Miniature self-propelled four-row salvia miltiorrhiza transplanter

Abstract

The utility model relates to the field of agricultural machinery, and discloses a miniature self-propelled four-row salvia miltiorrhiza transplanter. The machine comprises a rack, a walking mechanism, a seedling dropping mechanism, a transplanting mechanism and a transmission system. The seedling throwing mechanism realizes accurate throwing of four rows of salvia miltiorrhiza seedlings through a bevel gear-chain synchronous transmission system; the transplanting mechanism adopts collaborative operation of a double-crank connecting rod, a main cam and a compensation limiting shaft to form a D-shaped planting track, so that the seedling planting upright degree is improved; the walking mechanism is mounted at the bottom of the front end of the rack, is provided with a height adjusting device and can adapt to different transplanting depths; the transmission system drives the walking wheels and the transplanting mechanism through the engine to carry out transplanting operation, and the arrangement of the hexagonal driving shaft realizes synchronization of seedling dropping and transplanting actions. The four-row planting device is compact in structure, adjustable in row spacing, suitable for operation in various terrains, capable of effectively reducing operation cost and improving labor efficiency, and capable of meeting agricultural requirements of four-row planting of salvia miltiorrhiza.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery, and in particular to an automatic transplanting machine for the traditional Chinese medicine Salvia miltiorrhiza. Background Technology

[0002] As an important traditional Chinese medicine, the efficiency and quality of Danshen's cultivation directly affect its yield and efficacy. Traditional manual transplanting suffers from low efficiency, uneven plant spacing, and high labor intensity. Existing transplanting machines are mostly designed for two or three rows, making it difficult to meet the agronomical requirements of four-row Danshen planting. While the four-row staggered planting pattern can significantly improve land utilization and seedling survival rate, existing equipment still faces many challenges in implementing four-row transplanting: poor seedling synchronization during four-row transplanting easily leads to missed plantings or overlaps; large equipment lacks flexibility and is difficult to adapt to small plots; and the planting depth adjustment range is limited, making it unable to match different soil conditions.

[0003] In the existing technology, patent CN221784645U discloses a four-wheel drive transplanter, but its seedling feeding mechanism does not meet the characteristics of Salvia miltiorrhiza seedlings. The opening size of the seedling cup is too large, making it easy for the seedlings to tilt and get stuck when planted. While patent CN116982444A achieves automatic seedling feeding, its four-row transplanting synchronization relies on a single chain drive. The cumulative error of the chain easily leads to large fluctuations in plant spacing, and it lacks a depth compensation device, resulting in poor consistency in planting depth. The stability problem of four-row synchronous transplanting has not yet been solved. Therefore, developing a transplanting device that can efficiently and accurately complete the transplanting of Salvia miltiorrhiza while possessing good adaptability and economy has become a key issue in the mechanization of Salvia miltiorrhiza cultivation.

[0004] In view of this, this utility model proposes a miniature self-propelled device specifically designed for transplanting four rows of Salvia miltiorrhiza. Through innovative structural design, it optimizes the precision and efficiency of Salvia miltiorrhiza planting. Utility Model Content

[0005] To address the problems of disconnect between agricultural machinery and agronomy in Salvia miltiorrhiza transplanting machines in my country, such as unstable seedling planting posture, large size, and unadjustable planting depth, this utility model provides a miniature self-propelled Salvia miltiorrhiza transplanter, suitable for the four-row-per-ridge planting technique in Shaanxi Province, specifically designed for the specific agronomic and mechanized transplanting requirements of Salvia miltiorrhiza in Shaanxi Province.

[0006] This utility model provides the following technical solution: a miniature self-propelled four-row Salvia miltiorrhiza transplanter, including a frame, a walking mechanism, a seedling feeding mechanism, a transplanting mechanism, and a transmission system; the walking mechanism is installed at the bottom front end of the frame; the seedling feeding mechanism is located at the top of the frame; the transplanting mechanism is located on the frame below the seedling feeding mechanism; and the transmission system is located at the front end of the frame.

