CN109121606B

CN109121606B - Crop seedling transplanter

Info

Publication number: CN109121606B
Application number: CN201811025270.2A
Authority: CN
Inventors: 王泽�; 罗晓辉
Original assignee: Hunan Tianwei Agricultural Technology Co ltd
Current assignee: Hunan Tianwei Agricultural Technology Co.,Ltd.
Priority date: 2018-09-04
Filing date: 2018-09-04
Publication date: 2021-04-20
Anticipated expiration: 2038-09-04
Also published as: CN109121606A

Abstract

The invention discloses a crop seedling transplanter which comprises a main frame, a stacking feeding device, a moving stepping device, a seedling transplanting device, a seedling throwing device and a planting device, wherein the stacking feeding device is fixedly arranged at the front end of the main frame; according to the invention, the seedling trays are fed one by one through the stacking feeding device, the seedling trays are aligned to the grabbing positions by moving the stepping device, the seedlings in the seedling trays are delivered to the seedling cylinders through the seedling transplanting device, the seedlings are delivered to the planting device through the seedling throwing device, and the seedlings are transplanted to the land one by one through the planting device, so that the transplanting quantity of single operation is increased, and the automation degree is improved.

Description

Crop seedling transplanter

Technical Field

The invention relates to the technical field of agricultural planting and cultivating equipment, in particular to a crop seedling transplanter.

Background

At present, crops in China are mainly cultivated by seeding, and along with the development and wide application of seedling transplanting technology, the superiority of seedling transplanting is increasingly prominent because: the seedling transplantation can improve the crop cultivation agriculture; the crop sowing period is advanced, and the crop growth period is prolonged; the seedling strengthening is facilitated, and the survival rate of the seedlings is ensured; improving the capability of crops in resisting cold, drought, salt, alkali and plant diseases and insect pests. In summary, the quality and yield of crops can be effectively improved by seedling transplantation. In practical application, the seedling transplanting technology is suitable for various crops such as corn, beet, vegetables, tobacco and the like. However, most of the existing seedling transplanting needs manual work, the labor intensity is high, the work repeatability is high, the working hours are long, the labor cost investment is increased, the economic benefits of agricultural production are reduced, various transplanting machines appear on the market, but many transplanting machines still need manual participation, for example, application number 201410480480.6 discloses a full-automatic seedling transplanting machine, which comprises two parallel semi-automatic transplanting machines, does not have a stacking mechanism, needs manual feeding, and is not developed enough in automation degree, so that a novel seedling transplanting machine is needed.

Disclosure of Invention

Aiming at the problems, the invention provides a crop seedling transplanter which is characterized in that seedling trays are fed one by one through a stacking and feeding device, the seedling trays are aligned to a grabbing position through a moving stepping device, seedlings in the seedling trays are delivered to a seedling cylinder through a seedling transplanting device, the seedlings are delivered to a planting device through a seedling throwing device, and the seedlings are transplanted to the soil one by one through the planting device, so that the transplanting quantity of single operation is increased, and the automation degree is improved.

The technical scheme adopted by the invention is as follows: a crop seedling transplanter comprises a main frame, a stacking feeding device, a moving stepping device, a seedling transplanting device, a seedling throwing device and a planting device, wherein the stacking feeding device is fixedly installed at the front end of the main frame, the moving stepping device is fixedly installed in the middle of the main frame, the seedling transplanting device is fixedly installed above the main frame, the seedling throwing device is fixedly installed on two sides of the main frame, and the planting device is fixedly installed at the bottom of the main frame.

The stacking and feeding device comprises a stacking frame, vertical plates, a first rotating shaft, a bearing with a base, a first chain wheel, a first chain, a seedling tray, a cylinder, a push plate, a side frame, a first motor, a first gear, a second gear, a driving pulley, a second rotating shaft, a synchronous belt and a driven pulley, wherein the four vertical plates are respectively and fixedly arranged at two sides of the stacking frame, the first motor is fixedly arranged on one vertical plate, the bearing with the base is fixedly arranged at the upper end and the lower end of the vertical plate, two ends of the four first rotating shafts are respectively and rotatably arranged with the bearing with the base, one end of the first rotating shaft is inserted into a hollow shaft of the first motor, the second rotating shaft is rotatably arranged with the side frame, the first gear is fixedly arranged on the first rotating shaft, the second gear is fixedly arranged on the second rotating shaft and is meshed with the first gear, the driving pulley and the driven pulley are respectively and fixedly arranged on the second rotating, the both ends of hold-in range overlap respectively on driving pulley and driven pulley, and first sprocket fixed mounting is respectively at the both ends of first pivot, and the both ends of first chain overlap respectively on two upper and lower first sprockets, and the seedling tray is taken and is put on the platelet of first chain side, and cylinder fixed mounting is in the middle of the stacker frame, and push pedal fixed mounting is at the head of the cylinder pole of cylinder.

