Traveling type intelligent transplanting equipment

Abstract

The utility model belongs to the technical field of agricultural machinery, and particularly relates to a marching type intelligent transplanting device which comprises a frame comprising a supporting plate and a plurality of aluminum profile supporting rods fixed on the supporting plate; the steerable advancing chassis is connected to the bottom of the frame in a steerable manner; the transmission device, the seedling taking device, the seedling conveying device, the transplanting device, the recognition device and the control device are arranged on the supporting plate; the transmission device comprises an annular conveyor belt; the seedling taking device is arranged above the annular conveying belt and comprises a lifting mechanism and a clamping jaw mechanism; the seedling feeding device comprises a slide way and a steering engine, and the inclination angle change of the slide way is controlled through the rotary motion of the steering engine; the transplanting device comprises a vertical conveying pipeline and a ground breaking mechanism; the recognition device comprises an image recognition unit and an infrared detection mechanism, and the image recognition unit and the infrared detection mechanism are in signal connection to the control device; the soil covering device is arranged at the tail end of the supporting plate. The equipment is simple in structure and high in operation precision.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural machinery technology, specifically relating to a mobile intelligent transplanting device. Background Technology

[0002] With the development of modern agriculture, the demand for precise and efficient planting management is increasing. Transplanting, as a crucial operation in agricultural production, directly affects crop growth, yield, and quality. However, current intelligent transplanting equipment still suffers from problems such as slow response speed, complex operation, and poor adaptability. Existing equipment lacks the ability to adapt to different terrains and environments, and its protection measures for crops during operation are inadequate, easily causing damage to crop roots.

[0003] CN222366625 U discloses a double-row duckbill transplanter, including a walking chassis and duckbill transplanters, a seedling conveying device, and a seedling delivery device mounted on the chassis. Two or more duckbill transplanters are located on opposite sides of the seedling delivery device. The seedling conveying device is positioned above the seedling delivery device. Seedlings are transported below the seedling conveying device by the delivery device, which then lifts the seedlings and delivers them to the duckbill transplanters on both sides, allowing the seedlings to be vertically inserted into the soil. This double-row duckbill transplanter has the advantages of low manual labor, high transplanting efficiency, and good transplanting effect. However, the device still has disadvantages such as complex structure and low operational accuracy. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the deficiencies and defects mentioned in the background art above, and to provide a simple structure and a mobile intelligent transplanting device that can achieve precise transplanting operations.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this utility model is: a mobile intelligent transplanting device, comprising:

[0006] The frame includes a support plate and multiple aluminum profile support rods fixed to the support plate;

[0007] A steerable chassis, steerably connected to the bottom of the frame, including wheels;

[0008] The system includes a transmission device, a seedling picking device, a seedling delivery device, a transplanting device, an identification device, and a control device, all mounted on a support plate. The transmission device comprises a circular conveyor belt for transporting seedlings. The seedling picking device is positioned above the circular conveyor belt and includes a lifting mechanism and a gripper mechanism. The gripper mechanism holds the seedlings, and the lifting mechanism is connected to and drives the gripper mechanism. The seedling delivery device includes a slide rail and a servo motor. The power output of the servo motor is connected to the slide rail, and the rotational motion of the servo motor controls the tilt angle of the slide rail. The transplanting device includes a vertical conveying pipe and a soil-breaking mechanism. The identification device includes an image recognition unit and an infrared detection mechanism, both of which are connected to the control device.

[0009] A soil covering device is installed at the tail end of the support plate, and the soil covering device includes a soil covering wheel.

[0010] In one embodiment, the lifting mechanism includes a lifting push rod and a thrust cylinder, and the gripper mechanism includes a gripper fixing plate, a moving plate, a connecting rod, and grippers. One end of the lifting push rod is fixed to a support plate, and the other end is connected to the gripper fixing plate via an aluminum profile support rod. The thrust cylinder is mounted on the gripper fixing plate, and the moving end of the thrust cylinder is connected to the moving plate. The moving plate is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the grippers.

