Ridging and film covering transplanter for pepper seedlings

Abstract

The utility model discloses a pepper seedling ridging and film mulching transplanter, which comprises a frame, a feeding conveyor, a seedling taking manipulator, a film mulching mechanism and a crank slider transplanting mechanism, a traveling mechanism is mounted on the frame, and a tray feeding mechanism is mounted at the top of the front side of the frame and used for feeding seedling hole trays to the front of the seedling taking manipulator. The seedling taking mechanical arm is installed on the rear side of the frame, located behind the tray feeding mechanism and used for taking away seedlings in the seedling hole trays and feeding the seedlings into a seedling inlet of the crank sliding block transplanting mechanism, the film covering mechanism is located at the bottom of the frame and located on the front side of the crank sliding block transplanting mechanism, and the crank sliding block transplanting mechanism is connected to the frame and located below the seedling taking mechanical arm. The stone crushing mechanism is installed at the front end of the transplanting machine, after hardened soil and crushed stones are crushed, film mulching, ridging, punching, transplanting and pepper growth are facilitated, the production efficiency of the transplanting machine is greatly improved, the equipment integrates multiple functions, and the labor cost and the production cost are reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of transplanters and relates to a pepper seedling ridge-forming and film-covering transplanter. Background Art

[0002] At present, the existing pepper seedling transplanting equipment in my country is not perfect in the automation design of the pepper seedling transplanting process. The first problem is that the pepper seedling transplanting process is cumbersome, and multiple automated equipment are required to complete the transplanting of pepper seedlings, and the cost of agricultural mechanization is relatively high. Secondly, the automatic equipment for transplanting pepper seedlings has different specifications and cannot cooperate with each other. Sometimes there is a ridge formed by a ridging machine, and another transplanting machine cannot perform the transplanting work well on it. Due to technical reasons, another problem with the automated transplanting of pepper seedlings is that some links cannot be completely separated from manual labor. The need for manual control undoubtedly increases the cost of agricultural planting and also puts forward requirements on the technical level of migrant workers. Therefore, although the overall mechanization level of automated transplanting of pepper seedlings in my country is already relatively high, it is still incomplete and cannot fully liberate productivity.

[0003] At present, for the transplanting of pepper seedlings, because the pepper seedlings are small, they are transplanted in the karst area of ​​Guizhou. Because the soil is compacted and contains a lot of gravel, transplanters are used to directly make ridges and transplant them. It is not easy to cover the soil with film and make ridges, and it is even more unfavorable for the transplanter to dig holes, transplant and grow peppers. Summary of the invention

[0004] The technical problem to be solved by the utility model is to provide a pepper seedling ridging, film covering and transplanting machine, which is beneficial to film covering, ridging, hole making, transplanting and pepper growth.

[0005] The technical solution adopted by the utility model is: a pepper seedling ridging, film covering and transplanting machine, including a frame, a feeding conveyor, a seedling picking manipulator, a film covering mechanism and a crank slider transplanting mechanism, a traveling mechanism is installed on the frame, the feeding conveyor is installed on the top of the front side of the frame, and is used to send the seedling hole tray to the front of the seedling picking manipulator, the seedling picking manipulator is installed on the rear side of the frame and is located behind the feeding conveyor, and is used to take the seedlings in the seedling hole tray and send them into the seedling inlet of the crank slider transplanting mechanism, the film covering mechanism is at the bottom of the frame and is located in front of the crank slider transplanting mechanism, the crank slider transplanting mechanism is connected to the frame and is located below the seedling picking manipulator, and a breaking and ridging mechanism is arranged on the front side of the bottom of the frame.

[0006] Furthermore, the above-mentioned loading conveyor includes a double chain, a driving rod, a tray feeding motor and a loading frame. The double chains are connected by multiple driving rods evenly arranged at intervals and each driving rod is located in the middle of two corresponding chain links. The double chains are wrapped around the front driving sprocket and the rear driven sprocket. The front driving sprocket and the rear driven sprocket are rotatably connected to the front and rear sides of the loading frame respectively and the sprocket shaft of the front driving sprocket is fixedly connected to the motor shaft of the tray feeding motor. The tray feeding motor is fixedly connected to the side of the loading frame through the motor frame. Two adjacent driving rods are embedded in a row of holes in a row of seedling trays. The loading frame is connected to the suspended support frame through a left and right transverse movement mechanism, and the suspended support frame is fixedly connected to the vehicle frame.

[0007] Furthermore, the above-mentioned left and right transverse movement mechanism includes a slider guide pair, a ball screw pair and a transverse movement motor. The bottom of the feeding frame is connected to the top surface of the suspended support frame through two pairs of slider guide pairs arranged front and back. The nut of the ball screw pair is fixedly connected to the nut seat set at the bottom of the feeding frame. Both ends of the screw of the ball screw pair are rotatably connected to the supporting beam set in the middle of the front and rear square of the suspended support frame through two bearing seats arranged left and right, and one end of the screw extends out of the bearing seat and is fixedly connected to the motor shaft of the transverse movement motor. The transverse movement motor is fixedly connected to the supporting beam through the transverse movement motor frame.

