Eggplant seedling transplanter

Abstract

The utility model relates to an eggplant seedling transplanter which comprises a movable rack, a clamping jaw structure and a ground breaking structure, the clamping jaw structure and the ground breaking structure are fixed on the movable rack, and a seedling picking structure, a seedling lifting structure and a tray telescopic structure are further arranged on the movable rack; the seedling picking structure comprises a lead screw lifting assembly and a first-stage inserting disc, and the lead screw lifting assembly is fixed to the bottom of the movable rack and is in driving connection with the first-stage inserting disc; the seedling lifting structure comprises a chain wheel lifting assembly and a second-stage inserting disc, the chain wheel lifting assembly is fixed to one side of the movable rack and is in driving connection with the second-stage inserting disc, and the second-stage inserting disc and the first-stage inserting disc are oppositely distributed; the tray telescopic structure comprises a lead screw horizontal telescopic assembly, an arc-shaped guide rail and a tray, the lead screw horizontal telescopic assembly is fixed to the top of the movable rack and rotatably connected with the tray, the tray is slidably connected with the arc-shaped guide rail, and the tray is located under the clamping jaw structure. Compared with the prior art, the device has the advantages of high automation degree, high transplanting efficiency, low cost and the like.

Description

Technical Field

[0001] This utility model relates to the field of agricultural production equipment, and in particular to an eggplant seedling transplanter. Background Technology

[0002] Eggplant, as an important vegetable crop, is widely cultivated in my country, with a large market demand, and occupies an important position in agricultural production. However, traditional eggplant cultivation methods have many problems, such as being labor-intensive, inefficient, and having high production costs.

[0003] Eggplant transplanting mainly includes transplanting, burying, and weeding. Traditional planting methods rely heavily on manual labor, requiring farmers to transplant seedlings by hand. This is not only labor-intensive but also prone to inconsistencies and errors. Furthermore, the long growth cycle of eggplant plants necessitates frequent weeding and management, increasing labor intensity and production costs.

[0004] For example, utility model publication CN221812635U discloses an automated eggplant seedling transplanter, including a frame, a self-propelled wheeled chassis, a seedling storage mechanism, a seedling transplanting mechanism, a seedling planting mechanism, and a lowering mechanism; the frame is mounted on the self-propelled wheeled chassis; the seedling storage mechanism is located behind the frame; the seedling planting mechanism is located in front of the frame and is mounted on the frame via the lowering mechanism; the seedling transplanting mechanism is located above the frame, between the seedling storage mechanism and the seedling planting mechanism; the seedling tray of the seedling storage mechanism adopts an intermittent rotation mode; the seedling transplanting mechanism clamps the eggplant seedlings using a seedling transplanting mechanical claw, which can be adjusted horizontally and vertically to move the eggplant seedlings from the seedling tray to the seedling planting cylinder of the seedling planting mechanism; the lowering of the seedling planting cylinder is driven by the lowering mechanism, and the rising of the seedling planting cylinder is achieved by a return spring.

[0005] However, the aforementioned transplanting machine requires manual placement of the eggplant seedlings to be transplanted into the seedling storage box on top of the seedling tray. During this process, manual labor is required to follow the transplanting machine, add seedlings to the seedling storage box in a timely manner, and participate in the seedling transplanting. This requires a large amount of manpower, increases the cost of seedling transplanting, and affects the efficiency of seedling transplanting.

[0006] In summary, existing seedling transplanters still require manual placement of seedlings into the corresponding storage boxes, necessitate manual coordination with the machine's transplanting frequency, are technically challenging, consume significant manpower and resources, have high production costs, and exhibit low automation levels, thus impacting transplanting efficiency. Therefore, there is a need for an eggplant seedling transplanter that is highly automated, requires less manual intervention, and is easy to operate. Utility Model Content

[0007] The purpose of this invention is to overcome the shortcomings of the existing technology, which requires manual placement of seedlings into the seedling storage box and involves high operational difficulty, high cost, and limited automation, and to provide an eggplant seedling transplanter.