[0007] Preferably, the traveling mechanism includes a traveling reducer, a shaft connecting device, a height adjusting device, and a drive wheel. The traveling reducer uses a clutch to achieve functions such as neutral, reverse, and gear shifting to adapt to different working environments. Both ends of the traveling reducer are connected to the height adjusting device via the shaft connecting device, and the drive wheel is connected to the lower end of the height adjusting device via a shaft, providing stable ground drive. The shaft connecting device includes a drive shaft and a connecting sleeve for connecting the two shafts. The left end of the drive shaft is connected to the lower drive shaft of the traveling reducer via the connecting sleeve and bolts, and the right end is connected to the height adjusting device via a flange. The height adjusting device includes a height adjusting plate, a sprocket drive housing, a four-part sprocket assembly, a chain, and a lower connecting shaft. The machine height is adjusted by manually adjusting the bolt mounting position of the height adjusting plate and the flange. The drive wheel is driven by an engine mounted on the frame via the traveling reducer.

[0008] Preferably, the seedling feeding mechanism 3 includes a seedling feeding cup, a seedling feeding turntable, and a seedling feeding transmission assembly. The seedling feeding cup includes a cup body, an upper L-shaped support plate, a lower L-shaped support plate, and a lower cover. The seedling feeding turntable includes a chassis, a drive shaft, a drive shaft mounting bushing, a bearing with a square seat, a left upper front sprocket, a left lower front sprocket, a tension guide bushing, a U-shaped support plate, a right upper front sprocket, a right lower front sprocket, a driven shaft, a top plate, a left support square tube, a left connecting U-shaped groove, a right support square tube, a right connecting U-shaped groove, an upper sprocket chain, and a lower sprocket chain. The seedling feeding transmission assembly consists of an upper bevel gear, a lower bevel gear, a drive shaft, a transmission L-shaped support plate, a bushing, and a seedling feeding turntable connecting sprocket. A ring of 32 seedling feeding cups is arranged around the drive shaft and driven shaft on the chassis of the seedling feeding mechanism. The seedling feeding cups are divided into eight groups, with four cups in each group passing through L-shaped sections of different lengths. The support plates are connected to the upper and lower sprocket chains respectively. The bottom opening of each set of seedling cups corresponds to the four different discharge holes at the bottom of the seedling turntable. The base is equipped with a drive shaft and a driven shaft. The seedling turntable is driven by the drive shaft and the driven shaft, and rotates synchronously through chain transmission to ensure that four rows of Salvia miltiorrhiza seedlings are released simultaneously. The lower half of the drive shaft is connected to the base through a bearing with a square seat. The drive shaft and the driven shaft are equipped with upper and lower sprockets at two equal heights. The driven shaft includes a right front driven shaft, a left rear driven shaft assembly, and a right rear driven shaft assembly. The top of the drive shaft and the driven shaft are connected to the top plate of the seedling release mechanism. The drive shaft (3-2) drives the driven shaft to rotate synchronously, realizing the circular equidistant movement of the seedling cups. The upper sprocket chain and the lower sprocket chain mesh with the sprockets on the drive shaft and the driven shaft. The lower end of the drive shaft transmits power to the drive shaft through the meshing of the upper and lower bevel gears in the seedling transmission assembly. The rotation of the seedling cup is achieved through the transmission of the upper and lower sprocket chains. Power is transmitted to the seedling feeding mechanism through the transmission of bevel gears, thus realizing the seedling feeding operation of Salvia miltiorrhiza.

[0009] Preferably, the transplanting mechanism includes a base plate, a power input component, a connecting sleeve, a rear base plate, a transplanting mechanism connecting square tube, a crank connecting rod connecting plate, a double crank connecting rod assembly, a main cam, a tie rod, a compensation limiting shaft, a duckbill opening and closing device, a duckbill planting device, a triangular connecting plate, and a hexagonal drive shaft. The power input component is connected to the hexagonal drive shaft. The front end of the power input component transmits power through three gears meshing sequentially. The main cam is connected to the third gear through a shaft and rotates synchronously with the gear. The outer side of the rear base plate of the power input component is fixedly connected to the rear support plate through a long bolt inside the outer sleeve. The double crank connecting rod assembly includes an upper double crank connecting rod and a lower double crank connecting rod. The upper end of the upper double crank connecting rod is welded to the outer sleeve of the power input component, allowing the upper double crank connecting rod to swing left and right. The lower end of the connecting rod is welded to the outer sleeve of the power input component and can swing left and right around the outer sleeve. The lower end of the upper double-crank connecting rod is hinged to the lower double-crank connecting rod through a crank-connecting rod connecting plate. The lower end of the lower double-crank connecting rod is connected to the duckbill planting component through a triangular connecting plate. A pull rod is installed on the main cam, and the lower end of the pull rod is connected to the upper middle part of the lower double-crank connecting rod. The main cam drives the double-crank connecting rod assembly to form a "D"-shaped planting trajectory with a stroke of 320mm through the pull rod. The transplanting mechanism drives the upper and lower double-crank connecting rods to swing through the rotation of the main cam, and through the action of the pull rod and the compensation limit shaft, the duckbill planting device completes an accurate and appropriate transplanting action.