[0011] In one embodiment, the seedling delivery device further includes a slide rail mounting component and a servo motor fixing component. The slide rail is fixed to the support plate by the slide rail mounting component, and the servo motor is fixed to the support plate by the servo motor fixing component.

[0012] In one embodiment, the transplanting device further includes a lifting mechanism connected to the soil-breaking mechanism. The lifting mechanism is fixed to the support plate by aluminum profile support rods. The lifting mechanism includes: a push rod connector, a lifting push rod, a slider connector, a slider guide rail, and a guide rail mounting plate. One end of the lifting push rod is fixed between two aluminum profile support rods by the push rod connector, and the other end is connected to the vertical conveying pipe by the slider connector. The slider guide rail is parallel to the two aluminum profile support rods by the guide rail mounting plate. The slider connector and the slider guide rail form a sliding fit to limit the vertical conveying pipe from moving in the vertical direction.

[0013] In one embodiment, the soil-breaking mechanism includes multiple soil-breaking blades, a pen-type push rod, multiple hooks, and a sliding ring. The sliding ring is sleeved on the outer wall of the vertical conveying pipe. The cylinder of the pen-type push rod is fixed to the outer wall of the vertical conveying pipe. The piston rod end of the pen-type push rod is hinged to the sliding ring. The sliding ring is movably connected to the soil-breaking blades through the hooks. The multiple soil-breaking blades are hinged to the bottom end of the vertical conveying pipe. The extension and retraction movement of the pen-type push rod drives the soil-breaking blades to perform opening and closing actions.

[0014] In one embodiment, the steerable chassis includes a hub motor assembly and a steering linkage assembly. The hub motor assembly includes a flange mount and a hub motor. The hub motor is fixed to the rear end of the frame via the flange mount, and the steering linkage assembly is located at the front end of the frame via a pivot connector.

[0015] In one embodiment, the steering linkage assembly includes a pivot connector, a steering knuckle, and a steering wheel symmetrically arranged on both sides of the front end of the vehicle frame, and a four-bar linkage and a pushrod actuator disposed between the two steering knuckles. The steering wheel is connected to the pivot connector via a coaxially connected steering knuckle. The four-bar linkage is hinged between the two steering knuckles. The pushrod actuator includes a steering crank, a crank connecting rod, a steering pushrod, and a fixed base. The four-bar linkage includes a right-angle transmission arm, a lateral connecting rod, and a longitudinal connecting rod. The steering pushrod is connected to the vehicle frame via the fixed base. One end of the steering pushrod is connected to the steering crank via a crank connecting rod. The steering pushrod controls the movement of the steering crank and crank connecting rod by extension and retraction, thereby controlling the left and right rotation of the corresponding steering knuckle. The other end of the steering pushrod simultaneously drives the right-angle transmission arm, the lateral connecting rod, and the longitudinal connecting rod to move, thereby controlling the left and right rotation of the corresponding steering knuckle.

[0016] In one embodiment, the soil covering device further includes a lifting lug assembly, a connecting rod, and an L-shaped support arm. The lifting lug assembly is fixed to the tail end of the support plate. One end of the connecting rod is hinged to the lifting lug assembly, and the other end is rigidly connected to the L-shaped support arm. The two ends of the L-shaped support arm in the horizontal direction are respectively movably connected to soil covering wheels.

[0017] In one embodiment, the transmission device further includes a drive shaft, a coupling, a motor frame, a motor, and a conveyor belt mounting component. The annular conveyor belt is fixed to the support plate by the conveyor belt mounting component, one end of the annular conveyor belt is wound around the drive shaft, the drive shaft is connected to one end of the motor output shaft by the coupling, and the motor is fixed to the support plate by the motor frame.