[0008] The objective of this utility model can be achieved through the following technical solutions:

[0009] An eggplant seedling transplanter includes a mobile frame and a gripper structure and a soil-breaking structure fixed on the mobile frame. The gripper structure is used to place the seedlings into the soil-breaking structure, and the soil-breaking structure is used to transplant the seedlings into the soil. The mobile frame is also provided with a seedling picking structure, a seedling lifting structure, and a tray telescopic structure.

[0010] The seedling picking structure includes a screw lifting assembly and a primary seeding tray. The screw lifting assembly is fixed to the bottom of the mobile frame and drives the primary seeding tray. The primary seeding tray is fitted with the bottom of the seedling tray. The seedling lifting structure includes a sprocket lifting assembly and a secondary seeding tray. The sprocket lifting assembly is fixed to one side of the mobile frame and drives the secondary seeding tray. The secondary seeding tray is distributed opposite to the primary seeding tray. The tray telescopic structure includes a screw horizontal telescopic assembly, an arc-shaped guide rail, and a tray. The screw horizontal telescopic assembly is fixed to the top of the mobile frame and rotatably connects to the tray. The tray is slidably connected to the arc-shaped guide rail and is located directly below the gripper structure.

[0011] Preferably, the lead screw horizontal telescopic assembly is provided with a sliding base, the tray is rotatably connected to the sliding base, and the arc-shaped guide rail includes a horizontal section and a downwardly bent arc-shaped section.

[0012] Preferably, the primary insertion plate includes a T-shaped slide and multiple fiberglass rods, and the lead screw lifting assembly is driven and connected to the T-shaped slide, with each fiberglass rod evenly fixed on one side of the T-shaped slide.

[0013] Preferably, the seedling picking structure further includes a steering servo, which is fixed on the mobile frame and drives the connecting screw lifting assembly.

[0014] Preferably, the seedling lifting structure includes a first substructure and a second substructure, which are symmetrically distributed on both sides of the seedling picking structure.

[0015] Preferably, the sprocket lifting assembly includes a toothed sprocket set, a toothed chain, a slide rail, and a limiting frame;

[0016] The toothed sprockets in the toothed sprocket assembly are respectively installed at the four ends of the rectangle. The toothed chain surrounds the outside of the toothed sprocket assembly and meshes with each toothed sprocket. The toothed chain is a single-sided, single-hole curved plate chain. The slide rail is symmetrically fixed on both sides of the toothed chain. The two ends of the limiting frame are slidably fixed on the slide rail. The secondary insert is slidably installed in the limiting frame. The secondary insert is hinged to one side of the toothed chain.

[0017] Preferably, the inlet end of the soil-breaking structure is provided with a seedling bucket structure, which includes a fixed outer shell, a movable through groove, a material feeding plate, a reduction motor, gears, and racks;

[0018] The fixed housing is mounted on the movable bracket, the rack is fixed on the fixed housing, the gear is rotatably fixed at one end of the movable through slot, the reduction motor drives the gear, the movable through slot is slidably fixed on the fixed housing, the gear meshes with the rack, the movable through slot includes multiple parallel placement slots, and one end of the material feeding plate is rotatably mounted on the side of the placement slot near the gear.

[0019] Preferably, the gripper of the gripper structure is provided with an extension plate, the length of which matches the length of the movable through slot.

[0020] Preferably, the gripper structure includes a horizontal lateral movement component, a lateral movement block, a lifting component, a lifting block, an opening / closing servo, and a mechanical gripper; the mechanical gripper is rotatably mounted on the lifting block, the opening / closing servo drives and connects to the mechanical gripper, the lifting component is fixed on the lateral movement block and drives and connects to the lifting block, and the horizontal lateral movement component is fixed on the moving bracket and drives and connects to the lateral movement block.

