Transplanting machine

Abstract

The utility model relates to agricultural equipment, in particular to a transplanter capable of walking on a ridge along the trend of the ridge, the transplanter comprises a walking mechanism and a transplanting mechanism arranged on the walking mechanism, the walking mechanism comprises a frame, a driving wheel, a driven wheel and an engine for driving the driving wheel to rotate are arranged on the frame, and the transplanting mechanism is arranged on the frame. The engine transmits power to the driving wheels through the differential mechanism, each driving wheel is provided with a brake capable of braking the corresponding driving wheel, the frame is further provided with a pair of guide wheels walking along the side wall of a ridge, each guide wheel is in linkage with the corresponding brake, and when the trend of the ridge changes to drive one guide wheel to swing, the other guide wheel is driven to swing. The guide wheels drive the brakes on the same side to brake the driving wheels on the same side, so that the rotating speed of the driving wheels on one side is changed, the walking mechanism steers and can walk along the ridge trend, the transplanting mechanism is arranged on the frame, and when the walking mechanism walks along the ridge trend, the transplanting mechanism transplants seedlings to ridges to complete transplanting operation.

Description

Technical Field

[0001] The utility model relates to agricultural machinery equipment used for planting rice seedlings, in particular to a transplanter which travels along ridges and can plant rice seedlings on the ridges. Background Art

[0002] When planting vegetables, it is generally necessary to raise seedlings of vegetables in advance, and then transplant the cultivated seedlings to the farmland for growth. When planting some vegetables, it is necessary to build ridges on the farmland, and transplant the seedlings to the ridges when transplanting them, which is conducive to the growth and breeding of the seedlings. Generally, the ridges in the farmland are arranged straight, but in some special terrains, the ridges may also be offset or bent. Traditional transplanters, such as the seedling transplanter disclosed in the Chinese invention patent document with announcement number CN103988618A, have a travel device that mainly includes a front wheel and a rear wheel. The rear wheel is a driving wheel that is driven by the engine to rotate so that the transplanter can move in the farmland. The front wheel is a universal wheel that can flexibly turn. A pair of guide wheels are also provided at the front end of the seedling transplanter. The guide wheels are in contact with both sides of the ridge and move along the ridge according to the principle of profiling. When the ridge is offset, the ridge side wall drives the guide wheel to apply a lateral force to the front wheel, and the direction of the front wheel changes, so that it can move along the direction of the ridge. Although this guidance method can enable the seedling transplanter to have a certain degree of self-guiding ability to move along the ridge, the rear wheels always keep moving in a straight line. Since the soil in the ridge is loose, if the rear wheels are allowed to move on their own under the action of strong inertia, the guide wheels, front wheels and first wheel will be driven into the ridge, destroying the shape of the ridge. Therefore, in addition to the guide wheels and front wheels to guide the seedling transplanter, it is still necessary to use the operating handle to intervene in the driving direction of the rear wheels so that it can move along the ridge. Utility Model Content

[0003] In order to solve the problem that the transplanter cannot autonomously move along the ridge in the ridged farmland, the technical solution adopted by the utility model is:

[0004] A transplanter comprises: a traveling mechanism, the traveling mechanism comprises a frame, a transplanting mechanism for transplanting seedlings is arranged on the frame, and a pair of driving wheels and a pair of driven wheels are arranged on the frame;

[0005] The pair of driving wheels are driven by an engine mounted on the frame through a differential, and each driving wheel is provided with a brake capable of independently controlling the braking of each driving wheel;

[0006] A pair of guide wheels capable of traveling along the side walls of the ridge are arranged at the front end of the frame in the traveling direction;

[0007] Each of the guide wheels is linked to a brake on the same side. When the guide wheel is subjected to a lateral force from the ridge side wall due to a change in the ridge trend, the brake linked to it is controlled to work to brake the driving wheel on the same side.