The movable stepping device comprises a second motor seat, a second motor, a screw rod nut seat, a sliding seat, a movable frame, a baffle plate, a third motor, a driving roller, a conveying belt, a driven roller, a fulcrum shaft, a guide wheel and a sliding rail, wherein the sliding seat and the sliding rail are respectively and fixedly arranged at the front end and the rear end of a main frame, the second motor seat is fixedly arranged on the sliding seat, the second motor is fixedly arranged on the second motor seat, one end of the screw rod is rotatably arranged with the sliding seat, the other end of the screw rod is inserted into a hollow shaft of the second motor, the screw rod nut seat is rotatably arranged with the screw rod and is slidably arranged with the sliding seat, one end of the movable frame is fixedly arranged on the screw rod nut seat, the third motor is fixedly arranged at the other end of the movable frame, one end of the driving roller is rotatably arranged with the front end of the movable frame, the two ends of the conveying belt are respectively sleeved on the driving roller and the driven roller, the baffle is fixedly arranged above the moving frame, the two support shafts are fixed at the bottom of the moving frame, and the guide wheel and the support shafts are rotatably arranged and slidably arranged with the slide rail.

The seedling moving device comprises a support frame, a guide plate, a fourth motor, a first connecting rod, a second connecting rod, a third connecting rod, a cross shaft, a fourth connecting rod, a cylinder mounting plate, a small cylinder, a clamping plate, an optical axis and a first spring, wherein the guide plate is fixedly mounted at two ends of the support frame, the two fourth motors are respectively and fixedly mounted at two sides of the support frame, one end of the first connecting rod is fixedly mounted with an extension shaft of the fourth motor, the other end of the first connecting rod is rotatably mounted with the second connecting rod, the other end of the second connecting rod is rotatably mounted with the cross shaft, one end of the third connecting rod is rotatably mounted with the support frame, the other end of the third connecting rod is rotatably mounted with the cross shaft, two ends of the fourth connecting rod are fixedly mounted with the two cross shafts, the two cylinder mounting plates are respectively and fixedly mounted at two ends of the small cylinder, the clamping plate is, the first spring is arranged between the cylinder mounting plate and the clamping plate.

The seedling throwing device comprises a chassis, a fifth motor, a second chain wheel, a second chain, a third chain wheel, a third rotating shaft and a seedling cylinder, a square hole is formed in one side of the chassis, the fifth motor is fixedly installed at one end of the chassis, the third rotating shaft is rotatably installed with the other end of the chassis, the second chain wheel and the third chain wheel are respectively and fixedly installed on an extension shaft of the fifth motor and the third rotating shaft, two ends of the second chain wheel are respectively sleeved on the second chain wheel and the third chain wheel, and the seedling cylinder is fixedly installed on a small plate on the side face of the second chain wheel.

The planting device comprises a walking wheel frame, walking wheels, a fourth rotating shaft, a fourth chain wheel, a third chain, an earth covering wheel frame, an earth covering wheel, a base plate, a left clamping plate, a right clamping plate, a second spring, a planting cylinder, a pull wire, a fourth chain, an earth planing wheel, a fifth chain wheel, a fifth rotating shaft, a cam, a bent plate, a sixth chain wheel, a seventh chain wheel, a sixth rotating shaft and a seventh rotating shaft, wherein the walking wheel frame is fixedly arranged at two sides of the bottom of a main frame, two ends of the fourth rotating shaft are rotatably arranged below the walking wheel frame, the walking wheels are fixedly arranged on the fourth rotating shaft, the fourth chain wheel is fixedly arranged at one end of the fourth rotating shaft, the fifth rotating shaft is rotatably arranged with the base plate, the fifth chain wheel and the sixth chain wheel are respectively fixedly arranged at two ends of the fifth rotating shaft, two ends of the third chain wheel are respectively sleeved on the fourth chain wheel and the fifth chain wheel, the planting cylinder is fixedly arranged on the base plate, the two ends of the second spring are respectively fixed on the left clamping plate and the right clamping plate, the two sixth rotating shafts are respectively rotatably installed with the base plate, the two seventh chain wheels are respectively fixedly installed with the two sixth rotating shafts, the fourth chain is sleeved on the sixth chain wheels and the two seventh chain wheels, the cam is fixedly installed on the sixth rotating shaft close to the end part of the base plate, the bent plate is rotatably installed with the base plate and tangent to the cam, one end of the stay wire is fixed on the right clamping plate, the other end of the stay wire is fixed on the bent plate, the middle part of the soil planing wheel is fixedly installed on the sixth rotating shaft, the tail part of the soil planing wheel is rotatably installed with one end of the seventh rotating shaft, the other end of the seventh rotating shaft is fixedly installed on the planting cylinder, the soil covering wheel frame is fixedly.