[0010] Preferably, the lower end of the duckbill opening and closing device is installed on the outer side of the rear base plate of the power input component, and a pull wire is installed on the upper end of the duckbill opening and closing device, with the lower end of the pull wire connected to the duckbill opening and closing device. This enables the opening and closing of the duckbill, thereby facilitating the planting of Salvia miltiorrhiza seedlings.

[0011] Preferably, an engine is fixedly installed at the bottom front end of the frame, and the engine is connected to the power input ends of the walking gearbox and the transplanting gearbox respectively through belt drive to realize the power distribution of walking and transplanting actions.

[0012] Preferably, the transmission system includes a walking transmission system and a transplanting transmission system. The walking transmission system transmits the engine's power to the two drive wheels via a walking reducer, enabling the machine to walk. The transplanting transmission system transmits the engine's power to a hexagonal drive shaft mounted on the frame via a transplanting reducer. The hexagonal drive shaft drives the duckbill planting device through the power input component of the transplanting mechanism, and the hexagonal drive shaft drives the seedling feeding turntable to rotate through the seedling feeding transmission assembly, thereby feeding the Salvia miltiorrhiza seedlings.

[0013] Preferably, the frame has a compact design, with a seat installed at the top front of the frame, allowing the user to perform precise operations while seated. An armrest made of non-slip material is installed behind the seat and equipped with a control handle. The control handle integrates functions such as forward, backward, steering, and planting depth adjustment, ensuring that the operator can easily adjust the direction of travel and planting accuracy during operation, improving work efficiency and comfort.

[0014] Preferably, the rear end of the frame is equipped with an adjustable height support, which allows the operator to adjust the machine height according to the field terrain and operational needs. The adjustment range is 300-500mm, ensuring that the optimal planting depth can be achieved under different terrain conditions, thereby improving transplanting quality and adaptability. Beneficial effects

[0015] This utility model has the following beneficial effects:

[0016] 1. The present invention provides a miniature self-propelled four-row Salvia miltiorrhiza transplanter, which is equipped with four planting duckbills. The seedling turntable can meet the needs of four-row planting of Salvia miltiorrhiza by setting the position of the seedling cup and synchronous transmission.

[0017] 2. The miniature self-propelled four-row Salvia miltiorrhiza transplanter provided by this utility model has redesigned the length of the double crank connecting rod assembly of the transplanting mechanism based on the characteristics of Salvia miltiorrhiza plants. The vertical stroke of the transplanting mechanism can reach about 320mm. At the same time, the double crank connecting rod assembly, together with the compensation limiting assembly, can ensure the consistency of planting depth (±5mm error) and make the seedling planting posture more stable.

[0018] 3. The miniature self-propelled four-row Salvia miltiorrhiza transplanter provided by this utility model adopts a modular design, and the walking mechanism and transplanting mechanism can be quickly disassembled and assembled, adapting to various scenarios such as mountainous areas and terraced fields.

