A seedling planter

Abstract

The application discloses a seedling planter, which comprises a rack, a seedling conveying module and a planting module arranged on the rack, wherein the planting module comprises a rotating arm mechanism which is circumferentially rotatable and is installed on the rack, a planter which is provided with a planting cylinder and a duckbill arranged at the lower end of the planting cylinder, and an opening and closing mechanism which is used for driving the opening and closing of the duckbill; the rotating arm mechanism is used for driving the planter to move in a vertical plane; the opening and closing mechanism is provided with a connecting rod structure which is hinged to the planter and a protruding block which is opposite to the connecting rod structure and is abutted and matched; when the connecting rod structure is abutted to the protruding block, the connecting rod structure is actuated to drive the duckbill to open. The rotating arm mechanism is circumferentially rotatable, the planter is driven to move in a vertical plane, deep and vertical planting of seedlings is realized, and the soil has good heat preservation effect; the connecting rod structure is abutted to the protruding block to drive the duckbill to open, the structure is simple and firm, the timing of seedling planting and seedling throwing is accurate, and the planting quality is stable.

Description

Technical Field

[0001] This invention belongs to the technical field of seedling planting machines, and specifically relates to a seedling planting machine. Background Technology

[0002] my country has a large proportion of hilly and mountainous arable land, resulting in a strong demand for seedling transplanting of cash crops such as vegetables, tobacco, and melons. Seedling transplanting typically involves steps such as digging holes in the soil, placing the seedlings, and covering them with soil.

[0003] Existing traditional seedling planting modules still have significant shortcomings in practical use. Firstly, the upward lifting stroke of existing planting modules is relatively small, making them only suitable for flat plains. However, in hilly and mountainous areas with large elevation differences, uneven surfaces, and many rocks, the limited lifting stroke cannot adapt to the complex terrain variations, easily leading to problems such as difficulty in successfully planting into the soil and unstable planting depth. This results in poor terrain adaptability and makes it difficult to promote and apply them in hilly and mountainous areas.

[0004] Secondly, the traditional duckbill opening and closing mechanism of planting modules mostly uses a manual rope-driven method. During operation, the operator needs to hold the planting module to press it into the soil while manually pulling the rope to open and close the duckbill to release the seedling. This is cumbersome and labor-intensive. The tension and opening range of the manually pulled rope cannot be standardized and controlled, which can easily lead to problems such as the duckbill not opening properly, causing the seedling to fall off, or opening too wide, causing the seedling to tilt and become crooked. It is difficult to guarantee the uniformity of planting and the quality of operation. At the same time, the rope is prone to wear, loosening, and even breakage due to long-term repeated pulling. The failure rate of parts is high, the service life of the equipment is short, and the frequency of maintenance and replacement is high, which significantly increases the cost of field planting operations.

[0005] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Summary of the Invention

[0006] To address the aforementioned problems in the prior art, this invention proposes a seedling planting machine. It features a rotating arm mechanism that rotates circumferentially, driving the planter to operate vertically in a cyclical manner. This provides ample effective travel, enabling deep, upright planting of seedlings with excellent soil heat and moisture retention. Furthermore, the machine utilizes a connecting rod structure that abuts against a protrusion to drive the duckbill opening. The structure is simple and robust, ensuring precise seedling placement and stable planting quality.

[0007] To achieve the above-mentioned objectives, the present invention employs the following technical solution: A seedling planting machine includes: a frame, a seedling conveying module and a planting module mounted on the frame, wherein the planting module includes: A rotating arm mechanism, which is rotatably mounted on the frame; A planter having a planting tube and a duckbill located at the lower end of the planting tube; An opening and closing mechanism, which is used to drive the opening and closing of the duckbill; The rotating arm mechanism is used to drive the planter to move in a vertical plane; the opening and closing mechanism has a linkage structure hinged to the planter and a protrusion that moves relative to and abuts against the linkage structure; when the linkage structure abuts against the protrusion, the linkage structure moves to drive the duckbill to open.

[0008] In some embodiments of this application, during the movement of the planter driven by the rotating arm mechanism, the planter maintains a vertical posture; when the rotating arm mechanism drives the planter to a low position, the connecting rod structure abuts against the protrusion; after the connecting rod structure moves away from the protrusion, the connecting rod structure and the duckbill reset and close.

[0009] In some embodiments of this application, the seedling conveying module is used to convey seedlings to the planting module; when the rotating arm mechanism drives the planter to move to the high position, the upper port of the planter is located below the discharge port of the seedling conveying module.

[0010] In some embodiments of this application, the linkage structure includes a connecting plate, a pull rod, a transmission bracket, and a transmission connecting rod. The connecting plate and the transmission bracket are both hinged to the planter, and the lower end of the transmission connecting rod is hinged to the duckbill. The upper end of the pull rod is hinged to the connecting plate, and the lower end is hinged to the transmission bracket. The transmission bracket is hinged to the transmission connecting rod.

[0011] In some embodiments of this application, one end of the connecting plate is hinged to the pull rod, and the other end of the connecting plate is equipped with a rotatable abutment wheel; the connecting rod structure moves with the planter and moves relative to the protrusion, and when the abutment wheel abuts the protrusion, it drives the connecting plate to rotate, which is then driven by the pull rod, the transmission bracket, and the transmission connecting rod, thereby driving the duckbill to open.

[0012] In some embodiments of this application, two mounting plates are fixedly provided on the connecting plate, and the abutment wheel is hinged between the two mounting plates.