[0008] Furthermore, a pair of swing arms are hinged on the frame to which each guide wheel is respectively mounted, and brake wires are connected between each swing arm and each brake. When the guide wheel is subjected to the lateral force of the ridge side wall, the swing arm swings to drive the brake wire to brake.

[0009] Furthermore, hydraulic pressure or pneumatic pressure is used between the guide wheel and the brake to achieve braking.

[0010] Furthermore, the distance between the pair of guide wheels can be adjusted.

[0011] Furthermore, the guide wheel can be raised in height.

[0012] Furthermore, a pair of handles capable of respectively controlling the brakes are arranged on the frame.

[0013] Furthermore, the driven wheel is a universal wheel.

[0014] Furthermore, the transplanting mechanism includes a seedling throwing device and a seedling transplanting device, the seedling throwing device is used to throw the seedlings into the seedling transplanting device, and the seedling transplanting device is used to receive the seedlings thrown by the seedling throwing device and transplant the seedlings into the soil.

[0015] Since the guide wheel in this solution can drive the brake on the same side to brake the driving wheel on the same side according to the ridge trend, and a differential is provided between the two driving wheels, the rotation speed of the driving wheels on both sides can be changed, so that the driving wheels can actively control the driving direction. That is, when the rotation speed of the driving wheel on the braked side is slow and the rotation speed of the driving wheel on the other side is fast, the walking mechanism will turn to the side with slower rotation speed due to the rotation speed difference between the driving wheels, thereby enabling the transplanter to have a better ability to walk autonomously along the ridge trend, eliminating the need for manual control of direction, and allowing the operator to focus on the placement of seedlings by the transplanting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an axonometric view of a transplanter example;

[0017] Figure 2 It is a schematic diagram of the structure of the main components of the transplanter;

[0018] Figure 3 It is the schematic diagram of the axle side of the walking mechanism;

[0019] Figure 4 This is a schematic diagram of the other side of the walking mechanism;

[0020] Figure 5 It is a schematic diagram of the axle side of the walking mechanism provided with a lifting frame;

[0021] Figure 6 It is a schematic diagram of the other side of the walking mechanism provided with a lifting frame;

[0022] Figure 7 This is a schematic diagram of the transplanting mechanism layout;

[0023] Figure 8 This is a schematic diagram of the seedling bucket structure;

[0024] Fig. 9 It is a schematic diagram of the layout of the seedling bucket and the frame structure;

[0025] Fig.10 Schematic diagram of the seedling transplanting device

[0026] Fig.11 It is a structural schematic diagram of a seedling planting device provided with a nest making machine;

[0027] Fig.12 It is a side view of the seedling transplanting device;

[0028] Fig.13 Show diagram for tie rod and cam mechanism;

[0029] Fig.14 It is a schematic diagram of the structure of the seedling bucket;

[0030] Fig.15 Schematic diagram of the structure of the seedling bucket in the open state

[0031] Fig.16 Schematic diagram of the autonomous steering principle of the walking mechanism. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments;

[0033] like Figure 1 and Figure 2 The transplanter shown includes a walking mechanism 1 and a transplanting mechanism 2. The walking mechanism 1 is responsible for the walking of the transplanter, and the transplanting mechanism 2 is responsible for planting seedlings. The transplanting mechanism 2 is attached to the walking mechanism 1. During the driving process of the walking mechanism 1, the transplanting mechanism 2 transplants the seedlings to the farmland passed by the walking mechanism 1 for transplanting operations.

[0034] The above-mentioned walking mechanism 1 is as follows Figures 3 to 6 The vehicle frame 1-1 as a load-bearing body, an engine 1-4 disposed in the vehicle frame 1-1, and a pair of driving wheels 1-2 driven by the engine 1-4, and a pair of driven wheels 1-3 capable of autonomous and flexible steering are also disposed at the front end of the vehicle frame 1-1. In addition to carrying the engine 1-4, driving wheels 1-2 and driven wheels 1-3, the vehicle frame 1-1 is also used to carry a transplanting mechanism 2, a seedling storage rack 3, etc., which will be described in further detail later.