[0021] Preferably, the earth-breaking structure includes a cylinder lifting assembly, a limiting plate, and a conical cylinder. The cylinder lifting assembly is fixed on a movable support and is driven to connect to the conical cylinder. The lower end of the conical cylinder is provided with multiple enclosing conical pieces, and the upper end of each conical piece is rotatably fixed on the conical cylinder and driven to connect through the limiting plate.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] (1) This solution uses a seedling-picking structure to lift the seedling trays from the ground and transfer them in a small area to the seedling lifting structure. From there, the seedlings are transferred to the tray of the tray telescopic structure, facilitating the transfer of seedlings by the gripper structure. Simply place the seedling trays in the transplanter's path beforehand, and the transplanter will automatically pick them up and transfer them to the lower end of the gripper structure. Compared to manual addition, this avoids the need for manual adjustment to the transplanter's operating frequency, significantly reducing operational difficulty and manpower, effectively lowering transplanting costs, and improving seedling transplanting efficiency. Furthermore, the trays can tilt and drop empty seedling trays based on the arc-shaped guide rail, ensuring the placement accuracy and consistency of subsequent seedling tray movements, improving the uniformity of seedling transplanting and the quality of the operation.

[0024] (2) This solution involves inserting the primary seedling tray of the seedling picking structure into the gap at the bottom of the seedling tray in front. The seedling tray is then lifted using a screw lifting assembly, and rotated left and right by a steering servo motor, thereby transferring the seedling tray to the first and second substructures. This improves the operational flexibility of the seedling picking structure, ensuring that the seedling tray can be inserted. The seedling lifting structures on both sides enhance the reliability and stability of the device's operation.

[0025] (3) This solution uses a seedling tray structure at the entrance of the soil breaking structure, which, together with the extension plate on the gripper, transfers a row of seedlings from the seedling tray at once. Furthermore, through the cooperation of gears and racks, the material release plates at the bottom of each placement trough can be opened gradually, allowing the soil breaking structure to transplant seedlings one after another. This reduces the operating frequency of the gripper structure, extends the service life of the gripper structure, and ensures the continuity of the soil breaking structure's operation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the transplanter provided by this utility model;

[0027] Figure 2 A schematic diagram of the seedling picking structure provided by this utility model;

[0028] Figure 3 A schematic diagram of the seedling lifting structure provided by this utility model;

[0029] Figure 4 A schematic diagram of the pallet telescopic structure provided by this utility model;

[0030] Figure 5 A schematic diagram of the gripper structure provided by this utility model;

[0031] Figure 6 A schematic diagram of the seedling container structure provided by this utility model;

[0032] Figure 7 A schematic diagram of the ground-breaking structure provided by this utility model;

[0033] In the diagram: 1. Mobile frame; 2. Gripper structure; 3. Soil-breaking structure; 4. Seedling picking structure; 5. Seedling lifting structure; 6. Tray telescopic structure; 7. Seedling bucket structure; 21. Horizontal movement component; 22. Horizontal movement block; 23. Lifting block; 24. Mechanical claw; 41. Primary insertion plate; 42. T-shaped slide table; 43. Fiberglass rod; 44. Steering servo; 1. Secondary insertion plate; 52. Gear chain; 53. Slide rail; 54. Limiting frame; 61. Arc-shaped guide rail; 62. Tray; 63. Sliding seat; 611. Horizontal section; 612. Arc-shaped section; 71. Fixed outer shell; 72. Movable through slot; 73. Material feeding plate; 74. Gear; 75. Rack. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0037] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0038] It should be noted that 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0039] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0040] Example 1

[0041] like Figure 1 As shown, this embodiment provides an eggplant seedling transplanter, including a mobile frame 1 and a gripper structure 2 and a soil breaking structure 3 fixed on the mobile frame 1. The gripper structure 2 is used to place the seedlings into the soil breaking structure 3, and the soil breaking structure 3 is used to transplant the seedlings into the soil. The mobile frame 1 is also provided with a seedling picking structure 4, a seedling lifting structure 5 and a tray telescopic structure 6.