[0018] In one embodiment, the image recognition unit includes a binocular camera.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows: When the above-mentioned intelligent transplanting equipment is in operation, the control device is activated and relevant operating parameters are set. The seedlings to be transplanted are placed on the transmission device. After the equipment is started, the image recognition unit begins to identify the position of the field ridges and determine the row spacing. Then, the steerable traveling chassis is controlled to move at a preset speed and automatically stops at a suitable transplanting distance to begin the transplanting operation. Next, the transmission device is activated to transport the seedlings to the seedling picking device. When the infrared detection mechanism detects that the seedlings have reached below the seedling picking device, the lifting mechanism drives the gripper mechanism to move downward, driving the gripper mechanism to grab the seedlings. At this time, the slide is adjusted by the servo motor to increase the tilt angle and prevent interference. After the gripper mechanism grabs the seedlings, the lifting mechanism drives the gripper mechanism to move upward, and the servo motor controls the slide tilt angle to decrease until the slide moves below the gripper mechanism. The seedlings slide into the vertical conveying pipe of the transplanting device through the slide. The soil breaking mechanism pushes open the soil, and after the seedlings are placed in the soil, the soil breaking mechanism retracts, completing the transplanting operation. Finally, the equipment continues to move forward, and the soil-covering device at the rear gathers soil around the seedlings, ensuring they are transplanted upright and stably, preventing them from falling over. This aforementioned intelligent, mobile transplanting equipment reduces manual intervention through precise mechanized operation, thereby improving work efficiency and reducing labor requirements. Each component has a simple structure and occupies little space. Precise control of the slide's angle via a servo motor ensures smooth seedling transfer while simplifying the structure and improving space utilization. The equipment is equipped with identification and control devices that can monitor and calculate row spacing in real time, automatically adjusting the equipment's position to ensure operational accuracy. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a mobile intelligent transplanting device according to one embodiment.

[0022] Figure 2 This is a partial structural schematic diagram of a mobile intelligent transplanting device according to one embodiment.

[0023] Figure 3 This is a schematic diagram of the transmission device structure of a mobile intelligent transplanting device according to one embodiment.

[0024] Figure 4 This is a schematic diagram of the seedling-collecting device structure of a mobile intelligent transplanting device according to one embodiment.

[0025] Figure 5 This is a schematic diagram of the seedling delivery device of a mobile intelligent transplanting equipment according to one embodiment.

[0026] Figure 6 This is a schematic diagram of the transplanting device structure of a mobile intelligent transplanting device according to one embodiment.

[0027] Reference numerals: 1. Steering chassis; 2. Frame; 3. Transplanting device; 4. Control device; 5. Image recognition unit; 6. Seedling picking device; 7. Seedling delivery device; 8. Infrared detection mechanism; 9. Transmission device; 10. Soil covering device; 11. Aluminum profile support rod; 12. Support plate; 13. Angle bracket; 14. Lifting lug assembly; 15. Adapter link; 16. L-shaped support arm; 17. Soil covering wheel; 18. Flange mounting seat; 19. Hub motor; 20. Pivot connector; 21. Steering knuckle; 22. Steering wheel; 23. Steering crank; 24. Lateral link; 25. Crank connecting rod; 26. Steering push rod; 27. Fixed base; 28. 29. Right-angle drive arm; 30. Longitudinal connecting rod; 31. Circular conveyor belt; 32. Drive shaft; 33. Coupling; 34. Motor frame; 35. Motor; 36. Conveyor belt mounting piece; 37. Lifting push rod; 38. Gripper fixing plate; 39. Thrust cylinder; 40. Moving plate; 41. Connecting rod; 42. Gripper; 43. Slide rail; 44. Slide rail mounting piece; 45. Servo fixing piece; 46. Servo; 47. Push rod connector; 48. Lifting push rod; 49. Connector with slider; 50. Vertical conveying pipe; 51. Soil-breaking blade; 52. Pen-type push rod; 53. Hook; 54. Sliding ring; 55. Slider guide rail; 56. Guide rail mounting piece. Detailed Implementation

[0028] To make the above and other features and advantages of this utility model clearer, the utility model will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation to those skilled in the art, and are exemplary only, not restrictive.

