An automatic vegetable plug seedling transplanting machine and a method for using the same

Abstract

This invention discloses an automatic vegetable tray seedling transplanter and its usage method, relating to the field of agricultural machinery technology. It includes a frame, a seedling storage mechanism connected to the upper part of the frame, having a seedling inlet and a seedling outlet located below the inlet. A three-axis positioning mechanism spans the upper part of the frame and has a movable end capable of moving along the X, Y, and Z axes. The movable end's movement range covers the seedling retrieval position of the tray and the seedling inlet of the storage mechanism. This invention arranges the seedling clamping, storage, separation, planting, and soil covering operations on the upper and lower parts of the frame, respectively, forming a progressively connecting operation path from the seedling retrieval position to the planting position according to the seedling transfer sequence. This allows the tray seedlings to be transferred nearby between adjacent mechanisms, reducing the need for long-distance seedling transport structures and the intersection of different movement paths.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an automatic vegetable tray seedling transplanter and its method of use. Background Technology

[0002] Vegetable seedling tray cultivation facilitates centralized cultivation and management of seedlings. Once the seedlings reach the appropriate age, they need to be removed from the trays and transplanted to fields or greenhouses. Currently, the transplanting of some vegetable seedling trays still relies mainly on manual labor. Manual transplanting is labor-intensive, inefficient, and the quality is easily affected by the operator's skill level.

[0003] With the development of agricultural mechanization technology, semi-automatic or automatic vegetable tray seedling transplanting equipment has gradually emerged in existing technologies. This type of equipment is usually equipped with a seedling picking mechanism, a seedling conveying mechanism, a planting mechanism, and a walking mechanism. Through the cooperation of different mechanisms, the seedlings in the tray are picked up, transferred, and planted. Some equipment is also equipped with a soil covering mechanism to cover the roots of the seedlings with soil and compact them after planting.

[0004] However, existing automatic vegetable tray seedling transplanting equipment typically has numerous transmission and actuation components, resulting in a complex overall structure and high manufacturing and maintenance costs. Furthermore, some equipment is designed primarily for specific tray sizes or seedling types, requiring significant mechanical adjustments or component replacements when tray sizes, seedling types, or planting spacing change, thus lacking flexibility. In addition, some transplanting equipment is bulky, limiting its operation in greenhouses, narrow fields, or winding terrain, and may cause mechanical damage to seedlings during the picking and planting process. Therefore, this paper proposes an automatic vegetable tray seedling transplanter and its operating method. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic vegetable tray seedling transplanter and its usage method to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides an automatic vegetable tray seedling transplanter, comprising:

[0008] frame;

[0009] A seedling storage mechanism is connected to the upper part of the frame and has a seedling inlet end and a seedling outlet end located below the seedling inlet end.

[0010] The three-axis positioning mechanism is mounted on the upper part of the frame and has a movable end that can move along the X-axis, Y-axis and Z-axis. The range of movement of the movable end covers the seedling pick-up position of the seedling tray and the seedling inlet end of the seedling storage mechanism.

[0011] A seedling clamping mechanism is connected to the moving end of the three-axis positioning mechanism and is used to clamp seedlings from the plug tray and move between the seedling picking position in the plug tray and the seedling inlet end of the seedling storage mechanism.

[0012] A planting mechanism, which is connected to the lower part of the frame and has a seedling receiving end for receiving seedlings in plug trays;

[0013] The seedling separating mechanism is located between the seedling storage mechanism and the planting mechanism. Its seedling receiving end is located below the seedling emergence end of the seedling storage mechanism, and its seedling placement end is located above the seedling receiving end of the planting mechanism. It also has a seedling storage hopper that can circulate between the seedling receiving end and the seedling placement end to receive the plug seedlings released by the seedling storage mechanism and transfer the plug seedlings to the planting mechanism.

[0014] Preferably, the rack includes:

[0015] A base frame that extends along the travel direction of the automatic vegetable tray transplanter;

[0016] The upper aluminum profile frame is fixedly connected to the top of the base frame. The three-axis positioning mechanism spans the upper aluminum profile frame. The seedling storage mechanism is connected inside the upper aluminum profile frame. The seedling separating mechanism and the planting mechanism are connected to the base frame and are located below the seedling storage mechanism in sequence.

[0017] The triaxial positioning mechanism includes:

[0018] A gantry frame is movably mounted on the upper aluminum profile frame. The gantry frame has Z-axis columns arranged opposite each other, and a Y-axis crossbeam is vertically connected to the Z-axis columns.

[0019] X-axis transmission assembly, which is mounted on the upper aluminum profile frame and connected to the gantry frame, is used to drive the gantry frame to move along the X-axis direction;

[0020] Z-axis transmission assembly, which is mounted on the Z-axis column and connected to the Y-axis crossbeam, is used to drive the Y-axis crossbeam to move along the Z-axis direction;

[0021] Y-axis transmission assembly, which is mounted on the Y-axis beam, is used to output displacement along the Y-axis direction;

[0022] The planting mechanism includes a planting crank-rocker mechanism and a flowering planting device mechanism.

[0023] Preferably, the seedling clamping mechanism includes:

[0024] A seedling clamping claw bracket is slidably connected to the Y-axis crossbeam via a guide rail slider and is connected to the Y-axis transmission assembly;

[0025] An electric push rod is mounted on the seedling clamp bracket, and its output end is connected to a piston rod;

[0026] A first-stage rod of a rhombic linkage mechanism, one end of which is hinged to the piston rod via a hinge pin;

[0027] The second-stage link of the finger-clamping and rhomboid linkage mechanism is hinged to the other end of the first-stage link of the rhomboid linkage mechanism;

[0028] A secondary rod support and fixing bracket is provided on the seedling clamping claw bracket, and the secondary rod of the clamping finger and diamond linkage mechanism is rotatably connected to the secondary rod support and fixing bracket through a secondary linkage support and fixing pin.

[0029] The piston rod drives the second-stage rod of the finger clamping and diamond linkage mechanism to rotate around the second-stage rod support pin through the first-stage rod of the diamond linkage mechanism, so as to open and close the second-stage rod of the finger clamping and diamond linkage mechanism.

[0030] Preferably, the seedling storage mechanism includes:

[0031] A seedling storage funnel is provided on the upper aluminum profile frame and located below the moving range of the seedling clamping mechanism. The top of the seedling storage funnel forms a seedling inlet and the bottom forms a seedling outlet.

[0032] An aperture opening and closing mechanism is provided at the seedling outlet;

[0033] The Y-shaped seedling guide channel is located below the seedling storage funnel, with its inlet end connected to the corresponding outlet end and its outlet end corresponding to the seedling receiving end of the seedling separating mechanism.

[0034] Preferably, the aperture opening and closing mechanism includes:

[0035] An aperture ring is provided at the seedling outlet of the seedling storage funnel.

[0036] Aperture blades, wherein the aperture blades are disposed within the aperture ring, and adjacent aperture blades are hinged together by blade hinge pins;

[0037] An external gear ring is rotatably mounted on the aperture ring and is connected to the aperture blades via a transmission mechanism.

[0038] A stepper motor is located on one side of the seedling storage funnel, and its output end is connected to a small gear.

[0039] A rack, which is slidably disposed on one side of the seedling storage funnel and meshes with the pinion and the external gear ring respectively;

[0040] The stepper motor drives the rack to move via the pinion, thereby driving the outer gear ring to rotate and causing the aperture blades to open and close.

[0041] Preferably, the seedling separating mechanism includes:

[0042] A track guide ring is disposed between the seedling outlet end of the seedling storage mechanism and the seedling receiving end of the planting mechanism, forming a U-shaped track groove. The track guide ring has a seedling receiving position corresponding to the seedling outlet end of the seedling storage mechanism and a seedling placement position corresponding to the seedling receiving end of the planting mechanism.

[0043] A stepper motor with reduction gear is provided, and the output end of the stepper motor with reduction gear is connected to the cross-shaped power frame through a motor-to-cross-shaped power frame transmission component.

[0044] A seedling storage hopper fixing base is provided with a seedling storage hopper whose bottom can be opened and closed. Rollers are rotatably provided on both sides of the seedling storage hopper fixing base, and the rollers are rotatably connected to the U-shaped track groove.

[0045] A linear motion device on a cross link, wherein the linear motion device on the cross link is connected between the end of the cross power frame and the seedling storage hopper fixed base;

[0046] The stepper motor with speed reduction drives the seedling storage hopper fixed base to move along the track guide ring between the seedling receiving position and the seedling placement position via the cross power frame.

[0047] Preferably, a base frame mounting plate is provided on the base frame, and the planting crank-rocker mechanism of the planting mechanism includes:

[0048] A crank, which is rotatably mounted on the base frame mounting plate;

[0049] A connecting rod for crank motion is provided, one end of which is eccentrically hinged to the crank, and a long groove is provided on the connecting rod for crank motion.

[0050] The link path fixing point is adjustablely set on the base frame mounting plate and slides with the long slot;

[0051] A connecting rod for pendulum drive is provided, one end of which is hinged to the other end of the connecting rod for crank motion.

[0052] A swing arm assembly, comprising a fixed rod, a first swing arm, a second swing arm, a third swing arm, a first reinforcing rod, and a second reinforcing rod, wherein the fixed rod is disposed on the base frame mounting plate, and the fixed rod, the first swing arm, the second swing arm, the third swing arm, the first reinforcing rod, and the second reinforcing rod are connected to form the swing arm assembly, wherein one end of the swing arm assembly is hinged to the other end of the connecting swing arm transmission link, and the other end is connected to the flowering planter mechanism;

[0053] The crank drives the flowering planter mechanism to move along a curve via the connecting crank motion link, the connecting pendulum transmission link, and the pendulum assembly.

[0054] Preferably, the flowering planter mechanism includes:

[0055] A planting device mounting bracket is connected to the swing arm assembly via a fixed planting rod;

[0056] The planting device cylinder is mounted on the planting device mounting bracket, with a seedling funnel connected to its upper end and an opening and closing flap rotatably connected to its lower end.

[0057] An electromagnetic piston cylinder is mounted on the planter cylinder, and its output end is connected to the pointed opening and closing pull rod.