[0008] Furthermore, the above-mentioned seedling-taking robot comprises four clamping jaws, an opening and closing driving plate, a swinging plate, a V-shaped driving arm, a telescopic guide rod and a connecting rod. The tops of the four clamping jaws are symmetrically hinged at the bottom of the swinging plate. The left front corner of the swinging plate is vertically fixedly connected with a telescopic guide rod. The telescopic guide rod movably passes through a hinge sleeve. The hinge sleeve is hinged to the left front part of the mounting plate. The mounting plate is fixedly connected to the top of the vertical frame. The vertical frame is laterally fixedly connected to two cross beams on the frame. The rear side of the left front corner of the swinging plate is hinged to one end of the V-shaped driving arm. The corner of the V-shaped driving arm is hinged to the front side of the mounting plate and is located at the lower right side of the hinge of the hinge sleeve. The other end of the V-shaped driving arm is hinged to one end of the connecting rod. The other end of the connecting rod is hinged to the driving crank. The driving crank is fixedly connected to the power shaft. The power shaft is rotatably connected to the mounting plate and is located at the hinge of the hinge sleeve and is connected to the Above the hinged part of the articulated sleeve, the power shaft is connected to the axle of the walking rear wheel through a sprocket chain mechanism. Four symmetrical radial strip holes are arranged on the opening and closing drive plate, and four clamping claws pass through the four radial strip holes. The middle part of the opening and closing drive plate is connected to the guide rod through a linear bearing, and the upper end of the guide rod is fixedly connected to the middle part of the swing plate. A horizontal driving pin is arranged in the middle part of the rear side of the opening and closing drive plate, and the driving pin is rotatably connected with a roller, and the roller is movably inserted into a waist-shaped groove of a 90° arc. The waist-shaped groove is arranged on a support platform, and the support platform is fixedly connected to the lower right side of the mounting plate. The rotation of the crank drives the four clamping claws to move back and forth between the lowest position and the right horizontal position, and the clamping claws are opened, closed and retracted when they are in the lowest position and the right horizontal position, so as to grab the pepper seedlings on the right and send them to the crank slider transplanting mechanism where they fall vertically.

[0009] Furthermore, the crank slider transplanting mechanism includes two duckbill pieces, an outer sleeve and an inner sleeve, the upper ends of the two duckbill pieces are provided with hinged arms, the upper ends of the hinged arms are symmetrically hinged at the hinged ears of the outer cylindrical surface of the outer sleeve, the two hinged arms are sleeved with elastic rubber rings and can close the two duckbill pieces at the lower end of the outer sleeve, a walking slider is provided on the left side of the outer sleeve, the walking slider is slidably connected to the walking guide groove, the walking guide groove is vertically fixedly connected to the rear crossbeam of the frame, the inner sleeve is movably inserted into the outer sleeve, and a hinge shaft 1 is provided on the front side, and the hinge shaft 1 passes through the vertical guide groove provided on the front side of the outer sleeve The rear end of the outer sleeve is hinged to one end of the connecting rod three through the hinge shaft two, and the other end of the connecting rod three is hinged to one end of the crank two. The crank two is fixedly connected to the rear side of the power output shaft and is arranged with a circumferential interval with the crank. The other side of the driving arms of the crank one and the crank two are provided with a counterweight block integrated therewith, and the power output shaft is connected to the wheel axle of the walking rear wheel through the sprocket chain mechanism two.

[0010] Furthermore, the above-mentioned film coating mechanism includes a film roller, a film pressing roller, a film pressing wheel, a soil covering roller and a soil covering wheel. The two ends of the film roller are rotatably connected to the two support plates. The lower ends of the two support plates are fixedly connected to the left and right sides of the frame. The opening structure at both ends of the soil covering roller is fixedly connected to the soil covering shaft through spokes. The two ends of the soil covering shaft are rotatably connected to the two support plates and are located below the film roller to contact the ridge surface. The soil covering roller is provided with a discharge hole that can face the seedling planting position. Inclined soil covering wheels are provided at the rear and lower sides of the soil covering roller. After the soil covering wheel rotates, the soil can be covered on the film and part of the soil can be pushed into the soil covering roller to press the film. Two wheels are used, which are fixedly connected to the bottom of the frame through a bracket and are located in front of the bottom of the soil covering roller. The film pressing wheel can contact the furrows on both sides of the ridge to press the film into the furrows. A film pressing roller is arranged in front of the film pressing wheel. The film pressing roller is rotatably connected to the lower two ends of the gate frame. The upper end of the gate frame is fixedly connected to the bottom of the frame. A guide roller is arranged between the film pressing roller and the film roller. Two guide rollers are used, which are rotatably connected to the mounting frame. The mounting frame is in the shape of a gate, and the top is fixedly connected to the bottom of the frame. After the film comes out of the film roller, it is introduced between the two guide rollers, and then introduced from the top and front side of the film pressing roller to the bottom to extrude and shape the ridge surface.

[0011] Furthermore, a crushing and ridging mechanism is arranged on the front side of the bottom of the above-mentioned frame, and the crushing and ridging mechanism includes a shovel plate, a crushing roller one, a crushing roller two and a ridging plate. The shovel plate is tilted and fixedly connected to the front side of the crushing frame, the crushing roller one and the crushing roller two are connected to the crushing frame for rotation up and down, and the symmetry surface is close to the high end of the shovel plate. The crushing roller one and the crushing roller two are both provided with staggered crushing teeth. Two ridging plates are used, which are respectively installed on both sides of the rear of the crushing frame through fixed frames, and are used to ridge the soil after crushing.

[0012] Furthermore, a protective cover is installed above the above-mentioned crushing machine frame.

[0013] Furthermore, the above-mentioned running mechanism includes front powered running wheels and rear powered running wheels, and the wheel axles of the front powered running wheels are connected to the diesel engine through a transmission mechanism.

[0014] Furthermore, a double soil-burying wheel is provided on the rear side of the frame, and the double soil-burying wheel is symmetrically arranged on both sides of the crank slider transplanting mechanism, and is used for covering the pepper seedlings with soil after transplanting.