[0019] 4. The self-propelled transplanter provided by this utility model mainly completes the transplanting of Salvia miltiorrhiza seedlings through a seedling feeding mechanism and a transplanting mechanism. While realizing mechanized planting of transplanted seedlings, it has a more compact structure compared with existing large self-propelled transplanters, thus achieving the effect of reducing costs. Attached Figure Description

[0020] Figure 1 A schematic diagram of the structure of this utility model after installing the seedling seat and seedling tray placement platform;

[0021] Figure 2 This is a side view schematic diagram of the frame distribution structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the transmission system structure of this utility model;

[0023] Figure 4This is a schematic diagram of the seedling feeding mechanism of this utility model;

[0024] Figure 5 This is a schematic diagram of the overall structure of the seedling feeding mechanism of this utility model;

[0025] Figure 6 This is a schematic diagram of the transplanting mechanism of this utility model;

[0026] Figure 7 This is a schematic diagram of the walking mechanism and frame layout structure of this utility model;

[0027] Figure 8 This is a schematic diagram of the height adjustment device for the walking mechanism of this utility model;

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Frame; 1-1. Main frame square tube; 1-2. Frame welding assembly; 1-3. Height adjustment device; 1-4. Rear wheel square tube sleeve; 1-5. Rear wheel square tube; 1-6. Driven shaft; 1-7. Driven wheel; 1-8. Seat; 1-9. Armrest; 1-10. Control handle. 2. Traveling Mechanism, 2-1. Drive Wheel, 2-2. Front Plate of Traveling Device Housing, 2-3. Sprocket Drive Housing, 2-4. Rear Plate of Traveling Device Housing, 2-5. Height Adjustment Plate, 2-6. Hexagonal Shaft Outer Tube, 2-7. Flange, 2-8. Traveling Device Support Plate, 2-9. Lower Hexagonal Shaft, 2-10. Lower Sprocket of Traveling Mechanism, 2-11. Upper Sprocket of Traveling Mechanism, 2-12. Inner Hexagonal Shaft of Traveling Mechanism, 3. Seedling Dispensing Mechanism, 3-1. Chassis, 3-2. Drive Shaft, 3-3. Drive Shaft Mounting Bushing, 3-4. Bearing with Square Seat, 3-5. Upper Left Front Sprocket, 3-6. Lower Left Front Sprocket, 3-7. Right Front Driven Shaft, 3-8. Tensioning Guide Bushing, 3-9. U L-shaped support plate, 3-10, upper right front sprocket, 3-11, lower right front sprocket, 3-12, left rear driven shaft device, 3-13, right rear driven shaft device, 3-14, top plate, 3-15, upper bevel gear, 3-16, lower bevel gear, 3-17, drive shaft, 3-18, seedling feeding mechanism connecting sprocket, 3-19, transmission L-shaped support plate, 3-20, bushing, 3-21, left support square tube, 3-22, left connecting U-shaped groove, 3-23, right support square tube, 3-24, right connecting U-shaped groove, 3-25, upper sprocket chain, 3-26, lower sprocket chain, 3-27, seedling cup body, 3-28, upper L-shaped support plate, 3-29, lower L-shaped support plate 3-30. Seedling cup lower cover; 4. Transplanting mechanism; 4-1. Base plate; 4-2. Power input component; 4-3. Connecting sleeve; 4-4. Rear base plate; 4-5. Transplanting mechanism connecting square tube; 4-6. Crank connecting rod connecting plate; 4-7. Lower double crank connecting rod; 4-8. Main cam; 4-9. Tie rod; 4-10. Compensation limit shaft; 4-11. Duckbill opening and closing device; 4-12. Duckbill planting device; 4-13. Triangular connecting plate; 4-14. Upper double crank connecting rod; 4-15. Hexagonal drive shaft; 5. Transmission system; 5-1. Engine; 5-2. Lower support plate of transmission system; 5-3. Transplanting reducer; 5-4. Transplanting reducer support plate; 5-5. Side support plate of transmission system; 5-6. Travel reducer; 5-7. Travel reducer pulley; 5-8. Front fixed plate of travel reducer. Detailed Implementation

[0030] The embodiments of the present utility model will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present utility model and are not intended to limit its scope of protection. Figure 1-5 The present invention will be described in further detail below. Example 1

[0031] This utility model discloses a miniature self-propelled Salvia miltiorrhiza transplanter, referring to... Figure 1 The machine includes a frame 1, a walking mechanism 2, and a transplanting mechanism 4. The walking mechanism 2 is fixed to both sides of the bottom of the frame 1 via flanges 2-7 and walking device support plates 2-8 to provide stable walking function. The transplanting mechanism 4 is movably installed in the middle of the frame 1 to complete the transplanting of Salvia miltiorrhiza seedlings. An engine 5-1 is installed on the frame 1. The walking mechanism 2 and the transplanting mechanism 4 are respectively connected to the engine 5-1 via a walking reducer 5-6 and a transplanting reducer 5-3.