[0058] The upper pull ring of the planter is movably mounted on the planter cylinder and is connected to the opening and closing petals via the upper pull flower buckle of the planter. The pointed opening and closing upper pull connecting rod is connected to the upper pull ring of the planter.

[0059] The electromagnetic piston cylinder drives the upper pull ring of the planter to move through the pointed opening and closing pull rod, so that the opening and closing flaps open or close.

[0060] Preferably, the base frame is provided with a main motor drive mechanism and a gear-driven transmission mechanism, the gear-driven transmission mechanism comprising:

[0061] An input pinion is connected to the output end of the main motor drive mechanism;

[0062] A self-rotating external gear ring, which meshes with the input pinion;

[0063] An output shaft, which is connected to the crank drive;

[0064] A toothed core fixed to the output shaft, the toothed core being fixedly mounted on the output shaft and located within the self-rotating outer gear ring;

[0065] A clutch device for the external gear and the tooth core, wherein the clutch device for the external gear and the tooth core is disposed between the self-rotating external gear ring and the tooth core fixed to the output shaft, is used to control the connection or separation of the self-rotating external gear ring and the tooth core fixed to the output shaft.

[0066] Secondly, the present invention provides a method for using an automatic vegetable tray seedling transplanter, which is implemented as described above, including the following steps:

[0067] Step 1: Adjust the position of the seedling clamping mechanism using the three-axis positioning mechanism, so that the seedling clamping mechanism moves above the seedling tray and clamps the seedlings from the tray;

[0068] Step 2: The three-axis positioning mechanism is used to transfer the seedlings from the trays to the seedling storage mechanism, and the seedlings are released into the corresponding seedling storage funnel.

[0069] Step 3: Control the aperture opening and closing mechanism to open according to the planting rhythm, so that the seedlings in the seedling storage funnel enter the seedling receiving position of the seedling distribution mechanism through the Y-shaped seedling guide channel;

[0070] Step 4: Drive the cross-shaped power frame to rotate, so that the seedling storage bucket containing the plug tray seedlings moves along the track guide ring from the seedling receiving position to the seedling placement position, and moves the empty seedling storage bucket to the seedling receiving position.

[0071] Step 5: The flower-type planting device receives the seedlings from the seedling placement position, and the planting crank rocker mechanism drives the flower-type planting device to complete the actions of planting and placing the seedlings. Then, the process of picking up, temporarily storing, separating and planting the seedlings from the seedlings is repeated.

[0072] The technical effects and advantages of this invention are as follows:

[0073] 1. This invention arranges the seedling clamping, seedling storage, seedling separation, planting, and soil covering operations on the upper and lower parts of the frame, respectively. Following the transfer sequence of the seedlings from the trays, a progressively connecting operational path is formed from the seedling collection position to the planting position. This allows the seedlings to be transferred between adjacent mechanisms nearby, reducing the need for long-distance seedling transport structures and overlapping different movement paths. This layered arrangement maintains the coordination between seedling collection, separation, and planting functions while making the overall machine structure more concentrated, reducing the possibility of interference between different movement mechanisms, and facilitating the separate installation, adjustment, and maintenance of different functional mechanisms. This improves upon the problems of existing transplanting equipment being bulky and limited in operation within greenhouses or narrow fields.

[0074] 2. This invention uses a three-axis positioning mechanism to drive a seedling clamping mechanism to locate and retrieve seedlings from different seedling holes, and utilizes a linkage-type seedling clamping structure to clamp and release the seedlings from the seedling trays. After the seedlings enter the seedling storage mechanism, the timing of seedling emergence is controlled by an aperture opening and closing mechanism, and the seedlings enter a circulating seedling storage hopper through a Y-shaped seedling guide channel, and are then transferred from the seedling storage hopper to the planting mechanism. The above process ensures that the seedlings in the seedling trays have relatively clear movement paths and handover positions during the clamping, temporary storage, seedling placement, and transfer stages, which can reduce seedling tilting, overturning, or root ball collisions caused by excessive free fall distance, unilateral pushing, and mismatched seedling placement positions. At the same time, the seedling storage mechanism and the circulating seedling storage hopper buffer the difference between the seedling retrieval rhythm and the planting rhythm, reducing the idle travel caused by adjacent mechanisms waiting for each other.

[0075] 3. This invention converts rotational power into the reciprocating motion of a flowering planter mechanism via a planting crank-rocker mechanism. This allows the planter to sequentially complete the processes of seedling reception, approaching the soil, entering the soil, and resetting. Upon reaching the predetermined planting position, the planter releases the seedling from the tray via opening and closing flaps. This shortens the unrestrained fall distance of the seedling after leaving the planter and reduces the possibility of root ball displacement or damage during soil entry. After planting, the soil covering component gathers and compacts the soil around the roots of the seedling. The elastic soil covering and pressing mechanism allows the soil covering and compaction mechanism to float up and down with the ground undulations and adjust the downward pressure according to the soil condition. This helps to ensure that the soil around the root ball is evenly covered and moderately compacted, reducing the possibility of insufficient soil covering, excessive compaction, or rigid collision between the soil covering component and the ground. Attached Figure Description

[0076] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0077] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0078] Figure 2 This is a top view of the overall structure of the present invention;

[0079] Figure 3 This is a schematic diagram of the overall structure of the present invention.

[0080] Figure 4 This is a side view of the overall structure of the present invention;

[0081] Figure 5 This is a schematic diagram of the seedling clamping mechanism of the present invention;

[0082] Figure 6 This is an isometric view of the seedling storage mechanism of the present invention;

[0083] Figure 7This is a state diagram of the aperture opening and closing mechanism of the present invention;

[0084] Figure 8 This is a schematic diagram of a partial track-following structure of the seedling separating mechanism of the present invention;

[0085] Figure 9 This is a top view of the seedling separation mechanism of the present invention;

[0086] Figure 10 This is a schematic diagram of the crank-rocker mechanism in the planting mechanism of the present invention;

[0087] Figure 11 This is a schematic diagram of the planter in the planting mechanism of the present invention;

[0088] Figure 12 This is a front view schematic diagram of the soil covering mechanism of the present invention;

[0089] Figure 13 This is a side view of the soil covering mechanism of the present invention.

[0090] Figure 14 This is an isometric view of the transmission gear set of the present invention.

[0091] In the attached diagram: 1. Guide rail slider; 2. Electric push rod; 3. Piston rod; 4. Hinge pin; 5. First-stage rod of the rhomboid linkage mechanism; 6. Second-stage rod of the clamping finger and rhomboid linkage mechanism; 7. Second-stage linkage support and fixing pin; 8. Second-stage rod support and fixing bracket; 9. Stepper motor; 10. Pinion; 11. Rack; 12. Seedling funnel; 13. Aperture ring opening and closing mechanism; 14. Y-shaped seedling guide channel; 15. Aperture ring; 16. Aperture blade; 17. Blade hinge pin; 18. External gear ring; 19. Motor to... 20. Transmission component of cross-shaped power frame; 21. Stepper motor with reduction gear; 22. Track guide ring; 23. Cross-shaped power frame; 24. Roller; 25. Seedling storage hopper fixed base; 26. Linear motion device on cross-shaped connecting rod; 27. Crank; 28. Connecting crank motion connecting rod; 29. ​​Connecting swing arm transmission connecting rod; 30. Third swing arm; 31. First swing arm; 32. Fixed rod; 33. First reinforcing rod; 34. Second swing arm; 35. Second reinforcing rod; 36. Fixed planting rod; 37. Connecting... 38. Seedling funnel; 39. Planting device mounting bracket; 40. Planter pull-out opening buckle; 41. Planter pull-out ring; 42. Electromagnetic piston cylinder; 43. Pointed opening and closing pull-out connecting rod; 44. Planter cylinder; 45. Opening and closing petals; 46. Fixed mounting bracket; 47. Compression spring; 48. Adjusting nut and force transmission plate; 49. Soil covering and planting lower pressure buckle; 50. Overall swing arm structure; 51. Soil covering working parts; 52. Output shaft; 53. Clutch device for external gear and gear core; 54. Self-rotating external gear ring. 54. Gear core fixed to the output shaft; 55. Input pinion; 56. Seedling clamping mechanism; 57. Three-axis positioning mechanism; 58. Seedling storage mechanism; 59. Seedling separating mechanism; 60. Planting crank rocker mechanism; 61. Flowering planter mechanism; 62. Main motor drive mechanism; 63. Gear drive mechanism; 64. Active walking wheel; 65. Driven steering wheel; 66. Base frame mounting plate; 67. Base frame; 68. Upper aluminum profile frame; 69. Elastic soil covering and pressing mechanism; 70. Soil covering and compaction mechanism. Detailed Implementation

[0092] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0093] This invention provides, for example Figures 1-14An automatic vegetable tray seedling transplanter is shown, comprising a frame; a seedling storage mechanism 58 connected to the upper part of the frame and having a seedling inlet end and a seedling outlet end located below the seedling inlet end; a three-axis positioning mechanism 57 straddling the upper part of the frame and having a movable end capable of moving along the X-axis, Y-axis, and Z-axis directions, the movable end's movement range covering the seedling picking position of the tray and the seedling inlet end of the seedling storage mechanism 58; and a seedling clamping mechanism 56 connected to the movable end of the three-axis positioning mechanism 57 for clamping the tray. The seedlings move between the seedling pick-up position in the plug tray and the seedling inlet end of the seedling storage mechanism 58. The planting mechanism is connected to the lower part of the frame and has a seedling receiving end for receiving the plug tray seedlings. The seedling separating mechanism 59 is located between the seedling storage mechanism 58 and the planting mechanism. Its seedling receiving end is located below the seedling outlet end of the seedling storage mechanism 58, and its seedling placement end is located above the seedling receiving end of the planting mechanism. It has a seedling storage hopper that can circulate between the seedling receiving end and the seedling placement end to receive the plug tray seedlings released by the seedling storage mechanism 58 and transfer the plug tray seedlings to the planting mechanism.

[0094] In use, the seedling tray containing the seedlings to be transplanted is placed within the seedling retrieval range of the three-axis positioning mechanism 57, and the empty seedling storage hopper in the seedling separating mechanism 59 is positioned below the seedling outlet of the seedling storage mechanism 58. The three-axis positioning mechanism 57 moves the seedling clamping mechanism 56 along the X-axis, Y-axis, and Z-axis directions according to the position of the seedlings to be retrieved, aligning the seedling clamping mechanism 56 with the seedlings in the seedling tray.