[0013] In some embodiments of this application, the linkage structure has a pull rod, a transmission bracket, and a transmission connecting rod. The transmission bracket is sleeved on the outside of the planting cylinder. The transmission bracket has a second hinge shaft fixed to the planting cylinder, a pull rod disposed opposite to the second hinge shaft, and two connecting plates fixed between the second hinge shaft and the pull rod. The lower end of the pull rod is hinged to the pull rod. The upper end of the transmission connecting rod is hinged to the connecting plates.

[0014] In some embodiments of this application, the duckbill has two symmetrically arranged duckbill plates, which are hinged to the planting cylinder; the transmission linkage has two symmetrically arranged linkage assemblies, which have two linkage groups spaced apart axially at the hinge of the duckbill plates, and the linkage groups have a first linkage and a second linkage hinged together, the upper end of the first linkage being hinged to the transmission bracket, and the lower end of the second linkage being hinged to the duckbill plates.

[0015] In some embodiments of this application, the protrusion is fixedly connected to the rotating arm mechanism and rotates synchronously; the protrusion is provided with an arc-shaped surface for abutting and engaging with the connecting rod structure.

[0016] In some embodiments of this application, the rotating arm mechanism has a first rotating arm and a second rotating arm that rotate synchronously, and the planter also has a first ear plate and a second ear plate that are symmetrically arranged along the planting cylinder. The first rotating arm and the first ear plate are hinged together by a first connecting shaft, and the second rotating arm and the second ear plate are hinged together by a second connecting shaft.

[0017] In some embodiments of this application, the first ear plate is fixedly fitted with a first bearing sleeved on the outside of the first connecting shaft; the second ear plate has a horizontally arranged limiting groove, and the second connecting shaft is slidably disposed in the limiting groove, so that the planter maintains a vertical state throughout the circumferential translation process.

[0018] In some embodiments of this application, the first rotating arm is rotatably mounted on the frame via a first rotating shaft, and the second rotating arm is rotatably mounted on the frame via a second rotating shaft; one of the first rotating shaft and the second rotating shaft is a drive shaft, and the rotating arm mechanism further includes a transmission wheel set arranged between the first rotating shaft and the second rotating shaft, the transmission wheel set being used to realize the synchronous operation of the two rotating shafts.

[0019] Compared with existing technologies, the advantages and positive effects of this invention are as follows: A rotating arm mechanism, rotatable on the frame, enables the planter to continuously cycle along a circular trajectory in the vertical plane. This provides ample effective travel distance, adapting to complex field terrains such as hilly and mountainous areas with significant elevation differences and uneven surfaces. It compensates for surface height differences, ensuring smooth planting and consistent planting depth, significantly improving the equipment's terrain adaptability. During the rotation of the rotating arm mechanism, the connecting rod structure and the protrusion move relative to each other and engage in mutual contact, automatically driving the duckbill to open and release the seedlings via a purely mechanical linkage. This simplifies the field planting process and greatly reduces the labor intensity for farmers. Mechanical limiting allows for constant control of the duckbill opening amplitude, resulting in high planting regularity and effectively reducing planting and maintenance costs.

[0020] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of a seedling planting machine proposed in this invention; Figure 2 for Figure 1 A schematic diagram of a three-dimensional structure; Figure 3 for Figure 2 Enlarged structural diagram of region A in the middle; Figure 4 for Figure 3 A magnified structural diagram of region B in the middle; Figure 5 for Figure 1 A top-view structural diagram; Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure along the CC direction; Figure 7 This is a schematic diagram of the acupoint opening module; Figure 8 for Figure 1 A structural diagram of the frame and planting module; Figure 9 for Figure 8 A magnified structural diagram of region D in the middle; Figure 10 for Figure 8 A schematic diagram of a three-dimensional structure; Figure 11 for Figure 10 A magnified structural diagram of region E in the middle; Figure 12 for Figure 10 A magnified structural diagram of region F in the middle; Figure 13 for Figure 8 A cross-sectional structural diagram; Figure 14 for Figure 13 A magnified structural diagram of the G region; Among them, 100, seedling planting machine; 10. Rack; 20. Wheel; 21. Axle; 30. Power transmission mechanism; 31. Worm gear transmission pair; 637. Transmission wheel set; 40. Hole-opening module; 41. Crank; 42. Connecting rod; 43. Swing frame; 431. First end plate; 432. Second end plate; 433. Upper swing rod; 434. Lower swing rod; 44. Hole-opening shovel; 441. Shovel handle; 442. Shovel head; 50. Seedling conveying module; 51. Seedling conveying chain; 511. Chain buckle; 512. Chain plate; 513. Fixing plate; 52. Seedling cup; 521. Hinge seat; 53. Bracket; 531. Discharge port; 60. Planting module; 61. Planter; 611. Planting cylinder; 612. Duckbill; 6121. Duckbill plate; 613. First ear plate; 614. Second ear plate; 615. First bearing; 616. Limiting groove; 62. Opening and closing mechanism; 621. Linkage structure; 6211. Connecting plate; 6212. Pull rod; 6213. Transmission bracket; 62131. Second hinge shaft; 62132. Pull rod; 62133. Connecting plate; 621 4. Transmission link; 62141. Linkage assembly; 62145. First link; 62146. Second link; 6215. Bracing wheel; 6216. Mounting plate; 622. Protrusion; 6221. Arc surface; 63. Rotating arm mechanism; 631. First rotating arm; 632. Second rotating arm; 633. First connecting shaft; 634. Second connecting shaft; 635. First rotating shaft; 636. Second rotating shaft; 637. Transmission wheel assembly; 70. Seats. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0024] In the description of this invention, it should be noted that the terms "upper," "lower," "left," and "right," etc., indicate the orientation or positional relationship based on the positional relationship shown in the accompanying drawings, with the direction closer to the center of the component being "inner," and the opposite being "outer." These terms are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention.