[0042] The seedling picking structure 4 includes a screw lifting assembly and a primary seeding tray 41. The screw lifting assembly is fixed to the bottom of the mobile frame 1 and drives the primary seeding tray 41. The primary seeding tray 41 is fitted with the bottom of the seedling tray. The seedling lifting structure 5 includes a sprocket lifting assembly and a secondary seeding tray 51. The sprocket lifting assembly is fixed to one side of the mobile frame 1 and drives the secondary seeding tray 51. The secondary seeding tray 51 is distributed opposite to the primary seeding tray 41. The tray telescopic structure 6 includes a screw horizontal telescopic assembly, an arc-shaped guide rail 61, and a tray 62. The screw horizontal telescopic assembly is fixed to the top of the mobile frame 1 and rotatably connects to the tray 62. The tray 62 is slidably connected to the arc-shaped guide rail 61. The tray 62 is located directly below the gripper structure 2.

[0043] Working principle: The seedling trays are evenly placed along the moving path of the transplanter. During the movement of the moving frame 1, the screw lifting assembly drives the first-stage inserting tray 41 to descend, inserts the seedling tray, and then rises and transfers it to the second-stage inserting tray 51. The sprocket lifting assembly drives the second-stage inserting tray 51 to rise and transfers the seedling tray to the tray 62. The seedlings are transferred to the soil breaking structure 3 through the gripper structure 2 and planted in the soil through the soil breaking structure 3. Then, the screw horizontal telescopic assembly drives the tray 62 to move along the arc-shaped guide rail 61. The tray 62 tilts, causing the empty seedling tray to fall and be collected. This process is repeated for subsequent seedling transplanting.

[0044] The seedling trays are lifted from the ground by the seedling picking structure 4 and transferred in a small area to the seedling lifting structure 5. From there, they are transferred to the tray 62 of the tray telescopic structure 6, facilitating the transfer of seedlings by the gripper structure 2. Simply place the seedling trays in the transplanter's path beforehand, and the machine will automatically pick them up and transfer them to the lower end of the gripper structure 2. Compared to manual addition, this avoids the need for manual adjustment to the transplanter's operating frequency, significantly reducing operational difficulty and manpower, effectively lowering transplanting costs, and improving seedling transplanting efficiency. Furthermore, the tray 62 can tilt and drop empty seedling trays based on the curved guide rail, ensuring the placement accuracy and consistency of subsequent seedling trays, improving the uniformity and quality of seedling transplanting.

[0045] In this embodiment, as Figure 4 As shown, the lead screw horizontal telescopic assembly is equipped with a sliding base 63, and the tray 62 is rotatably connected to the sliding base 63. The arc-shaped guide rail 61 includes a horizontal section 611 and a downwardly bent arc-shaped section 612. By moving the tray 62 along the arc-shaped guide rail 61 to the arc-shaped section 612, the horizontal tray is tilted, causing the empty seedling trays on it to fall off. After resetting, the next set of seedling trays can be picked up, ensuring the continuity of the experiment.

[0046] Preferred implementation methods, such as Figure 2 As shown, the primary insertion plate 41 includes a T-shaped slide 42 and multiple fiberglass rods 43. The lead screw lifting assembly drives and connects to the T-shaped slide 42, and each fiberglass rod 43 is evenly fixed on one side of the T-shaped slide 42.

[0047] Furthermore, the seedling picking structure 4 also includes a steering servo 44, which is fixed on the mobile frame 1 and drives the connecting screw lifting assembly.

[0048] Furthermore, the seedling lifting structure 5 includes a first substructure and a second substructure, which are symmetrically distributed on both sides of the seedling picking structure 4. Simultaneous operation on both sides not only reduces the number of motor drives but also enables complex assembly line operations to be efficiently implemented on a single machine, reducing costs and improving efficiency.

