Small self-propelled pot seedling transplanter

Abstract

The utility model provides a small-sized self-propelled pot seedling transplanter. The small-sized self-propelled pot seedling transplanter comprises a chassis, a mounting bracket, a conveying belt, a drilling mechanism, a mechanical clamping jaw mechanism, a seedling guide pipe mechanism, a pot seedling bearing bracket, a film laminating mechanism, a film pressing structure and a soil covering mechanism, the mounting bracket is mounted on one side of the chassis, and the pot seedling bearing bracket is mounted on one side, opposite to the mounting bracket, of the upper surface of the chassis; the conveying belt is mounted on the mounting bracket; the mechanical clamping jaw mechanism is mounted on the mounting bracket, is positioned above the conveying belt and is arranged on one side far away from the pot seedling bearing bracket; the seedling guide pipe mechanism is mounted on one side, far away from the pot seedling bearing bracket, of the mounting bracket; the soil covering mechanism is mounted at the bottom of the chassis; the film covering mechanism is mounted at the bottom of the chassis; the film pressing structure is mounted at the bottom of the chassis; and a drilling mechanism connected with the mounting bracket is mounted between the soil covering mechanism and the film pressing structure. The structure integrates soil shoveling, film mulching and seedling planting, and is simple in structure, high in efficiency and low in cost.

Description

TECHNICAL FIELD

[0001] The utility model relates to transplanting machine technical field especially relates to a small -size self -propelled pot seedling transplanting machine. BACKGROUND

[0002] China is the world's agricultural production power, and also the world's most populous country, so solving people's diet has been the primary problem. With the increasingly perfect pot seedling technology, the dry land vegetable pot seedling planting technology, taking the pepper, small green vegetable as the first, has been widely applied at home and abroad. With the rapid and steady development of China's vegetable planting industry, the vegetable planting mode is also constantly optimized, and the seedling technology, planting technology is constantly developed and promoted. Among them, the role of dry land vegetable pot seedling and its transplanting planting mode is most prominent. Because the planting mode of pot seedling transplanting is not affected by temperature, humidity, illumination and other environmental factors, has wide applicability, is convenient to cultivate and manage, is simple to operate, has high survival rate and the toxicity of its growth crops is extremely low and a variety of advantages, this planting mode has become one of the most important representative modes of modern agricultural planting mode. Peppers, small green vegetables and other vegetables are the most common crops in life, and are mostly planted in southern China. But because the pot seedling itself is relatively fragile, and the planting interval of different vegetables is different, and the terrain of the planting land in the southern region is various, etc. From the use of pot seedling transplanting machinery in China, the research and development and improvement of this type of pot seedling transplanting machinery have great development potential.

[0003] In the prior art, the clamping type transplanting machine is an old model, which is the earliest type developed and put into use. It is divided into disc type and chain clamping type in structure. Although this model is convenient to operate and has low manufacturing cost, manual feeding of seedlings is required during work. Since manual feeding of seedlings is prone to error, the work efficiency is not high, and seedlings are prone to be clamped and fall off the ground. In order to adjust the plant spacing, it is very troublesome to replace gears with different numbers of teeth, and the work efficiency is not high. The seedlings are prone to be damaged. For the flexible disc type transplanting machine, the structure is simple, and the plant spacing is easy to adjust. Its advantage lies in that the seedlings are not clamped, the damage to the seedlings is avoided, and there is no limitation on the number of clamps, and the plant spacing is more convenient to adjust. However, the universality is too poor, the seedlings are not straight after transplanting, and the service life of the flexible rubber disc is generally not long, so it needs to be replaced frequently. For the guide pipe type transplanting machine, no external force is applied to the seedlings during planting, so there is no damage to the seedlings. Due to the existence of the guide pipe, many bare-root seedlings and seedlings with substrate can be used, and the work efficiency is high. However, the disadvantage is obvious, the mechanism is complex, the cost is high, and the guide pipe cannot guarantee the straightness of the seedlings. For the hanging basket type transplanting machine, it is suitable for transplanting seedlings with substrate. Compared with other models, its most prominent advantage is that it can be used for transplanting on the soil covered with mulch. The seedlings will not be clamped during transplanting, and there is no risk of damaging the seedlings. However, the structure of the transplanting machine is complex, the maintenance is difficult, and the planter directly contacts the soil during work, which causes damage to the planter. For the belt type transplanting machine, the advantage is high work efficiency. However, due to the use of mechanical grippers, the reliability is poor, and it can only be used for transplanting seedlings with stable substrate. Moreover, the use of mechanical grippers leads to high manufacturing cost, and further improvement and breakthrough are required to achieve popularization.