[0035] The above-mentioned engine 1-4 is an internal combustion engine or an electric motor, and its power output end realizes power transmission through a differential 1-5 and a transmission box 1-11 arranged on each driving wheel 1-2 to drive the driving wheel 1-2 to rotate, and a brake 1-6 capable of working independently is respectively arranged on the rotating shaft of each driving wheel 1-2.

[0036] The transmission box 1-11 is provided with a clutch and a reduction mechanism formed by a gear set. It can be seen that in this embodiment, each driving wheel 1-2 is equipped with a transmission box 1-11, and the reduction processing of the engine 1-4 is carried out at the end. Of course, in addition to the specific transmission method of this embodiment, a conventional setting of a reduction box and a clutch can be configured between the output end of the engine 1-4 and the differential 1-5, and the two output ends of the differential 1-5 are directly connected to the driving wheels 1-2 respectively. However, it is still necessary to separately configure a brake 1-6 that can work independently on each driving wheel 1-2. This group of brakes 1-6 cooperates with the differential 1-5 as the main component that can realize the autonomous steering function of the driving wheel 1-2 of the transplanter. Its working principle will be further described in detail later.

[0037] In order to enable the walking mechanism 1 to achieve autonomous steering without the need for a steering mechanism (such as a steering wheel and a steering rod), and to be different from the steering guided by guide wheels and universal wheels in the background technology, a pair of freely rotatable guide wheels 1-7 are arranged at the front end of the above-mentioned frame 1-1 in the direction of travel, and a pair of swing arms 1-8 on which the pair of guide wheels 1-7 are respectively installed are hingedly connected to the frame 1-1. When the transplanter is traveling on a ridge, the pair of guide wheels 1-7 can be placed on two sides of the ridge in the farmland, so that the pair of guide wheels 1-7 fits on the two sides of the ridge and travels along the direction of the ridge. Fig.16As shown, when the trend of the ridge changes, that is, the traveling direction of the walking mechanism 1 is inconsistent with the trend of the ridge, the guide wheel 1-7 on one side will be affected by the side wall force F of the ridge A and move to the outside of the ridge, thereby driving the swing rod 1-8 to swing around the hinge at a certain angle. The above-mentioned swing rod 1-8 is also connected with a linkage device connected to the brake 1-6 on the driving wheel 1-2 on the same side. For example, in this embodiment, the linkage device is a brake line 1-9. When the swing rod 1-8 swings, it can pull the brake line 1-9 to drive the brake 1-6 on the same side to brake, so that the driving wheel 1-2 matched with the brake 1-6 is braked. Due to the existence of the differential 1-5, the driving wheel 1-2 on the other side continues to rotate at its rotation speed during travel, resulting in the driving wheels 1-2 on both sides. -2 speeds are different, so that the walking mechanism 1 turns toward the braked side (that is, it can move the walking mechanism 1 along the direction of the ridge). When the rotation angle of the walking mechanism 1 is consistent with the direction of the ridge, the guide wheel 1-7 subjected to the force of the ridge side is no longer subjected to force, and the rocker arm 1-8 with the changed angle will also return to the initial position, releasing the braking effect on the driving wheel 1-2, so that the speeds of the driving wheels 1-2 on both sides of the walking mechanism 1 are consistent again, so that the walking mechanism 1 enters a straight-line driving state along the direction of the ridge. In the autonomous steering process of the walking mechanism 1, the driving wheel 1-2 plays an important steering role, and the driven wheel 1-3 does not serve as the main guide during the steering process, but adaptively cooperates with the driving wheel 1-2 to adjust the direction.