[0049] By inserting the primary insertion tray 41 of the seedling picking structure 4 into the gap at the bottom of the front seedling tray, the seedling tray is lifted based on the screw lifting assembly. In conjunction with the steering servo 44, it rotates left and right, thereby transferring the seedling tray to the first and second substructures. This improves the operational flexibility of the seedling picking structure 4, ensuring the seedling tray can be inserted. The seedling lifting structures on both sides enhance the reliability and stability of the device's operation.

[0050] In this embodiment, as Figure 3 As shown, the sprocket lifting assembly includes a toothed sprocket set, a toothed chain 52, a slide rail 53, and a limit frame 54;

[0051] The toothed sprockets in the toothed sprocket set are respectively installed at the four ends of the rectangle. The toothed chain 52 surrounds the outside of the toothed sprocket set and meshes with each toothed sprocket. The toothed chain 52 is a single-sided single-hole bent plate chain. The slide rail 53 is symmetrically fixed on both sides of the toothed chain 52. The two ends of the limiting frame 54 are respectively slidably fixed on the slide rail 53. The secondary insert 51 is slidably installed in the limiting frame 54. The secondary insert 51 is hinged to one side of the toothed chain 52.

[0052] Preferred implementation methods, such as Figure 6 As shown, the inlet end of the soil breaking structure 3 is provided with a seedling bucket structure 7. The seedling bucket structure 7 includes a fixed outer shell 71, a movable through groove 72, a material feeding plate 73, a reduction motor, a gear 74 and a rack 75.

[0053] The fixed housing 71 is mounted on the movable bracket 1, the rack 75 is fixed on the fixed housing 71, the gear 74 is rotatably fixed at one end of the movable channel 72, the gear 74 is driven by a reduction motor, the movable channel 72 is slidably fixed on the fixed housing 71, the gear 74 meshes with the rack 75, the movable channel 72 includes multiple parallel placement slots, and one end of the material discharge plate 73 is rotatably mounted on the side of the placement slot near the gear 74.

[0054] Furthermore, the gripper structure 2 is provided with an extension plate, the length of which matches the length of the movable through slot 72.

[0055] By setting a seedling tray structure 7 at the entrance end of the soil-breaking structure 3, and cooperating with the extension plate on the gripper, a row of seedlings on the seedling tray can be transferred at once. Furthermore, through the cooperation of gears and racks, the material dispensing plates 73 at the bottom of each placement slot can be opened step by step, allowing the soil-breaking structure 3 to transplant seedlings one after another. This reduces the operating frequency of the gripper structure, extends the service life of the gripper structure, and ensures the continuity and reliability of the soil-breaking structure 3's operation.

[0056] In this embodiment, as Figure 5 As shown, the gripper structure 2 includes a horizontal lateral movement assembly 21, a lateral movement block 22, a lifting assembly, a lifting block 23, an opening / closing servo, and a mechanical gripper 24. The mechanical gripper 24 is rotatably mounted on the lifting block 23. The opening / closing servo drives and connects to the mechanical gripper 24. The lifting assembly is fixed on the lateral movement block 22 and drives and connects to the lifting block. The horizontal lateral movement assembly 21 is fixed on the moving bracket 1 and drives and connects to the lateral movement block 22.

[0057] In this embodiment, as shown in Figure 7, the earth-breaking structure 3 includes a cylinder lifting assembly, a limiting plate, and a conical cylinder. The cylinder lifting assembly is fixed on the movable support 1 and is driven to connect to the conical cylinder. The lower end of the conical cylinder is provided with multiple enclosing conical pieces. The upper end of each conical piece is rotatably fixed on the conical cylinder and is driven to connect through the limiting plate.

[0058] In conjunction with the above preferred embodiments, this embodiment provides a more specific eggplant seedling transplanter, including a movable support 1 and a gripper structure 2, a soil-breaking structure 3, a seedling picking structure 4, a seedling lifting structure 5, a tray telescopic structure 6, and a seedling placing bucket structure 7 fixed on the movable support 1. The above structures cooperate and coordinate with each other.