[0004] A plug seedling transplanting mechanical hand is disclosed in Chinese Patent No. CN206559828U, which was authorized on October 17, 2017. The plug seedling transplanting mechanical hand comprises a rack, straight linear guides symmetrically distributed above the rack, a workbench provided above the straight linear guides, the workbench being connected with a transmission device, the workbench being connected with a lifting mechanism below, the lifting mechanism being fixedly connected with a mechanical hand at the lower end, a fixed plate being provided at the corresponding position of the rack and the workbench, a chain wheel being provided on the fixed plate, the chain wheel being connected with a seedling guide pipe, and a gap being provided on the fixed plate. Compared with the prior art, the workbench moves back and forth on the straight linear guides by the transmission device to change the position of the mechanical hand in the horizontal direction. After the mechanical hand performs a grabbing action, the lifting mechanism controls the movement of the mechanical hand in the vertical direction, so that the mechanical hand completes the action of grabbing and placing seedlings. Then, the plug seedlings are transported to the designated position by the cooperation of the seedling guide pipe and the chain wheel. The whole working process of the device is controlled and completed by the corresponding PLC controller.

[0005] Most vegetable transplanters have not yet achieved miniaturization and integration, resulting in high R&D and production costs, which is unfavorable to small and medium-sized vegetable production bases in my country. Furthermore, due to the significant challenges in R&D, the quality of transplanting cannot be guaranteed, and the operation is difficult, hindering their widespread adoption in my country's vegetable agriculture.

[0006] In summary, it is necessary to address the issues of high cost and poor environmental adaptability of existing automatic control systems for dryland vegetable seedling transplanters. Based on actual transplanting conditions and combining various existing seedling transplanter models in China, a simple-to-operate, actively adjustable automatic small-scale dryland vegetable seedling transplanter has been designed to meet the needs of rural areas in southern my country, which face diverse planting terrains, small planting areas, and an aging farming population. Utility Model Content

[0007] Therefore, the purpose of this utility model is to provide a small self-propelled potted seedling transplanter, which uses a clamping mechanism and a conveyor belt to deliver seedlings and uses a seedling guide tube to accurately place the seedlings into the seedling pits drilled by the drilling mechanism. At the same time, the film covering wheel and soil covering wheel in the structure can minimize the loss rate and lodging rate of potted seedlings. The overall structure is simple and easy to operate.

[0008] This utility model provides a small self-propelled pot seedling transplanter, including a chassis, mounting bracket, conveyor belt, drilling mechanism, mechanical gripper mechanism, seedling guide tube mechanism, pot seedling support bracket, film covering mechanism, film pressing structure, and soil covering mechanism.

[0009] The mounting bracket is installed on one side of the vehicle chassis, and the seedling holder is installed on the upper surface of the vehicle chassis on the side opposite to the mounting bracket; the conveyor belt is installed on the mounting bracket and its position corresponds to the seedling holder; the mechanical gripper mechanism is installed on the mounting bracket and is located above the conveyor belt and away from the seedling holder; the seedling guide tube mechanism is installed on the side of the mounting bracket away from the seedling holder and its position corresponds to the mechanical gripper mechanism; the soil covering mechanism is installed at the bottom of the vehicle chassis and its position corresponds to the seedling guide tube mechanism; the film covering mechanism is installed at the bottom of the vehicle chassis and its position corresponds to the seedling holder; the film pressing structure is installed at the bottom of the vehicle chassis and its position is between the soil covering mechanism and the film covering mechanism; a drilling mechanism connected to the mounting bracket is installed between the soil covering mechanism and the film pressing structure.

