensioning mechanism, 1-14. Scissor lifting frame, 1-15. Track, 1-16. Track drive wheel, 1-17. Height adjustment mechanism, 1-18. Planting mechanism; 2-1. Seedling tray; 2-3. Seedling feeding mechanism mounting frame; 2-4. Diamond-shaped bearing seat; 2-5. Planting motor; 2-6. Planting motor reducer; 2-7. Angle box; 2-8. Planter; 2-9. Seedling cup; 2-10. Pond shovel; 2-11. Tray delivery motor; 2-12. Tray delivery chain; 2-13. Bearing seat mounting plate; 2-14. Seedling tray conveyor frame. 3-1. Fixed crossbeam; 3-2. Feeding tray rotating shaft; 3-5. Fixed U-bolt; 3-6. Duckbill; 3-7. Input chain of seedling conveying mechanism; 3-8. Output chain of corner box; 3-9. Chain tension wheel; 3-10. Horizontal output shaft of corner box; 3-11. Coupling; 3-12. Planting mechanism mounting frame; 4-1. Second sprocket, 4-2. Tensioner fixed shaft, 4-3. First sprocket, 4-4. Gear mounting bearing, 4-5. Planter fixing plate, 4-6. Planter adjusting rod, 4-7. Duckbill detection sensor, 4-8. Sensor mounting plate; 5-1. Install side plate; 5-2. Remove seedling cover; 5-3. Rodless cylinder; 5-4. Seedling pulling cylinder seat; 5-5. Tension spring; 5-6. Box-type linear bearing; 5-7. Optical axis; 5-8. Hexagonal head bolt for cover; 5-9. Optical axis retaining ring; 5-10. Mounting hole; 5-11. Rail mounting bolt; 5-12. Seedling clip slide rail; 5-13. Positioning cylinder; 5-14. Seedling clip limiting piece; 5-15. Seedling clip; 5-16. Step bolt; 5-17. Embedded bearing. 5-18. Rail side plate, 5-19. Hex nut, 5-20. Integrated valve body, 5-21. Hex bolt M4×35, 5-22. Integrated valve body mounting plate, 5-23. Rodless cylinder rear mounting plate, 5-24. Quick coupling, 5-27. Seedling clip slide rail fixing plate, 5-28. Positioning cylinder mounting plate, 5-30. Y16 cylinder connector, 5-31. Rodless cylinder front mounting plate, 5-32. Slide rail fixing plate reinforcing rib, 5-33. Seedling pulling cylinder seat reinforcing rib; 5-3-1. Rodless cylinder mounting screw; 5-3-2. Magnetic ring switch; 5-3-3. Magnetic ring switch mounting plate; 5-3-4. Rodless cylinder body; 5-3-5. Seedling clip limiting plate fixing screw; 5-3-6. T-shaped bushing; 5-3-7. Y-shaped cylinder fisheye connector; 5-3-8. Seedling clip box; 5-3-9. Seedling clip slider fixing screw; 5-3-10. Seedling clip sliding track; 5-3-11. Front displacement cylinder; 5-3-12. Seedling clip quick connector; 5-3-13. Rear displacement cylinder; 5-3-14. Middle seedling clip limiting plate; 5-3-15. Double-hole seedling clip limiting plate; 5-3-16. Both sides of the seedling clip limiting plate; 5-3-17. Step bolt; 17. First sprocket for disc feeding drive; 34. Second sprocket for disc feeding drive. Detailed Implementation

[0030] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] like Figure 1As shown, the electric fully automatic tracked tobacco transplanter of the present invention mainly includes a battery 1-1, an electrical control box 1-2, a work indicator light 1-3, a seedling picking and placing mechanism 1-4, a seedling conveying mechanism 1-5, a seedling tray rack 1-6, a tray delivery mechanism 1-7, a tray 1-8, an air compressor 1-9, a water tank 1-10, a standing pedal 1-11, a water injection mechanism 1-12, a track tensioning mechanism 1-13, a scissor lifting frame 1-14, a track 1-15, track drive wheels 1-16, a track chassis height adjustment point 1-17, and a planting mechanism 1-18. The battery 1-1 provides power to all electric components of the machine, and the air compressor 1-9 provides compressed air to pneumatic components such as the seedling picking and placing mechanism 1-4. The track tensioning mechanism 1-13 is used to adjust the tension of the track 1-15 to ensure walking stability; the scissor lifting frame 1-14 cooperates with the track chassis height adjustment point 1-17 to achieve a wide range of adjustment of the overall machine working height to adapt to different ridge heights and terrains. The standing footboard 1-11 is for the operator to stand and operate, the tray 1-8 is used to place spare seedling trays and tools, and the water tank 1-10 stores the root-setting water and irrigates the tobacco seedlings through the water injection mechanism 1-12.