[0032] The transplanting mechanism 4 includes a base plate 4-1, a power input component 4-2, a connecting sleeve 4-3, a rear base plate 4-4, a transplanting mechanism connecting square tube 4-5, a crank-connecting rod connecting plate 4-6, an upper double-crank connecting rod 4-14 and a lower double-crank connecting rod 4-7, a main cam 4-8, a pull rod 4-9, a compensation limit shaft 4-10, a duckbill opening and closing device 4-11, a duckbill planting device 4-12, a triangular connecting plate 4-13, and a hexagonal drive shaft 4-15. The power input component 4-2 meshes with the hexagonal drive shaft 4-15 via three gears. The main cam 4-8 is connected to the third gear via a shaft and rotates synchronously with the gears. The upper double-crank connecting rod 4-14 and the lower double-crank connecting rod 4-7 are connected through mounting holes in the crank-connecting rod connecting plate 4-6. The end of the lower double-crank connecting rod is connected to the duckbill planting device 4-12 via the triangular connecting plate 4-13. The lower end of the pull rod 4-9 is connected to the middle section of the lower double crank connecting rod 4-7. The rotation of the main cam 4-8 drives the upper double crank connecting rod 4-14 to swing, realizing the "D"-shaped planting action of the duckbill planting component 4-12. The vertical stroke reaches 320mm, and the planting depth is ensured by the compensation limit shaft 4-10.

[0033] The seedling feeding mechanism 3 includes a seedling feeding cup, a seedling feeding turntable, and a seedling feeding transmission assembly. The seedling feeding cup includes a cup body 3-27, an upper L-shaped support plate 3-28, a lower L-shaped support plate 3-29, and a lower cover 3-30. The seedling feeding turntable includes a base 3-1, a drive shaft 3-2, a drive shaft mounting sleeve 3-3, a bearing with a square seat 3-4, a left upper front sprocket 3-5, a left lower front sprocket 3-6, a right front driven shaft 3-7, a tension guide sleeve 3-8, a U-shaped support plate 3-9, a right upper front sprocket 3-10, a right lower front sprocket 3-11, a left rear driven shaft assembly 3-12, a right rear driven shaft assembly 3-13, a top plate 3-14, a left support square tube 3-21, a left connecting U-shaped groove 3-22, a right support square tube 3-23, and a right connecting U-shaped groove. The seedling feeding transmission assembly consists of an upper bevel gear 3-15, a lower bevel gear 3-16, a drive shaft 3-17, a seedling feeding mechanism connecting sprocket 3-18, a transmission L-shaped support plate 3-19, and a bushing 3-20. The seedling feeding turntable is fixedly mounted on the frame 1. The base 3-19 and top 3-14 of the seedling feeding mechanism are supported by the drive shaft 3-2 and the right front driven shaft 3-7. The lower end of the drive shaft 3-2 transmits power to the drive shaft 3-17 through the meshing of the upper bevel gear 3-15 and the lower bevel gear 3-16. The upper sprocket chain 3-25 and the lower sprocket chain 3-26 mesh with the sprockets on the drive shaft and the driven shaft, respectively, and the rotation of the seedling cup is achieved through the transmission of the upper sprocket chain 3-25 and the lower sprocket chain 3-26. The bottom discharge hole of the base 3-1 of the seedling feeding mechanism and the top feed hole of the duckbill planting device 4-12 correspond to each other.

[0034] In use, the operator controls the start of the drive engine 5-1 via the transplanting switch on the handlebar 1-9, and further controls the wheels 2-1 to move the frame 1 via the travel reducer 5-6. At the same time, the transplanting reducer 5-3 drives the hexagonal drive shaft 4-15 to rotate, causing the transplanting mechanism 4 and the seedling placement mechanism 3 to rotate synchronously. During the movement, the transplanting mechanism 4 intermittently plants and transplants seedlings in the soil at predetermined intervals.