[0010] Preferably, a plurality of seedling limiting seats are linearly and evenly distributed on the conveyor belt, and the inner diameter of the seedling limiting seats corresponds to the seedling pot; protective baffles fixed to the mounting bracket are installed on opposite sides of the conveyor belt along its conveying direction.

[0011] Preferably, the seedling guiding pipe mechanism comprises a pipe mounting seat and a plurality of seedling guiding pipe sections vertically fixedly mounted on the mounting support through the pipe mounting seat; the lower part of the seedling guiding pipe extends below the vehicle chassis and is positioned corresponding to the soil covering mechanism; the pipe mounting seat is provided with a plurality of holes coaxial with the seedling guiding pipe and communicating with the seedling guiding pipe; the upper surface of the pipe mounting seat and the positions corresponding to the holes are coaxially and fixedly provided with guide pipe sections; the side of the pipe mounting seat close to the conveying belt is formed with an arc-shaped guide surface corresponding to the arc of the turning part of the conveying belt along the length direction thereof; the inner side wall of the seedling guiding pipe is attached with a buffer rubber ring.

[0012] Preferably, the mechanical gripper mechanism comprises two linear slides, two lifting lead screws, a mounting cross bar A and a plurality of flexible mechanical grippers; the two linear slides are mounted on the mounting support and located on the opposite sides of the conveying belt, and the displacement direction of the two linear slides is the same as the feeding direction of the conveying belt; the two linear slides are connected with the lifting lead screws on the corresponding side through the sliding seat respectively, and the displacement direction of the two lifting lead screws is set as the up-down direction; the two lifting lead screws are fixedly connected with the two ends of the mounting cross bar A through the sliding block respectively; the plurality of flexible mechanical grippers are sequentially mounted on the mounting cross bar A along the length direction thereof; the mounting cross bar A is provided with a CCD detection camera corresponding to the seedling guiding pipe mechanism.

[0013] Preferably, the pot seedling supporting support comprises two supporting vertical rods and a plurality of pot seedling supporting tables sequentially and fixedly arranged between the two supporting vertical rod supports from bottom to top.

[0014] Preferably, the drilling mechanism comprises a ball screw, a mounting cross bar B, a plurality of first driving motors and a plurality of drill bits corresponding in number to the first driving motors; the ball screw is fixedly connected with the mounting support, and the displacement direction of the ball screw is set as the up-down direction; the nut seat of the ball screw is fixedly connected with the middle part of the mounting cross bar B, a plurality of the first driving motors are sequentially and fixedly arranged along the length direction of the mounting cross bar B, and the power output end of each first driving motor is connected with a drill bit.

[0015] Preferably, the film covering mechanism comprises a supporting frame A and a mulch film roll; the supporting frame A is fixedly mounted on the bottom of the vehicle chassis through bolts, and the mulch film roll is rotatably mounted on the supporting frame A.

[0016] Preferably, the film pressing structure comprises a supporting frame B, a film pressing wheel and a soil covering wheel; the supporting frame B is fixedly mounted on the bottom of the vehicle chassis through bolts, and the film pressing wheel and the soil covering wheel are rotatably connected with the supporting frame B.

[0017] Preferably, the soil covering mechanism comprises a support frame C and two soil covering and rolling wheels, the support frame C is fixedly installed on the bottom of the vehicle chassis by bolts, and the two soil covering and rolling wheels are connected with the support frame C by U-shaped bolts; the two soil covering and rolling wheels are arranged in a splayed shape, wherein the narrow side is arranged close to one side of the film pressing structure, and the wide side is arranged away from the other side of the film pressing structure; the bottom of the seedling guide pipe mechanism is arranged close to the narrow side of the soil covering and rolling wheel; and the number of the soil covering mechanism is arranged corresponding to the seedling outlet of the seedling guide pipe mechanism.

[0018] Preferably, the vehicle chassis is provided with a furrow opener on the side opposite to the soil covering mechanism; the number of the furrow opener is arranged corresponding to the seedling outlet of the seedling guide pipe mechanism; and the vehicle chassis is provided with a bulldozing shovel outside the furrow opener.