[0029] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0034] Please see Figure 1-6 One embodiment of the mobile intelligent transplanting equipment mainly includes a steerable mobile chassis 1, a frame 2, a transplanting device 3, a control device 4, an identification device, a seedling picking device 6, a seedling delivery device 7, a transmission device 9, and a soil covering device 10.

[0035] Specifically, the steerable chassis 1 is steerably connected to the bottom of the frame 2. The frame 2 includes multiple aluminum profile support rods 11, support plates 12, and corner brackets 13. The multiple aluminum profile support rods 11 are connected by corner brackets 13 to form the main load-bearing structure of the frame 2, which is used to fix or connect the devices on the support plates 12. The support plates 12 and the multiple aluminum profile support rods 11 are fixedly connected by distributed bolt groups.

[0036] The control device 4 is fixed to the front end of the frame 2. The transmission device 9 is located in the central area of ​​the frame 2, with the seedling picking device 6 vertically arranged above it. The transplanting device 3 and the seedling delivery device 7 are symmetrically distributed on both sides of the frame 2. The soil covering device 10 is hinged to the rear of the frame 2. The identification device includes an image recognition unit 5 mounted on top of the control device 4 and an infrared detection mechanism 8 located next to the transmission device 9. Both are connected to the central processing unit of the control device 4. During operation, the identification device calculates and determines the row spacing and controls the steerable chassis 1 to move to the appropriate position. When the seedlings are transmitted to the infrared module 8 via the transmission device 9, a feedback signal is sent to the control device 4, which controls the seedling picking device 6 to grab the seedlings and then deliver them to the transplanting device 3 via the seedling delivery device 7 for transplanting. Subsequently, the steerable chassis 1 continues to move, and the soil covering device 10 at the rear of the steerable chassis further covers the seedlings with soil. The above-mentioned intelligent transplanting equipment reduces manual intervention through precise mechanized operation, thereby improving work efficiency and reducing labor requirements. The equipment is equipped with an identification device and a control device 4, which can monitor and calculate the row spacing in real time and automatically adjust the position of the equipment to ensure the accuracy of the operation.

[0037] In this embodiment, the soil covering device 10 includes a lifting lug assembly 14, a connecting rod 15, an L-shaped support arm 16, and soil covering wheels 17. Two aluminum profile support rods 11 are fixed at the tail of the support plate 12. The lifting lug assembly 14 is fixed to the tail of the frame 2 through the aluminum profile support rods 11. One end of the connecting rod 15 is hinged to the lifting lug assembly 14 through a pin, and the other end is rigidly connected to the L-shaped support arm 16. The L-shaped support arm 16 is symmetrically arranged on both sides of the lifting lug assembly 14, and two soil covering wheels 17 are rotatably installed at the end of its horizontal extension section.

[0038] In this embodiment, the steerable chassis 1 includes a hub motor assembly and a steering linkage assembly. The hub motor assembly includes a flange-mounted seat 18 and a hub motor 19. The hub motor 19 is symmetrically fixed to the rear of the frame 2 via the flange-mounted seat 18. The steering linkage assembly is located at the front of the frame 2 via a pivot connector 20. In this embodiment, the steering linkage assembly includes symmetrically arranged pivot connectors 20, steering knuckles 21, and steering wheels 22, as well as a four-bar linkage and a pushrod actuator disposed between the two steering wheels 22. Specifically, the steering wheels 22 are connected to the pivot connectors 20 via coaxially connected steering knuckles 21. The four-bar linkage is hinged between the two steering knuckles 21 and includes a right-angle drive arm 28, a lateral connecting rod 24, and a longitudinal connecting rod 29. The pushrod actuator includes a steering crank 23, a crank connecting rod 25, and a steering pushrod 26. The steering pushrod 26 is connected to the vehicle frame 2 via a fixed base 27. One end of the steering pushrod 26 is connected to the steering crank 23 via the crank connecting rod 25. The extension end of the steering pushrod 26 drives the steering crank 23 to rotate via the crank connecting rod 25. The steering crank 23 is movably connected to the lateral connecting rod 24, and the lateral connecting rod 24 is connected to the right-angle drive arm 28 via the longitudinal connecting rod 29.