[0059] The seedling picking structure 4 consists of a TD-8120MG servo motor, a 28mm miniature T-shaped lead screw slide with a 200mm stroke, a tray support (PETG), and four fiberglass rods with an outer diameter of 10mm, an inner diameter of 8mm, and a length of 200mm. During operation, the lead screw slide is first lowered to its lowest point; actual measurements show that the height of the fiberglass rods at this point is exactly lower than the height of a typical seedling tray. Then, the entire vehicle is moved forward, allowing the fiberglass rods to insert into the bottom gaps of the seedling tray. Once everything is complete, the lead screw is raised, thus acquiring the seedling tray. As the lead screw rises to a certain height, the servo motor is controlled to rotate left and right, sending the seedling tray to the seedling lifting structure 5.

[0060] The seedling lifting structure 5 uses a 25W XD-42GA775 miniature DC geared motor with a load capacity of 500g. The structure is symmetrically designed, with each side consisting of a sprocket set, a slide rail, and a secondary insertion disc within a limiting frame. The sprocket set uses four 08B*11 toothed 45 steel gears (one driving gear and three driven gears), with 10mm holes and 4mm keyways. The chain is a 4-point 08B single-sided single-hole curved plate chain, and three M10*45 and one M10*85 positioning circlip pins (for positioning the gear center distance). The two slide rails are MGN15 with a stroke of 540mm. The secondary insertion disc is made of PETG. The geared motor operates through closed-loop control, creating a cyclic motion. At the beginning of each cycle, the secondary insertion disc moves to the lowest point of the structure to receive the seedling tray acquired and transferred by the primary insertion disc. Once the seedling tray is accurately placed onto the secondary insertion tray, the geared motor will rotate, driving the geared chain to transport the secondary insertion tray upwards, while the limiting frame maintains the horizontal position of the secondary insertion tray. After the secondary insertion tray mates with the tray, the seedling tray will be transferred to the tray telescopic structure 6. The secondary insertion tray will then return to its initial position to await the next operation.

[0061] The tray telescopic structure 6 consists of a 57-step screw motor, a track plate, and a tray. The effective stroke of the screw is 250mm. The track plate and tray are made of PETG. After the tray receives the seedling tray, the screw, controlled by the motor, will transport the seedling tray forward until it is directly under the grippers. Once all the seedlings in the tray have been removed, the tray, controlled by the motor, will continue to transport forward a short distance, causing the tray to tilt. At this point, the seedling tray will fall downwards under gravity for retrieval. The tray will then reset under the reverse drive of the screw, ready for the next operation.

[0062] The seedling tray structure 7 consists of a fixed outer shell, a movable channel, a feeding plate 73, 2*20 tooth gears, a 330mm rack, a GA12-N20 reduction motor, and a 330mm travel slide rail. The reduction motor drives the gears along the rack to the innermost position, closing each feeding plate. When a row of seedlings is gripped into the movable channel by the grippers, the gears begin to rotate, and the movable channel moves outward. At this point, the feeding plates 73, no longer obstructed by the rack, will open sequentially due to gravity. This allows the seedlings in the seedling tray to fall sequentially into the soil-breaking structure 3.

[0063] The gripper structure 2 includes a 57 stepper motor with a torque of 3.6 Nm and an operating voltage of 24 V. The lateral movement section utilizes four HTPAS5M-100-AN-D10 keyway 3 synchronous belt gears, two S5m880-10 synchronous belts, and two 330 mm travel slide rails. The longitudinal lifting section employs two GA12-N20 geared motors, two 240 mm travel slide rails, two ropes, two 180-degree TD-8120MG servo motors, and two mechanical grippers, with an extension plate added to allow it to grip a row of seedlings at once. When the tray is directly below the grippers, the motor drives the synchronous belt to move the grippers laterally, positioning them directly above each row of seedlings. Controlling the servo motors to open the grippers causes the micro-geared motors to rotate, lowering the grippers longitudinally to a certain height, closing them to clamp a row of seedlings. Subsequently, controlling the geared motors raises the grippers longitudinally, and then controlling the 57 stepper motors to move the grippers laterally to directly above the movable channel. Finally, the servo motor releases the gripper, allowing the seedlings to fall into the movable channel, thus completing the transfer of the seedlings.