[0015] Beneficial effects of the utility model: Compared with the prior art, the utility model aims at the soil with more compaction and gravel in karst areas. A stone crushing mechanism is installed at the front end of the transplanter. After the compacted soil and gravel are crushed, it is beneficial to covering, ridge forming, hole digging, transplanting and pepper growth. The transplanter greatly improves the production efficiency. The equipment integrates multiple functions and reduces labor costs and production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of a pepper seedling ridging and film covering transplanting machine;

[0017] Figure 2 This is a three-dimensional structural diagram of the pepper seedling ridge-forming and film-covering transplanter (from another perspective);

[0018] Figure 3 1. It is a front view structural schematic diagram of a pepper seedling ridging and film covering transplanting machine;

[0019] Figure 4 It is a rear view structural schematic diagram of a pepper seedling ridging and film covering transplanting machine;

[0020] Figure 5 It is a top view structural diagram of a self-propelled electric transplanter;

[0021] Figure 6 yes Figure 3 Schematic diagram of the AA section structure;

[0022] Figure 7 yes Figure 3 Schematic diagram of the structure of the middle BB section;

[0023] Figure 8 It is a three-dimensional structural schematic diagram of the feeding conveyor;

[0024] Fig. 9 It is a schematic diagram of the top view of the feeding conveyor;

[0025] Fig.10 yes Fig. 9 Schematic diagram of the AA section structure;

[0026] Fig.11It is a side view structural diagram of the feeding conveyor;

[0027] Fig.12 yes Fig.11 Schematic diagram of the structure of the middle BB section;

[0028] Fig.13 It is a schematic diagram of the structure where the feeding conveyor is installed on the suspended bracket;

[0029] Fig.14 It is a front view stereoscopic structural diagram of the seedling taking manipulator;

[0030] Fig.15 This is a three-dimensional structural diagram of the seedling-picking manipulator from another perspective;

[0031] Fig.16 It is a right view structural diagram of the seedling taking manipulator;

[0032] Fig.17 yes Fig.16 Schematic diagram of the AA section structure;

[0033] Fig.18 yes Fig.16 Schematic diagram of the structure of the middle BB section;

[0034] Fig.19 It is a schematic diagram of the top view of the structure of the seedling taking manipulator;

[0035] Fig. 20 It is a left-view structural schematic diagram of the seedling taking manipulator;

[0036] Fig.21 It is a three-dimensional structural schematic diagram of the crank slider transplanting mechanism;

[0037] Fig. 22 It is a three-dimensional structural diagram of the crank slider transplanting mechanism (from another perspective);

[0038] Fig.23 It is a side view structural diagram of the crank slider transplanting mechanism;

[0039] Fig.24 yes Fig.23 Schematic diagram of the structure of the middle BB section;

[0040] Fig.25 1. It is a top view structural diagram of the crank slider transplanting mechanism;

[0041] Fig.26 yes Fig.25 Schematic diagram of the AA section structure;

[0042] Fig. 27 It is a schematic diagram of the installation structure of the crank slider transplanting mechanism;

[0043] Fig.28 It is a schematic diagram of the three-dimensional structure of the laminating mechanism;

[0044] Fig.29 1. It is a rear view structural diagram of the laminating mechanism;

[0045] Fig.30 yes Fig.29 Schematic diagram of the AA section structure;

[0046] Fig.31 yes Fig.29 Schematic diagram of the structure of the middle BB section;

[0047] Fig.32 It is a three-dimensional structural schematic diagram of the breaking and ridging mechanism;

[0048] Fig.33 It is a schematic diagram of the top view of the structure of the breaking and ridging mechanism;

[0049] Fig.34 It is a front view structural diagram of the breaking and ridging mechanism;

[0050] Fig.35 yes Fig.34 Schematic diagram of the structure of the middle BB section;

[0051] Fig.36 It is a schematic diagram of the three-dimensional structure of the breaking and ridging mechanism (from another perspective). DETAILED DESCRIPTION

[0052] The present invention will be further described below in conjunction with specific embodiments.

[0053] Example 1: Figure 1-36 As shown, a pepper seedling ridging, film covering and transplanting machine comprises a frame 1, a feeding conveyor 2, a seedling picking manipulator 3, a film covering mechanism 4 and a crank slider transplanting mechanism 5. A walking mechanism is installed on the frame 1. The feeding conveyor 2 is installed on the top of the front side of the frame 1, and is used to send the seedling hole tray 6 to the front of the seedling picking manipulator 3. The seedling picking manipulator 3 adopts two sets, which are installed on the left and right sides of the rear side of the frame 1 and located behind the feeding conveyor 2, and are used to take the seedlings in the seedling hole tray 6 and send them into the seedling inlet of the crank slider transplanting mechanism 5. The film covering mechanism 4 is at the bottom of the frame 1 and is located in front of the crank slider transplanting mechanism 5. The crank slider transplanting mechanism 5 is connected to the frame 1 and is located below the seedling picking manipulator 3. A breaking and ridging mechanism 7 is arranged on the front side of the bottom of the frame 1.

[0054] Among them, the loading conveyor 2 includes a double chain 201, a driving rod 202, a feeding tray motor 203 and a loading frame 204. The double chains 201 are connected by multiple driving rods 202 evenly arranged at intervals, and each driving rod 202 is located in the middle of two corresponding chain links. The double chains 201 are wound around a front driving sprocket 205 and a rear driven sprocket 206. The front driving sprocket 205 and the rear driven sprocket 206 are rotatably connected to the front and rear sides of the loading frame 204 respectively, and the sprocket shaft of the front driving sprocket 205 is fixedly connected to the motor shaft of the feeding tray motor 203. The feeding tray motor 203 is fixedly connected to the side of the loading frame 204 through a motor frame 207. Two adjacent driving rods 202 are embedded in a row of holes in a row of seedling trays 6. In order to achieve one-time placement and gradually take out multiple seedlings, the loading frame 204 is connected to the suspended On the support frame 208, the suspended support frame 208 is fixedly connected to the frame 1. The support of the suspended support frame can provide installation space for the diesel generator at the bottom. Moreover, the vibration generated during the operation of the diesel engine will not cause damage to the seedlings due to the shock-absorbing effect of the plastic of the seedling tray itself. The feeding conveyor adopts chain walking, and drives the drive rods arranged at intervals to push the seedling tray to walk. The driving is stable and reliable. When it reaches the left side, the seedling taking robot takes the seedlings on the tray one by one. The driving is stable and reliable. A collecting tray 211 is installed on the feeding frame 204, which is located at the bottom of the lower side section of the double chain 201, and two semicircular curved guide parts 212 are arranged on both sides of the rear side section of the collecting tray 211. The curved guide part recycles the seedling tray to the collecting tray. The height of the collecting tray can ensure that the seedling tray continues to walk in the collecting tray under the drive of the driver after supporting it.