[0038] Of course, in addition to the linkage device in this embodiment using the brake wire 1-9 to achieve the linkage between the guide wheel 1-7 and the brake 1-6 to achieve braking, the linkage device can also use hydraulic pressure or air pressure to brake the brake, which will not be described in detail here. Similar means that can be easily thought of by those skilled in the art to relate the swing of the guide wheel and the braking of the brake through the linkage device should be equivalent to the technical solution of achieving braking by the brake wire in the embodiment.

[0039] It should be noted that when the traveling mechanism 1 is traveling in the farmland, the guide wheels 1-7 do not have to be completely in contact with the side of the ridge, and a certain distance can be left. The certain distance is left to avoid that although the ridge is in a straight line, the unevenness of the ridge side causes the swing arm 1-8 to swing and the traveling mechanism 1 deviates from the direction of the ridge. Of course, this deviation will return to normal after the guide wheel 1-7 passes the unevenness, or it can be compensated by setting the linkage gap of the linkage device (the linkage gap here refers to the interval angle between the swing angle of the swing arm and the triggering linkage device, that is, the swing arm will not trigger the linkage device to drive the brake within a certain swing angle).

[0040] The above-mentioned rocker arm 1-8 always remains in a fixed position under normal driving conditions. The rocker arm 1-8 will only be driven to swing when the guide wheel 1-7 is subjected to the force of the ridge side wall. After the force disappears, the rocker arm 1-8 will return to its initial position. Therefore, a reset device (not shown in the figure) capable of restoring the rocker arm to its initial state is also arranged on the rocker arm 1-8. The reset device in this embodiment is a torsion spring, which is placed at the hinge of the rocker arm 1-8. The torsion force of the torsion spring drives the rocker arm 1-8 to reset. Of course, in addition to the torsion spring, the reset can also be achieved by traditional reset devices such as tension springs, which will not be explained in detail here.

[0041] When forming ridges, the widths of ridges in various farmlands are not completely consistent according to planting needs and specifications of agricultural machinery and equipment. In order to enable the above-mentioned pair of guide wheels 1-7 to match ridges of different widths, the guide wheel 1-7 is installed on the rocker arm 1-8 through the sleeve structure 1-12, and the position of the guide wheel 1-7 is adjusted by axial extension and contraction of the sleeve structure 1-12, and then the spacing between the two guide wheels 1-7 is adjusted to match the width of the ridge.

[0042] When the walking mechanism 1 is traveling in a farmland without ridges or is transferred, the guide wheel 1-7 will not play its role, and may also affect the passability of the walking mechanism 1 and affect normal driving. The guide wheel 1-7 can be removed to avoid the influence of the guide wheel 1-7 on the walking mechanism 1 on ordinary roads or farmlands. Alternatively, as shown in the figure, a rotating shaft 1-13 is set on the front side of the frame 1-1, and the rocker 1-8 is fixed to the rotating shaft 1-13 through the connecting plate 1-14, and a rocker 1-8 is set on one side of the frame 1-1. The telescopic rod 1-15 can drive the rotating shaft 1-13 to rotate a certain angle. When the guide wheel 1-7 is not needed for guidance, the rotating shaft 1-13 is driven by the telescopic rod 1-15 to rotate to lift the rocker arm 1-8, thereby lifting it together with the guide wheel 1-7 to a height far away from the ground to prevent the guide wheel 1-7 from interfering with the walking mechanism 1 when walking on ordinary roads or farmlands. When the walking mechanism 1 is walking on ridged farmlands, the rocker arm 1-8 and the guide wheel 1-7 are lowered by the telescopic rod 1-15 to place the guide wheel 1-7 on both sides of the ridge.