[0039] In this embodiment, the steering push rod 26 is signal-connected to the control device 4. When the control device 4 issues a steering command, the steering push rod 26 controls the movement of the steering crank 23 and crank connecting rod 25 by extension and retraction, thereby controlling the left and right rotation of one end of the steering knuckle 21. The other end of the steering knuckle 21 is driven to rotate left and right simultaneously through the right-angle transmission arm 28, the lateral connecting rod 24 and the longitudinal connecting rod 29, ultimately realizing the left and right rotation of the steering wheel 22.

[0040] In this embodiment, the transmission device 9 includes an annular conveyor belt 30, a drive shaft 31, a coupling 32, a motor frame 33, a motor 34, and a conveyor belt mounting component 35. One end of the annular conveyor belt 30 is wound around the drive shaft 31 and mounted on the support plate 12 of the steerable chassis 1 through the conveyor belt mounting component 35. The drive shaft 31 is connected to the output shaft of the motor 34 through the coupling 32. The motor 34 is mounted on the support plate 12 of the steerable chassis 1 through the motor frame 33.

[0041] In this embodiment, the seedling taking device 6 includes a lifting mechanism and a gripper mechanism. Specifically, the lifting mechanism includes a lifting push rod 36 and a thrust cylinder 38. The gripper mechanism includes a gripper fixing plate 37, a moving plate 39, a connecting rod 40, and a gripper 41. One end of the lifting push rod 36 is fixed to the support plate 12 of the steerable chassis 1, and the other end is connected to the gripper fixing plate 37 through an aluminum profile support rod 11. The thrust cylinder 38 is mounted on the gripper fixing plate 37, and its moving end is connected to the moving plate 39. The moving plate 39 has a round hole and is hinged to one end of the connecting rod 40. The other end of the connecting rod 40 is hinged to the gripper 41. Preferably, there are two grippers, and correspondingly two slide rails 42.

[0042] In this embodiment, the seedling delivery device 7 includes a slide rail 42, a slide rail mounting component 43, a servo motor mounting component 44, and a servo motor 45. The slide rail mounting component 43 is fixedly installed between two parallel aluminum profile support rods 11 on the support plate 12. The slide rail 42 is fixed to the support plate 12 via the slide rail mounting component 43. The servo motor mounting component 44 is fixedly installed on the support plate 12. The servo motor 45 is installed on the support plate 12 via the servo motor mounting component 44, and the power output end of the servo motor 45 is connected to one end of the slide rail 42. The rotational movement of the servo motor 45 controls the tilt angle of the slide rail 42.

[0043] In this embodiment, the transplanting device 3 includes a lifting mechanism, a vertical conveying pipe 49, and a soil-breaking mechanism. Specifically, the lifting mechanism includes a push rod connector 46, a lifting push rod 47, a slider connector 48, a slider guide rail 54, and a guide rail mounting plate 55. The soil-breaking mechanism includes a soil-breaking plate 50, a pen-type push rod 51, a hook 52, and a sliding ring 53. One end of the lifting push rod 47 is fixedly mounted on the aluminum profile support rod 11 on the support plate 12 via the push rod connector 46, and the other end is connected to the vertical conveying pipe 49 via the slider connector 48. The slider guide rail 54 is arranged parallel to the two aluminum profile support rods 11 via the guide rail mounting piece 55. The slider connector 48 and the slider guide rail 54 form a sliding fit to limit the vertical movement trajectory of the vertical conveying pipe 49. The cylinder of the pen-type push rod 51 is fixed to the outer wall of the vertical conveying pipe 49. The sliding ring 53 is sleeved on the outer wall of the vertical conveying pipe 49. The piston rod end of the pen-type push rod 51 is hinged to the sliding ring 53 sleeved on the vertical conveying pipe 49. The sliding ring 53 is movably connected to the soil breaking blade 50 via three sets of hooks 52. The soil breaking blade 50 is hinged to the bottom end of the vertical conveying pipe 49. The extension and retraction movement of the pen-type push rod 51 drives the soil breaking blade 50 to perform the opening and closing action.