[0055] Among them, in order to improve the grasping accuracy, the above-mentioned left and right transverse movement mechanism includes a slider guide pair 209, a ball screw pair 210 and a transverse movement motor. The bottom of the loading frame 204 is connected to the top surface of the suspended support frame 208 through two pairs of slider guide pairs 209 arranged in front and behind. The nut of the ball screw pair 210 is fixedly connected to the nut seat set at the bottom of the loading frame 204. The two ends of the screw of the ball screw pair 210 are rotatably connected to the supporting beam set in the middle of the front and rear square of the suspended support frame 208 through two bearing seats arranged in the left and right, and one end of the screw extends out of the bearing seat and is fixedly connected to the motor shaft of the transverse movement motor. The transverse movement motor is fixedly connected to the supporting beam through the transverse movement motor frame. The guide slider and the ball screw are used in combination, and the walking is stable, reliable and precise. The grid-like tray placement method makes the seedling tray more stable; the seedling tray is transported and moved by a chain to cooperate with the seedling retrieval robot; the motor is used to control the ball screw to achieve left and right movement of the seedling tray, thereby achieving precise grasping at different positions.

[0056] The seedling taking robot 3 includes four clamping claws 301, an opening and closing driving plate 302, a swinging plate 303, a V-shaped driving arm 304, a telescopic guide rod 305 and a connecting rod 306. The four clamping claws 301 are evenly arranged in the circumference, and the lower ends are bent inwards and have a pointed structure. The bent structure is convenient for grasping and is not easy to fall off. The tops of the four clamping claws 301 are symmetrically hinged at the bottom of the swinging plate 303. The left front corner of the swinging plate 303 is vertically fixedly connected with a telescopic guide rod 305. The telescopic guide rod 305 movably passes through the hinge sleeve 307. The length of the telescopic guide rod 305 can meet the needs of the four clamping claws 301 at both ends. The hinge sleeve 307 is hinged to the left front side of the mounting plate 308, the mounting plate 308 is fixedly connected to the top of the vertical frame 318, the vertical frame 318 is laterally fixedly connected to the two beams on the frame 1, the rear side of the left front corner of the swing plate 303 is hinged to one end of the V-shaped driving arm 304, the V-shaped driving arm 304 is a right-angle bending structure, the corner of the V-shaped driving arm 304 is hinged to the front side of the mounting plate 308 and is located at the lower right side of the hinge of the hinge sleeve 307, the other end of the V-shaped driving arm 304 is hinged to one end of the connecting rod 306, and the other end of the connecting rod 306 is hinged to the driving curved The driving crank 309 is fixedly connected to the power shaft 310, and the power shaft 310 is rotatably connected to the mounting plate 308 and is located above the hinge of the hinge sleeve 307 and the hinge of the hinge sleeve 307. The power shaft 310 is connected to the wheel axle of the walking rear wheel through a sprocket chain mechanism 319. Four symmetrical radial strip holes 311 are set on the opening and closing driving plate 302. The four clamping claws 301 pass through the four radial strip holes 311. The middle part of the opening and closing driving plate 302 is connected to the guide rod 313 through a linear bearing 312. The upper end of the guide rod 313 is fixedly connected to the swing plate 3 03, a horizontal driving pin 314 is arranged in the middle of the rear side of the opening and closing driving plate 302, and the driving pin 314 is rotatably connected with a roller 315, and the roller 315 is movably inserted into a waist-shaped groove 316 of a 90° arc, and the waist-shaped groove 316 is arranged on a support platform 317, and the support platform 317 is fixedly connected to the lower right side of the mounting plate 308. The rotation of the crank drives the four clamping jaws 301 to move back and forth between the lowest position and the right horizontal position, and when they are in the lowest position and the right horizontal position, the clamping jaws are opened, closed and retracted, so as to grab the pepper seedlings on the right and send them to the transplanting mechanism where they fall vertically into the crank slider.Action principle: the driving crank 309 rotates under the drive of the power shaft 310, driving the connecting rod 306 to swing. After the connecting rod 306 swings, it drives the V-shaped driving arm 304 to swing around the corner, that is, the action of the crank remote control mechanism is realized. After the V-shaped driving arm 304 swings, it drives the swing plate 303 to swing 90 degrees under the extension and swing of the telescopic guide rod, that is, the horizontal direction is changed to the vertical direction. During the redirection process, the driving plate 302 changes its direction after walking in the curved waist-shaped groove 316 along the roller 315 connected to its rear side, and controls the four claws to retract and close to grab the pepper seedlings. After grabbing, the crank continues to rotate to bring the four claws back to the starting position. The driving plate drives the four claws to retract and open the pepper seedlings, so that the pepper seedlings are grabbed and automatically fall after returning to the starting position.