[0043] From the above description, it can be seen that the walking mechanism 1 can also walk on ordinary roads and farmlands, but the above only introduces the working principle of steering under the action of the guide wheel 1-7. If it walks in an environment without ridges, the external assistance of the guide wheel 1-7 is lost and the walking mechanism can only walk in a straight line. Therefore, in order to enable it to be driven along the desired route without the help of the guide wheel 1-7, it is also necessary to use another set of steering mechanisms to assist its steering. In the embodiment shown in the figure, a pair of handles are provided, and handles 1-10 are respectively provided on the handles. Each handle 1-10 is connected to the brake 1-6 on the same side through a second linkage device. When the handle 1-10 is squeezed, the brake 1-6 on the same side can be driven to brake and change the rotation speed of the driving wheel on that side, thereby achieving the same working principle as the guide wheel 1-7 to enable the walking mechanism 1 to complete the steering. Of course, in addition to using the handle 1-10 in the embodiment for braking, conventional braking methods such as brake pedals can also be used to drive each brake 1-6 to work. When setting the pedal, two pedals are also set at the same time and each brake 1-6 can be controlled separately to achieve control of the rotation speed of the driving wheels 1-2 on both sides.

[0044] The above is a detailed introduction to the key technical points. The following is a further detailed introduction to the transplanting mechanism in conjunction with the embodiments. Due to the various forms of existing transplanting mechanisms, only one transplanting mechanism is listed in the embodiment, and the transplanting mechanism configured in the above-mentioned walking mechanism is not limited to the form in this embodiment. Configuring the transplanting mechanism in the prior art to the above-mentioned walking mechanism is only a change in the structural layout, and there is no substantial change. The detailed introduction to the transplanting mechanism here is only to supplement the completeness and clarity of the technical solution, and does not have a limiting effect on its protection scope. The transplanting machine formed by the technical personnel in this field by combining the known transplanting mechanism with conventional technical means and configuring it to the above-mentioned walking mechanism should also belong to the technical content to be protected.

[0045] like Figure 7 The transplanting mechanism 2 shown includes a seedling throwing device 2-1 and a seedling transplanting device 2-2, both of which are arranged on the frame 1-1, and the frame 1-1 carries the above-mentioned seedling throwing device 2-1 and seedling transplanting device 2-2.

[0046] The above-mentioned seedling planting device 2-1 includes a driving sprocket 2-11 and a driven sprocket 2-12 and a chain 2-13 wound between the driving sprocket 2-11 and the driven sprocket 2-12, and is equipped with a motor 2-3 for driving the driving sprocket 2-11. The rotation of the driving sprocket 2-11 driven by the motor 2-3 drives the chain 2-13 to circulate between the driving sprocket 2-11 and the driven sprocket 2-12.

[0047] A group of seedling buckets 2-14 are installed on the above-mentioned chain 2-13, and the seedling buckets 2-14 also do cyclic motion along with the movement of the chain 2-13. Figure 8The seedling throwing bucket 2-14 shown is composed of a pair of plates hinged together. In a natural state, a tension spring 2-142 arranged between the two plates 2-141 drives the two plates to buckle together to form a bucket shape. The middle part is a cavity, and the seedlings to be thrown are placed in the cavity. One of the plates 2-141 is fixedly connected to the chain 2-13 through a connecting piece 2-144 so that the seedling throwing bucket 2-14 moves with the chain. When the seedling throwing bucket 2-14 follows the chain to reach the target position, the target position corresponds to the position of the seedling planting bucket in the seedling planting device. The following is a detailed explanation in conjunction with the seedling planting bucket, as shown in FIG. Fig. 9 As shown, a stopper 2-15 is arranged on the frame 1-1, and a lever 2-143 is arranged in another plate 2-141 of the seedling bucket 2-14. When the lever 2-143 touches the stopper 2-15, the plate 2-141 equipped with the lever 2-143 will rotate around the hinge, so that the two plates 2-141 are in an open state, and the seedlings placed in the cavity of the seedling bucket 2-14 will fall from the seedling bucket 2-14 and be sent to the seedling planting device 2-2. When the seedling bucket 2-14 continues to run, after the lever 2-143 passes over the stopper 2-15, the two plates 2-141 are closed together again under the action of the tension spring 2-142, and the staff puts the seedlings into the seedling bucket 2-14, and waits for the next time to reach the target position for seedling planting.