[0019] The beneficial effects of the utility model are as follows: the drilling mechanism composed of drill bits is used to dig seedling pits at fixed intervals, and the seedling throwing work is completed by the mechanical gripper mechanism and the seedling guide pipe mechanism. When the seedlings are sent, the conveying belt, the mechanical gripper mechanism and the seedling guide pipe mechanism work together to realize the complete automation of the whole seedling sending process without manual intervention. Unnecessary damage is avoided. The mechanical gripper mechanism is adopted in the seedling throwing mechanism to accurately throw the seedlings into the seedling guide pipe, the seedlings fall into the seedling guide pipe through the inner wall of the seedling guide pipe, are sent to the lowest point and then freely fall to complete the seedling throwing; the structure integrates the functions of soil shoveling, film covering and seedling planting, is simple in structure, high in efficiency and low in cost, integrates the functions required in the vegetable transplanting process in the smallest way, reduces the labor intensity of workers and improves the economic benefits, and has strong pertinence for the transplanting of dry land vegetables such as peppers and Chinese cabbages. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a side view of the utility model.

[0021] Figure 2 It is a perspective view (first visual angle) of the utility model.

[0022] Figure 3 It is a perspective view (second visual angle) of the utility model.

[0023] Figure 4 It is a perspective view (bottom view angle) of the utility model.

[0024] Figure 5 It is a schematic view of the drilling structure.

[0025] The drawings are: mechanical gripper mechanism 10, seedling guide pipe 11, conveying belt 12, pot seedling supporting bracket 13, mulching mechanism 16, vehicle chassis 14, drilling mechanism 15, support frame B 17, pot seedling supporting table 18, support stand 19, pot seedling limiting seat 22, pot seedling pot 20, protective baffle 21, pot seedling limiting seat 22, installation cross rod A 23, flexible mechanical gripper 24, guide pipe section 25, soil covering wheel 26, support frame C 27, soil covering mechanism 28, furrow opener 29, earthmoving shovel 30, straight line sliding table 32, lifting lead screw 31, ball screw 36, installation cross rod B 35, first driving motor 33, drill bit 34, mulching film roll 37, installation support 38, film pressing structure 39, guide pipe mounting seat 40, seedling guide pipe mechanism 41, arc-shaped guide surface 42, support frame A 43, film pressing wheel 44, soil covering wheel 45. DETAILED DESCRIPTION

[0026] In order to further understand the characteristics, technical means and specific purposes and functions achieved by the utility model, the utility model will be described in further detail below in combination with specific embodiments and drawings.

[0027] In the utility model, unless otherwise explicitly specified and limited, the terms "installation", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0028] Please refer to Figures 1-5 The utility model provides a small -size self -propelled pot seedling transplanting machine, including vehicle chassis 14, installation support 38, conveying belt 12, drilling mechanism 15, mechanical gripper mechanism 10, seedling guide pipe mechanism 41, pot seedling supporting bracket 13, mulching mechanism 16, film pressing structure 39, soil covering mechanism 28, still including control system, the driving arrangement of vehicle chassis 14 and the driving arrangement of conveying belt 12, drilling mechanism 15, mechanical gripper mechanism 10 are connected with control system.

[0029] Vehicle chassis 14 is equipped with four driving ground wheels, and the four driving ground wheels are driven by four servo motors respectively, when working, four servo motors provide sufficient power for four driving ground wheels, so as to guarantee the smooth progress of transplanting work. Four servo motors are connected with the control system, when steering, the working rotating speed of single-side 2 servo motors is adjusted, so that the rotating speeds of two driving ground wheels are different, so that the steering problem in the transplanting process is realized.