[0057] The crank slider transplanting mechanism 5 includes two duckbill pieces 501, an outer sleeve 502 and an inner sleeve 503. The upper ends of the two duckbill pieces 501 are provided with hinged arms 504. The upper ends of the hinged arms 504 are symmetrically hinged at the hinged ears of the outer cylindrical surface of the outer sleeve 502. The two hinged arms 504 are sleeved with elastic rubber rings 505 and can close the two duckbill pieces 501 at the lower end of the outer sleeve 502. After the two duckbill pieces 501 are closed, a cone structure is formed, which can seal the falling The outer sleeve 502 is provided with a walking slider 506 on the left side, and the walking slider 506 is slidably connected to the walking guide groove 507, and the walking guide groove 507 is vertically fixedly connected to the rear crossbeam of the frame 1. The inner sleeve 503 is movably inserted into the outer sleeve 502, and a hinge shaft 1 508 is provided on the front side. The hinge shaft 1 508 passes through the vertical strip groove 509 provided on the front side of the outer sleeve 502 and is hinged to one end of the connecting rod 2 510, and the other end of the connecting rod 2 510 is hinged to One end of the crank 1 511 is fixedly connected to the front side of the power output shaft 516, and the power output shaft 516 is rotatably connected to the front crossbeam of the frame 1 through the power frame 517. The rear side of the outer sleeve 502 is hinged to one end of the connecting rod 3 513 through the hinge shaft 2 512. The other end of the connecting rod 3 513 is hinged to one end of the crank 2 514. The crank 2 514 is fixedly connected to the rear side of the power output shaft 516 and is arranged circumferentially with the crank 1 511. 11 and the other side of the driving arm of crank 2 514 are provided with a counterweight 515 integrated therewith, which serves to increase the downward inertia of the outer sleeve and the inner sleeve, with greater impact kinetic energy and more convenient operation. The power output shaft 516 is connected to the wheel axle of the walking rear wheel through the sprocket chain mechanism 2 518. The vertebral body 519 is provided at the lower end of the inner sleeve 503, which is conducive to pushing open the duckbill piece, playing a guiding and pushing role, and also facilitating the seedlings to fall at the corresponding position of the ridge surface. The transplanter adopts the design of inner and outer double sleeves to enhance durability; the process of inserting soil, releasing seedlings and retracting is realized through the cooperation of two crank rockers; the device is connected to the rear wheel through a chain drive, and the rotation of the rear wheel drives the rotation of the crank without the need for an additional power source. Working principle: when the pepper seedlings fall into the inner sleeve, the rotation of the power output shaft 516 will drive the intervally arranged crank 2 514 and crank 1 511 to rotate, and the rotation of crank 2 514 and crank 1 511 will respectively drive connecting rod 3 513 and connecting rod 2 510 to drive the outer sleeve and the inner sleeve to move downward in turn, and after the outer sleeve moves downward, the conical part formed by the two duckbill pieces is punched, and the inner sleeve moves downward to open the two punched duckbill pieces, and the pepper seedlings fall into the punched holes, and crank 2 514 and crank 1 511 continue to rotate, which will bring the outer sleeve and the inner sleeve back to their original positions, and the two duckbill pieces will also close, completing one transplant of the pepper seedlings, and the above actions can be repeated for the next round of transplanting.The duckbill piece is used to open the seedlings from the inside and drop the pepper seedlings into the cave. After being lifted up, the duckbill piece is closed, and the soil gradually falls back into the cave, covering the roots of the pepper seedlings without affecting the stability of the placement of the pepper seedlings. In addition, the double crank connecting rod mechanism is realized with the same power, which reduces costs and makes control easier.

[0058] Among them, the above-mentioned film coating mechanism 4 includes a film roller 401, a film pressing roller 411, a film pressing wheel 402, a covering roller 403 and a covering wheel 404. The two ends of the film roller 401 are rotatably connected to two support plates 405. The lower ends of the two support plates 405 are fixedly connected to the left and right sides of the frame 1. The two ends of the covering roller 403 have opening structures and are fixedly connected to the covering shaft 407 through spokes. The two ends of the covering shaft 407 are rotatably connected to the two support plates 405 through bearing seats and are located below the film roller 401 to contact the ridge surface. The covering roller 403 is provided with a discharge hole 408 that can face the seedling planting position. Inclined covering wheels 404 are provided at the rear and lower sides of the covering roller 403. After rotating, the covering wheels 404 can cover the soil on the film and can push part of the soil into the covering roller 403. The covering wheels 404 are rotatably connected to the covering wheel frame 409, and the covering wheel frame 409 is fixed It is fixedly connected to the support plate 405, and two film pressing wheels 402 are used, which are fixedly connected to the bottom of the frame 1 (also fixed to the support plate) through a bracket 406 and are located in front of the soil covering roller 403. The film pressing wheel 402 can contact the furrows on both sides of the ridge (ridge formation) to press the film 409 into the furrows. A film pressing roller 411 is arranged in front of the film pressing wheel 402, and the film pressing roller 411 is rotatably connected to the lower two ends of the gate frame 412, and the upper end of the gate frame 412 is fixedly connected to the bottom of the frame 1. A guide roller 410 is arranged between the film pressing roller 411 and the grinding roller 401. Two guide rollers 410 are used, which are rotatably connected to the mounting frame 413. The mounting frame is in the shape of a gate, and the top is fixedly connected to the bottom of the frame 1. After the film 409 comes out of the film roller, it is introduced between the two guide rollers 410, and then introduced from the top and front side of the film pressing roller 411 to the bottom to extrude and shape the ridge surface of the film. The film 409 needs to be covered on the entire ridge surface by the film pressing roller 411 and the film pressing wheel 402 in the front. After the film pressing roller 411 has leveled the film, the film pressing wheel 402 presses both sides of the film into the soil to make the film more firmly covered with the soil. The hollow covering roller at the rear further compacts the covered film. The covering wheel 404, on the one hand, covers the soil on both sides of the film, and on the other hand, pushes the soil into the covering roller after rotation. During the rolling process of the covering roller, the soil is left on the film through the discharge hole for subsequent transplanting and returning the soil to the hole. Fig.30As shown, the film is wound on the film roller 401, and the free end is introduced from the film roller 401 between the two guide rollers 410, and then introduced from the top of the film pressing roller 411 from the front to the bottom. After entering the ridge surface for film coating, the two sides are pressed by the film pressing wheels to press the two sides of the film into the grooves on both sides of the ridge surface. Under the further pressure of the covering roller, the film is completely flattened on the ridge surface. Then, part of the soil is covered by the covering wheel on the position after the film pressing wheels on both sides are pressed, and the other part enters the hollow covering roller. The covering roller is provided with leakage holes. Through rotation, the covering soil can be dropped to the planting position of the pepper seedlings according to the spacing for soil stacking, which is convenient for backfilling the soil after transplanting and improving the stability of the pepper seedlings.