[0032] like Figure 2 and Figure 3 As shown, the core working mechanism includes a planting mechanism 1-18, a seedling feeding mechanism 1-4, and a tray delivery mechanism 1-7. The planting motor 2-5, after being reduced in speed by the planting motor reducer 2-6, is transmitted to the corner box 2-7 via the coupling 3-11. The corner box 2-7 is a power splitting component, outputting two mutually perpendicular forces: one force is transmitted to the planter 2-8 via the output chain 3-8 of the corner box, driving the planting shovel 2-10 and the duckbill 3-6 to reciprocate; the other force is transmitted to the seedling delivery mechanism 1-5 via the horizontal output shaft 3-10 of the corner box, the first sprocket 4-3, the second sprocket 4-1, and the input chain 3-7 of the seedling delivery mechanism, driving the seedling cup 2-9 to rotate and deliver tobacco seedlings. The tray feeding motor 2-11 drives the seedling tray conveying frame 2-14 to move through the tray feeding chain 2-12, the tray feeding rotating shaft 3-2, the tray feeding transmission first sprocket (17) and the tray feeding transmission second sprocket (34), thereby realizing the intermittent feeding of the seedling tray 2-1. The feeding distance can be adjusted by the speed of the tray feeding motor 2-11 to achieve the optimal seedling picking position.

[0033] like Figure 4As shown, in the transmission system of the planting mechanism 1-18, the first sprocket 4-3 is fixed to the transverse output shaft 3-10 of the corner box via a flat key, and serves as the driving wheel, connected to the second sprocket 4-1 via the input chain 3-7 of the seedling conveying mechanism. The second sprocket 4-1 is rotatably connected to the driven shaft on the planting device fixing plate 4-5 via a gear-mounted bearing 4-4. This driven shaft is coaxially fixed to the input shaft of the seedling conveying mechanism 1-5, thereby transmitting the power of the corner box 2-7 to the seedling conveying mechanism 1-5. The chain tension wheel 3-9 is fixed to the planting device fixing plate 4-5 via a tension wheel fixing shaft 4-2, and abuts against the input chain 3-7 of the seedling conveying mechanism, used to adjust the chain tension and ensure smooth transmission.

[0034] like Figures 5 to 8 As shown, the seedling feeding mechanism 1-4 is a sliding rail structure and is the core innovative component of this invention. The seedling feeding cover 5-2 is fixed to the mounting side plate 5-1 by hexagonal head bolts 5-8 to protect the internal mechanism. The seedling feeding mechanism mounting frame 2-3 includes two mounting side plates 5-1 arranged vertically spaced and parallel to each other. A rodless cylinder front mounting plate 5-31 is provided between the front sides of the two mounting side plates 5-1, and a rodless cylinder rear mounting plate 5-23 is provided between the rear sides. The front and rear ends of the rodless cylinder 5-3 are fixedly connected to the rodless cylinder front mounting plate 5-31 and the rodless cylinder rear mounting plate 5-23, respectively.

[0035] Two optical axes 5-7 are set parallel to the rodless cylinder 5-3. One optical axis 5-7 is fixed to the left mounting side plate 5-1 at both ends by an embedded bearing seat 5-17, and the other optical axis 5-7 is fixed to the right mounting side plate 5-1 at both ends by another embedded bearing seat 5-17. Two box-type linear bearings 5-6 are respectively sleeved on the two optical axes 5-7. The left and right ends of the seedling pulling cylinder seat 5-4 are fixedly connected to the left and right box-type linear bearings 5-6 respectively. The seedling clip slide rail fixing plate 5-27 is fixed to the front of the seedling pulling cylinder seat 5-4, and the seedling clip slide rail 5-12 is fixed to the seedling clip slide rail fixing plate 5-27. The bottom of the slider of the rodless cylinder 5-3 is fixedly connected to the top of the seedling pulling cylinder seat 5-4, driving the seedling pulling cylinder seat 5-4 to move back and forth along the two optical axes 5-7 between the rear seedling picking position and the front seedling placing position.