[0044] When the aforementioned mobile intelligent transplanting equipment is in operation, the control device is activated and relevant operating parameters are set. The seedlings to be transplanted are placed on the transmission device. After the equipment is started, the image recognition unit 5 begins to identify the position of the field ridges and determine the row spacing, and then controls the steerable mobile chassis 1 to move to the appropriate position. The steerable mobile chassis 1 moves at a preset speed and automatically stops at the appropriate transplanting distance to begin the transplanting operation. Next, the transmission device 9 is activated to transmit the seedlings to the seedling picking device 6. When the infrared detection mechanism 8 detects that the seedlings have reached below the seedling picking device 6, the lifting push rod 36 drives the seedling picking device 6 to move downward, and the thrust cylinder 38 drives the gripper 41 to grab the seedlings downward. At this time, the slide rail 42 increases its tilt angle under the action of the servo motor 45 to prevent interference. After the gripper 41 grabs the seedlings, the lifting push rod 36 drives the seedling picking device 6 to move upward, the thrust cylinder 38 retracts, and drives the gripper 41 to move upward. The slide rail 42 decreases its tilt angle with the servo motor 45 until it is below the gripper 41. At this point, the gripper 41 releases, and the seedling slides through the slide 42 into the vertical conveying pipe 49. Then, the lifting push rod 47 drives the transplanting device 2 downwards into the soil. When the transplanting device 2 reaches the preset depth, the pen-shaped push rod 51, through the hook 52, drives the soil-breaking blade 50 to push open the soil, placing the seedling in the soil. Next, the lifting push rod 47 drives the transplanting device 2 upwards, completing the transplanting operation. Finally, the equipment continues to move forward, and the tail-end soil-covering device 10 gathers soil around the seedling, ensuring the seedling is transplanted vertically and stably, preventing it from falling over.

[0045] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A mobile intelligent transplanting device, characterized in that, include: The frame includes a support plate and multiple aluminum profile support rods fixed to the support plate; A steerable chassis, steerably connected to the bottom of the frame, including wheels; The system includes a transmission device, a seedling picking device, a seedling delivery device, a transplanting device, an identification device, and a control device, all mounted on a support plate. The transmission device comprises a circular conveyor belt for transporting seedlings. The seedling picking device is positioned above the circular conveyor belt and includes a lifting mechanism and a gripper mechanism. The gripper mechanism holds the seedlings, and the lifting mechanism is connected to and drives the gripper mechanism. The seedling delivery device includes a slide rail and a servo motor. The power output of the servo motor is connected to the slide rail, and the rotational motion of the servo motor controls the tilt angle of the slide rail. The transplanting device includes a vertical conveying pipe and a soil-breaking mechanism. The identification device includes an image recognition unit and an infrared detection mechanism, both of which are connected to the control device. A soil covering device is installed at the tail end of the support plate, and the soil covering device includes a soil covering wheel.

2. The mobile intelligent transplanting device according to claim 1, characterized in that, The lifting mechanism includes a lifting push rod and a thrust cylinder. The gripper mechanism includes a gripper fixing plate, a moving plate, a connecting rod, and grippers. One end of the lifting push rod is fixed to the support plate, and the other end is connected to the gripper fixing plate through an aluminum profile support rod. The thrust cylinder is mounted on the gripper fixing plate. The moving end of the thrust cylinder is connected to the moving plate. The moving plate is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the grippers.

3. The mobile intelligent transplanting device according to claim 2, characterized in that, The seedling delivery device also includes a slide rail mounting component and a servo motor fixing component. The slide rail is fixed to the support plate by the slide rail mounting component, and the servo motor is fixed to the support plate by the servo motor fixing component.