[0059] The crushing and ridging mechanism 7 includes a shovel plate 701, a crushing roller 1 702, a crushing roller 2 703 and a ridging plate 704. Baffles 709 are arranged on both sides of the shovel plate 701. The front end of the shovel plate 701 is provided with spikes 710 arranged at intervals. The plate surface of the shovel plate 701 is provided with a reinforcing strip 711 integrated with the spikes 710, so as to improve the strength and rigidity of the shovel plate and improve the overall stability. The shovel plate 701 is tilted and fixedly connected to the front side of the crushing frame 705. The crushing roller 1 702 and the crushing roller 2 703 are rotatably connected to the crushing frame 705 up and down through the bearing seat and the symmetric surface is close to the high end of the shovel plate 701. The same end of the crushing roller 1 702 and the crushing roller 2 703 After extending out of the bearing seat, it is connected to meshing gears of the same size, one of which is connected to the axle of the front walking wheel through a sprocket chain mechanism to reduce the layout of the power mechanism. The crushing roller 702 and the crushing roller 703 are both provided with staggered crushing teeth 706. Two ridging plates 704 are used, which are respectively installed on both sides of the rear of the crushing machine frame 705 through a fixed frame 707 to form ridges for the soil after crushing. In karst areas, the soil contains more gravel, which affects the ridging, planting and growth of peppers. By crushing the gravel in the soil before ridging, the quality of ridging is not affected, and it does not affect the hole making of the transplanter during planting and avoid affecting the transplanting and growth of peppers. In order to avoid the impact of the crushing roller and improve safety, a protective cover 711 is installed above the crushing frame 705. The two crushing rollers mesh with each other to crush the stones. In view of the serious compaction of Guizhou's clay soil and the large amount of stones, the purpose of crushing the soil is achieved, which is convenient for the better growth of peppers and increases the yield of peppers. The soil after crushing is used for ridge and furrowing by the ridge-forming plate 704. Working principle: During the movement of the frame, the compacted soil is shoveled up by the shovel plate 701 at the front end, and the soil is pushed into the space between the two crushing rollers for crushing during the movement. After crushing, it falls to the rear side and ridges are formed under the action of the ridge-forming plate. After ridge formation, the film covering operation is performed.

[0060] Among them, the walking mechanism includes a front power walking wheel 8 and a rear walking wheel 9. The wheel axle of the front power walking wheel 8 is connected to the diesel engine 10 through a transmission mechanism, and the walking is stable and reliable.

[0061] In order to improve the stability of the seedlings after transplanting, a double buried soil wheel 11 is provided on the rear side of the frame 1. The double buried soil wheel 11 is symmetrically arranged on both sides of the crank slider transplanting mechanism 5, and is used to cover the soil after transplanting the pepper seedlings. When the double buried soil wheel 11 is provided, when the transplanting mechanism completes the transplanting work, the double buried soil wheel 11 moves forward with the entire device, driving the soil left on the film to ridge into the transplanting hole, helping the pepper seedlings to achieve stability, not to fall over, and increase the yield.

[0062] A camera is installed in front of the frame 1 to transmit the working status and current road conditions in real time. The machine can analyze the farming process autonomously, and the farmer can also remotely control the operation of the machine and monitor the farming status of the machine in real time through the camera. Farming is no longer restricted by time and space. No matter where they are, the farmer can control the working status of the machine at any time. This improves the convenience of manpower and the efficiency of mechanical labor, and improves the flexibility and convenience of farming.

[0063] The land in Guizhou's karst terrain is severely block-shaped, and irregularly shaped land is difficult to cultivate. By setting up a 3D laser scanning module and image recognition algorithm, the transplanter can identify the land conditions in advance to build a three-dimensional land model, and plan the path according to the model. The path is planned for different shapes, and the plan is uploaded to the monitor, so that the path can be adjusted manually. The labor cost is completely saved, and all transplanting tasks can be completed without human participation. Traditional transplanting requires human participation and the accuracy needs to be verified. Therefore, by adding an algorithm recognition design to the transplanting device, the transplanting distance can be automatically adjusted, ensuring the efficiency and accuracy of transplanting.

[0064] The integrated pepper seedling transplanter is mainly composed of six parts: breaking and ridging mechanism, film covering mechanism, crank slider transplanting mechanism, seedling feeding conveyor, seedling taking robot and ridge returning device. In addition, there are seedling tray storage rack and empty seedling tray recovery frame.

[0065] The crushing and ridging mechanism is installed at the front end of the frame. It is a soil-raising device. After the front end is inserted into the soil, the soil blocks are pushed along the groove to between the two meshing double-twisted crushing rollers. The soil is crushed by the rotating meshing crushing rollers into a softer soil and falls into the rear. The rear is equipped with ridging plates, which are used to shape the ridge surface.

[0066] The film covering mechanism uses the friction between the film and the soil and the film pressing wheel to pull out the film on the grinding roller. The film is shaped by the front film pressing roller to flatten the film and cover it on the ridge surface. The film pressing wheel presses the film on both sides into the soil while passing through the film pressing roller, and the soil is gathered to the film and fixed with a paddle. At the same time, part of the soil is ridged into the hollow drum, and the drum compacts the covered film. Then the soil leaks out through the circular holes in the drum at equal intervals, and is used for the soil fixing device to ridge the soil to fix the roots of the seedlings during subsequent transplanting.

[0067] The double sleeve transplanting device (crank slider transplanting mechanism 5) has inner and outer double sleeves that reciprocate, the outer sleeve first makes a hole, and then the inner sleeve moves down to push open the claws of the duckbill to release the pepper seedlings, so that the pepper seedlings can be smoothly planted into the soil.

[0068] The seedling feeding conveyor is fixed by a seedling storage grid formed by a connecting rod and a sprocket. It is equipped with dual stepping motors to realize forward, backward, left and right movement, and cooperate with the seedling retrieval robot. After the seedling retrieval robot detects the pepper seedlings in the specified position through infrared, it drives the claw to move through the crank slider. The claw is closed when the opening and closing drive plate is in the middle of the curved waist-shaped groove, and is opened when it is at both ends, thereby realizing the seedling grabbing and feeding process.

[0069] The ridge return device (double buried soil wheels) consists of two wheels, which push the soil originally placed on the film to the roots of the seedlings, thereby fixing the seedlings and ensuring that the transplanted seedlings are resistant to lodging.