[0064] The soil-breaking structure 3 includes a 57 stepper motor with a torque of 3.6 Nm and an operating voltage of 24 V, a 2*20 tooth gear, a rack, three MGN15 slide rails with a stroke of 160 mm, and a soil-binding linkage structure (PETG). Seedlings fall sequentially through a flexible pipe (funnel) into the conical base of the soil-breaking structure 3, then the stepper motor drives the rack downwards. The conical cylinder does not open until the limiting plate of the soil-binding linkage structure contacts the vehicle frame; it only moves downwards to penetrate the soil. After the limiting plate contacts the vehicle frame, the conical cylinder opens, placing the seedling into the soil. Finally, the stepper motor reverses direction to lift the conical cylinder. Similarly, the conical cylinder does not close until the limiting plate contacts the vehicle frame; it only lifts upwards to prevent the seedling from being pulled back up. When the limiting plate contacts the vehicle frame again, the conical cylinder closes, completing one cycle of the process.

[0065] The overall frame of the mobile chassis 1 uses European standard 3030L aluminum profiles, with corner brackets used for connections. The chassis is secured with carbon fiber plates to connect the chassis motors. Due to the large size and weight of the chassis, we used four XD42XA-775YSY motors with a load torque of 40.11 Kqf.cm, voltage of 24V, and speed of 20 r / min. The tires are large 260mm diameter pneumatic tires.

[0066] Traditional eggplant cultivation relies heavily on manual labor, including hand-planting, soil-holding, and weeding. This not only requires a large workforce but also easily leads to inconsistencies and errors in the planting process. Using a seedling transplanter, transplanting and soil-holding operations can be automated, reducing manual labor intensity and improving production efficiency. Therefore, the primary goal of this solution is to address the labor-intensive nature of eggplant cultivation, thereby reducing reliance on human resources in agricultural production. This reduces resource waste and losses during cultivation, further lowering production costs, improving the economic benefits of agricultural production, enhancing profitability and sustainable development capabilities, and achieving a virtuous cycle between agricultural production and environmental protection. Automated control and precise operation ensure accuracy and consistency in the planting process. This guarantees that each eggplant plant is planted at the same location and depth, improving uniform growth and yield. Therefore, this project aims to standardize and regulate the eggplant cultivation process by improving production efficiency and operational quality, thereby enhancing the efficiency and competitiveness of agricultural production. Through technological innovation and application, this solution can provide more solutions for agricultural production, improve the technological content and competitiveness of agricultural production, and promote the transformation and upgrading of the agricultural industry.

[0067] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An eggplant seedling transplanter, comprising a movable frame (1) and a gripper structure (2) and a soil-breaking structure (3) fixed on the movable frame (1), wherein the gripper structure (2) is used to place seedlings into the soil-breaking structure (3), and the soil-breaking structure (3) is used to transplant seedlings into the soil, characterized in that, The mobile frame (1) is also equipped with a seedling picking structure (4), a seedling lifting structure (5), and a tray telescopic structure (6). The seedling picking structure (4) includes a screw lifting assembly and a primary insertion tray (41). The screw lifting assembly is fixed to the bottom of the mobile frame (1) and drives the primary insertion tray (41). The primary insertion tray (41) and the bottom of the seedling tray are fitted together. The seedling lifting structure (5) includes a sprocket lifting assembly and a secondary insertion tray (51). The sprocket lifting assembly is fixed to one side of the mobile frame (1) and drives the secondary insertion tray (51). The secondary insertion tray (51) and the primary insertion tray (41) are distributed opposite to each other. The tray telescopic structure (6) includes a screw horizontal telescopic assembly, an arc guide rail (61) and a tray (62). The screw horizontal telescopic assembly is fixed to the top of the mobile frame (1) and can be rotatably connected to the tray (62). The tray (62) can be slidably connected to the arc guide rail (61). The tray (62) is located directly below the gripper structure (2).