[0048] Above-mentioned seedling transplanting device 2-2 is as Fig.10 and 12 The structure shown includes a multi-link structure and a seedling bucket 2-21 arranged on the multi-link structure. The multi-link structure is driven by an eccentric wheel mechanism 2-22 arranged on the frame 1-1 to swing along a specified route. The swing of the multi-link structure drives the seedling bucket 2-21 to move and transplant the seedlings placed in the seedling bucket 2-21 into the soil.

[0049] The above-mentioned multi-link structure includes a pair of first links 2-23 arranged in parallel, a connecting plate 2-24, a pair of second links 2-25 arranged in parallel, and a third link 2-26.

[0050] The first ends of the two first connecting rods 2-23 are hinged on the frame 1-1 and the second ends are hinged on the first end of the connecting plate 2-24, so that the two first connecting rods 2-23 remain parallel.

[0051] The first ends of the two second connecting rods 2-25 are hinged on the second end of the connecting plate 2-24, and the second ends of the two second connecting rods 2-25 are hinged on the seedling planting bucket 2-21, so that the two second connecting rods 2-25 remain parallel.

[0052] The first end of the third connecting rod 2-26 is hinged to the middle part of the second connecting rod 2-25, and the second end of the third connecting rod 2-26 is eccentrically hinged to the eccentric wheel mechanism 2-22 that drives the multi-link structure to move.

[0053] The above-mentioned eccentric wheel mechanism 2-22 includes a transmission wheel 2-221 and a gear set 2-222 for driving the transmission wheel 2-221 to rotate, the gear set 2-222 is composed of a pair of bevel gears, one of which is coaxially arranged with the transmission wheel 2-221 and is arranged on the frame 1-1 to rotate synchronously with the transmission wheel 2-221, and the other bevel gear is coaxially arranged with a sprocket and is arranged on the frame 1-1 to rotate synchronously, the sprocket is connected to the power of the motor 2-3 arranged on the frame 1-1 through a chain, and the motor 2-3 drives the sprocket to drive the gear set 2-222 to rotate the transmission wheel 2-221, and the second end of the above-mentioned third connecting rod 2-26 is eccentrically hinged on the transmission wheel 2-221, and during the rotation of the transmission wheel 2-221, the third connecting rod 2-26 is driven to reciprocate up and down, and the up and down reciprocating movement of the third connecting rod 2-26 causes the multi-link structure to drive the seedling bucket 2-21 to reciprocate up and down, thereby completing the transplanting of the seedlings into the soil. Since the first connecting rod 2-23 and the second connecting rod 2-25 are arranged in parallel as a pair, the seedling bucket 2-21 can be prevented from rotating around the hinge of the second connecting rod 2-25 during the up and down reciprocating movement of the seedling bucket 2-21, keeping the seedling bucket 2-21 always perpendicular to the ground and inserted into the soil for transplanting seedlings.

[0054] The motor 2-3 driving the eccentric wheel mechanism 2-22 to rotate is the same motor as the motor 2-3 in the seedling throwing device 2-1. Figure 7 As shown, the seedling throwing device 2-1 and the seedling transplanting device 2-2 are connected in series by the transition sprocket 2-8 and driven synchronously.

[0055] In order to be able to control the swing distance of the seedling bucket 2-21 in the direction of travel, a guide frame 2-27 is also hinged on the frame 1-1, and a slide rail 2-28 is set on the third connecting rod 2-26, so that the free end of the guide frame 2-27 is slidably set in the slide rail 2-28. When the third connecting rod 2-26 moves up and down, it is interfered by the guide frame 2-27 and the third connecting rod 2-26 swings around the free end of the guide frame 2-27. The closer the free end of the guide frame 2-27 is to the transmission wheel 2-221, the greater the swing amplitude at the hinge between the third connecting rod 2-26 and the second connecting rod 2-25, so that the seedling bucket 2-21 The longer the swing distance in the direction of travel, and thus the swing amplitude of the seedling bucket 2-21 is controlled by controlling the distance between the free end of the guide frame 2-27 and the transmission wheel 2-221, and the above-mentioned control of the distance from the transmission wheel 2-221 is achieved by setting a screw rod 2-29 on the frame 1-1 to drive the free end of the guide frame 2-27 to swing.