The invention has the beneficial effects that: (1) the stacking and feeding device can cache a plurality of seedling trays and feed the seedling trays one by one, so that the seedling transplanting quantity of single operation of the transplanter is increased; (2) the seedling transplanting device is high in linkage, simple in structure and high in practicability, and the connecting rod is driven by the servo motor to realize accurate grabbing of seedlings.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the stacking and feeding device of the invention.

Fig. 3 is a schematic structural view of a driving part of the stacking and feeding device of the present invention.

Fig. 4 is a schematic structural diagram of a mobile stepping device according to the present invention.

Fig. 5 is a schematic structural view of the seedling transplanting device of the present invention.

Fig. 6 is a schematic structural view of a gripping part of the seedling transplanting device.

FIG. 7 is a schematic structural view of the seedling throwing device of the present invention.

FIG. 8 is a front view of the planting device of the present invention.

FIG. 9 is a schematic view of the back structure of the planting device of the present invention.

FIG. 10 is a schematic view showing a structure of a soil planing part of the planting device of the present invention.

Reference numerals: 1-a main frame; 2-stacking and feeding device; 3-moving the stepping device; 4-a seedling transplanting device; 5-a seedling throwing device; 6-planting device; 201-a stacking rack; 202-a vertical plate; 203-a first rotating shaft; 204-a pedestal bearing; 205-a first sprocket; 206-a first chain; 207-seedling tray; 208-a cylinder; 209-push plate; 210-sideframe; 211-a first motor; 212-a first gear; 213-a second gear; 214-a drive pulley; 215-a second shaft; 216-a synchronous belt; 217-a driven pulley; 301-a second motor mount; 302-a second electric machine; 303-a lead screw; 304-a lead screw nut mount; 305-a slide; 306-a mobile rack; 307-baffles; 308-a third motor; 309-drive roll; 310-a conveyor belt; 311-driven rollers; 312-a fulcrum; 313-a guide wheel; 314-a slide rail; 401-a support frame; 402-a guide plate; 403-a fourth motor; 404-a first link; 405-a second link; 406-a third link; 407-horizontal axis; 408-a fourth link; 409-cylinder mounting plate; 410-small cylinder; 411-splint; 412-optical axis; 413-a first spring; 501-a chassis; 502-a fifth electric machine; 503-a second sprocket; 504-a second chain; 505 — a third sprocket; 506-a third rotating shaft; 507-seedling cylinders; 601-a walking wheel carrier; 602-a road wheel; 603-a fourth rotating shaft; 604-a fourth sprocket; 605-a third chain; 606-a casing wheel carrier; 607-soil covering wheels; 608-a substrate; 609-left splint; 610-right splint; 611-a second spring; 612-planting cylinder; 613-stay wire; 614-fourth chain; 615-soil planing wheel; 616-a fifth sprocket; 617-fifth rotating shaft; 618-cam; 619-bending plate; 620-a sixth sprocket; 621-a seventh sprocket; 622-sixth rotation shaft; 623-seventh rotation axis.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the crop seedling transplanter comprises a main frame 1, a stacking feeding device 2, a moving stepping device 3, a seedling transplanting device 4, a seedling throwing device 5 and a planting device 6, wherein the stacking feeding device 2 is fixedly arranged at the front end of the main frame 1, the moving stepping device 3 is fixedly arranged in the middle of the main frame 1, the seedling transplanting device 4 is fixedly arranged above the main frame 1, the seedling throwing devices 5 are fixedly arranged at two sides of the main frame 1, and the planting device 6 is fixedly arranged at the bottom of the main frame 1.