[0070] Operation method: During the movement of the frame, the soil is broken and ridged by the crushing and ridging mechanism, and the film covering mechanism is used for film covering after ridging. After film covering, holes are made for transplanting. When the frame moves to the starting position, the seedling tray of the pepper seedlings is first placed on the feeding conveyor for delivery. When the leftmost row reaches the left end and is in a suspended state, two seedling manipulators grab the pepper seedlings at the corresponding two positions and place them in two transplanting devices (crank slider transplanting mechanism). Two seedlings are transplanted at one time to achieve the planting of two seedlings. When the frame moves to the next position and performs the next grabbing, it is necessary to control the feeding conveyor to move horizontally to the second position of the first row of seedling trays to grab the next pepper seedling and put it into the corresponding transplanting device for transplanting. Repeat the horizontal movement of the feeding conveyor for multiple times. After the pepper seedlings in the first row of seedling trays are planted, the feeding conveyor returns to the starting position, and the second row of seedling trays are controlled to perform the next round of seedling manipulators and transplanting devices to repeat the movement and planting. After multiple rounds of repeated actions, the planting of all pepper seedlings on the entire seedling tray is completed.

[0071] The above description is only a specific implementation method of the present utility model, but the protection scope of the present utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present utility model, which should be included in the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be based on the protection scope of the claims.

Claims

1. A pepper seedling ridging and film covering transplanting machine, characterized in that: The invention comprises a vehicle frame (1), a feeding conveyor (2), a seedling removal manipulator (3), a film covering mechanism (4) and a crank slider transplanting mechanism (5). The vehicle frame (1) is provided with a walking mechanism. The feeding conveyor (2) is provided at the top of the front side of the vehicle frame (1) and is used to deliver a seedling cultivation plug tray (6) to the front of the seedling removal manipulator (3). The seedling removal manipulator (3) is provided at the rear side of the vehicle frame (1) and is located behind the feeding conveyor (2). The seedling removal manipulator (3) is provided to remove the seedlings in the seedling cultivation plug tray (6) and deliver them to the seedling inlet of the crank slider transplanting mechanism (5). The film covering mechanism (4) is provided at the bottom of the vehicle frame (1) and is located at the front side of the crank slider transplanting mechanism (5). The crank slider transplanting mechanism (5) is connected to the vehicle frame (1) and is located below the seedling removal manipulator (3). A breaking and ridging mechanism (7) is provided at the front side of the bottom of the vehicle frame (1).

2. The pepper seedling ridge-forming and film-covering transplanting machine according to claim 1, characterized in that: The feeding conveyor (2) comprises a double chain (201), a driving rod (202), a feeding motor (203) and a feeding frame (204); the double chains (201) are connected by a plurality of driving rods (202) arranged evenly at intervals, and each driving rod (202) is located in the middle of two corresponding chain links; the double chains (201) are wound around a front row driving sprocket (205) and a rear row driven sprocket (206); the front row driving sprocket (205) and the rear row driven sprocket (206) are respectively rotatably connected to the upper The front and rear sides of the material frame (204) and the sprocket shaft of the front row driving sprocket (205) are fixedly connected to the motor shaft of the tray feeding motor (203), the tray feeding motor (203) is fixedly connected to the side of the material loading frame (204) through the motor frame (207), two adjacent driving rods (202) are embedded in a row of holes of a row of seedling cultivation plug trays (6), the material loading frame (204) is connected to the suspended support frame (208) through the left and right transverse movement mechanism, and the suspended support frame (208) is fixedly connected to the vehicle frame (1).

3. A pepper seedling ridge-forming and film-covering transplanter according to claim 1 or 2, characterized in that: The left and right transverse movement mechanism comprises a slider guide pair (209), a ball screw pair (210) and a transverse movement motor. The bottom of the feeding frame (204) is connected to the top surface of the suspended support frame (208) through two pairs of slider guide pairs (209) arranged front and back. The nut of the ball screw pair (210) is fixedly connected to a nut seat arranged at the bottom of the feeding frame (204). The two ends of the lead screw of the ball screw pair (210) are rotatably connected to a support beam arranged in the middle of the front and rear square of the suspended support frame (208) through two bearing seats arranged left and right. One end of the lead screw extends out of the bearing seat and is fixedly connected to the motor shaft of the transverse movement motor. The transverse movement motor is fixedly connected to the support beam through the transverse movement motor frame.

4. The pepper seedling ridge-forming and film-covering transplanter according to claim 1, characterized in that: The seedling taking manipulator (3) comprises four clamping claws (301), an opening and closing driving plate (302), a swinging plate (303), a V-shaped driving arm (304), a telescopic guide rod (305) and a connecting rod (306). The tops of the four clamping claws (301) are symmetrically hinged to the bottom of the swinging plate (303). The left front corner of the swinging plate (303) is vertically fixedly connected with the telescopic guide rod (305). The telescopic guide rod (305) movably passes through a hinge sleeve (307). The hinge sleeve (307) is hinged to the left front side of the mounting plate (308). The mounting plate (308) is fixedly connected to the top of the vertical frame (318). The vertical frame (318) is laterally fixedly connected to two crossbeams on the vehicle frame (1); the rear side of the left front corner of the swing plate (303) is hinged to one end of the V-shaped driving arm (304); the corner of the V-shaped driving arm (304) is hinged to the front side of the mounting plate (308) and is located at the lower right side of the hinge of the hinge sleeve (307); the other end of the V-shaped driving arm (304) is hinged to one end of the connecting rod (306); the other end of the connecting rod (306) is hinged to the driving crank (309); the driving crank (309) is fixedly connected to the power shaft (310); the power shaft (310) is rotatably connected to the mounting plate ( The hinged plate (308) is located above the hinged portion of the hinged sleeve (307) and the hinged portion of the hinged sleeve (307). The power shaft (310) is connected to the wheel axle of the rear walking wheel through a sprocket chain mechanism (319). Four symmetrical radial strip holes (311) are provided on the opening and closing driving plate (302). The four clamping claws (301) pass through the four radial strip holes (311). The middle of the opening and closing driving plate (302) is connected to the guide rod (313) through a linear bearing (312). The upper end of the guide rod (313) is fixedly connected to the middle of the swing plate (303). A horizontal driving pin (314) is provided at the top, the driving pin (314) is rotatably connected to a roller (315), the roller (315) is movably inserted into a waist-shaped groove (316) with a 90° arc, the waist-shaped groove (316) is provided on a support platform (317), and the support platform (317) is fixedly connected to the lower right side of the mounting plate (308), the crank rotates to drive the four clamping claws (301) to move back and forth between the lowest position and the right horizontal position, and the clamping claws are opened, closed and retracted when they are at the lowest position and the right horizontal position, so as to grasp the pepper seedlings on the right side and send them to the transplanting mechanism that vertically falls into the crank slider.