[0095] After the seedling clamping mechanism 56 reaches above the seedlings in the plug tray, it moves downward and clamps the seedlings. Then, the three-axis positioning mechanism 57 drives the seedling clamping mechanism 56 upward, causing the seedlings to detach from the plug tray. The seedling clamping mechanism 56 is then moved to the seedling inlet end of the seedling storage mechanism 58. Through the combined movement in three directions, the seedling clamping mechanism 56 can pick up seedlings from different holes in the plug tray without moving the entire plug tray. It can also place seedlings at fixed points according to the seedling inlet position of the seedling storage mechanism 58, thereby reducing the number of times the entire machine needs to be readjusted due to different plug tray sizes or seedling hole positions, and improving the positional consistency when picking up seedlings continuously.

[0096] After the seedling clamping mechanism 56 reaches the seedling receiving end of the seedling storage mechanism 58, it releases its clamp, allowing the plug seedlings to enter the storage mechanism 58. The storage mechanism 58 temporarily stores the subsequent plug seedlings while the seedling separating mechanism 59 has not yet completed the transfer of the previous plug seedling, and releases the plug seedlings once the receiving location is ready for receiving. Thus, the seedling clamping mechanism 56 can return to the plug tray to continue retrieving seedlings after releasing them, without having to continuously stop and wait for the planting mechanism to complete all its actions. This allows the seedling retrieval and planting actions to run according to their respective cycles, reducing the idle travel time caused by the previous mechanism waiting for the next.

[0097] After the seedlings from the seedling storage mechanism 58 fall into the seedling hopper at the receiving position, the seedling separating mechanism 59 moves the seedling hopper towards the seedling placement position, and another empty seedling hopper moves into the receiving position. Once the seedling hopper reaches the placement position, it releases the seedlings from the seedling storage mechanism to the receiving end of the planting mechanism. The seedling hopper cycles between the receiving and placement positions, allowing the receiving and placement actions to be performed continuously from different locations. This avoids interruptions in seedling delivery caused by a single receiving component reciprocating, and reduces the landing point deviation caused by the seedling storage mechanism 58 directly placing seedlings into the moving planting mechanism.

[0098] After receiving the seedlings from the trays, the planting mechanism moves towards the soil, allowing the seedlings to enter the predetermined planting position. Once in the soil position, the planting mechanism releases the seedlings and returns to its original position to await the next seedling. Because the seedlings are transferred step-by-step from top to bottom between the seedling storage mechanism 58, the seedling distribution mechanism 59, and the planting mechanism, the distance the seedlings fall without constraint between adjacent mechanisms is shortened, reducing the possibility of the seedlings flipping, tilting, or deviating from the predetermined path during the transfer process.

[0099] Through the aforementioned seedling collection, temporary storage, cyclical transfer, and planting processes, the three-axis positioning mechanism 57 enhances the coverage of the seedling clamping mechanism 56 at different seedling hole locations, the seedling storage mechanism 58 buffers the rhythm difference between the seedling collection and planting actions, and the seedling separating mechanism 59 continuously switches between receiving and placing seedlings, thus ensuring a continuous connection between the upper seedling collection process and the lower planting process. Compared to waiting directly for planting after seedling collection or directly placing seedlings into the planting mechanism, this reduces mutual waiting between mechanisms and the free-falling process of seedlings, improving the stability of the seedling transfer position in the seedling trays and the overall continuous transplanting efficiency.

[0100] Furthermore, the frame includes a base frame 67, which extends along the travel direction of the automatic vegetable tray seedling transplanter. An upper aluminum profile frame 68 is fixedly connected above the base frame 67. A three-axis positioning mechanism 57 is straddling the upper aluminum profile frame 68. A seedling storage mechanism 58 is connected inside the upper aluminum profile frame 68. A seedling separating mechanism 59 and a planting mechanism are connected to the base frame 67 and are located below the seedling storage mechanism 58 in sequence.

[0101] The three-axis positioning mechanism 57 includes a gantry frame, which is movably mounted on the upper aluminum profile frame 68. The gantry frame has a Z-axis column arranged opposite to each other. A Y-axis crossbeam is vertically connected to the Z-axis column. An X-axis transmission assembly is mounted on the upper aluminum profile frame 68 and connected to the gantry frame to drive the gantry frame to move along the X-axis direction. A Z-axis transmission assembly is mounted on the Z-axis column and connected to the Y-axis crossbeam to drive the Y-axis crossbeam to move along the Z-axis direction. A Y-axis transmission assembly is mounted on the Y-axis crossbeam to output the displacement along the Y-axis direction.

[0102] The planting mechanism includes a planting crank-rocker mechanism 60 and a flowering planting device mechanism 61.

[0103] After the initial reset of all mechanisms of the machine is completed and the seedling tray is placed in the seedling picking range, the three-axis positioning mechanism 57 adjusts the spatial position of the seedling clamping mechanism 56 according to the position of the seedling hole where the seedling to be clamped is located, so that the seedling clamping mechanism 56 can move from the current position to above the corresponding seedling hole.

[0104] In this embodiment, the X-axis direction can be set as the length direction of the upper aluminum profile frame 68, the Y-axis direction can be set as the transverse direction intersecting the X-axis direction, and the Z-axis direction can be set as the vertical direction. During seedling positioning, the X-axis transmission assembly moves the gantry relative to the upper aluminum profile frame 68 to change the position of the seedling clamping mechanism 56 along the X-axis; the Z-axis transmission assembly moves the Y-axis crossbeam up and down along the Z-axis column to change the height between the seedling clamping mechanism 56 and the seedling tray; the Y-axis transmission assembly moves the seedling clamping mechanism 56 along the Y-axis crossbeam to change the position of the seedling clamping mechanism 56 along the Y-axis. The movements in these three directions cooperate to allow the seedling clamping mechanism 56 to be aligned with different seedling holes in the seedling tray, and also to move to the seedling inlet end of the seedling storage mechanism 58 after seedling retrieval.

[0105] In practice, the seedling clamping mechanism 56 is first aligned horizontally with the target seedling hole using the X-axis and Y-axis transmission components. Then, the Z-axis transmission component lowers the clamping mechanism 56 to the clamping height. After clamping, the Z-axis transmission component first raises the clamping mechanism 56, detaching the seedling from the seedling tray. Subsequently, the X-axis and Y-axis transmission components transfer the seedling to the corresponding storage position. This method of first horizontally positioning and then vertically retrieval reduces seedling collisions caused by the clamping mechanism 56 descending directly without aligning with the seedling hole. It also helps maintain the seedling retrieval direction consistent with the seedling hole extension direction, reducing the possibility of excessive friction between the roots and the seedling tray wall during retrieval.

[0106] The base frame 67 serves as the load-bearing foundation for the lower part of the machine, mainly bearing the loads generated by the seedling separating mechanism 59, the planting mechanism, and the machine's movement. The upper aluminum profile frame 68 provides installation and movement space for the three-axis positioning mechanism 57 and the seedling storage mechanism 58. The seedling picking and delivery actions of the three-axis positioning mechanism 57 are mainly completed within the space formed by the upper aluminum profile frame 68, while the transfer and soil insertion actions of the seedling separating mechanism 59 and the planting mechanism are mainly completed in the lower area where the base frame 67 is located. This allows the upper positioning movement and the lower planting movement to be arranged in layers, reducing the intersection of movement paths of different mechanisms and enabling the seedlings in the trays to be transferred step by step from the upper seedling picking area to the lower planting area.

[0107] When the specifications of the seedling trays, the spacing between seedling holes, or the placement of the seedling trays on the frame change, the target positions of the three-axis positioning mechanism 57 in the X, Y, and Z axes can be adjusted to allow the seedling clamping mechanism 56 to re-align with the different seedling hole positions without requiring a complete change to the installation positions of the seedling storage mechanism 58 and the planting mechanism. This improves the machine's adaptability to different seedling tray positions and seedling hole arrangements, reducing the workload of mechanical disassembly and repositioning after changing seedling trays.

[0108] After the seedlings in the seedling trays are transported to the planting mechanism by the seedling separating mechanism 59, the planting crank-rocker mechanism 60 transmits periodic motion to the flowering planter mechanism 61, enabling the flowering planter mechanism 61 to move towards the soil, reach the planting position, and leave the planting position. The planting crank-rocker mechanism 60 and the flowering planter mechanism 61 together form the planting mechanism, allowing the movement trajectory of the planter to be constrained by mechanical transmission. Compared to relying entirely on independent linear drive components to control descent and ascent, this reduces the number of independent drive nodes in the planting action, making it easier to keep the soil entry action consistent with the overall planting rhythm of the machine.

[0109] The layered load-bearing structure formed by the base frame 67 and the upper aluminum profile frame 68, and the spatial positioning path formed by the three-axis positioning mechanism 57, can expand the seedling picking coverage of the seedling clamping mechanism 56 while maintaining the relatively concentrated structure of the whole machine. This allows the seedling picking, seedling delivery, and lower planting actions to be completed in their respective spaces, reducing the possibility of interference between the various moving mechanisms and improving the positioning stability of the seedlings when they are transferred from the seedling hole to the storage position.

[0110] Furthermore, the seedling clamping mechanism 56 includes a seedling clamping claw bracket, which is slidably connected to the Y-axis beam via a guide rail slider 1 and connected to the Y-axis transmission assembly. An electric push rod 2 is mounted on the seedling clamping claw bracket, and its output end is connected to a piston rod 3. One end of the first-stage rod 5 of the rhombic linkage mechanism is hinged to the piston rod 3 via a hinge pin 4. The second-stage rod 6 of the clamping finger and rhombic linkage mechanism is hinged to the other end of the first-stage rod 5 of the rhombic linkage mechanism. The second-stage rod support fixing bracket 8 is mounted on the seedling clamping claw bracket, and the second-stage rod 6 of the clamping finger and rhombic linkage mechanism is rotatably connected to the second-stage rod support fixing bracket 8 via a second-stage linkage support fixing pin 7.