2. The eggplant seedling transplanter according to claim 1, characterized in that, The lead screw horizontal telescopic assembly is provided with a sliding base (63), the tray (62) is rotatably connected to the sliding base (63), and the arc-shaped guide rail (61) includes a horizontal section (611) and a downwardly bent arc-shaped section (612).

3. The eggplant seedling transplanter according to claim 1, characterized in that, The primary insertion plate (41) includes a T-shaped slide (42) and multiple fiberglass rods (43). The lead screw lifting assembly drives and connects to the T-shaped slide (42), and each fiberglass rod (43) is evenly fixed on one side of the T-shaped slide (42).

4. The eggplant seedling transplanter according to claim 1, characterized in that, The seedling picking structure (4) also includes a steering servo (44), which is fixed on the mobile frame (1) and drives the connecting screw lifting assembly.

5. The eggplant seedling transplanter according to claim 4, characterized in that, The seedling lifting structure (5) includes a first substructure and a second substructure, which are symmetrically distributed on both sides of the seedling picking structure (4).

6. The eggplant seedling transplanter according to claim 1, characterized in that, The sprocket lifting assembly includes a toothed sprocket set, a toothed chain (52), a slide rail (53), and a limiting frame (54). The toothed sprockets in the toothed sprocket set are respectively installed at the four ends of the rectangle. The toothed chain (52) surrounds the outside of the toothed sprocket set and meshes with each toothed sprocket. The toothed chain (52) is a single-sided single-hole bent plate chain. The slide rail (53) is symmetrically fixed on both sides of the toothed chain (52). The two ends of the limiting frame (54) are respectively slidably fixed on the slide rail (53). The secondary insert (51) is slidably installed in the limiting frame (54). The secondary insert (51) is hinged to one side of the toothed chain (52).

7. The eggplant seedling transplanter according to claim 1, characterized in that, The inlet end of the soil breaking structure (3) is provided with a seedling bucket structure (7), which includes a fixed outer shell (71), a movable through groove (72), a feeding plate (73), a reduction motor, a gear (74), and a rack (75). The fixed housing (71) is mounted on the mobile frame (1), the rack (75) is fixed on the fixed housing (71), the gear (74) is rotatably fixed at one end of the movable through slot (72), the reduction motor drives the connected gear (74), the movable through slot (72) is slidably fixed on the fixed housing (71), the gear (74) meshes with the rack (75), the movable through slot (72) includes multiple parallel placement slots, and one end of the feeding plate (73) is rotatably mounted on the side of the placement slot near the gear (74).

8. The eggplant seedling transplanter according to claim 7, characterized in that, The gripper structure (2) has an extension plate on its gripper, and the length of the extension plate matches the length of the movable through slot (72).

9. The eggplant seedling transplanter according to claim 1, characterized in that, The gripper structure (2) includes a horizontal traverse assembly (21), a traverse block (22), a lifting assembly, a lifting block (23), an opening / closing servo, and a mechanical gripper (24). The mechanical gripper (24) is rotatably mounted on the lifting block (23). The opening / closing servo drives and connects to the mechanical gripper (24). The lifting assembly is fixed on the traverse block (22) and drives and connects to the lifting block. The horizontal traverse assembly (21) is fixed on the mobile frame (1) and drives and connects to the traverse block (22).

10. The eggplant seedling transplanter according to claim 1, characterized in that, The earth-breaking structure (3) includes a cylinder lifting assembly, a limiting plate and a conical cylinder. The cylinder lifting assembly is fixed on the mobile frame (1). The cylinder lifting assembly is driven to connect to the conical cylinder. The lower end of the conical cylinder is provided with multiple enclosing conical pieces. The upper end of each conical piece is rotatably fixed on the conical cylinder and is driven to connect through the limiting plate.

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