4. The mobile intelligent transplanting device according to claim 2, characterized in that, The transplanting device also includes a lifting mechanism connected to the soil-breaking mechanism. The lifting mechanism is fixed to the support plate by aluminum profile support rods. The lifting mechanism includes: a push rod connector, a lifting push rod, a slider connector, a slider guide rail, and a guide rail mounting plate. One end of the lifting push rod is fixed between two aluminum profile support rods by the push rod connector, and the other end is connected to the vertical conveying pipe by the slider connector. The slider guide rail is arranged parallel to the two aluminum profile support rods by the guide rail mounting plate. The slider connector and the slider guide rail form a sliding fit to limit the vertical conveying pipe from moving in the vertical direction.

5. The mobile intelligent transplanting device according to claim 4, characterized in that, The soil-breaking mechanism includes multiple soil-breaking blades, a pen-type push rod, multiple hooks, and a sliding ring. The sliding ring is sleeved on the outer wall of the vertical conveying pipe. The cylinder of the pen-type push rod is fixed to the outer wall of the vertical conveying pipe. The piston rod end of the pen-type push rod is hinged to the sliding ring. The sliding ring is movably connected to the soil-breaking blades through the hooks. The multiple soil-breaking blades are hinged to the bottom end of the vertical conveying pipe. The extension and retraction movement of the pen-type push rod drives the soil-breaking blades to perform opening and closing actions.

6. The mobile intelligent transplanting device according to claim 1, characterized in that, The steerable chassis includes a hub motor assembly and a steering linkage assembly. The hub motor assembly includes a flange mount and a hub motor. The hub motor is fixed to the rear end of the frame via the flange mount. The steering linkage assembly is located at the front end of the frame via a pivot connector.

7. The mobile intelligent transplanting device according to claim 6, characterized in that, The steering linkage assembly includes pivot connectors, steering knuckles, and steering wheels symmetrically arranged on both sides of the front end of the frame, and a four-bar linkage and pushrod actuator arranged between the two steering knuckles. The steering wheels are connected to the pivot connectors via coaxially connected steering knuckles. The four-bar linkage is hinged between the two steering knuckles. The pushrod actuator includes a steering crank, a crank connecting rod, a steering pushrod, and a fixed base. The four-bar linkage includes a right-angle transmission arm, a lateral connecting rod, and a longitudinal connecting rod. The steering pushrod is connected to the frame via the fixed base. One end of the steering pushrod is connected to the steering crank via the crank connecting rod. The steering pushrod controls the movement of the steering crank and crank connecting rod by extension and retraction, thereby controlling the left and right rotation of the corresponding steering knuckle. The other end of the steering pushrod simultaneously drives the right-angle transmission arm, the lateral connecting rod, and the longitudinal connecting rod to move, thereby controlling the left and right rotation of the corresponding steering knuckle.

8. The mobile intelligent transplanting device according to claim 1, characterized in that, The soil covering device also includes a lifting lug assembly, a connecting rod, and an L-shaped support arm. The lifting lug assembly is fixed to the tail end of the support plate. One end of the connecting rod is hinged to the lifting lug assembly, and the other end is rigidly connected to the L-shaped support arm. The two ends of the L-shaped support arm in the horizontal direction are respectively movably connected to the soil covering wheel.

9. The mobile intelligent transplanting device according to claim 1, characterized in that, The transmission device also includes a drive shaft, a coupling, a motor frame, a motor, and a conveyor belt mounting component. The annular conveyor belt is fixed to the support plate by the conveyor belt mounting component. One end of the annular conveyor belt is wound around the drive shaft. The drive shaft is connected to one end of the motor output shaft by the coupling. The motor is fixed to the support plate by the motor frame.

10. The mobile intelligent transplanting device according to claim 1, characterized in that, The image recognition unit includes a binocular camera.

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