[0111] The piston rod 3 drives the finger gripper and the second-stage rod 6 of the diamond linkage mechanism to rotate around the second-stage rod support pin 7 via the first-stage rod 5 of the diamond linkage mechanism, so as to open and close the second-stage rod 6 of the finger gripper and the diamond linkage mechanism.

[0112] After the three-axis positioning mechanism 57 moves the seedling clamping mechanism 56 above the seedlings to be clamped, the seedling clamping claw support moves along the Y-axis beam via the guide rail slider 1, aligning the clamping fingers and the secondary rod 6 of the diamond linkage mechanism with the seedlings to be clamped. The guide rail slider 1 restricts the direction of movement of the seedling clamping claw support during its movement, ensuring that the seedling clamping mechanism 56 can maintain stable movement along the Y-axis beam and reducing changes in the clamping position caused by lateral swaying of the seedling clamping claw support.

[0113] After the seedling clamping mechanism 56 completes its positioning alignment, the electric push rod 2 drives the piston rod 3 to extend and retract. The linear motion of the piston rod 3 is transmitted to the first-stage link 5 of the rhombic linkage mechanism through the hinge pin 4, and the first-stage link 5 of the rhombic linkage mechanism further drives the movement of the finger clamping and the second-stage link 6 of the rhombic linkage mechanism. The second-stage link 6 of the finger clamping and the rhombic linkage mechanism rotates relative to the second-stage link support fixing pin 7 as the fulcrum, so that the linear displacement output by the electric push rod 2 is converted into the opening and closing action of the finger clamping part.

[0114] During the clamping action, the electric push rod 2 drives the piston rod 3 to move along the clamping direction. The first-stage rod 5 of the rhomboid linkage mechanism then changes its angle with the piston rod 3, the clamping fingers, and the second-stage rod 6 of the rhomboid linkage mechanism, causing the clamping fingers to gradually move closer to the seedling in the plug tray and form a clamp. After clamping is complete, the electric push rod 2 maintains its current extension / retraction position, and the three-axis positioning mechanism 57 drives the entire clamping mechanism 56 upward, causing the seedling in the plug tray to detach from the plug tray along the opening direction of the seedling hole. Because the clamping action of the clamping fingers is completed before the lifting action, the seedling in the plug tray remains relatively stable before being pulled upward, reducing the risk of slippage or tilting of the seedling caused by lifting it directly before the clamping is complete.

[0115] After the seedling is released from the tray, the three-axis positioning mechanism 57 drives the seedling clamping mechanism 56 to move towards the seedling inlet end of the seedling storage mechanism 58. Once the clamping mechanism 56 reaches the seedling placement position, the electric push rod 2 reverses its movement. The piston rod 3, through the first-stage rod 5 of the rhomboid linkage mechanism, drives the clamping fingers and the second-stage rod 6 of the rhomboid linkage mechanism to rotate in the opposite direction around the second-stage linkage support pin 7, causing the clamping fingers to gradually open. After the seedling is released, it enters the seedling storage mechanism 58. After seedling placement, the clamping mechanism 56 remains open and returns to the next seedling hole position, repeating the alignment, clamping, lifting, and placement actions.

[0116] The clamping and releasing are accomplished by driving the diamond-shaped linkage structure through the electric push rod 2. This allows a single linear drive component to coordinate the opening and closing of the clamping fingers, reducing the asynchronous movement issues that occur when multiple clamping fingers have separate drive components. The secondary linkage support pin 7 and the secondary rod support bracket 8 provide stable rotation fulcrums for the clamping fingers and the secondary rod 6 of the diamond-shaped linkage mechanism, ensuring a more consistent opening and closing path and clamping position during continuous seedling clamping. Simultaneously, the diamond-shaped linkage mechanism can generate stable clamping action within a short drive stroke, keeping the seedlings in the tray under control during extraction and transfer, reducing the possibility of seedling slippage, tilting, and mechanical damage due to unstable clamping positions.

[0117] Furthermore, the seedling storage mechanism 58 includes a seedling storage funnel 12, which is set on the upper aluminum profile frame 68 and located below the moving range of the seedling clamping mechanism 56. The top of the seedling storage funnel 12 forms a seedling inlet, and the bottom forms a seedling outlet. The aperture opening and closing mechanism 13 is set at the seedling outlet, and the Y-shaped seedling guide channel 14 is set below the seedling storage funnel 12. Its seedling inlet end is connected to the corresponding seedling outlet, and its seedling outlet end corresponds to the seedling receiving end of the seedling separating mechanism 59. The aperture opening and closing mechanism 13 includes an aperture ring 15, which is located at the seedling outlet of the seedling storage funnel 12. Aperture blades 16 are located inside the aperture ring 15, and adjacent aperture blades 16 are hinged together by blade hinge pins 17. An outer gear ring 18 is rotatably mounted on the aperture ring 15 and is connected to the aperture blades 16 for transmission. A stepper motor 9 is located on one side of the seedling storage funnel 12, and its output end is connected to a pinion 10. A rack 11 is slidably mounted on one side of the seedling storage funnel 12 and meshes with the pinion 10 and the outer gear ring 18 respectively. The stepper motor 9 drives the rack 11 to move through the pinion 10, thereby driving the outer gear ring 18 to rotate and causing the aperture blades 16 to open and close.

[0118] After the seedling clamping mechanism 56 transfers the tray seedlings to the seedling storage mechanism 58 and releases the clamp, the tray seedlings enter the seedling storage funnel 12 through the inlet at the top. At this time, the aperture opening and closing mechanism 13 keeps the outlet of the seedling storage funnel 12 closed, so that the tray seedlings remain temporarily in the seedling storage funnel 12, waiting for the empty seedling storage hopper in the seedling separating mechanism 59 to move to the receiving position. By creating a temporary storage stage between the seedling picking and the seedling separating action, the seedling clamping mechanism 56 can return to the tray to continue the next seedling picking after completing the seedling placement, without waiting for the seedling separating mechanism 59 to complete the subsequent transfer action.

[0119] When the empty seedling hopper in the seedling separating mechanism 59 reaches the seedling receiving position, the stepper motor 9 starts and drives the pinion 10 to rotate. The pinion 10 pushes the rack 11 to move along one side of the seedling storage funnel 12. During the movement of the rack 11, it drives the outer gear ring 18 meshing with it to rotate relative to the aperture ring 15, and transmits the motion from the outer gear ring 18 to the aperture blades 16, so that multiple aperture blades 16 synchronously change their opening and closing state around the seedling outlet of the seedling storage funnel 12.

[0120] Multiple aperture blades 16 are linked together under the constraint of the blade hinge pin 17. When the outer toothed ring 18 rotates in the opening direction, each aperture blade 16 gradually opens the seedling outlet of the seedling storage funnel 12, causing the seedling outlet to expand outward from the central area. Under the action of its own gravity, the seedlings in the plug tray are released downward from the seedling storage funnel 12. By using multiple aperture blades 16 to open simultaneously, the seedling outlet can be opened more evenly around the circumference, reducing the possibility of the seedlings in the plug tray being tilted, overturned, or having their root balls collided due to lateral pushing when using a single-sided baffle.

[0121] After leaving the seedling storage funnel 12, the seedlings from the plug trays enter the Y-shaped seedling guide channel 14. The Y-shaped seedling guide channel 14 restricts the falling direction of the seedlings, causing them to move along the channel towards the receiving position of the seedling separating mechanism 59, reducing the lateral sway and landing point deviation that occur when the seedlings fall freely from the seedling storage funnel 12. For seedling storage funnels 12 at different positions, the Y-shaped seedling guide channel 14 can also converge the corresponding seedling paths to the receiving end of the seedling separating mechanism 59, so that the seedling separating mechanism 59 does not have to move directly below each seedling storage funnel 12 to receive seedlings, which helps to reduce the range of changes in the receiving position.

[0122] After the seedlings from the plug trays fall into the seedling hopper at the receiving position through the Y-shaped seedling guide channel 14, the stepper motor 9 reverses its direction, causing the pinion gear 10 to drive the rack 11 back. The rack 11 further drives the outer gear ring 18 to rotate in the opposite direction, and the aperture blades 16 gradually close, sealing the seedling outlet of the seedling hopper 12 again, awaiting the next seedling release command. The stepper motor 9 can control the opening and closing times of the aperture blades 16 according to the planting rhythm, ensuring that the plug tray seedlings in the seedling hopper 12 are released only after the seedling hopper has reached its position, reducing the possibility of seedlings falling prematurely before the seedling hopper reaches the receiving position.

[0123] The temporary storage space formed by the seedling storage funnel 12, the controllable seedling outlet formed by the aperture opening and closing mechanism 13, and the directional seedling drop path formed by the Y-shaped seedling guide channel 14 can separate the seedling release action of the seedling clamping mechanism 56 from the seedling receiving action of the seedling separating mechanism 59 in stages. The circumferential linkage opening and closing of the aperture leaf 16 can reduce unilateral compression during the release of the plug seedlings, and the Y-shaped seedling guide channel 14 can shorten the distance of the plug seedlings in the unrestrained falling state, thereby improving the stability of the landing point when the plug seedlings enter the seedling storage hopper, reducing the possibility of seedling jamming, deflection, and falling outside the seedling receiving range, and providing relatively stable seedling entry conditions for the subsequent cyclical transfer between the seedling receiving position and the seedling placement position of the seedling storage hopper.

[0124] Furthermore, the seedling separating mechanism 59 includes a track guide ring 21, which is disposed between the seedling emergence end of the seedling storage mechanism 58 and the seedling receiving end of the planting mechanism, forming a U-shaped track groove. The track guide ring 21 has a seedling receiving position corresponding to the seedling emergence end of the seedling storage mechanism 58 and a seedling placement position corresponding to the seedling receiving end of the planting mechanism. The output end of the stepper motor 20 with reduction speed is connected to the cross power frame 22 via the motor to the cross power frame transmission component 19. The seedling storage hopper fixed base 24 is provided with a seedling storage hopper with an openable bottom. Rollers 23 are rotatably disposed on both sides of the seedling storage hopper fixed base 24. The rollers 23 are rotatably connected in the U-shaped track groove. The linear motion device 25 on the cross linkage is connected between the end of the cross power frame 22 and the seedling storage hopper fixed base 24. The stepper motor 20 with reduction speed drives the seedling storage hopper fixed base 24 to move along the track guide ring 21 between the seedling receiving position and the seedling placement position through the cross power frame 22.