[0035] Planting and transplanting steps of a mini self-propelled Salvia miltiorrhiza transplanter:

[0036] In use, first start the engine 5-1, select the travel gear using the control handle 1-10 on the armrest 1-9, and adjust the height adjustment device 1-3 to the target planting depth. Place the *Salvia miltiorrhiza* seedlings to be transplanted into the seedling cup body 3-27. Align the bottom discharge hole of the base 3-1 near the seedling feeding mechanism 3 with the top feed hole of the duckbill planting device 4-12. Then, open the seedling cup cover 3-30, allowing the *Salvia miltiorrhiza* seedlings to fall into the duckbill planting device 4-12 through the discharge hole of the base 3-1. Then, the duckbill planting device 4-12... Insert the lower part into the soil, bury the Salvia miltiorrhiza seedlings in the soil and release the seedlings to complete a single planting. This mini self-propelled Salvia miltiorrhiza transplanter has three transplanting gears. When the gear is adjusted to the low transplanting gear, the theoretical plant spacing of the transplanter is 30.6; when adjusted to the high transplanting gear, the theoretical plant spacing of the transplanter is 40.6. Example 2

[0037] Based on Example 1, the following is added:

[0038] Reference Figure 1 In addition to the above and below, seats 1-8 are installed on the upper front part of the frame 1. The seats are designed to face away from the direction of travel, allowing the operator to sit on them and place the Salvia miltiorrhiza seedlings into the seedling cups 3-27. The installation position of the seats 1-8 ensures that the operator is more comfortable and stable during operation, avoids fatigue from bending over for a long time, and improves work efficiency.

[0039] Reference Figure 1 , 2 4. Near the handrails 1-9, control handles 1-10 are installed. The control handles 1-10 are directly in front of the frame 1. The control handles 1-10 include forward and backward control handles, steering control handles and control handles for the transplanting mechanism 4. The operator can use these control handles to achieve full control of the transplanter.

[0040] Steps for planting, walking, and turning of a mini self-propelled Salvia miltiorrhiza transplanter.

[0041] When using the machine, first start the transplanter, turn off the transplanting switch on the handles 1-9 on the frame 1, adjust the direction of travel by controlling the handles 1-10, and the operator standing at the end of the handle will gently lift the transplanter to turn it in the field. Example 3

[0042] Based on Example 2, the following is added:

[0043] Reference Figure 1 , 2The transmission system 5 consists of a walking transmission system and a transplanting transmission system. The walking transmission system transmits the power of the engine 5-1 to the drive wheels 2-1 through the walking reducer 5-6, ensuring that the machine can move smoothly in the field. The walking transmission system has low-speed, medium-speed, and high-speed gears, and the speed can be adjusted according to the terrain and operation requirements to adapt to different working environments.

[0044] Reference Figure 1 , 2 4. The base 3-1 of the seedling feeding mechanism 3 has a ring of seedling cups arranged around the drive shaft and the driven shaft, with a total of 32 cups. Each group of 4 seedling cups is connected to the upper sprocket chain 3-25 and the lower sprocket chain 3-26 respectively through upper L-shaped support plates 3-28 and lower L-shaped support plates 3-29 of different lengths. The lower cover 3-30 of the seedling cup is in a corresponding position to the bottom discharge hole on the base 3-1 of the seedling feeding mechanism 3, ensuring that the Salvia miltiorrhiza seedlings can be accurately dropped into the duckbill planting device 4-12.

[0045] Reference Figure 1 , 2 4. Seats 1-8 are installed near the seedling feeding mechanism 3, with the seats 1-8 facing away from the frame 1 and moving directly in front.

[0046] The tension guide bushing 3-8 and the U-shaped support plate 3-9 in the seedling feeding mechanism can be used to adjust the tension of the upper sprocket chain 3-25 and the lower sprocket chain 3-26 of the seedling feeding cup conveying chain. This avoids the seedlings being incorrectly fed at the wrong time, resulting in missing seedlings, and enhances the practicality and reliability of the equipment.