[0030] The installation support 38 is installed on one side of the vehicle chassis 14, the seedling holding support 13 is installed on the upper surface of the vehicle chassis 14 opposite to the installation support 38, the conveying belt 12 is installed on the installation support 38 and corresponds to the seedling holding support 13, the mechanical gripper mechanism 10 is installed on the installation support 38 and above the conveying belt 12 and away from the seedling holding support 13, the seedling guiding pipe mechanism 41 is installed on the installation support 38 away from the seedling holding support 13 and corresponds to the mechanical gripper mechanism 10, the soil covering mechanism 28 is installed on the bottom of the vehicle chassis 14 and corresponds to the seedling guiding pipe mechanism 41, the film covering mechanism 16 is installed on the bottom of the vehicle chassis 14 and corresponds to the seedling holding support 13, the film pressing mechanism 39 is installed on the bottom of the vehicle chassis 14 and between the soil covering mechanism 28 and the film covering mechanism 16, and the drilling mechanism 15 connected with the installation support 38 is installed between the soil covering mechanism 28 and the film pressing mechanism 39.

[0031] The conveying belt 12 is linearly and uniformly provided with a plurality of seedling limiting seats 22, the inner diameter of the seedling limiting seat 22 corresponds to the seedling pot 20, and the conveying belt 12 is provided with protective baffles 21 fixed with the installation support 38 on opposite sides along the conveying direction of the conveying belt 12 to prevent dust accumulation inside the conveying belt or unnecessary damage.

[0032] The seedling guiding pipe mechanism 41 comprises a pipe installation seat 40 and a plurality of seedling guiding pipes 11, the upper surface of the pipe installation seat 40 is lower than the conveying plane of the conveying belt 12, the upper part of the plurality of seedling guiding pipes 11 is vertically fixedly installed on the installation support 38 through the pipe installation seat 40, the lower part of the seedling guiding pipe 11 extends to the bottom of the vehicle chassis 14 and corresponds to the soil covering mechanism 28, the pipe installation seat 40 is provided with a plurality of leak holes in communication with the seedling guiding pipes 11 and coaxial, the upper surface of the pipe installation seat 40 and at the positions corresponding to the leak holes are coaxially and fixedly provided with guide pipe sections 25, the seedling body can be accurately dropped into the seedling guiding pipe from the conveying belt, the side of the pipe installation seat 40 close to the conveying belt 12 is formed with an arc-shaped guide surface 42 corresponding to the curvature of the turning part of the conveying belt 12 along the length direction, and the inner side wall of the seedling guiding pipe 11 is attached with a buffer rubber ring, so that the seedling guiding pipe 11 will not cause damage to the seedling body, and the seedling body can normally slide in the seedling guiding pipe 11. In the embodiment, four seedling guiding pipes 11 are provided. The seedling guiding pipe 11 and the pipe installation seat 40 are detachably connected, such as threaded connection or interference fit, so that the seedling guiding pipe 11 can be freely detached, facilitating the staff to clean or replace the inside.

[0033] When the seedling body moves to the end of the conveying belt and slides down from the arc-shaped guide surface 42, it falls into the corresponding leak hole and then enters the seedling guiding pipe 11 under the action of the guide pipe section 25, and the seedling body will not be turned over when falling from the end of the conveying belt, ensuring that the seedling body falls vertically into the seedling guiding pipe.

[0034] The mechanical gripper mechanism 10 comprises two linear slides 32, two lifting lead screws 31, a mounting crossbar A23, and a plurality of flexible mechanical grippers 24. The two linear slides 32 are mounted on the mounting bracket 38 and located on opposite sides of the conveying belt 12, and the displacement direction of the two linear slides 32 is the same as the feeding direction of the conveying belt 12. The two linear slides 32 are connected to the lifting lead screws 31 on the corresponding side through the slide, and the displacement direction of the two lifting lead screws 31 is set as the up-down direction. The two lifting lead screws 31 are fixedly connected to the two ends of the mounting crossbar A23 through the sliding block. The plurality of flexible mechanical grippers 24 are sequentially mounted on the mounting crossbar A23 along the length direction of the mounting crossbar A23. The mounting crossbar A23 is provided with a CCD detection camera corresponding to the seedling guide pipe mechanism 41. The two linear slides 32 drive the two lifting lead screws 31, the mounting crossbar A23, and the plurality of flexible mechanical grippers 24 to realize the displacement action in the front-back direction. The two lifting lead screws 31 drive the mounting crossbar A23 and the plurality of flexible mechanical grippers 24 to realize the displacement action in the up-down direction.