[0056] like Fig.14 and 15The above-mentioned seedling transplanting bucket 2-21 includes a pair of duck bills 2-211 that are conical when closed and a pair of opening and closing frames 2-212. The pair of opening and closing frames 2-212 are hingedly arranged, and the opening and closing frames 2-212 are driven to swing around their respective hinges by pull wires 2-213, so that the pair of duck bills 2-211 arranged on each opening and closing frame 2-212 can be opened and closed. A tension spring 2-142 is also arranged between the pair of opening and closing frames 2-212, and the pair of opening and closing frames 2-212 are driven by the tension spring to restore and maintain a closed state. In order to keep the opening and closing process of the seedling transplanting bucket 2-21 within a reasonable range, a limiting mechanism 2-214 is arranged between the two opening and closing frames 2-212. The limiting mechanism is a slide groove and a limit pin. When the opening and closing frame 2-212 is opened or closed, the limit pin is limited by the slide groove to control the opening angle of the opening and closing frame 2-212. In order to facilitate the duckbill 2-211 to receive the seedlings, a seedling receiving bucket 2-215 is also configured. The seedling throwing bucket 2-14 drops the seedlings into the seedling receiving bucket 2-215, and then falls from the seedling receiving bucket 2-215 into the duckbill 2-211 to complete the transfer of the seedlings. The above-mentioned seedling planting bucket 2-21 is connected to the multi-link structure through the frame 2-210.

[0057] In some seedling planting processes, the seedlings need to be planted in pits. Therefore, in order to be able to make pits and cooperate with the transplanting of the seedling bucket 2-21, Figure 7 and 11 As shown, the frame 2-210 is also provided with a nest-making machine 2-4, which is an electric drill rod and is arranged in front of the seedling planting bucket 2-21 along the forward direction of the transplanter. The seedling planting bucket 2-21 is driven by a multi-link structure to simultaneously drive the nest-making machine 2-4 to complete nest-making when planting seedlings. Each time the seedling planting bucket 2-21 moves downward to plant seedlings, the seedlings are implanted into the holes made by the nest-making machine.

[0058] When the seedling bucket 2-21 and the seedling throwing bucket 2-14 work together, when the seedling bucket 2-21 is lifted to the highest position, the seedling throwing bucket 2-14 just runs to the top of the seedling bucket 2-21, and is in the position of the block 2-15 to drive the seedling throwing bucket 2-14 to open, and the seedlings fall from the seedling throwing bucket 2-14 into the seedling receiving bucket 2-215.

[0059] The pull line 2-213 driving the above-mentioned seedling bucket 2-21 to open is driven by the pull rod 2-5 hinged on the frame 1-1. Fig.13In the embodiment shown, a cam 2-6 is coaxially arranged on the transmission wheel 2-221, and a roller 2-7 cooperating with the cam 2-6 is arranged in the middle of the pull rod 2-5. When the cam 2-6 rotates with the transmission wheel 2-221, it drives the pull rod 2-5 to swing. When the pull rod 2-5 swings, the free end pulls the pull wire to drive the duckbill of the seedling bucket 2-21 to open. When the seedling bucket 2-21 is inserted into the deepest part of the soil, the pull rod 2-5 drives the duckbill 2-211 to open to make the seedlings fall, and keeps the duckbill 2-221 in an open state. When the duckbill 2-211 is lifted to a position completely separated from the seedlings, the roller 2-7 returns to the low point of the cam 2-6, and the pull rod 2-5 resets the duckbill 2-211 to close under the action of the tension spring 2-142.