[0028] See Figures 1-14 This is an embodiment of a seedling planting machine proposed in this invention. The seedling planting machine 100 includes: a frame 10, wheels 20 mounted on the frame 10, a power transmission mechanism 30, a hole-opening module 40, a seedling conveying module 50, and a planting module 60. The planting module 60 includes: a planter 61, an opening and closing mechanism 62, and a rotating arm mechanism 63. The planter 61 has a vertically arranged planting cylinder 611 and a duckbill 612 located at the lower end of the planting cylinder 611, which can be opened and closed. The rotating arm mechanism 63 is rotatably mounted on the frame 10 and is used to drive the planter 61 to move in a vertical plane. The opening and closing mechanism 62 is used to drive the opening and closing of the duckbill 612. The opening and closing mechanism 62 has a connecting rod structure 621 hinged to the planter 61 and a protrusion 622 matching the connecting rod structure 621. When the rotating arm mechanism 63 rotates, it drives the connecting rod structure 621 and the protrusion 622 to move relative to each other. The rotating arm mechanism 63 drives the planter 61 to move in the vertical plane. At this time, the connecting rod structure 621 and the protrusion 622 move relative to each other. When the connecting rod structure 621 and the protrusion 622 abut against each other, the connecting rod structure 621 moves to drive the duckbill 612 to open.

[0029] In this embodiment, a rotating arm mechanism 63 is provided, which can be rotatably mounted on the frame 10. The rotating arm mechanism 63 rotates circumferentially, driving the planter 61 to continuously circulate along a circular trajectory in the vertical plane. This provides ample effective travel distance, adapting to complex field terrains such as hilly and mountainous areas with large elevation differences and uneven surfaces. It compensates for differences in ground elevation, ensuring the planter 61 smoothly enters the soil and opens planting holes, maintaining a consistently uniform planting depth and significantly improving the equipment's terrain adaptability. During the rotation operation of the rotating arm mechanism 63, the connecting rod structure 621 and the protrusion 622 move relative to each other and abut against each other, automatically driving the duckbill 612 to open and release the seedlings via a purely mechanical linkage. This simplifies the field planting operation process and greatly reduces the labor intensity for farmers. Mechanical limiting can constantly control the opening amplitude of the duckbill 612, resulting in high planting regularity and effectively reducing planting and maintenance costs.

[0030] In this embodiment, when the rotating arm mechanism 63 moves the planter 61 to a lower position, the connecting rod structure 621 abuts against the protrusion 622, and the connecting rod structure 621 actuates to drive the duckbill 612 to open; after the connecting rod structure 621 and the protrusion 622 move relative to each other and disengage, the connecting rod structure 621 and the duckbill 612 reset and close. The rotating arm mechanism 63 drives the planter 61 to move in the vertical plane, and the planter 61 maintains a vertical posture. After the seedlings fall into the planting cylinder 611 through the upper seedling conveying module 50, they remain upright throughout the process and are planted straight into the soil, which can realize deep and upright planting of seedlings. Deep planting can improve the soil's ability to retain heat and moisture at the root, effectively resist the large temperature difference between day and night and strong winds in mountainous areas, avoid seedling frost damage and lodging, and greatly improve the survival rate of transplanted seedlings. When the planter 61 descends to the lower planting position, the connecting rod structure 621 contacts the protrusion 622, the duckbill 612 automatically opens, and the seedlings are released. As the planter 61 continues to rise and move, the connecting rod structure 621 disengages from the protrusion 622, and the duckbill 612 automatically resets and closes to receive the next batch of seedlings. The opening and closing sequence is precisely matched with the stroke of the planter 61, ensuring that the seedlings are planted at the right time. This prevents the duckbill from opening too early and causing the seedlings to fall off prematurely, and also prevents it from closing too late and damaging the seedlings. This eliminates the problems of empty holes and missed planting, resulting in uniform and stable planting quality.

[0031] In this embodiment, the power transmission mechanism 30 is connected to the axle 21 of the wheel 20 to transmit the rotational power output by the wheel 20. The axle 21 passes through the wheel 20. The power transmission mechanism 30 is connected to the side of the axle 21 away from the frame 10, and the power is transmitted outward through a gear chain structure. The hole-opening module 40, the seedling conveying module 50, and the planting module 60 are all mounted on the frame 10. The hole-opening module 40, the seedling conveying module 50, and the planting module 60 are respectively connected to the power transmission mechanism 30 and are synchronously driven by the power transmission mechanism 30. Using the axle 21 of wheel 20 as the power input source, a power transmission mechanism 30 coordinates the synchronous operation of the hole-opening module 40, seedling conveying module 50, and planting module 60. This synchronously drives the hole-opening module 40 to complete the soil hole-opening operation, the seedling conveying module 50 to supply seedlings to the planting module 60 at designated points, and the planting module 60 to complete the seedling planting operation. This effectively avoids defects such as missed planting, misaligned planting, and missing seedlings in empty holes caused by separate operations, significantly improving seedling planting accuracy and field operation stability. Sharing a single power transmission system eliminates the need for separate drive power sources for hole opening, seedling conveying, and planting, simplifying the overall machine's transmission layout, reducing the number of parts, and resulting in a compact and robust structure. Facing harsh operating environments with numerous rocks and bumpy roads in mountainous and hilly areas, the machine exhibits stronger vibration resistance. The unified power synchronous drive transmission layout can stably control the soil penetration stroke of the planting module 40, facilitating deep soil planting operations. Deeper planting holes improve soil heat and moisture retention, adapting to the environmental conditions of mountainous areas with large diurnal temperature differences and strong winds. The equipment's wheels simultaneously take on power during movement, completing the entire transplanting process while moving. The integrated movement and planting actions ensure smooth field operations, higher transplanting efficiency, and wider applicability.