[0035] The use of the flexible mechanical gripper 24 not only continues the "no-hurt seedling principle" of the conveying belt and the seedling guide pipe, but also greatly improves the disengagement efficiency of the pot seedling pot 20. By changing the pose of the seedling body, the straightness and accuracy of the seedling body entering the seedling guide pipe are ensured, and the success rate of seedling transplanting is greatly ensured. In order to improve the accuracy of pot seedling transplanting, the CCD detection camera is arranged to detect the posture of the seedling body before the seedling is dropped, and the angle of the flexible mechanical gripper 24 for taking the seedling body is adjusted in real time, so as to improve the success rate and survival rate of the seedling dropping. The CCD detection camera is connected with the control system.

[0036] The pot seedling supporting bracket 13 comprises two supporting vertical rods 19 and a plurality of pot seedling supporting tables 18 sequentially and fixedly arranged between the two supporting vertical rods 19 from bottom to top.

[0037] The drilling mechanism 15 comprises a ball screw 36, a mounting crossbar B35, a plurality of first driving motors 33, and a plurality of drill bits 34 corresponding to the number of the first driving motors 33. The ball screw 36 is fixedly connected with the mounting bracket 38, and the displacement direction of the ball screw 36 is set as the up-down direction. The nut seat of the ball screw 36 is fixedly connected with the middle part of the mounting crossbar B35. The plurality of first driving motors 33 are sequentially and fixedly arranged along the length direction of the mounting crossbar B35. The power output end of each first driving motor 33 is connected with a drill bit 34. The ball screw 36 drives the mounting crossbar B35 to drive the plurality of first driving motors 33 and the drill bits 34 to realize the displacement action in the up-down direction. The power output of the first driving motor 33 drives the drill bit 34 to realize the seedling pit digging action.

[0038] The mulching mechanism 16 comprises a supporting bracket A43 and a mulch roll 37. The supporting bracket A43 is fixedly installed on the bottom of the vehicle chassis 14 through bolts, and the mulch roll 37 is rotatably installed on the supporting bracket A43.

[0039] The film pressing structure 39 comprises a support frame B17, a film pressing wheel 44 and a soil covering wheel 45; the support frame B17 is fixedly installed on the bottom of the vehicle chassis 14 by bolts, and the film pressing wheel 44 and the soil covering wheel 45 are both rotationally connected with the support frame B17.

[0040] The soil covering mechanism 28 comprises a support frame C27 and two soil covering and pressing wheels 26; the support frame C27 is fixedly installed on the bottom of the vehicle chassis 14 by bolts, and the two soil covering and pressing wheels 26 are connected with the support frame C27 by U-shaped bolts; the two soil covering and pressing wheels 26 are arranged in a figure-of-eight shape, with the narrow side arranged close to one side of the film pressing structure 39 and the wide side arranged away from the other side of the film pressing structure 39; the bottom of the seedling guiding pipe mechanism 41 is arranged close to the narrow side of the soil covering and pressing wheels 26; and the number of the soil covering mechanism 28 is arranged to correspond to the seedling outlet of the seedling guiding pipe mechanism 41.

[0041] The vehicle chassis 14 is provided with furrowers 29 on the side opposite to the soil covering mechanism 28; the number of the furrowers 29 is arranged to correspond to the seedling outlet of the seedling guiding pipe mechanism 41; and the vehicle chassis 14 is provided with a bulldozing shovel 30 on the outside adjacent to the furrowers 29.

[0042] In actual operation, the bulldozing shovel 30 and the furrowers 29 are arranged to extend into the ground by a small amount, the film covering mechanism 16 is arranged to be flush with the ground, and the film pressing structure 39 and the soil covering mechanism 28 are arranged to be flush with the bottom of the soil trench.