[0060] like Figure 1 As shown, the frame 1-1 is also provided with a seat 4 and a seedling storage rack 3 for holding seedling trays. When performing transplanting operations, the operator sits on the seat 4, takes the seedling tray from the seedling storage rack 3, places it on the tray 5, and then takes the seedlings out of the seedling tray and puts them into the seedling bucket 2-14. The transplanter automatically moves on and along the ridges, and the operator only needs to drop the seedlings.

[0061] In order to make the seedling bucket and nest making machine adapt to ridges of different heights, Figure 1 , Figure 2 and Figure 5 and 6 The frame 1-1 shown is also provided with a lifting frame 1-16, and the seedling planting device 2-2 is arranged on the lifting frame 1-16. The initial height of the seedling planting device 2-2 is controlled by lifting and lowering the lifting frame 1-16 to avoid the seedling planting bucket and the nest making machine dragging on the ground in the ridge when the ridge is high, or failing to make nests or plant seedlings when the ridge is low.

[0062] The above-mentioned lifting frame 1-16 is a pair of X-shaped brackets, and the lifting power is provided by the lifting electric cylinder 1-17.

[0063] The above motor 2-3, nest making machine 2-4, lifting electric cylinder 1-17, telescopic rod 1-15 and engine 1-4 are all composed of Figure 1 and 2 The control is performed by a control console 1-18 arranged on the frame 1-1 as shown.

Claims

1. A transplanter comprising: A traveling mechanism (1), the traveling mechanism (1) comprising a frame (1-1), a transplanting mechanism (2) for transplanting seedlings being arranged on the frame (1-1), and a pair of driving wheels (1-2) and a pair of driven wheels (1-3) being arranged on the frame (1-1); Features: The pair of driving wheels (1-2) are driven by an engine (1-4) arranged on the vehicle frame (1-1) through a differential (1-5), and each driving wheel (1-2) is provided with a brake (1-6) capable of independently controlling each driving wheel (1-2) to brake. A pair of guide wheels (1-7) capable of moving along the side walls of the ridge are arranged at the front end of the frame (1-1) in the moving direction; Each of the guide wheels (1-7) is linked to a brake (1-6) on the same side. When the guide wheel (1-7) is subjected to a lateral force from the ridge side wall due to a change in the ridge trend, the brake (1-6) linked to it is controlled to operate to brake the driving wheel (1-2) on the same side.

2. A transplanter according to claim 1, characterized in that: A pair of swing arms (1-8) are hingedly connected to the frame (1-1) and are respectively mounted on the guide wheels (1-7). A brake wire (1-9) is connected between each swing arm (1-8) and each brake (1-6). When the guide wheel (1-7) is subjected to a lateral force from the ridge side wall, the swing arm (1-8) swings to drive the brake wire (1-9) to drive the brake (1-6) to brake.

3. A transplanter according to claim 1, characterized in that: Braking is achieved between the guide wheel (1-7) and the brake (1-6) by using hydraulic pressure or pneumatic pressure.

4. A transplanter according to claim 1, characterized in that: The distance between the pair of guide wheels (1-7) can be adjusted.

5. A transplanter according to claim 1, characterized in that: The guide wheel (1-7) can be raised in height.

6. A transplanter according to claim 1, characterized in that: A pair of handles (1-10) capable of respectively controlling the brakes (1-6) are arranged on the frame (1-1).

7. A transplanter according to claim 1, characterized in that: The driven wheel (1-3) is a universal wheel.

8. The transplanter according to claim 1, characterized in that: The transplanting mechanism (2) comprises a seedling throwing device (2-1) and a seedling transplanting device (2-2), wherein the seedling throwing device (2-1) is used to throw the seedlings into the seedling transplanting device, and the seedling transplanting device (2-2) is used to receive the seedlings thrown by the seedling throwing device (2-1) and transplant the seedlings into the soil.

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