[0125] After the plug seedlings enter the seedling separating mechanism 59 through the Y-shaped seedling guide channel 14, the seedling storage hopper in the receiving position receives the plug seedlings. After the seedling storage hopper completes the receiving, the stepper motor 20 with reduction gear starts, and its output power is transmitted through the motor to the cross power frame transmission component 19 and then to the cross power frame 22, causing the cross power frame 22 to rotate around its rotation center, and driving the seedling storage hopper fixed base 24, which is holding the plug seedlings, to move from the receiving position to the seedling placement position.

[0126] The seedling storage container is mounted on a fixed base 24, and rollers 23 on both sides of the fixed base 24 enter the U-shaped track groove formed by the guide ring 21. When the cross-shaped power frame 22 rotates, the rollers 23 roll along the U-shaped track groove, causing the fixed base 24 to move along the path defined by the guide ring 21. By limiting the rollers 23 on both sides, the guide ring 21 can reduce lateral swaying or deviation from the predetermined path during the transfer of the seedling storage container, thus keeping the seedlings in the trays relatively stable when moving from the receiving position to the placement position.

[0127] A linear motion device 25 on the cross linkage is located between the end of the cross power frame 22 and the seedling container fixed base 24. As the cross power frame 22 drives the seedling container fixed base 24 to move along the guide rail 21, the linear motion device 25 on the cross linkage can generate corresponding linear movement according to the position change of the roller 23 within the U-shaped track groove, ensuring that the connection length between the seedling container fixed base 24 and the cross power frame 22 can adapt to the movement position defined by the track. Therefore, the rotational motion output by the cross power frame 22 can cooperate with the rolling motion of the roller 23 along the guide rail 21, avoiding jamming caused by inconsistent motion trajectories when using a rigid fixed-length connection.

[0128] A stepper motor 20 with a reduction gear drives the cross-shaped power frame 22 to rotate according to a predetermined seedling division rhythm, causing the seedling storage hopper containing the plug seedlings to reach the seedling placement position corresponding to the seedling receiving end of the planting mechanism. In this embodiment, the bottom of the seedling storage hopper is provided with an openable and closable rotating aperture structure, which is connected to an independent power ring. The independent power ring is used to drive the rotating aperture structure to open or close. After the seedling storage hopper reaches the seedling placement position, the independent power ring drives the rotating aperture structure to open, allowing the plug seedlings to enter the planting mechanism downwards from the seedling storage hopper under their own gravity. After the seedling placement is completed, the independent power ring drives the rotating aperture structure to return to the closed state, and the seedling storage hopper continues to move with the cross-shaped power frame 22. At the same time, another empty seedling storage hopper is moved to the seedling receiving position corresponding to the seedling exit end of the seedling storage mechanism 58 to receive the next plug seedling.

[0129] The stepper motor 20 with gears can control the rotation angle and stop position of the cross-shaped power frame 22 through step-by-step rotation, so that the seedling container stops at the seedling receiving position and the seedling placing position respectively, reducing the landing point deviation caused by receiving or placing seedlings before the seedling container is in position. The gear transmission can reduce the rotation speed of the cross-shaped power frame 22, so that the seedling container maintains a relatively stable movement when approaching the seedling receiving position or the seedling placing position, reducing the risk of the seedlings in the tray tipping over or jumping in the seedling container due to sudden acceleration or deceleration.

[0130] The cross-shaped power frame 22 drives the seedling storage hopper to circulate between the seedling receiving position and the seedling placement position, enabling directional connection between the seedling placement position of the seedling storage mechanism 58 and the seedling receiving position of the planting mechanism. Compared to having the planting mechanism move directly below the seedling storage mechanism 58 to receive seedlings, the seedling separating mechanism 59 can continue to receive subsequent tray seedlings while the planting mechanism is performing the soil insertion action, and complete the seedling placement in a timely manner after the planting mechanism returns to its original position, thereby reducing the mutual waiting between the upper seedling placement action and the lower planting action.

[0131] The guide rail 21, rollers 23, and linear motion device 25 on the cross linkage jointly constrain and adjust the movement path of the seedling storage hopper, enabling it to complete seedling receiving, transfer, and placement in a relatively stable posture. This reduces the possibility of seedlings from the trays detaching from the storage hopper or deviating from the placement position during transfer. Simultaneously, the cyclical replacement of empty and receiving seedling storage hoppers ensures continuous connection between the seedling receiving and placement processes, providing a consistent placement position and rhythm for the subsequent flowering planter mechanism 61 to stably receive seedlings from the trays.

[0132] Furthermore, a base frame mounting plate 66 is provided on the base frame 67. The planting crank rocker mechanism 60 of the planting mechanism includes a crank 26, which is rotatably mounted on the base frame mounting plate 66. One end of the connecting crank motion link 28 is eccentrically hinged to the crank 26, and an elongated groove is provided on the connecting crank motion link 28. The position of the connecting rod path fixing point 27 is adjustablely set on the base frame mounting plate 66 and slides with the elongated groove. One end of the connecting rocker arm transmission link 29 is hinged to the other end of the connecting crank motion link 28. The rocker arm assembly has a fixed rod 32 and a first rocker arm 31. The second swing rod 34, the third swing rod 30, the first reinforcing rod 33 and the second reinforcing rod 35, and the fixed rod 32 are mounted on the base frame mounting plate 66. The fixed rod 32, the first swing rod 31, the second swing rod 34, the third swing rod 30, the first reinforcing rod 33 and the second reinforcing rod 35 are connected to form a swing rod assembly. One end of the swing rod assembly is hinged to the other end of the swing rod transmission link 29, and the other end is connected to the flowering planter mechanism 61. The crank 26 drives the flowering planter mechanism 61 to move along a curve by connecting the crank motion link 28, the swing rod transmission link 29 and the swing rod assembly.

[0133] After the seedling separation mechanism 59 moves the seedling storage bucket containing the plug seedlings to the seedling placement position, the plug seedlings enter the flowering planter mechanism 61 from the seedling placement position. The planting crank mechanism 60 then drives the flowering planter mechanism 61 to move towards the soil, so that the plug seedlings enter the soil planting stage from the seedling separation and transfer stage.

[0134] During the planting action, crank 26 rotates relative to the base mounting plate 66 under the action of power. Since one end of the connecting crank motion link 28 is eccentrically hinged to crank 26, the crank 26 can drive the connecting crank motion link 28 to reciprocate and oscillate during rotation. The long groove on the connecting crank motion link 28 is slidably engaged with the connecting rod path fixed point 27, so that the motion direction of the connecting crank motion link 28 is constrained by the connecting rod path fixed point 27, preventing it from oscillating freely with crank 26, and converting the rotational motion output by crank 26 into a compound motion suitable for driving the subsequent rocker arm assembly.

[0135] The position of the connecting rod path fixing point 27 on the base mounting plate 66 can be adjusted. When the position of the connecting rod path fixing point 27 changes, its engagement position with the long slot changes accordingly, causing the swing range and movement path of the connecting crank motion link 28 during the rotation of the crank 26 to change accordingly. This allows adjustment of the movement trajectory of the flowering planter mechanism 61. In actual use, the position of the connecting rod path fixing point 27 can be appropriately adjusted according to the planting depth, soil condition, or transplanting requirements to change the movement path of the flowering planter mechanism 61 when approaching, entering, and leaving the soil.

[0136] The motion generated by the connecting crank linkage 28 is transmitted to the pendulum assembly via the pendulum transmission linkage 29. The fixed rod 32 provides a relatively fixed support base for the pendulum assembly. The first pendulum 31, the second pendulum 34, and the third pendulum 30 oscillate together under the drive of the pendulum transmission linkage 29, and the overall linkage state of the pendulum assembly during movement is maintained by the first reinforcing rod 33 and the second reinforcing rod 35. The pendulum assembly continues to transmit the reciprocating motion input from the pendulum transmission linkage 29 to the flowering planter mechanism 61, causing the flowering planter mechanism 61 to move along a curved trajectory determined by the lengths of each linkage, the hinge positions, and the constraint positions.

[0137] During a planting cycle, crank 26 rotates continuously, sequentially driving the connecting crank motion link 28, the connecting swing arm transmission link 29, and the swing arm assembly to move the flowering planter mechanism 61 from the seedling receiving position towards the soil. After reaching the predetermined planting position, the flowering planter mechanism 61 completes the subsequent seedling placement action. Then, under the continued drive of the planting crank rocker mechanism 60, it leaves the soil and returns to the seedling receiving position to receive the next seedling in the plug tray. The reciprocating planting action of the flowering planter mechanism 61 is achieved by the continuous rotation of crank 26, which reduces the action connection error caused by setting independent drive components for the lowering, lifting, and resetting processes.

[0138] The planting crank-rocker mechanism 60 utilizes the sliding constraint between the long slot and the fixed point 27 of the connecting rod path to prevent the circular motion of the crank 26 from being directly transmitted to the flowering planter mechanism 61. Instead, it is gradually converted into a restricted curvilinear motion through the connecting crank motion link 28, the connecting swing arm transmission link 29, and the swing arm assembly. Compared to the rapid vertical movement of the planter, this curvilinear motion allows the flowering planter mechanism 61 to gradually approach and enter the soil, and then leave the soil along a corresponding path after the seedling is placed, reducing the instantaneous load generated by the direct impact of the planter on the soil.

[0139] The first reinforcing rod 33 and the second reinforcing rod 35 can improve the overall integrity of the swing arm assembly during repeated swinging, reduce the relative offset between the first swing arm 31, the second swing arm 34 and the third swing arm 30 due to different forces, and keep the movement trajectory of the flowering planter mechanism 61 relatively consistent in multiple planting cycles. This can improve the consistency of the seedling insertion position and planting depth, reduce the possibility of seedling tipping over, root ball displacement or unstable planting hole shape caused by planter movement deviation, and make the seedling receiving, insertion, placement and resetting actions completed in a continuous mechanical cycle.