[0036] Two optical axis fixing rings 5-9 are fixed on each optical axis 5-7. The rear optical axis fixing ring limits the range of movement of the seedling-pulling cylinder seat 5-4 in the seedling-picking position, and the front optical axis fixing ring limits the range of movement of the seedling-pulling cylinder seat 5-4 in the seedling-throwing position. A tension spring 5-5 connects the rear part of the seedling-pulling cylinder seat 5-4 to the rodless cylinder rear mounting plate 5-23, providing a buffering force when switching between the seedling-picking and seedling-throwing positions, eliminating the possibility of the mechanism jamming, and reducing the inertia of movement.

[0037] The upper part of the seedling-pulling cylinder seat 5-4 is fixed with a front displacement cylinder 5-3-11 and a rear displacement cylinder 5-3-13 side by side via a displacement cylinder mounting plate 5-28. The piston rod of the front displacement cylinder 5-3-11 extends forward and is hinged to the rear of the left seedling clip box 5-3-8 via a Y16 cylinder connector 5-30; the piston rod of the rear displacement cylinder 5-3-13 extends backward and is hinged to the front of the right seedling clip box 5-3-8 via a Y-shaped cylinder fisheye connector 5-3-7. A seedling clip sliding track 5-3-10 is fixed to the lower part of both the left and right seedling clip boxes. Four sliders are slidably connected to each seedling clip sliding track, and each slider is fixed with a seedling clip 5-15 via a seedling clip slider fixing screw 5-3-9, for a total of 8 seedling clips arranged at equal intervals along the left and right directions.

[0038] Each seedling clip 5-15 has a seedling clip limiting plate 5-14 fixed to its upper part. The upper parts of the left and right seedling clip boxes are fixed with the middle seedling clip limiting plate 5-3-14, the double-hole seedling clip limiting plate 5-3-15, and the two side seedling clip limiting plates 5-3-16 in sequence from the inside to the outside by the seedling clip limiting plate fixing screws 5-3-5. When the piston rod of the displacement cylinder extends, it drives the left and right seedling clip boxes to move towards each other, causing the 8 seedling clips to converge inward along the seedling clip sliding track. The seedling clip limiting plates 5-14 respectively engage in the limiting holes of the corresponding limiting plates, so that the spacing of the 8 seedling clips is consistent with the spacing of the seedling trays. When the piston rod of the displacement cylinder retracts, it drives the left and right seedling clip boxes to move away from each other, causing the 8 seedling clips to disperse outward along the seedling clip sliding track. The seedling clip limiting plates 5-14 respectively engage in another set of limiting holes of the corresponding limiting plates, so that the spacing of the 8 seedling clips is consistent with the spacing of the seedling cups 2-9 of the seedling conveying mechanism.

[0039] The seedling picking and placing mechanism 1-4 is also equipped with an integrated valve body 5-20, which is fixed to the outside of the left mounting plate 5-1 via an integrated valve body mounting plate 5-22. The integrated valve body 5-20 is connected to the air compressor 1-9 and various pneumatic components via a quick connector 5-24, achieving centralized control, simplifying pipeline layout, and improving the stability of the air circuit system. A T-shaped bushing 5-3-6 is provided between the seedling clip slide rail and the track side plate 5-18 to reduce motion friction and ensure the linear accuracy of the seedling clip movement. At each end of the rodless cylinder body 5-3-4 of the rodless cylinder 5-3, a magnetic ring switch 5-3-2 is fixed via a magnetic ring switch mounting plate 5-3-3, which respectively detects whether the rodless cylinder has moved to the seedling picking position and the seedling placing position. Only when the magnetic ring switch is triggered will the system execute the next action, ensuring accurate operation timing.