[0032] In some embodiments of this application, the linkage structure 621 includes a connecting plate 6211, a pull rod 6212, a transmission bracket 6213, and a transmission connecting rod 6214. The connecting plate 6211 and the transmission bracket 6213 are both hinged to the planter 61. The lower end of the transmission connecting rod 6214 is hinged to the duckbill 612. The upper end of the pull rod 6212 is hinged to the connecting plate 6211, and the lower end is hinged to the transmission bracket 6213. The transmission bracket 6213 is hinged to the transmission connecting rod 6214. The linkage structure 621 consists of multiple rods—the connecting plate 6211, the pull rod 6212, the transmission bracket 6213, and the transmission connecting rod 6214—connected in series and hinged to form a multi-link transmission system. The entire force transmission path is clearly hierarchical. When the connecting plate 6211 is pushed by the protrusion 622, the force can be transmitted upward through the pull rod 6212 to the transmission bracket 6213, and then downward through the transmission connecting rod 6214 to pull the duckbill 612. Both the connecting plate 6211 and the transmission bracket 6213 use the planter 61 as the hinge reference. All hinge points are concentrated on the planter 61, resulting in a high degree of integration and compact arrangement of the overall structure. During operation, the movement trajectories of each rod are mutually constrained, preventing offset or misalignment. The transmission is precise and stable, and the opening amplitude of the duckbill 612 caused by each contact of the protrusion 622 is completely consistent, resulting in uniform planting opening size and uniform planting effect. The multi-stage hinged connecting rod has a good motion buffering effect. When the equipment operates on hilly and bumpy terrain, the multiple rods can slightly absorb the vibration impact, preventing the vibration from being directly transmitted to the duckbill and causing it to open and close or loosen for no reason. At the same time, it can adapt to the vertical circular motion trajectory of the rotating arm mechanism 63 and follow the planter 61 in a vertical posture throughout the entire process. For the duckbill 612 to reset, it can rely on the weight of the connecting rod structure 621 and the duckbill 612 itself, or a reset spring can be set. After the connecting rod structure 621 is separated from the protrusion 622, the rebound force of the reset spring can be transmitted in the opposite direction along the connecting rod structure 621, smoothly driving the connecting rod structure 621 to reset, and the duckbill 612 is tightly closed.

[0033] In some embodiments of this application, one end of the connecting plate 6211 is hinged to the pull rod 6212, and the other end of the connecting plate 6211 is equipped with a rotatable abutment wheel 6215. The connecting rod structure 621 moves with the planter 61 and moves relative to the protrusion 622. When the abutment wheel 6215 abuts against the protrusion 622, it drives the connecting plate 6211 to rotate. This rotation is transmitted through the pull rod 6212, the transmission bracket 6213, and the transmission connecting rod 6214, thereby driving the duckbill 612 to open. The abutment wheel 6215, which can rotate freely, is provided at the end of the connecting plate 6211. The abutment wheel 6215 and the protrusion 622 have rolling friction, eliminating the sliding friction of direct contact. When the two move relative to each other, the frictional resistance is greatly reduced, and the contact is smooth and without jamming. Rolling contact effectively avoids rigid, hard-hitting impacts: During the cyclical reciprocating motion of the planter 61 driven by the rotating arm mechanism 63, the abutment wheel 6215 smoothly rolls over the protrusion 622, buffering impact vibrations and extending the service life of the connecting rod structure and the protrusion; at the same time, it weakens the transmission of vibration throughout the machine, and the duckbill 612 will not be affected by vibration and will not open or close slightly, resulting in stronger operational stability. Relying on the contact limit of the abutment wheel, the abutment stroke and the rotation angle of the connecting plate 6211 remain constant each time. After the power is transmitted step by step through the pull rod 6212, the transmission bracket 6213, and the transmission connecting rod 6214, the opening range of the duckbill 612 is uniform each time, the planting depth is consistent, the planting is neat, and the seedling planting quality is uniform and stable. The abutting wheel 6215 abuts against the protrusion 622, forcing the connecting plate 6211 to rotate. One side of the abutting wheel 6215 on the connecting plate 6211 moves down, and the other side of the connecting plate 6211 drives the pull rod 6212 to move up. The power is transmitted to the duckbill 612 in sequence. After the abutting wheel 6215 disengages from the protrusion 622, the return spring pulls the entire linkage structure 621 to rotate in the opposite direction, and the duckbill 612 closes and resets. The entire opening and closing cycle is smooth and can be perfectly matched with the timing of the seedling delivery module 50 and the hole opening process, eliminating the problems of seedling clamping and missed planting.

[0034] In some embodiments of this application, for the installation of the abutment wheel 6215, two mounting plates 6216 can be fixed on the connecting plate 6211, and the abutment wheel 6215 is hinged between the two mounting plates 6216. The two mounting plates 6216 are symmetrically fixed on the connecting plate 6211, and the abutment wheel 6215 is hinged between the two mounting plates 6216. The force is evenly distributed on both sides, the structure is firm and not easily deformed; it can limit the axial sliding of the abutment wheel 6215, and the contact position is precise and stable; at the same time, it can block mud and sand, protect the hinged part from smooth rotation, and the parts are durable and easy to repair and replace.