[0140] Furthermore, the flowering planter mechanism 61 includes a planting device mounting bracket 38, which is connected to the swing rod assembly via a fixed planting rod 36. The planter cylinder 43 is mounted on the planting device mounting bracket 38, with a seedling funnel 37 connected to its upper end and an opening / closing petal 44 rotatably connected to its lower end. An electromagnetic piston cylinder 41 is mounted on the planter cylinder 43, with its output end connected to a pointed opening / closing pull-up connecting rod 42. The planter pull-up ring 40 is movably mounted on the planter cylinder 43 and is connected to the opening / closing petal 44 via the planter pull-up opening buckle 39. The pointed opening / closing pull-up connecting rod 42 is connected to the planter pull-up ring 40. The electromagnetic piston cylinder 41 drives the planter pull-up ring 40 to move via the pointed opening / closing pull-up connecting rod 42, thereby opening or closing the opening / closing petal 44.

[0141] After the planting crank-rocker mechanism 60 moves the flowering planter mechanism 61 to the seedling receiving position, the seedling storage hopper in the seedling separating mechanism 59 opens at the seedling placement position, allowing the plug tray seedlings to enter the planter cylinder 43 through the seedling receiving funnel 37. The seedling receiving funnel 37 guides the entry direction of the plug tray seedlings, enabling the root ball of the plug tray seedlings to move downwards along the planter cylinder 43, reducing the lateral deviation that occurs when the plug tray seedlings fall directly into the planter from the seedling storage hopper.

[0142] During the seedling stage, the opening and closing flap 44 remains closed, allowing the seedlings entering the planting device cylinder 43 to temporarily remain above the opening and closing flap 44. The planting device mounting bracket 38 receives the motion transmitted by the swing arm assembly through the fixed planting rod 36, causing the planting device cylinder 43 to move towards the soil along a predetermined curve with the planting crank rocker mechanism 60. While transmitting motion, the fixed planting rod 36 also supports the planting device mounting bracket 38, allowing the planting device cylinder 43, the seedling funnel 37, and the opening and closing flap 44 to move as a whole with the swing arm assembly, reducing the possibility of the planting device cylinder 43 swaying during the soil insertion process.

[0143] As the planting device cylinder 43 moves downwards, the closed opening and closing flaps 44 form a pointed entry point into the soil, gradually penetrating the soil. The seedlings in the planting trays are confined within the cylinder wall of the planting device 43, remaining within the predetermined planting path as the device enters the soil, preventing premature detachment of the seedlings or significant swaying of the root ball before entry into the soil. Once the planting device cylinder 43 reaches the predetermined planting depth, the flowering planting device mechanism 61 begins the seedling release action.

[0144] When the seedlings are placed, the electromagnetic piston cylinder 41 is activated, driving the pointed opening and closing pull rod 42 to move. The pointed opening and closing pull rod 42 further drives the upper pull ring 40 of the planter to move along the planter cylinder 43. The upper pull ring 40 of the planter transmits the opening action to each opening and closing petal 44 through the upper pull flower buckle 39 of the planter, causing the opening and closing petals 44 to rotate outward relative to the lower end of the planter cylinder 43. After the multiple opening and closing petals 44 open, a release space is formed in the soil for the plug seedlings to enter. Under the action of their own gravity, the plug seedlings enter the soil from the lower end of the planter cylinder 43.

[0145] Because the seedlings are released by the opening and closing flap 44 only after the planting device cylinder 43 has reached the predetermined depth, the free fall distance of the seedlings after leaving the planting device is shortened, allowing the root ball to enter the soil closer to the planting position. This reduces the risk of tilting, overturning, or root ball damage that can occur when the seedlings are released from a higher position. Simultaneously, the opening and closing flap 44 is synchronously driven by the upper pull ring 40 and the upper pull flower buckle 39 of the planting device, which facilitates the circumferential opening of the lower end of the planting device cylinder 43, reducing the risk of the seedlings shifting to one side due to unilateral opening and closing.

[0146] After the seedlings in the plug trays are released, the planting crank mechanism 60 continues to drive the flowering planter mechanism 61 to leave the soil along a curve. During the ascent of the flowering planter mechanism 61, the electromagnetic piston cylinder 41 reverses its movement, and the pointed opening and closing pull rod 42 drives the upper pull ring 40 of the planter to reset. The upper pull flower buckle 39 of the planter then drives the opening and closing petals 44 to close again, restoring the flowering planter mechanism 61 to a state where it can receive the next plug tray seedling. By coordinating the opening and closing action of the opening and closing petals 44 with the soil entry and exit actions of the planter cylinder 43, the possibility of premature seedling release before the opening and closing petals 44 reach the planting position, or the planter failing to close after leaving the soil, thus affecting the next seedling reception, can be reduced.

[0147] The planting crank-rocker mechanism 60 is responsible for forming the soil entry and reset trajectory of the flowering planter mechanism 61, while the electromagnetic piston cylinder 41 independently controls the opening and closing of the opening and closing petals 44, so that the positional movement of the planter and the seedling release action can be constrained separately. This allows the timing of seedling release to be determined according to the planting rhythm, ensuring that the seedlings in the plug trays are released from a relatively stable soil entry position. It also creates a continuous planting cycle of seedling receiving, soil entry, opening the petals to release the seedling, and closing the petals to reset, which helps improve the consistency of planting depth and position of the plug tray seedlings, and reduces the possibility of seedling tipping, root ball misalignment, and the seedling leaving the soil with the opening and closing petals 44.

[0148] Furthermore, the base frame 67 is provided with a main motor drive mechanism 62 and a gear transmission mechanism 63. The gear transmission mechanism 63 includes an input pinion 55, which is connected to the output end of the main motor drive mechanism 62. A self-rotating external gear ring 53 meshes with the input pinion 55. The output shaft 51 is connected to the crank 26. A tooth core 54 fixed to the output shaft is fixedly mounted on the output shaft 51 and located inside the self-rotating external gear ring 53. A clutch device 52 for the external gear and the tooth core is provided between the self-rotating external gear ring 53 and the tooth core 54 fixed to the output shaft, and is used to control the connection or separation of the self-rotating external gear ring 53 and the tooth core 54 fixed to the output shaft.

[0149] After the machine enters the planting operation state, the main motor drive mechanism 62 inputs power to the gear transmission mechanism 63 to drive the planting crank rocker mechanism 60 to move according to the planting rhythm. When the main motor drive mechanism 62 is running, the input pinion 55 rotates with its output end, and drives the self-rotating external gear ring 53 that meshes with the input pinion 55 to rotate.

[0150] When the flowering planter mechanism 61 needs to be driven to perform the soil insertion and reset actions, the clutch device 52 of the external gear and the tooth core is engaged, so that the self-rotating external gear ring 53 and the tooth core 54 located inside it form a power transmission relationship. The rotation of the external gear ring 53 is transmitted to the output shaft 51 by the tooth core 54, and the output shaft 51 further drives the crank 26 to rotate, so that the crank 26 drives the flowering planter mechanism 61 to move along a predetermined curve through the connecting crank motion link 28, the connecting rocker arm transmission link 29 and the rocker arm assembly.

[0151] When the clutch device 52 of the external gear and the tooth core is engaged, the input pinion 55, external gear ring 53, tooth core 54, output shaft 51, and crank 26 form a continuous power transmission path. When the crank 26 rotates one revolution, the planting crank rocker mechanism 60 completes the corresponding reciprocating motion, causing the flowering planter mechanism 61 to sequentially complete the actions of moving from the seedling receiving position towards the soil, reaching the seedling placement position, and leaving the soil and resetting.

[0152] When power needs to be transmitted to the planting crank-rocker mechanism 60, the clutch device 52 of the external gear and the tooth core is engaged, allowing the self-rotating external gear ring 53 to establish a power transmission relationship with the tooth core 54. When the planting power branch needs to be disconnected, the clutch device 52 of the external gear and the tooth core switches to the disengaged state. At this time, the self-rotating external gear ring 53 can rotate relative to the tooth core 54, and the power of the external gear ring 53 is no longer transmitted to the output shaft 51, causing the crank 26 to stop receiving driving force. After the clutch device 52 of the external gear and the tooth core switches back to the engaged state, the external gear ring 53 resumes transmitting power to the output shaft 51 and the crank 26 through the tooth core 54.

[0153] By controlling the connection and separation between the external gear ring 53 and the gear core 54 through the clutch device 52 of the external gear and the gear core, the on / off state of the planting power branch can be directly controlled within the gear transmission mechanism 63, avoiding the need to frequently start and stop the main motor drive mechanism 62 every time the planting action is paused. This not only reduces the impact caused by frequent starting of the main motor, but also provides mechanical control conditions for coordinating the seedling dispensing time of the seedling separating mechanism 59 with the planting action of the flowering planter mechanism 61.

[0154] The tooth core 54 is fixed on the output shaft 51 and located inside the external gear ring 53. The clutch device 52 of the external gear and the tooth core is located between them, so that power engagement, power disconnection and output shaft drive can be completed in the same transmission position. This arrangement can shorten the power transmission path between the external gear ring 53 and the output shaft 51, reduce the installation space occupied by setting up a separate stop transmission component, and help maintain the stability of power transmission between the output shaft 51 and the crank 26. By connecting or disconnecting the planting power branch, the planting crank rocker mechanism 60 can be independently controlled to obtain power according to the overall machine operation status, so that the pause, resumption and adjustment of planting transmission do not need to be completed through the overall start-stop main motor drive mechanism 62.

[0155] After the flowering planter mechanism 61 completes the placement and installation of the seedlings in the trays, the entire machine continues to move forward along the planting direction, allowing the seedlings that have already been placed to sequentially enter the subsequent soil-covering area. For example... Figures 1 to 4 , Figure 12 and Figure 13 As shown, the lower part of the base frame 67 is provided with a driving wheel 64 and a driven steering wheel 65. The driving wheel 64 is located at the front of the machine's travel direction, and the driven steering wheel 65 is located at the rear of the driving wheel 64. The driving wheel 64 is used to provide forward traction to the machine, and the driven steering wheel 65 is used to support the base frame 67 and change the travel direction with the machine's steering operation.