[0047] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A miniature self-propelled four-row Salvia miltiorrhiza transplanter, comprising a frame (1), a walking mechanism (2), a seedling feeding mechanism (3), a transplanting mechanism (4), and a transmission system (5), characterized in that: The walking mechanism (2) is located at the bottom of the frame (1), the seedling feeding mechanism (3) is located at the top of the frame (1), the transplanting mechanism (4) is located below the seedling feeding mechanism (3), and the transmission system (5) is located at the front end of the frame (1). The walking mechanism (2) is installed at the bottom front end of the frame (1) and includes a walking device housing (2-3), a height adjustment plate (2-5), and a drive wheel (2-1); the seedling feeding mechanism (3) is set at the top of the frame (1) and includes a seedling feeding turntable and 32 seedling feeding cups distributed around it. The seedling feeding cups are connected to the sprockets through an upper L-shaped support plate (3-28) and a lower L-shaped support plate (3-29); The transplanting mechanism (4) is located below the seedling feeding mechanism (3) and includes a double crank connecting rod assembly, a main cam (4-8), a hexagonal drive shaft (4-15) and a duckbill planting device (4-12). The double crank connecting rod assembly realizes the compensation function of the transplanting mechanism through the compensation limit shaft (4-10). The hexagonal drive shaft (4-15) synchronously drives the seedling feeding turntable and the transplanting mechanism. The transmission system (5) includes an engine (5-1), a walking reducer (5-6), and a transplanting reducer (5-3). The engine drives the walking reducer (5-6) and the transplanting reducer (5-3) respectively via belts.

2. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 1, characterized in that: The frame (1) is compact in design. An engine (5-1) is fixedly installed at the bottom front end of the frame (1). A seat (1-8) is installed at the upper front end of the frame (1). An armrest (1-9) is installed behind the seat (1-8). The armrest (1-9) is made of non-slip material and is equipped with a control handle (1-10). The control handle (1-10) integrates forward, backward and steering functions.

3. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 1, characterized in that: The height adjustment device (1-3) of the walking mechanism (2) includes a height adjustment plate (2-5), a sprocket drive housing and a four-part sprocket assembly. By adjusting the bolt installation position of the height adjustment plate (2-5) and the flange (2-7), the chassis height can be adjusted within the range of 300-500mm.

4. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 1, characterized in that: The seedling feeding mechanism (3) includes a seedling feeding cup, a seedling feeding turntable, and a seedling feeding transmission assembly. The seedling feeding cup is connected to a sprocket and chain via an L-shaped support plate. The seedling feeding turntable is driven by a drive shaft and a driven shaft, and synchronous rotation is achieved through chain transmission to ensure that four rows of Salvia miltiorrhiza seedlings are fed synchronously.

5. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 4, characterized in that: The seedling turntable includes a base plate (3-1), a top plate (3-14), and a driven shaft. The 32 seedling cups are divided into eight groups. Each group of four seedling cups is connected to the upper sprocket chain (3-25) and the lower sprocket chain (3-26) respectively through four different lengths of L-shaped support plates (3-28, 3-29). The base plate (3-1) is provided with multiple discharge holes. Each discharge hole is connected to the duckbill planting device (4-12) of the transplanting mechanism (4) to achieve precise delivery of Salvia miltiorrhiza seedlings.

6. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 4, characterized in that: The seedling feeding transmission assembly includes an orthogonally meshing upper bevel gear (3-15) and lower bevel gear (3-16), which transmit power to the drive shaft (3-2) via the drive shaft (3-17). The drive shaft (3-2) drives the driven shaft to rotate synchronously, thereby realizing the circular equidistant movement of the seedling feeding cup.

7. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 1, characterized in that: The seedling delivery mechanism (3) works synchronously with the hexagonal drive shaft (4-15) through the seedling delivery transmission assembly to ensure accurate delivery of seedlings during transplanting and avoid missed or replanted seedlings.

8. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 1, characterized in that: The transplanting mechanism (4) includes an upper double crank connecting rod (4-14) and a lower double crank connecting rod (4-7), which are hinged together by a crank connecting rod connecting plate (4-6). The main cam (4-8) drives the double crank connecting rod assembly to form a "D" shaped planting trajectory with a stroke of 320 mm through a pull rod (4-9).

9. The miniature self-propelled four-row Salvia miltiorrhiza transplanter according to claim 1, characterized in that: The transmission system (5) includes a walking transmission system and a transplanting transmission system. The walking transmission system transmits the power of the engine (5-1) to the drive wheels (2-1). The transplanting transmission system drives the transplanting mechanism and the seedling placement mechanism through a hexagonal drive shaft (4-15) and a seedling placement transmission assembly (5-7).

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