[0040] like Figure 9 As shown, the transplanting operation control process (working process) of the present invention is as follows: After the system starts, the operator inputs operating parameters such as transplanting speed, plant spacing, and planting height through the electrical control box 1-2. After the parameters are set, the system enters the operation preparation state. First, the air compressor 1-9 starts. When the air compressor pressure reaches 6.5MPa, the seedling feeding mechanism 1-4 and the seedling conveying mechanism 1-5 begin to work. The slider of the rodless cylinder 5-3 moves backward, driving the seedling pulling cylinder seat 5-4 and the eight seedling clips 5-15 to move along the optical axis 5-7 to the rear seedling picking position; the piston rod of the front displacement cylinder 5-3-11 extends forward, and the piston rod of the rear displacement cylinder 5-3-13 extends backward, driving the left and right seedling clip boxes to move towards each other, causing the eight seedling clips to converge inward along the seedling clip sliding track. The seedling clip limiting plates engage with the limiting holes of the corresponding limiting plates, making the spacing between the seedling clips consistent with the spacing between the tobacco seedling trays.

[0041] After the control system detects that the magnetic ring switch and the inner sensor at the rear seedling position are both triggered, it waits for the seedling cup proximity switch to be triggered. When the seedling cup proximity switch detects that the seedling cup 2-9 is in place, the feeding tray motor 2-11 starts, drives the feeding tray rotating shaft 3-2 to rotate in the diamond bearing seat 2-4, drives the first sprocket (17) of the feeding tray transmission to rotate, and drives the feeding tray chain 2-12 to move after being decelerated by the second sprocket (34) of the feeding tray transmission, which drives the seedling tray 2-1 to move forward by one hole distance, and sends the tobacco seedling directly below the seedling clip 5-15; then the integrated valve body controls the 8 seedling clips to close simultaneously, gently picking up the tobacco seedling pot.

[0042] After the seedling is picked up, the slider of the rodless cylinder 5-3 moves forward, while the piston rods of the two displacement cylinders remain extended, driving the seedling clamp 5-15 to move forward to the seedling placement position. At the same time, the planting motor 2-5 starts, and after being reduced in speed by the planting motor reducer 2-6, it drives the corner box 2-7 to rotate through the coupling 3-11. The corner box 2-7 outputs two power paths: one path drives the planter 2-8 to move through the output chain 3-8 of the corner box, and the other path drives the first sprocket 4-3 to rotate through the horizontal output shaft 3-10 of the corner box. After being transmitted through the input chain 3-7 and the second sprocket 4-1 of the seedling conveying mechanism, it drives the seedling cup 2-9 of the seedling conveying mechanism 1-5 to rotate.

[0043] When the slider of the rodless cylinder 5-3 reaches the front seedling placement position, the piston rod of the front displacement cylinder 5-3-11 retracts backward, and the piston rod of the rear displacement cylinder 5-3-13 retracts forward, driving the left and right seedling clip boxes to move in opposite directions respectively. This causes the 8 seedling clips to disperse outward along the seedling clip sliding track. The seedling clip limiting plates are engaged in another set of limiting holes on the corresponding limiting plates, making the spacing between the seedling clips consistent with the spacing between the seedling cups. After the control system detects that the front seedling placement position magnetic ring switch and the outer sensor are both triggered, the integrated valve body controls the 8 seedling clips to open simultaneously, and the tobacco seedlings accurately fall into the seedling cups 2-9 below.