[0156] In one specific embodiment, the active walking wheel 64 is connected to the base frame 67 via an axle and bearing housing. A portion of the power output from the main motor drive mechanism 62 is transmitted to the active walking wheel 64 through the walking transmission part, causing the active walking wheel 64 to rotate and drive the whole machine forward. The driven steering wheel 65 is installed at the rear of the base frame 67 via a steering connection structure. When the whole machine travels in a straight line, it rolls with the active walking wheel 64. When performing a steering operation, it deflects relative to the base frame 67. The active walking wheel 64 undertakes the main driving role, while the driven steering wheel 65 undertakes the follow-up support and steering role. This avoids the problem of large turning resistance when all walking wheels are rigidly oriented, allowing the transplanter to adjust its direction of travel in greenhouses, narrow fields, or at the end of planting rows.

[0157] The soil covering and compaction mechanism 70 is located at the rear of the base frame 67 and behind the planting mechanism along the machine's travel direction. This allows the soil covering and compaction mechanism 70 to pass the planting position of the seedling trays as the machine moves forward after the flowering planter mechanism 61 completes its insertion into the soil. An elastic soil covering and compaction mechanism 69 is located between the soil covering and compaction mechanism 70 and the base frame 67. This mechanism applies a downward elastic force to the soil covering and compaction mechanism 70 and allows the mechanism to float according to changes in ground height.

[0158] The elastic soil covering and pressing mechanism 69 includes a fixed mounting frame 45, a compression spring 46, an adjusting nut and a force transmission plate 47, a soil covering and planting pressure buckle 48, and a swing arm integral structure 49. The fixed mounting frame 45 is fixedly connected to the rear of the base frame 67. One end of the swing arm integral structure 49 is movably connected to the fixed mounting frame 45, and the other end of the swing arm integral structure 49 extends to the rear and lower part of the base frame 67 and supports the soil covering and pressing mechanism 70, so that the soil covering and pressing mechanism 70 can swing up and down with the swing arm integral structure 49 relative to the fixed mounting frame 45.

[0159] In one specific installation method, the soil-covering and planting lower pressure buckle 48 is located on the side of the swing arm overall frame 49 near the fixed mounting bracket 45, and the compression spring 46 is located between the adjusting nut and the force transmission plate 47 and the soil-covering and planting lower pressure buckle 48. The adjusting nut and the force transmission plate 47 limit and transmit pressure to the upper end of the compression spring 46, and the lower end of the compression spring 46 applies a force to the soil-covering and planting lower pressure buckle 48, which then transmits the force to the swing arm overall frame 49, giving the swing arm overall frame 49 a tendency to drive the soil-covering and compaction mechanism 70 towards the soil.

[0160] When the adjusting nut is rotated, the position of the adjusting nut and the force transmission plate 47 relative to the fixed mounting bracket 45 changes, thereby altering the pre-compression of the compression spring 46. When the pre-compression of the compression spring 46 increases, the downward pressure on the soil-covering planting clamp 48 increases accordingly, increasing the soil-covering compaction pressure applied by the soil-covering compaction mechanism 70 to the soil. Conversely, when the pre-compression of the compression spring 46 decreases, the downward pressure of the soil-covering compaction mechanism 70 decreases accordingly. Therefore, the working pressure of the soil-covering compaction mechanism 70 can be adjusted according to the soil's looseness, moisture content, and required compaction level, avoiding excessive pressure penetration in soft soil or insufficient pressure to maintain effective contact in harder soil when using fixed rigid pressure.

[0161] The soil covering and compaction mechanism 70 is equipped with a soil covering working component 50 at its execution end. The soil covering working component 50 is located at the rear and lower part of the base frame 67 along with the overall swing arm structure 49. The soil covering working component 50 includes a V-shaped bulldozing plate located in the middle and soil pressing rollers located on both sides of the V-shaped bulldozing plate. The V-shaped bulldozing plate is located between adjacent planting rows, and the soil pressing rollers on both sides correspond to the outer areas of the corresponding planting rows and are inclined towards the root side of the seedlings in the plug trays.

[0162] As the machine moves forward, the V-shaped bulldozer blades first pass through the planting area formed by the flowering planter mechanism 61, guiding the soil pushed aside near the planting position to both sides, allowing the soil to backfill around the root ball of the seedling in the plug tray. Subsequently, the soil-pressing rollers on both sides roll over the backfilled soil, using their own rolling and inward tilting arrangement to press the soil on both sides of the root ball of the plug tray seedling, ensuring sufficient contact between the backfilled soil and the outside of the root ball. The V-shaped bulldozer blades mainly complete the soil gathering and root covering, while the soil-pressing rollers mainly complete the compaction of the soil after covering. The continuous action of the two can reduce the large gaps left around the root ball when relying solely on the natural fall of the soil.

[0163] When the soil covering component 50 passes over a raised area, the ground exerts an upward force on it, causing the swing arm frame 49 to swing upward relative to the fixed mounting frame 45. This is further compressed by the soil covering and planting pressure buckle 48, allowing the soil covering and compaction mechanism 70 to move upward. When the soil covering component 50 passes over a low-lying area, the compression spring 46 releases some of its elastic potential energy, and the soil covering and planting pressure buckle 48 pushes the swing arm frame 49 downward, allowing the soil covering component 50 to continue approaching the soil surface. Thus, the soil covering and compaction mechanism 70 can float up and down with the undulations of the ground, reducing the likelihood of the soil covering component 50 being suspended in mid-air or rigidly impacting the ground due to changes in ground height.

[0164] The soil covering structure is installed as a whole using the fixed mounting bracket 45. A swing-arm integrated frame 49 forms a swingable load-bearing structure, and a compression spring 46, adjusting nut, force transmission plate 47, and soil covering and planting pressure buckle 48 form an adjustable elastic pressure path. This allows the soil covering working component 50 to adapt to ground undulations while maintaining a certain downward pressure. This structure does not rely solely on the weight of the soil covering and compaction mechanism 70 to compact the soil; instead, it can adjust the spring preload according to soil conditions, ensuring the V-shaped bulldozer plate maintains a basically continuous bulldozing action and the compaction roller applies relatively gentle pressure to the soil around the roots. This reduces the possibility of excessive variations in soil covering depth, over-compaction of the soil, or insufficient compaction around the roots.

[0165] The active walking wheel 64, driven steering wheel 65, elastic soil covering and pressing mechanism 69, and soil covering and pressing mechanism 70 move forward together with the base frame 67, enabling the machine to continue covering and pressing the roots after completing the picking, separating, and placing of the seedlings from the trays. Having the same base frame 67 support the walking, planting, and soil covering structures helps maintain the front-to-back distance between the planting mechanism and the soil covering working component 50. This allows the soil covering working component 50 to pass through the already placed seedling positions along the machine's travel path, reducing the possibility of large lateral deviations in the soil covering position relative to the roots of the seedlings, and making the seedling placement, backfilling, and pressing a continuous operation process.

[0166] A method for using an automatic vegetable tray seedling transplanter, comprising the following steps:

[0167] Step 1: Adjust the position of the seedling clamping mechanism 56 by using the three-axis positioning mechanism 57, so that the seedling clamping mechanism 56 moves above the seedling tray and clamps the seedlings in the seedling tray;

[0168] Step 2: The seedlings in the plug trays are transferred to the seedling storage mechanism 58 by the three-axis positioning mechanism 57, and the seedlings in the plug trays are released into the corresponding seedling storage funnel 12.

[0169] Step 3: Control the aperture opening and closing mechanism 13 to open according to the planting rhythm, so that the seedlings in the seedling storage funnel 12 can enter the seedling receiving position of the seedling separation mechanism 59 through the Y-shaped seedling guide channel 14.

[0170] Step 4: Drive the cross-shaped power frame 22 to rotate, so that the seedling hopper containing the plug seedlings moves along the guide ring 21 from the seedling receiving position to the seedling placement position, and moves the empty seedling hopper to the seedling receiving position.

[0171] Step 5: The flower-type planting device mechanism 61 receives the seedlings from the seedling placement position, and the planting crank rocker mechanism 60 drives the flower-type planting device mechanism 61 to complete the actions of planting and placing the seedlings. Then, the process of picking up, temporarily storing, separating and planting the seedlings from the seedlings is repeated.

[0172] During machine operation, the three-axis positioning mechanism 57 drives the seedling clamping mechanism 56 to complete the positioning, clamping, and transfer of the plug seedlings. The clamped plug seedlings are temporarily stored in the seedling storage mechanism 58 and released downwards after the seedling storage hopper of the seedling separating mechanism 59 reaches the receiving position. The seedling separating mechanism 59 moves the seedling storage hopper containing the plug seedlings from the receiving position to the seedling placement position, so that the plug seedlings enter the flowering planter mechanism 61. The planting crank rocker mechanism 60 drives the flowering planter mechanism 61 to complete the soil insertion and seedling placement. The whole machine continues to move forward and the soil covering and pressing mechanism 70 covers and presses the roots of the plug seedlings. Then, each mechanism resets and enters the next transplanting cycle.

[0173] In this embodiment, the machine is also equipped with a PLC controller, positioning sensors, and limit switches. The PLC controller is electrically connected to the drive components of each axis of the three-axis positioning mechanism 57, the electric push rod 2, the stepper motor 9, the stepper motor 20 with reduction gear, the electromagnetic piston cylinder 41, and the independent power ring at the bottom of the seedling storage hopper. The positioning sensors and limit switches are used to provide feedback on the positioning status of the seedling clamping mechanism 56, the seedling storage hopper, and the flowering planter mechanism 61. The PLC controller controls the seedling picking, seedling placement, seedling separation, seedling feeding, and planting actions sequentially according to each positioning status.

[0174] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic vegetable tray seedling transplanter, characterized in that, include: frame; The seedling storage mechanism (58) is connected to the upper part of the frame and has a seedling inlet end and a seedling outlet end located below the seedling inlet end; The three-axis positioning mechanism (57) is mounted on the upper part of the frame and has a movable end that can move along the X-axis, Y-axis and Z-axis directions. The range of movement of the movable end covers the seedling tray retrieval position and the seedling inlet end of the seedling storage mechanism (58). The seedling clamping mechanism (56) is connected to the moving end of the three-axis positioning mechanism (57) and is used to clamp seedlings from the plug tray and move between the seedling picking position in the plug tray and the seedling inlet end of the seedling storage mechanism (58). A planting mechanism, which is connected to the lower part of the frame and has a seedling receiving end for receiving seedlings in plug trays; The seedling separating mechanism (59) is located between the seedling storage mechanism (58) and the planting mechanism. Its seedling receiving end is located below the seedling emergence end of the seedling storage mechanism (58), and its seedling placement end is located above the seedling receiving end of the planting mechanism. It has a seedling storage hopper that can circulate between the seedling receiving end and the seedling placement end, for receiving the plug seedlings released by the seedling storage mechanism (58) and transferring the plug seedlings to the planting mechanism.