[0035] In some embodiments of this application, the transmission bracket 6213 is sleeved on the outside of the planting cylinder 611. The transmission bracket 6213 has a second hinge shaft 62131 fixed to the planting cylinder 611, a pull rod 62132 opposite to the second hinge shaft 62131, and two connecting plates 62133 fixed between the second hinge shaft 62131 and the pull rod 62132. The lower end of the pull rod 6212 is hinged to the pull rod 62132; the upper end of the transmission connecting rod 6214 is hinged to the connecting plates 62133. The transmission bracket 6213 is sleeved on the outside of the planting cylinder 611, relying on the planting cylinder 611 as the mounting base. It is compact and regular in arrangement, without the need for additional support base, and can make full use of the spare space around the planting cylinder 611. The whole machine occupies little space and has a high degree of structural integration. Relying on the planting cylinder 611 as the support reference, the swing and rotation trajectory of the transmission bracket is stable and it is not easy to be skewed or deviated under force, which can ensure that the opening action of the duckbill 612 is smooth and the opening amplitude is consistent. With the second hinge shaft fixed to the planting cylinder 611 as the fulcrum of rotation, when the pull rod 6212 pulls the pull rod 62132, the entire bracket swings smoothly around the second hinge shaft 62131. The rotation center is fixed, the swing trajectory is unique, the transmission is without deviation, the power transmission is precise and controllable, and the swing stroke is consistent each time, ensuring that the opening amplitude of the duckbill 612 is uniform and the planting depth is even.

[0036] In some embodiments of this application, the duckbill 612 has two symmetrically arranged duckbill pieces 6121, which are hinged to the planting cylinder 611; the transmission link 6214 has two symmetrically arranged link assemblies 62141, which have two link groups spaced apart along the hinge axis of the duckbill pieces 6121, and the link groups have a first link 62145 and a second link 62146 hinged together, the upper end of the first link 62145 being hinged to the transmission bracket 6213, and the lower end of the second link 62146 being hinged to the duckbill pieces 6121. The duckbill 612 employs a symmetrically arranged two duckbill plates 6121 for opening and closing, synchronously driven by two symmetrically arranged connecting rod assemblies 62141. The force on both sides is completely equal, with no unilateral tilting during opening and closing. The opening amplitude of the two duckbill plates 6121 remains consistent, resulting in a neat opening that allows seedlings to fall vertically into the soil, ensuring proper planting and effectively improving seedling rooting stability. Each duckbill plate 6121 is jointly pulled by two axially separated connecting rod assemblies, providing dual-point traction and constraint to limit flipping and offset, firmly defining the rotation trajectory and ensuring smooth opening and closing throughout. Each connecting rod assembly consists of a first connecting rod 62145 and a second connecting rod 62146 hinged together to form a two-stage connecting rod structure with a reasonable force transmission angle. When the transmission bracket 6213 swings, the power is gently transmitted to the duckbill plate 6121 through a multi-stage linkage, which can smoothly convert the up and down swing of the transmission bracket 6213 into the opening and closing action of the duckbill 612, making the transmission effortless; at the same time, the hinged linkage has a small buffering capacity, which can offset the vibration caused by walking bumps.

[0037] In some embodiments of this application, the protrusion 622 can be fixed on the frame 10 or fixed on the rotating arm mechanism 63. Preferably, the protrusion 622 is fixedly connected to the rotating arm mechanism 63 and rotates synchronously; the protrusion 622 is provided with an arc-shaped surface 6221, which is used to abut against the abutment wheel 6215 of the connecting rod structure 621.

[0038] In some embodiments of this application, the rotating arm mechanism 63 has a first rotating arm 631 and a second rotating arm 632 that rotate synchronously. The planter 61 also has a first ear plate 613 and a second ear plate 614 symmetrically arranged along the planting cylinder 611. The first ear plate 613 and the second ear plate 614 are fixed to the planting cylinder 611. The first rotating arm 631 is hinged to the first ear plate 613 through a first connecting shaft 633, and the second rotating arm 632 is hinged to the second ear plate 614 through a second connecting shaft 634. The first rotating arm 631 and the second rotating arm 632 rotate synchronously in a circular motion. The planter 61 is suspended by the hinged ear plates on both sides. During the entire circular rotation, the planter 61 is continuously constrained and always maintains a vertical state, and will not tilt or twist with the rotation of the swing arm. The posture of each working position is stable when descending into the soil and when ascending to lift, ensuring that the seedlings are planted upright and deep, and the soil moisture retention and heat preservation effect is stable. The double-arm circular rotation drives the planter 61 to complete the cyclic planting process: the circular trajectory allows for smooth, continuous operation of high-position seedling receiving and low-position opening and planting, with a continuous and smooth operation cycle. No additional drive components are needed to switch the stroke, and the transmission logic is simple and reliable. The fixed circular motion stroke ensures uniform soil penetration depth and opening / closing timing for each round of planting, resulting in consistent planting quality. With each rotation, the connecting rod structure 621 precisely contacts and engages with the arc-shaped surface of the protrusion 622, ensuring accurate opening timing and opening amplitude of the duckbill 612. The precise coordination of the opening and closing mechanism prevents missed planting and seedling clamping malfunctions.

[0039] In some embodiments of this application, a first ear plate 613 is fixedly fitted with a first bearing 615 sleeved on the outside of the first connecting shaft 633, and a horizontally arranged limiting groove 616 is formed on the second ear plate 614. The second connecting shaft 634 is rotatably and slidably disposed in the limiting groove 616, so that the planter 61 maintains a vertical state throughout its circumferential translational motion. When the two rotating arms rotate synchronously in a circular motion, there is a slight difference in the left and right rotational trajectories. The displacement is compensated by the horizontal sliding of the second connecting shaft 634 in the limiting groove 616, perfectly matching the circumferential translational trajectory of the planter 61.