[0044] The seedling conveying mechanism 1-5 drives the seedling cup 2-9 to continue rotating, conveying the tobacco seedlings above the planting mechanism 1-18. The planter 2-8 drives the shovel 2-10 to its lowest point, creating suitable holes in the field. When the shovel 2-10 moves upward to its highest point, the beak 3-6 reaches its highest point, catching the tobacco seedlings conveyed by the seedling cup 2-9. Then, the beak 3-6 moves downward to its lowest point, vertically planting the tobacco seedlings into the holes, completing the planting operation. The watering mechanism 1-12 detects that the tobacco seedlings have been planted and automatically injects a fixed amount of water into the holes. Thus, one complete transplanting operation is completed. The system automatically repeats the above process, achieving continuous automatic transplanting.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An electric fully automatic tracked tobacco transplanter, characterized in that, It includes an electric tracked chassis, a seedling picking and placing mechanism (1-4), a seedling conveying mechanism (1-5), a seedling tray rack (1-6), a tray delivery mechanism (1-7), a planting mechanism (1-18), a water injection mechanism (1-12), a power system, and a control system; The electric tracked chassis is equipped with a working platform. The working platform is arranged from back to front with a seedling tray frame (1-6), a seedling picking and placing mechanism (1-4), and a planting mechanism (1-18). The tray delivery mechanism (1-7) is installed below the seedling tray frame (1-6); the seedling conveying mechanism (1-5) is installed below the seedling picking and placing mechanism (1-4); and the water injection mechanism (1-12) is fixed to the side of the planting mechanism (1-18). The electric tracked chassis includes a tracked walking device and a height adjustment device, which are used to realize the adjustment of the overall machine's walking and working height; The power system includes a battery (1-1) and an air compressor (1-9). The battery (1-1) is located on the left rear of the work platform and provides power to the whole machine. The air compressor (1-9) is located at the front of the work platform and provides air to the pneumatic components. The control system includes an electrical control box (1-2) and multiple sensors. The electrical control box (1-2) is fixed to the right rear of the work platform and is used to control the coordinated operation of various mechanisms. The seedling picking and placing mechanism (1-4) is a slide rail structure, including a mounting frame, a linear drive device, a slide rail assembly, a displacement drive device, and multiple seedling clips (5-15); the mounting frame is fixed in the middle of the working platform; the linear drive device is fixed on the mounting frame and drives the slide rail assembly to move back and forth between the rear seedling picking position and the front seedling placing position in the front direction; the displacement drive device is fixed on the slide rail assembly and drives the multiple seedling clips (5-15) to gather and disperse in the lateral (left and right direction); The planting mechanism (1-18) includes a power unit, a power distribution device, a planter (2-8), and an operation execution component; the power unit is fixed at the front of the working platform; the input shaft of the power distribution device is connected to the output shaft of the power unit, and the power distribution device outputs two power supplies to the planter (2-8) and the seedling conveying mechanism (1-5) respectively; the operation execution component is fixed at the output end of the planter (2-8) to realize the sequential coordinated operation of pond preparation, seedling reception, and seedling planting.

2. The fully automatic electric tracked tobacco transplanter according to claim 1, characterized in that, The tracked walking device of the electric tracked chassis includes a chassis frame, tracks (1-15), track drive wheels (1-16), and track tensioning mechanism (1-13); the track drive wheels (1-16) are rotatably connected to the left and right sides of the chassis frame, and the tracks (1-15) are mounted around the outside of the track drive wheels (1-16); the track tensioning mechanism (1-13) is fixed to the chassis frame and abuts against the tensioned tracks (1-15). The height adjustment device includes a scissor lift frame (1-14) and a height adjustment mechanism (1-17); the lower end of the scissor lift frame (1-14) is fixed to the upper part of the chassis frame, and the upper end is fixedly connected to the working platform; the height adjustment mechanism (1-17) is set on the scissor lift frame (1-14) and is used to realize multi-level adjustment of the working height; A standing footboard (1-11) is fixed to the outer side of the last end of the working platform, a tray (1-8) is fixed to the side of the seedling tray rack (1-6), and a water tank (1-10) is fixed to the right side of the working platform; the water tank (1-10) is connected to the water injection mechanism (1-12) through a water pipe; a work indicator light (1-3) is installed on the right side of the electrical control box (1-2).