2. The automatic vegetable tray seedling transplanter according to claim 1, characterized in that, The rack includes: The base frame (67) extends along the travel direction of the automatic vegetable tray transplanter; The upper aluminum profile frame (68) is fixedly connected to the upper part of the base frame (67). The three-axis positioning mechanism (57) spans the upper aluminum profile frame (68). The seedling storage mechanism (58) is connected inside the upper aluminum profile frame (68). The seedling separation mechanism (59) and the planting mechanism are connected to the base frame (67) and are located below the seedling storage mechanism (58) in sequence. The three-axis positioning mechanism (57) includes: The gantry frame is movably mounted on the upper aluminum profile frame (68). The gantry frame has a Z-axis column arranged opposite to each other, and a Y-axis crossbeam is lifted and connected to the Z-axis column. X-axis transmission assembly, which is mounted on the upper aluminum profile frame (68) and connected to the gantry frame, is used to drive the gantry frame to move along the X-axis direction; Z-axis transmission assembly, which is mounted on the Z-axis column and connected to the Y-axis crossbeam, is used to drive the Y-axis crossbeam to move along the Z-axis direction; Y-axis transmission assembly, which is mounted on the Y-axis beam, is used to output displacement along the Y-axis direction; The planting mechanism includes a planting crank-rocker mechanism (60) and a flowering planter mechanism (61).

3. The automatic vegetable tray seedling transplanter according to claim 2, characterized in that, The seedling clamping mechanism (56) includes: The seedling clamping claw bracket is slidably connected to the Y-axis crossbeam via a guide rail slider (1) and connected to the Y-axis transmission assembly; Electric push rod (2), the electric push rod (2) is set on the seedling clamp bracket, and its output end is connected to a piston rod (3). The first stage of the rhombic linkage mechanism (5) is hinged to the piston rod (3) by a hinge pin (4) at one end. The second-stage link (6) of the finger clamping and rhomboid linkage mechanism is hinged to the other end of the first-stage link (5) of the rhomboid linkage mechanism; A secondary rod support fixing bracket (8) is provided on the seedling clamping claw bracket. The secondary rod (6) of the clamping finger and rhomboid linkage mechanism is rotatably connected to the secondary rod support fixing bracket (8) through the secondary linkage support fixing pin (7). The piston rod (3) drives the second-stage rod (6) of the finger clamping and rhomboid linkage mechanism to rotate around the second-stage rod support fixing pin (7) through the first-stage rod (5) of the rhomboid linkage mechanism, so as to open and close the second-stage rod (6) of the finger clamping and rhomboid linkage mechanism.

4. The automatic vegetable tray seedling transplanter according to claim 2, characterized in that, The seedling storage facility (58) includes: Seedling storage funnel (12), the seedling storage funnel (12) is set on the upper aluminum profile frame (68) and located below the moving range of the seedling clamping mechanism (56), the top of the seedling storage funnel (12) forms a seedling inlet and the bottom forms a seedling outlet; An aperture opening and closing mechanism (13) is provided at the seedling outlet; Y-shaped seedling guide channel (14), the Y-shaped seedling guide channel (14) is located below the seedling storage funnel (12), its seedling inlet end is connected to the corresponding seedling outlet, and its seedling outlet end corresponds to the seedling receiving end of the seedling separation mechanism (59).

5. The automatic vegetable tray seedling transplanter according to claim 4, characterized in that, The aperture opening and closing mechanism (13) includes: Aperture ring (15), wherein the aperture ring (15) is disposed at the seedling outlet of the seedling funnel (12); Aperture blades (16), the aperture blades (16) are disposed inside the aperture ring (15), and adjacent aperture blades (16) are hinged together by blade hinge pins (17); An external gear ring (18) is rotatably mounted on the aperture ring (15) and is connected to the aperture blade (16) in a transmission manner. Stepper motor (9), the stepper motor (9) is located on one side of the seedling funnel (12), and its output end is connected to a pinion (10). A rack (11) is slidably disposed on one side of the seedling funnel (12) and meshes with the pinion (10) and the outer gear ring (18) respectively; The stepper motor (9) drives the rack (11) to move through the pinion (10), thereby driving the outer gear ring (18) to rotate and causing the aperture blades (16) to open and close.

6. The automatic vegetable tray seedling transplanter according to claim 2, characterized in that, The seedling separation mechanism (59) includes: The track guide (21) is set between the seedling outlet end of the seedling storage mechanism (58) and the seedling receiving end of the planting mechanism, and forms a U-shaped track groove. The track guide (21) has a seedling receiving position corresponding to the seedling outlet end of the seedling storage mechanism (58) and a seedling placement position corresponding to the seedling receiving end of the planting mechanism. A stepper motor (20) with a reduction gear is provided. The output end of the stepper motor (20) is connected to the cross-power frame (22) through the motor-to-cross-power frame transmission component (19). A seedling storage hopper fixing base (24) is provided with a seedling storage hopper whose bottom can be opened and closed. Rollers (23) are rotatably provided on both sides of the seedling storage hopper fixing base (24). The rollers (23) are rotatably connected to the U-shaped track groove. A linear motion device (25) on the cross link is connected between the end of the cross power frame (22) and the seedling container fixed base (24). The stepper motor (20) with speed reduction drives the seedling storage bucket fixed base (24) to move along the track guide ring (21) between the seedling receiving position and the seedling placement position through the cross power frame (22).

7. The automatic vegetable tray seedling transplanter according to claim 2, characterized in that, The base frame (67) is provided with a base mounting plate (66), and the planting crank rocker mechanism (60) of the planting mechanism includes: A crank (26) is rotatably mounted on the base frame mounting plate (66); A connecting rod (28) for connecting crank motion is provided. One end of the connecting rod (28) is eccentrically hinged to the crank (26), and a long groove is provided on the connecting rod (28). Linkage path fixing point (27), the position of the linkage path fixing point (27) is adjustablely set on the base frame mounting plate (66) and slides with the long slot; A connecting rod (29) is provided, one end of which is hinged to the other end of the connecting crank motion connecting rod (28). The swing arm assembly has a fixed rod (32), a first swing arm (31), a second swing arm (34), a third swing arm (30), a first reinforcing rod (33), and a second reinforcing rod (35). The fixed rod (32) is mounted on the base frame mounting plate (66). The fixed rod (32), the first swing arm (31), the second swing arm (34), the third swing arm (30), the first reinforcing rod (33), and the second reinforcing rod (35) are connected to form the swing arm assembly. One end of the swing arm assembly is hinged to the other end of the connecting swing arm transmission link (29), and the other end is connected to the flowering planter mechanism (61). The crank (26) drives the flowering planter mechanism (61) to move along a curve via the connecting crank motion link (28), the connecting swing arm transmission link (29), and the swing arm assembly.

8. The automatic vegetable tray seedling transplanter according to claim 7, characterized in that, The flowering planter mechanism (61) includes: Planting device mounting bracket (38), the planting device mounting bracket (38) is connected to the swing rod assembly through a fixed planting rod (36); The planting device cylinder (43) is set on the planting device mounting bracket (38), with a seedling funnel (37) connected to its upper end and an opening and closing valve (44) rotatably connected to its lower end. Electromagnetic piston cylinder (41) is installed on the planter cylinder (43), and its output end is connected to the pointed opening and closing pull rod (42). The upper pull ring (40) of the planter is movably set on the planter cylinder (43) and is connected to the opening and closing petals (44) through the upper pull flower buckle (39) of the planter. The pointed opening and closing upper pull connecting rod (42) is connected to the upper pull ring (40) of the planter. The electromagnetic piston cylinder (41) drives the upper pull ring (40) of the planter to move through the pointed opening and closing pull rod (42), so that the opening and closing flap (44) opens or closes.

9. An automatic vegetable tray seedling transplanter according to claim 7, characterized in that, The base frame (67) is provided with a main motor drive mechanism (62) and a gear transmission mechanism (63), the gear transmission mechanism (63) including: Input pinion (55), which is connected to the output end of the main motor drive mechanism (62); A self-rotating external gear ring (53) meshes with the input pinion (55); Output shaft (51), which is connected to the crank (26) in a transmission manner; A tooth core (54) fixed to the output shaft is fixedly disposed on the output shaft (51) and located inside the self-rotating outer gear ring (53); The clutch device (52) for the external gear and the tooth core is disposed between the self-rotating external gear ring (53) and the tooth core (54) fixed to the output shaft, and is used to control the connection or separation of the self-rotating external gear ring (53) and the tooth core (54) fixed to the output shaft.

10. A method of using an automatic vegetable tray seedling transplanter, comprising any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1: Adjust the position of the seedling clamping mechanism (56) by using the three-axis positioning mechanism (57) so that the seedling clamping mechanism (56) moves above the seedling tray and clamps the seedlings in the seedling tray; Step 2: The seedlings in the plug trays are transferred to the seedling storage mechanism (58) by the three-axis positioning mechanism (57), and the seedlings in the plug trays are released into the corresponding seedling storage funnel (12); Step 3: Control the aperture opening and closing mechanism (13) to open according to the planting rhythm, so that the seedlings in the seedling storage funnel (12) enter the seedling receiving position of the seedling separation mechanism (59) through the Y-shaped seedling guide channel (14); Step 4: Drive the cross power frame (22) to rotate, so that the seedling hopper receiving the seedlings in the plug tray moves along the track guide ring (21) from the seedling receiving position to the seedling placement position, and moves the empty seedling hopper to the seedling receiving position. Step 5: The seedlings from the seedling placement position are received by the flower-type planting device mechanism (61), and the planting crank rocker mechanism (60) drives the flower-type planting device mechanism (61) to complete the actions of planting and placing the seedlings. Then, the process of picking up, temporarily storing, separating and planting the seedlings from the seedlings is repeated.

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