5. A pepper seedling ridging and film covering transplanting machine according to claim 1 or 4, characterized in that: The crank slider transplanting mechanism (5) comprises two duckbill pieces (501), an outer sleeve (502) and an inner sleeve (503). The upper ends of the two duckbill pieces (501) are provided with hinged arms (504). The upper ends of the hinged arms (504) are symmetrically hinged to the hinged ears of the outer cylindrical surface of the outer sleeve (502). The two hinged arms (504) are sleeved with elastic rubber rings (505) and can close the two duckbill pieces (501) on the outer sleeve (503). 2) at the lower end, a walking slider (506) is arranged on the left side of the outer sleeve (502), the walking slider (506) is slidably connected to the walking guide groove (507), the walking guide groove (507) is vertically fixedly connected to the rear crossbeam of the frame (1), the inner sleeve (503) is movably inserted into the outer sleeve (502), and a hinge shaft (508) is arranged on the front side, and the hinge shaft (508) passes through the vertical bar (507) arranged on the front side of the outer sleeve (502). The outer sleeve (502) is hinged to one end of the second connecting rod (510) at the rear through the shaped groove (509), and the other end of the second connecting rod (510) is hinged to one end of the first crank (511). The first crank (511) is fixedly connected to the front side of the power output shaft (516). The power output shaft (516) is rotatably connected to the front crossbeam of the frame (1) through the power frame (517). The rear side of the outer sleeve (502) is hinged to one end of the third connecting rod (513) through the second hinge shaft (512). The other end of the connecting rod three (513) is hinged to one end of the second crank (514), the second crank (514) is fixedly connected to the rear side of the power output shaft (516) and is arranged circumferentially spaced from the first crank (511), the other side of the driving arms of the first crank (511) and the second crank (514) are both provided with a counterweight block (515) integral therewith, and the power output shaft (516) is connected to the wheel axle of the rear walking wheel via the second sprocket chain mechanism (518).

6. The pepper seedling ridge-forming and film-covering transplanter according to claim 3, characterized in that: The film covering mechanism (4) comprises a film roller (401), a film pressing roller (411), a film pressing wheel (402), a soil covering roller (403) and a soil covering wheel (404); the two ends of the film roller (401) are rotatably connected to two support plates (405); the lower ends of the two support plates (405) are fixedly connected to the left and right sides of the vehicle frame (1); the two ends of the soil covering roller (403) are open structures and are fixedly connected to a soil covering shaft (407) via spokes; the two ends of the soil covering shaft (407) are rotatably connected to the two support plates (405) and are located below the film roller (401) so as to contact the ridge surface; the soil covering roller (403) is provided with a discharge hole (408) that can face the seedling planting location; inclined soil covering wheels (404) are provided at the rear lower sides of the soil covering roller (403); after the soil covering wheels (404) rotate, soil can be covered on the film and part of the soil can be pushed into the soil covering roller (403); Two film wheels (402) are used, which are fixedly connected to the bottom of the frame (1) through a bracket (406) and are located in front of the soil covering roller (403). The film pressing wheel (402) can contact the furrows on both sides of the ridge to press the film into the furrow. A film pressing roller (411) is arranged in front of the film pressing wheel (402). The film pressing roller (411) is rotatably connected to the lower ends of the gate frame (412). The upper end of the gate frame (412) is fixedly connected to the frame (1). At the bottom, a guide roller (410) is arranged between the laminating roller (411) and the film roller (401). Two guide rollers (410) are used and are rotatably connected to a mounting frame (413). The mounting frame (413) is in a door shape and the top is fixedly connected to the bottom of the frame (1). After the film (409) comes out of the film roller (401), it is introduced between the two guide rollers (410) and then introduced from the top and front side of the laminating roller (411) to the bottom.

7. The pepper seedling ridge-forming and film-covering transplanter according to claim 1, characterized in that: A crushing and ridging mechanism (7) is arranged at the front side of the bottom of the frame (1). The crushing and ridging mechanism (7) comprises a shovel plate (701), a first crushing roller (702), a second crushing roller (703) and a ridging plate (704). The shovel plate (701) is fixedly connected to the front side of a crushing frame (705) in an inclined manner. The first crushing roller (702) and the second crushing roller (703) are connected to the crushing frame (705) in an up-and-down rotation manner, and the symmetric surface is close to the upper end of the shovel plate (701). The first crushing roller (702) and the second crushing roller (703) are both provided with crushing teeth (706) arranged in a staggered manner. The ridging plate (704) is composed of two pieces, which are respectively installed on both sides of the rear of the crushing frame (705) through a fixing frame (707) to ridge the soil after crushing.

8. The pepper seedling ridge-forming and film-covering transplanting machine according to claim 7, characterized in that: A protective cover (711) is installed above the stone crushing machine frame (705).

9. The pepper seedling ridge-forming and film-covering transplanter according to claim 1, characterized in that: The running mechanism comprises a front row of powered running wheels (8) and a rear row of running wheels (9), and the wheel axles of the front row of powered running wheels (8) are connected to the diesel engine (10) via a transmission mechanism.

10. The pepper seedling ridge-forming and film-covering transplanter according to claim 1, characterized in that: A double soil-burying wheel (11) is arranged at the rear side of the vehicle frame (1). The double soil-burying wheel (11) is symmetrically arranged on both sides of the crank slider transplanting mechanism (5) and is used to cover the pepper seedlings with soil after transplanting.

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