3. The fully automatic electric tracked tobacco transplanter according to claim 1, characterized in that, The mounting frame of the seedling picking and placing mechanism (1-4) is the seedling picking and placing mechanism mounting frame (2-3), and the linear drive device is a rodless cylinder (5-3). The seedling picking and placing mechanism mounting frame (2-3) includes two mounting side plates (5-1) that are vertically spaced and parallel to each other. A rodless cylinder front mounting plate (5-31) is provided between the front sides of the two mounting side plates (5-1), and a rodless cylinder rear mounting plate (5-23) is provided between the rear sides of the two mounting side plates (5-1). The front and rear ends of the rodless cylinder (5-3) are fixedly connected to the rodless cylinder front mounting plate (5-31) and the rodless cylinder rear mounting plate (5-23) respectively. The slide rail assembly includes a seedling-pulling cylinder seat (5-4), two optical shafts (5-7), two box-type linear bearings (5-6), a seedling clip slide rail fixing plate (5-27), and a seedling clip slide rail (5-12). The two optical shafts (5-7) are arranged parallel to the rodless cylinder (5-3). One optical shaft (5-7) is fixed at both ends to the left mounting side plate (5-1) via an embedded bearing seat (5-17), and the other optical shaft (5-7) is fixed at both ends to the right mounting side plate (5-1) via another embedded bearing seat (5-17). The two box-type linear shafts... The bearings (5-6) are respectively mounted on the two optical shafts (5-7). The left and right ends of the seedling pulling cylinder seat (5-4) are fixedly connected to the two box-type linear bearings (5-6) on the left and right sides respectively. The seedling clip slide rail fixing plate (5-27) is fixed to the front of the seedling pulling cylinder seat (5-4), and the seedling clip slide rail (5-12) is fixed to the seedling clip slide rail fixing plate (5-27). The bottom of the slider of the rodless cylinder (5-3) is fixedly connected to the top of the seedling pulling cylinder seat (5-4), driving the seedling pulling cylinder seat (5-4) to move back and forth between the rear seedling picking position and the front seedling throwing position along the two optical shafts (5-7). The seedling feeding mechanism (1-4) is provided with a seedling feeding cover (5-2) on the outside, which is fixed to the mounting side plate (5-1) by hexagonal head bolts (5-8).

4. The fully automatic electric tracked tobacco transplanter according to claim 3, characterized in that, Two optical axis fixing rings (5-9) are fixed on each optical axis (5-7). The rear optical axis fixing ring (5-9) restricts the movement range of the seedling pulling cylinder seat (5-4) at the seedling picking position, and the front optical axis fixing ring (5-9) restricts the movement range of the seedling pulling cylinder seat (5-4) at the seedling throwing position. A tension spring (5-5) is connected between the seedling-pulling cylinder seat (5-4) and the rodless cylinder rear mounting plate (5-23) to buffer the motion inertia and eliminate the mechanism jamming point; The rodless cylinder (5-3) has a magnetic ring switch (5-3-2) fixed at both ends of the rodless cylinder body (5-3-4) via a magnetic ring switch mounting plate (5-3-3). The magnetic ring switch (5-3-2) at the rear end is used to detect the seedling picking position, and the magnetic ring switch (5-3-2) at the front end is used to detect the seedling placement position. The seedling feeding mechanism (1-4) also includes an integrated valve body (5-20), which is fixed to the outside of the left side mounting plate (5-1) via an integrated valve body mounting plate (5-22); the integrated valve body (5-20) is connected to the air compressor (1-9) and various pneumatic components via a quick connector (5-24) for centralized control of the air circuit opening and closing of the seedling feeding mechanism; A T-shaped bushing (5-3-6) is embedded between the seedling clip slide rail (5-12) and the track side plate (5-18). The track side plate (5-18) is fixed to the inside of the mounting side plate (5-1) by the track mounting bolts (5-11).

5. The fully automatic electric tracked tobacco transplanter according to claim 3, characterized in that, The displacement drive device includes a front displacement cylinder (5-3-11) and a rear displacement cylinder (5-3-13), both of which are fixed to the seedling pulling cylinder seat (5-4) by a displacement cylinder mounting plate (5-28); There are eight seedling clips (5-15). The piston rod of the front displacement cylinder (5-3-11) is fixedly connected to the left seedling clip box (5-3-8) through the Y-shaped cylinder fisheye connector (5-3-7). The piston rod of the rear displacement cylinder (5-3-13) is fixedly connected to the right seedling clip box (5-3-8) through the Y16 cylinder connector (5-30), which drives the four seedling clips (5-15) on the left and the four seedling clips (5-15) on the right respectively. Each seedling clip (5-15) is fixed to the slider of the seedling clip sliding track (5-3-10) by the seedling clip slider fixing screw (5-3-9), and the seedling clip sliding track (5-3-10) is fixed to the seedling clip box (5-3-8); the seedling clip (5-15) is equipped with a seedling clip limiting piece (5-14), which works with the seedling clip limiting plate to control the movement position of the seedling clip; The seedling clip box (5-3-8) is fixed with a middle seedling clip limiting plate (5-3-14), a double-hole seedling clip limiting plate (5-3-15), and two side seedling clip limiting plates (5-3-16) in sequence by seedling clip limiting plate fixing screws (5-3-5). The three limiting plates work together to precisely control the gathering and dispersing positions of the eight seedling clips (5-15). The seedling clip (5-15) is equipped with a quick-connect plug (5-3-12), which is connected to the integrated valve body (5-20) via an air tube.