[0040] In some embodiments of this application, the first rotating arm 631 is rotatably mounted on the frame 10 via the first rotating shaft 635, and the second rotating arm 632 is rotatably mounted on the frame 10 via the second rotating shaft 636. Either the first rotating shaft 635 or the second rotating shaft 636 can be designated as the drive shaft; in this embodiment, the second rotating shaft 636 is designated as the drive shaft. The rotating arm mechanism 63 also includes a transmission wheel set 637 arranged between the first rotating shaft 635 and the second rotating shaft 636. The transmission wheel set 637 is used to achieve synchronous operation of the two rotating shafts. One shaft acts as the drive shaft, providing power, and the transmission wheel set 637 drives the two rotating shafts to rotate synchronously, achieving synchronized operation of the two rotating arms. This results in a simple structure and low cost. The transmission wheel set 637 offers high synchronization accuracy and is less prone to slippage. The double swing arms are free from misalignment and pulling, ensuring the planter always operates vertically and stably. The stress distribution on the rotating shafts is low, resulting in minimal wear, strong overall durability, and uniform and stable planting performance.

[0041] In other embodiments of this application, other transmission structures may also be provided between the first rotating shaft 635 and the second rotating shaft 636, such as gear chain drive, belt drive, etc.

[0042] In some embodiments of this application, the hole-opening module 40 has a crank 41, a connecting rod 42, a swing frame 43, and a hole-opening shovel 44. The crank 41 is driven by the power transmission mechanism 30, and the upper and lower ends of the connecting rod 42 are respectively hinged to the crank 41 and the swing frame 43. The hole-opening shovel 44 is fixed to the swing frame 43. By using a crank-connecting rod transmission structure, the rotational motion of the power transmission mechanism 30 is converted into the reciprocating swing of the swing frame 43 through the crank 41, connecting rod 42, and swing frame 43, thereby driving the hole-opening shovel 44 to swing up and down to enter and lift soil to complete the hole-opening operation. The transmission structure is simple; it has strong resistance to field bumps and collisions with mud and stones, and is suitable for field operation conditions with many rocks and uneven terrain in mountainous areas. One complete rotation of crank 41 completes one planting cycle, with stable and controllable movement, allowing precise control of the planting depth of the shovel and enabling deep planting. Deeper planting pits enhance soil heat retention and moisture retention, effectively addressing the large diurnal temperature range and strong winds in mountainous areas, thus improving seedling survival rates. The linkage mechanism, with crank 41, connecting rod 42, and swing frame 43 hinged sequentially, moves precisely and is perfectly matched to the machine's seedling delivery and planting processes. Relying on the unified power of the entire machine for synchronous operation, the planting action and the timing of seedling placement and planting are highly matched, preventing problems such as empty holes, seedlings being placed before planting, or misaligned planting. Planting consistency and operational stability are significantly improved.

[0043] In some embodiments of this application, the swing frame 43 has a first end plate 431 fixed to the frame 10, a second end plate 432 parallel to the first end plate 431, an upper swing rod 433 and a lower swing rod 434 respectively hinged between the first end plate 431 and the second end plate 432, the upper swing rod 433 and the lower swing rod 434 being arranged in parallel, a hole-opening shovel 44 fixed to the second end plate 432, and a connecting rod 42 hinged to the upper swing rod 433. The swing frame 43 adopts a parallelogram linkage configuration, with two parallel swing rods fixed between the first end plate 431 and the second end plate 432 of the frame 10. When driving the swing, the second end plate 432 always remains vertical, so that the hole-opening shovel 44 enters the soil at a constant angle, the excavated planting pits are neat and uniform, the seedlings are planted upright, and the lodging resistance is stronger; the double swing rod structure has uniform force distribution and a solid structure, is resistant to field bumps and stone impacts, and is suitable for operation in complex terrains in hilly and mountainous areas. At the same time, it can stably control the depth of the holes. Deep holes can retain soil moisture and heat, and improve the survival rate of seedlings. The power is input through the upper swing rod, and the transmission is smooth and labor-saving. The swing rhythm can be precisely synchronized with the seedling conveying and planting actions, resulting in high planting accuracy. The parts are easy to disassemble and replace, and the maintenance cost is low.

[0044] In some embodiments of this application, the first end plate 431 is vertically arranged, the second end plate 432 is vertically arranged, and the planting shovel 44 has a shovel handle 441 coplanar with the second end plate 432 and a shovel head 442 located at the lower end of the shovel handle 441; the second end plate 432 has a U-shaped groove with its opening facing backward, and the front ends of the upper swing rod 433 and the lower swing rod 434 are respectively hinged in the U-shaped groove. The first end plate 431 and the second end plate 432 are arranged vertically, and the second end plate 432 is kept vertical throughout by means of a parallelogram connecting rod structure; the shovel handle 441 and the second end plate 432 are coplanar, the angle at which the planting shovel enters the soil is fixed, the planting pit is regular and straight, which is conducive to the rooting of seedlings and resistance to lodging. The front end of the swing arm is hinged to the U-shaped groove with the opening facing backward on the second end plate 432. The hinge structure is embedded and is not easily blocked or jammed by soil or gravel. At the same time, the U-shaped groove can limit the lateral displacement of the swing arm. The whole machine has excellent anti-bump and anti-impact performance and is suitable for operation in complex mountainous areas. The hole opening depth is constant and controllable. Deep hole opening improves the soil heat preservation and moisture retention effect, improves the survival rate of seedlings, and the whole mechanism is easy to disassemble, assemble and maintain, and has good durability.