[0043] The workers place a plurality of pots containing seedlings on the receiving disc in advance, and then place the receiving disc on the pot seedling receiving table 18. Before starting work, the workers move the entire pot seedling from the pot seedling receiving table 18 to the pot seedling limiting seat 22 of the conveying belt. After starting work, the vehicle chassis 14 moves forward, and the bulldozing shovel 30 at the front end first shovels away the sundries and excess soil in the soil. Then, the furrowers 29 are inserted into the soil to open seedling trenches of a certain depth in the flattened soil, and fertilizer can be correspondingly scattered. The film covering work starts, and the tail of the furrower brings back a small amount of soil, covering the fertilizer. At this time, the film covering mechanism operates to cover the soil with a film, and the film pressing structure 39 presses the film. The soil covering wheel rotates to push a small amount of scattered soil to the two sides of the film to spread the film. At the same time, the conveying belt above has conveyed the seedlings to the working range of the mechanical gripper mechanism 10, the flexible mechanical gripper 24 clamps the seedlings to make them separate from the original pot. Then, under the movement of the guide rail, the seedlings are released by the flexible mechanical gripper 24 at the guide pipe section 25 and slide along the inner wall of the pipe under the action of their own gravity.

[0044] When the seedling is transported to the conveying belt, the ball screw 36 rotates to drive the drill bit to reciprocate according to the conveying speed of the seedling on the conveying belt, so as to realize the fixed-pitch seedling pit digging, and the falling seedling falls into the planting pit. When transplanting special seedlings, the drilling time and depth of the drilling mechanism 15 can be adjusted by the control system, the size and depth of the planting pit are changed, and the seedling is planted. Finally, the soil is compacted by the soil compacting wheel, and the water is sprayed by the water injector, and thus the transplanting process is completed.

[0045] The structure integrates the functions of soil shoveling, film covering and seedling planting, is simple in structure, high in efficiency and low in cost, minimizes the functions required in the vegetable transplanting process, reduces the labor intensity of workers, improves the economic benefits, and has strong pertinence for the transplanting of peppers, Chinese cabbages and other dry land vegetables.

[0046] The above-described embodiment only expresses one embodiment of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A small self-propelled seedling transplanter, characterized in that: The device comprises a vehicle chassis (14), a mounting bracket (38), a conveying belt (12), a drilling mechanism (15), a mechanical gripper mechanism (10), a seedling guiding tube mechanism (41), a pot seedling supporting bracket (13), a mulching mechanism (16), a film pressing structure (39), and a soil covering mechanism (28). The mounting bracket (38) is mounted on one side of the vehicle chassis (14), and the pot seedling supporting bracket (13) is mounted on the opposite side of the vehicle chassis (14) and above the mounting bracket (38). The conveying belt (12) is mounted on the mounting bracket (38) and corresponds to the pot seedling supporting bracket (13). The mechanical gripper mechanism (10) is mounted on the mounting bracket (38) and above the conveying belt (12) and away from the pot seedling supporting bracket (13). The seedling guiding tube mechanism (41) is mounted on the mounting bracket (38) and corresponds to the mechanical gripper mechanism (10). The soil covering mechanism (28) is mounted on the bottom of the vehicle chassis (14) and corresponds to the seedling guiding tube mechanism (41). The mulching mechanism (16) is mounted on the bottom of the vehicle chassis (14) and corresponds to the pot seedling supporting bracket (13). The film pressing structure (39) is mounted on the bottom of the vehicle chassis (14) and between the soil covering mechanism (28) and the mulching mechanism (16). The drilling mechanism (15) is mounted between the soil covering mechanism (28) and the film pressing structure (39) and connected to the mounting bracket (38).

2. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The conveying belt (12) is linearly and uniformly provided with a plurality of pot seedling limiting seats (22) corresponding to the inner diameter of the pot seedling pot (20). The conveying belt (12) is provided with protective baffles (21) fixed to the mounting bracket (38) on opposite sides along the conveying direction.

3. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The seedling guiding tube mechanism (41) comprises a guide tube mounting seat (40) and a plurality of seedling guiding tubes (11). The upper surface of the guide tube mounting seat (40) is lower than the conveying plane of the conveying belt (12). The upper parts of the plurality of seedling guiding tubes (11) are vertically fixed to the mounting bracket (38) through the guide tube mounting seat (40). The lower parts of the seedling guiding tubes (11) extend below the vehicle chassis (14) and correspond to the soil covering mechanism (28). The guide tube mounting seat (40) is provided with a plurality of holes coaxial with the seedling guiding tubes (11). The upper surface of the guide tube mounting seat (40) is provided with guide tube segments (25) coaxially fixed at positions corresponding to the holes. The side of the guide tube mounting seat (40) close to the conveying belt (12) is formed with an arc-shaped guide surface (42) corresponding to the curvature of the conveying belt (12). The inner side walls of the seedling guiding tubes (11) are provided with buffer rubber rings.

4. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The mechanical gripper mechanism (10) comprises two linear slides (32), two lifting lead screws (31), a mounting cross bar A (23) and a plurality of flexible mechanical grippers (24); the two linear slides (32) are mounted on the mounting bracket (38) and located on opposite sides of the conveying belt (12), and the displacement direction of the two linear slides (32) is the same as the feeding direction of the conveying belt (12); the two linear slides (32) are connected to the lifting lead screw (31) on the corresponding side through a sliding seat respectively, and the displacement direction of the two lifting lead screws (31) is set as the up-down direction; the two lifting lead screws (31) are fixedly connected to both ends of the mounting cross bar A (23) through sliding blocks respectively; a plurality of flexible mechanical grippers (24) are sequentially mounted on the mounting cross bar A (23) along the length direction of the mounting cross bar A (23); the mounting cross bar A (23) is provided with a CCD detection camera corresponding to the seedling guiding pipe mechanism (41).

5. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The pot seedling supporting bracket (13) comprises two supporting vertical rods (19) and a plurality of pot seedling supporting tables (18) sequentially and fixedly arranged between the two supporting vertical rod (19) brackets from bottom to top.

6. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The drilling mechanism (15) comprises a ball screw (36), a mounting cross bar B (35), a plurality of first driving motors (33) and a plurality of drill bits (34) corresponding in number to the first driving motors (33); the ball screw (36) is fixedly connected to the mounting bracket (38), and the displacement direction of the ball screw (36) is set as the up-down direction; the nut seat of the ball screw (36) is fixedly connected to the middle part of the mounting cross bar B (35), a plurality of first driving motors (33) are sequentially and fixedly arranged along the length direction of the mounting cross bar B (35), and each first driving motor (33) is connected with a drill bit (34) at the power output end.

7. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The film covering mechanism (16) comprises a supporting bracket A (43) and a mulch roll (37); the supporting bracket A (43) is fixedly installed on the bottom of the vehicle chassis (14) through bolts, and the mulch roll (37) is rotatably installed on the supporting bracket A (43).

8. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The film pressing structure (39) comprises a supporting bracket B (17), a film pressing wheel (44) and a soil covering wheel (45); the supporting bracket B (17) is fixedly installed on the bottom of the vehicle chassis (14) through bolts, and the film pressing wheel (44) and the soil covering wheel (45) are rotatably connected with the supporting bracket B (17).

9. The small-sized self-propelled pot seedling transplanting machine according to claim 1, characterized in that: The covering mechanism (28) comprises a support frame C (27) and two covering and compacting wheels (26), the support frame C (27) is fixedly installed on the bottom of the vehicle chassis (14) through bolts, and the two covering and compacting wheels (26) are connected with the support frame C (27) through U-shaped bolts; the two covering and compacting wheels (26) are arranged in a splayed shape, wherein the narrow side is arranged on the side close to the film pressing structure (39), and the wide side is arranged on the side away from the film pressing structure (39); the bottom of the seedling guiding pipe mechanism (41) is arranged close to the narrow side of the covering and compacting wheel (26); the number of the covering mechanism (28) is arranged corresponding to the seedling outlet of the seedling guiding pipe mechanism (41).

10. The small-sized self-propelled pot seedling transplanting machine according to claim 9, characterized in that: The vehicle chassis (14) is provided with a furrow opener (29) on the side opposite to the covering mechanism (28); the number of the furrow opener (29) is arranged corresponding to the seedling outlet of the seedling guiding pipe mechanism (41); the vehicle chassis (14) is provided with a bulldozing shovel (30) on the outside adjacent to the furrow opener (29).

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