6. The fully automatic electric tracked tobacco transplanter according to claim 1, characterized in that, The power unit of the planting mechanism (1-18) includes a planting motor (2-5) and a planting motor reducer (2-6); the planting motor (2-5) is fixed on the upper part of the planting mechanism mounting frame (3-12), and the output shaft is connected to the input shaft of the planting motor reducer (2-6) for transmission. The power splitting device is a corner box (2-7), which is fixed on the planting device fixing plate (4-5). The input shaft of the corner box (2-7) is fixedly connected to the output shaft of the planting motor reducer (2-6) through a coupling (3-11), and outputs two mutually perpendicular power. One power is transmitted to the planting device (2-8), and the other power is transmitted to the seedling conveying mechanism (1-5). The operation execution components include a duckbill (3-6) and a pond shovel (2-10), both of which are fixed to the output end of the planter (2-8).

7. The fully automatic electric tracked tobacco transplanter according to claim 6, characterized in that, The first output shaft of the corner box (2-7) is vertically downward and is connected to the input sprocket of the planter (2-8) via the chain (3-8) at the output end of the corner box. The second output shaft of the corner box (2-7) is horizontally arranged, namely the corner box horizontal output shaft (3-10), on which the first sprocket (4-3) is fixed by a flat key; the first sprocket (4-3) is connected to the second sprocket (4-1) through the chain (3-7) at the input end of the seedling conveying mechanism; the second sprocket (4-1) is rotatably connected to the driven shaft on the planter fixing plate (4-5) through the gear-mounted bearing (4-4), and the driven shaft is coaxially fixedly connected to the input shaft of the seedling conveying mechanism (1-5); The chain tension wheel (3-9) is fixed to the planter fixing plate (4-5) via the tension wheel fixing shaft (4-2), and is tensioned and abutted against the chain (3-7) at the input end of the seedling conveying mechanism.

8. The fully automatic electric tracked tobacco transplanter according to claim 6, characterized in that, The planting mechanism (1-18) also includes a duckbill detection sensor (4-7) and a planter adjustment rod (4-6). The duckbill detection sensor (4-7) is fixed to the side of the planter fixing plate (4-5) via the sensor mounting plate (4-8) and is used to detect the position of the duckbill (3-6) to ensure that the duckbill is in a high position when the machine is stopped. One end of the planter adjustment rod (4-6) is hinged to the planter fixing plate (4-5), and the other end is hinged to the shell of the planter (2-8) to adjust the transplanting spacing.

9. The fully automatic electric tracked tobacco transplanter according to claim 1, characterized in that, The tray feeding mechanism (1-7) includes a tray feeding motor (2-11), a tray feeding chain (2-12), a tray feeding rotating shaft (3-2), a tray feeding drive first sprocket (17), and a tray feeding drive second sprocket (34). The fixed crossbeam (3-1) is horizontally fixed to the upper part of the seedling tray conveying frame (2-14); the rhomboid bearing seat (2-4) is fastened to the fixed crossbeam (3-1) by the fixed U-bolt (3-5); the two ends of the tray conveying rotating shaft (3-2) are respectively rotatably connected to the left and right rhomboid bearing seats (2-4); The tray feeding motor (2-11) is fixed to the side of the seedling tray conveying frame (2-14), and its output shaft is connected to the tray feeding rotating shaft (3-2) for transmission. The first sprocket (17) of the tray feeding drive is fixed on the tray feeding rotating shaft (3-2) and is connected to the second sprocket (34) of the tray feeding drive through a chain. The second sprocket (34) of the tray feeding drive is coaxially fixedly connected to the tray feeding chain (2-12). The seedling tray conveyor (2-14) is fixed to the seedling feeding mechanism mounting frame (2-3) via the bearing seat mounting plate (2-13) and the diamond bearing seat (2-4); the tray feeding motor (2-11) drives the tray feeding chain (2-12) to move the seedling tray (2-1) forward intermittently.