[0045] In some embodiments of this application, the seedling delivery module 50 includes a seedling delivery chain 51, multiple seedling delivery cups 52 evenly arranged circumferentially along the seedling delivery chain 51, and a bracket 53 fixed on the frame 10. The seedling delivery cups 52 are located on the upper side of the bracket 53, and the bracket 53 has a discharge port 531 for downward seedling delivery. The multiple seedling delivery cups 52 are evenly arranged circumferentially along the seedling delivery chain 51. During the cyclic operation of the seedling delivery chain 51, the seedling delivery cups 52 circulate sequentially through the seedling loading station and the unloading station. The operator can continuously place seedlings into the empty seedling delivery cups 52, and the seedling delivery is continuous and uninterrupted. With the synchronous power system of the whole machine, the seedling delivery rhythm and the actions of opening holes and covering soil for planting are precisely matched, and the planting sequence is highly uniform, which greatly improves the efficiency of transplanting operations. The bracket 53 supports the bottom of all seedling cups 52. As the seedling conveyor chain 51 moves with the seedling cups 52, the bracket 53 supports the seedling cups 52 throughout the process, preventing the seedling cups from sagging, shaking, or overturning due to the weight of the seedlings and field bumps. The seedlings are placed stably inside the cups. This design is suitable for mountainous areas with high vibration and bumps, effectively preventing seedlings from falling off prematurely and being lost. The bracket 53 has a dedicated discharge port 531. Only when the seedling cup 52 containing seedlings moves directly above the discharge port 531 will the bottom of the seedling cup 52 open, allowing the seedlings to fall vertically into the prepared planting hole through the discharge port 531. The rest of the movement is blocked by the bracket 53, completely avoiding accidental seedling drop or scattering caused by bumps during the movement. The seedlings are placed accurately, without any issues of seedling deviation or falling out of the hole, resulting in higher planting precision. The bracket 53 is fixed on the frame 10, with a stable structure that is not easy to shake and can maintain a horizontal position for a long time. The position of the feeding port 531 remains constant, and the seedling landing point is always directly aligned with the receiving port position of the planting module 60 after it rises. Then, the duckbill of the planting module 60 descends and inserts into the hole. After the duckbill opens, the seedling falls and takes root upright. Combined with the soil's heat preservation and moisture retention function, it effectively resists the damage of strong winds and day-night temperature differences in mountainous areas, reduces the probability of frost damage and lodging, and improves the survival rate of seedlings.

[0046] In some embodiments of this application, when the seedling cup 52 moves above the discharge port 531, the seedlings inside the seedling cup 52 fall. The seedling cup 52 is fixed to the outside of the seedling conveying chain 51, and an openable lower cover is hinged to the lower end of the seedling cup 52. A bracket 53 is positioned under the lower cover, which restricts the opening of the lower cover. When the seedling cup 52 moves with the seedling conveying chain 51 to directly above the discharge port 531, the lower cover loses the support and constraint of the bracket 53, and the lower cover automatically flips open downwards by the weight of the seedlings, allowing the seedlings to fall vertically downwards to complete the seedling placement. Afterwards, the seedling cup 52 moves through the discharge port 531, and the lower cover is closed by the support of the bracket 53. The seedling cup 52 is fixed on the outside of the seedling conveying chain 51, with ample space for arrangement. The operator has a spacious seating position for seedling placement, making seedling placement convenient and labor-saving. The cup body is transported in a circular cycle with the chain, and the seedling placement and seedling feeding positions do not interfere with each other, ensuring uninterrupted seedling supply. The seedling delivery rhythm can be precisely synchronized with the hole opening and planting actions.

[0047] In some embodiments of this application, the seedling cup 52 is provided with a hinge seat 521, which is located on one side of the seedling cup 52 along the direction of travel of the seedling conveyor chain 51. The outline dimension of the discharge port 531 is larger than that of the lower cover. A seat 70 is installed on the frame 10, located beside the seedling conveyor chain. The seat 70 is used by the operator to put seedlings into the seedling cup 52, and the seat 70 is arranged on the side away from the discharge port 531. The hinge seat is arranged on the side of the seedling cup along the direction of travel of the seedling conveyor chain, and the lower cover can be flipped forward to open, and the seedlings fall to complete the seedling filling. With the larger discharge port, there is ample space for the lower cover to flip, and the opening and closing is smooth and unobstructed. Seedlings with soil are not easily stuck between the lower cover and the bracket when falling. After the seedling cup 52 continues to move forward and leaves the area of ​​the discharge port 531, the lower cover re-contacts the bracket 53. The bracket 53 pushes the lower cover upward, forcing the lower cover to rotate and close automatically, restoring the closed state, and continuing to fill seedlings. The opening, closing, and resetting actions are synchronized with the operation of the seedling conveyor chain, precisely matching the timing of the opening module in front and the planting module in the rear, ensuring a stable seedling feeding rhythm. A seat 70 is installed on one side of the frame, allowing operators to place seedlings into the seedling cups 52 while seated, significantly reducing the physical exertion of long hours of work. The seat 70 is located on the side away from the feeding port 531, separating the seedling loading area from the seedling feeding area, ensuring that the upstream and downstream processes do not interfere with each other and resulting in higher continuous seedling supply efficiency.