10. A fully automated electric tracked tobacco transplanting method, characterized in that, The transplanter according to any one of claims 1-9 comprises the following steps: S1: The system starts up. The operator inputs the transplanting speed, plant spacing and planting height parameters through the electrical control box (1-2), and the system enters the work preparation state. S2: The air compressor (1-9) starts. When the air compressor pressure reaches 6.5MPa, the seedling feeding mechanism (1-4) and the seedling conveying mechanism (1-5) enter the standby state. S3: The slider of the rodless cylinder (5-3) moves backward, driving the seedling pulling cylinder seat (5-4) and 8 seedling clips (5-15) to move along the optical axis (5-7) to the rear seedling picking position; the piston rods of the front displacement cylinder (5-3-11) and the rear displacement cylinder (5-3-13) retract simultaneously, driving the left and right seedling clip boxes to move inward respectively, driving the 8 seedling clips to gather inward along the seedling clip sliding track, and the seedling clip limiting piece is inserted into the limiting hole of the corresponding limiting plate, so that the spacing between the seedling clips is consistent with the spacing between the tobacco seedling trays; S4: The control system detects whether the magnetic ring switch and the inner sensor at the rear seedling position are both triggered. If both are triggered, it continues to detect whether the seedling cup proximity switch is triggered. S5: When the seedling cup proximity switch detects that the seedling cup (2-9) is in place, the feeding tray motor (2-11) starts, driving the feeding tray rotating shaft (3-2) to rotate in the diamond bearing seat (2-4), driving the feeding tray transmission first sprocket (17) to rotate, and after being decelerated by the feeding tray transmission second sprocket (34), it drives the feeding tray chain (2-12) to move, driving the seedling tray (2-1) forward to give a hole spacing; then the integrated valve body controls the 8 seedling clamps to close simultaneously, clamping the tobacco seedling pot; S6: The slider of the rodless cylinder (5-3) moves forward, while the piston rods of the two displacement cylinders remain extended, driving the seedling clip (5-15) to move forward to the seedling placement position; at the same time, the continuously running planting motor (2-5) is reduced in speed by the planting motor reducer (2-6) and then drives the corner box (2-7) to rotate through the coupling (3-11); the corner box (2-7) outputs two power paths: one path drives the planter (2-8) to move through the chain (3-8) at the output end of the corner box, and the other path drives the first sprocket (4-3) to rotate through the horizontal output shaft (3-10) of the corner box, and then drives the seedling cup (2-9) of the seedling conveying mechanism (1-5) to rotate through the chain (3-7) at the input end of the seedling conveying mechanism and the second sprocket (4-1); S7: When the slider of the rodless cylinder (5-3) reaches the front seedling placement position, the piston rod of the front displacement cylinder (5-3-11) extends, and the piston rod of the rear displacement cylinder (5-3-13) extends, respectively driving the left and right seedling clip boxes to move outward, causing the 8 seedling clips to disperse outward along the seedling clip sliding track. The seedling clip limiting plates are engaged in another set of limiting holes of the corresponding limiting plates, so that the spacing between the seedling clips is consistent with the spacing between the seedling cups; the control system detects whether the front seedling placement position magnetic ring switch and the outer sensor are both triggered; S8: If all sensors are triggered, the integrated valve body controls the 8 seedling clips to open simultaneously, and the tobacco seedlings fall accurately into the seedling cups (2-9) below; the seedling conveying mechanism (1-5) drives the seedling cups (2-9) to continue rotating, conveying the tobacco seedlings to the front planting mechanism (1-18) above; S9: The planter (2-8) drives the shovel (2-10) to move to the lowest point first, making a hole in the field; when the shovel (2-10) moves upward to the highest point, the duckbill (3-6) moves to the highest point just in time to catch the tobacco seedlings delivered by the seedling cup (2-9); then the duckbill (3-6) moves downward to the lowest point, vertically planting the tobacco seedlings into the hole; S10: After the water injection mechanism (1-12) detects that the tobacco seedlings have been planted, it automatically injects a fixed amount of water into the soil hole to settle the roots; after completing one transplanting operation, the system cycles through steps S3 to S10 to achieve continuous automatic transplanting.

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