[0048] In some embodiments of this application, the seedling conveying chain 51 has multiple chain buckles 511 arranged in a circumferential direction, chain plates 512 for connecting adjacent chain buckles 511, and a bent fixing plate 513 on the chain plate 512. The seedling cup 52 is fixed to the fixing plate 513. The seedling conveying chain 51 is spliced ​​together by chain buckles 511 and chain plates 512, which makes the transmission reliable and not easy to derail, and resistant to field bumps and impacts. The chain plate 512 is bent and integrally formed with a fixing plate 513, which has high structural rigidity. The seedling cup 52 is stably mounted on it, and there is no shaking during the whole process. It can stably hold seedlings and prevent seedlings from being scattered by bumps. The seedling cups 52 are evenly spaced, the seedling delivery rhythm is regular, and the timing is highly matched with the transplanting process of the whole machine.

[0049] In some embodiments of this application, the power transmission mechanism 30 has multiple sets of gear and chain drive pairs. The seedling conveying module 50 is located above the planting module 60. The power transmission mechanism 30 also has a worm gear drive pair 31 connected to the seedling conveying module 50. Through multiple sets of gear and chain drive pairs, the power transmission mechanism 30 can distribute the power output from the walking wheel 20 to the hole-opening module 40 and the planting module 60. Relying on chain drive, it is adapted to the harsh working conditions of muddy and sandy fields, and the chain drive has strong fault tolerance. An independent worm gear drive pair is added to the input end of the seedling conveying module 50 to precisely slow down the seedling conveying speed, so that the seedling conveying rhythm and the hole-opening, soil-covering and planting actions below are perfectly matched. The seedling conveying module is arranged directly above the planting module, and the vertical alignment shortens the seedling falling distance.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. A seedling planting machine, characterized in that, include: A frame, a seedling conveying module mounted on the frame, and a planting module, wherein the planting module includes: A rotating arm mechanism, which is rotatably mounted on the frame; A planter having a planting tube and a duckbill located at the lower end of the planting tube; An opening and closing mechanism, which is used to drive the opening and closing of the duckbill; The rotating arm mechanism is used to drive the planter to move in a vertical plane; the opening and closing mechanism has a linkage structure hinged to the planter and a protrusion that moves relative to and abuts against the linkage structure; when the linkage structure abuts against the protrusion, the linkage structure moves to drive the duckbill to open.

2. The planting module of the seedling planter according to claim 1, characterized in that, During the movement of the planter driven by the rotating arm mechanism, the planter maintains a vertical posture; when the rotating arm mechanism moves the planter to a low position, the connecting rod structure abuts against the protrusion; after the connecting rod structure moves away from the protrusion, the connecting rod structure and the duckbill reset and close.

3. The planting module of the seedling planter according to claim 1, characterized in that, The seedling conveying module is used to convey seedlings to the planting module; when the rotating arm mechanism drives the planter to move to the high position, the upper port of the planter is located below the feed port of the seedling conveying module.

4. The planting module of the seedling planter according to claim 1, characterized in that, The linkage structure includes a connecting plate, a pull rod, a transmission bracket, and a transmission connecting rod. The connecting plate and the transmission bracket are both hinged to the planter. The lower end of the transmission connecting rod is hinged to the duckbill. The upper end of the pull rod is hinged to the connecting plate, and the lower end is hinged to the transmission bracket. The transmission bracket is hinged to the transmission connecting rod.

5. The planting module of the seedling planter according to claim 4, characterized in that, One end of the connecting plate is hinged to the pull rod, and the other end of the connecting plate is equipped with a rotatable abutment wheel; the connecting rod structure moves with the planter and moves relative to the protrusion. When the abutment wheel abuts against the protrusion, it drives the connecting plate to rotate, which is then transmitted through the pull rod, the transmission bracket, and the transmission connecting rod, thereby driving the duckbill to open.

6. The planting module of the seedling planter according to claim 1, characterized in that, The linkage structure includes a pull rod, a transmission bracket, and a transmission connecting rod. The transmission bracket is sleeved on the outside of the planting cylinder. The transmission bracket has a second hinge shaft fixed to the planting cylinder, a pull rod opposite to the second hinge shaft, and two connecting plates fixed between the second hinge shaft and the pull rod. The lower end of the pull rod is hinged to the pull rod. The upper end of the transmission connecting rod is hinged to the connecting plates.

7. The planting module of the seedling planter according to claim 6, characterized in that, The duckbill has two symmetrically arranged duckbill plates, which are hinged to the planting cylinder; the transmission linkage has two symmetrically arranged linkage assemblies, which have two linkage groups spaced apart along the hinge axis of the duckbill plates. The linkage group has a first linkage and a second linkage hinged together, with the upper end of the first linkage hinged to the transmission bracket and the lower end of the second linkage hinged to the duckbill plates.

8. The planting module of the seedling planter according to any one of claims 1 to 7, characterized in that, The rotating arm mechanism has a first rotating arm and a second rotating arm that rotate synchronously. The planter also has a first ear plate and a second ear plate that are symmetrically arranged along the planting cylinder. The first rotating arm and the first ear plate are hinged together by a first connecting shaft, and the second rotating arm and the second ear plate are hinged together by a second connecting shaft.

9. The planting module of the seedling planter according to claim 8, characterized in that, The first ear plate is fixedly fitted with a first bearing sleeved on the outside of the first connecting shaft; the second ear plate has a horizontally arranged limiting groove, and the second connecting shaft is slidably disposed in the limiting groove, so that the planter always maintains a vertical state during the circumferential translation process.

10. The planting module of the seedling planter according to claim 8, characterized in that, The first rotating arm is rotatably mounted on the frame via a first rotating shaft, and the second rotating arm is rotatably mounted on the frame via a second rotating shaft; one of the first rotating shaft and the second rotating shaft is the drive shaft, and the rotating arm mechanism also includes a transmission wheel set arranged between the first rotating shaft and the second rotating shaft, the transmission wheel set being used to realize the synchronous operation of the two rotating shafts.

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