The stacking and feeding device 2 comprises a stacking frame 201, vertical plates 202, a first rotating shaft 203, a bearing with a seat 204, a first chain wheel 205, a first chain 206, a seedling tray 207, an air cylinder 208, a push plate 209, a side frame 210, a first motor 211, a first gear 212, a second gear 213, a driving pulley 214, a second rotating shaft 215, a synchronous belt 216 and a driven pulley 217, wherein the four vertical plates 202 are respectively and fixedly arranged at two sides of the stacking frame 201, the first motor 211 is fixedly arranged on one of the vertical plates 202, the bearing with a seat 204 is fixedly arranged at the upper end and the lower end of the vertical plate 202, two ends of the four first rotating shafts 203 are respectively and rotatably arranged with the bearing with a seat 204, one end of the first rotating shaft 203 is inserted into a hollow shaft of the first motor 211, the second rotating shaft 215 is rotatably arranged with the side frame 210, the first gear 212 is fixedly arranged on the first rotating shaft 203, the second gear 213 is fixedly arranged on the second rotating shaft 215 and, the driving pulley 214 and the driven pulley 217 are fixedly mounted on the second rotating shaft 215 and the first rotating shaft 203 respectively, two ends of the synchronous belt 216 are sleeved on the driving pulley 214 and the driven pulley 217 respectively, the first chain wheels 205 are fixedly mounted at two ends of the first rotating shaft 203 respectively, two ends of the first chain 206 are sleeved on the upper and lower first chain wheels 205 respectively, the seedling tray 207 is placed on a small plate on the side surface of the first chain 206, the air cylinder 208 is fixedly mounted in the middle of the stacking frame 201, and the push plate 209 is fixedly mounted at the head of the air cylinder rod of the air cylinder 208.

The moving stepping device 3 comprises a second motor base 301, a second motor 302, a screw 303, a screw nut base 304, a sliding base 305, a moving frame 306, a baffle 307, a third motor 308, a driving roller 309, a conveyor belt 310, a driven roller 311, a fulcrum 312, a guide wheel 313 and a slide rail 314, wherein the sliding base 305 and the slide rail 314 are respectively and fixedly arranged at the front end and the rear end of the main frame 1, the second motor base 301 is fixedly arranged on the sliding base 305, the second motor 302 is fixedly arranged on the second motor base 301, one end of the screw 303 is rotatably arranged with the sliding base 305, the other end is inserted into a hollow shaft of the second motor 302, the screw nut base 304 is rotatably arranged with the screw 303 and is slidably arranged with the sliding base 305, one end of the moving frame 306 is fixedly arranged on the screw nut base 304, the third motor 308 is fixedly arranged at the other end of the moving frame 306, one end of the driving roller 309 is rotatably arranged with the front end of, two ends of a driven roller 311 are rotatably mounted with two sides of the rear end of the moving frame 306, two ends of a conveyor belt 310 are respectively sleeved on the driving roller 309 and the driven roller 311, a baffle 307 is fixedly mounted above the moving frame 306, two fulcrum shafts 312 are fixed at the bottom of the moving frame 306, and a guide wheel 313 is rotatably mounted with the fulcrum shafts 312 and is slidably mounted with a slide rail 314.

The seedling transplanting device 4 comprises a support frame 401, a guide plate 402, a fourth motor 403, a first connecting rod 404, a second connecting rod 405, a third connecting rod 406, a transverse shaft 407, a fourth connecting rod 408, a cylinder mounting plate 409, a small cylinder 410, a clamping plate 411, an optical axis 412 and a first spring 413, wherein the guide plate 402 is fixedly arranged at two ends of the support frame 401, the two fourth motors 403 are respectively and fixedly arranged at two sides of the support frame 401, one end of the first connecting rod 404 is fixedly arranged with an extending shaft of the fourth motor 403, the other end is rotatably arranged with the second connecting rod 405, the other end of the second connecting rod 405 is rotatably arranged with the transverse shaft 407, one end of the third connecting rod 406 is rotatably arranged with the support frame 401, the other end is rotatably arranged with the transverse shaft 407, two ends of the fourth connecting rod 408 are fixedly arranged with the two transverse shafts 407, the two cylinder mounting plates 409 are respectively and fixedly arranged at two ends of the small cylinder 410 and are fixedly, the optical axis 412 is fixedly installed with the cylinder installation plate 409 and slidably installed with the clamp plate 411, and the first spring 413 is arranged between the cylinder installation plate 409 and the clamp plate 411.

The seedling throwing device 5 comprises a chassis 501, a fifth motor 502, a second chain wheel 503, a second chain 504, a third chain wheel 505, a third rotating shaft 506 and a seedling tube 507, wherein a square hole is formed in one side of the chassis 501, the fifth motor 502 is fixedly installed at one end of the chassis 501, the third rotating shaft 506 is rotatably installed with the other end of the chassis 501, the second chain wheel 503 and the third chain wheel 505 are fixedly installed on an extending shaft of the fifth motor 502 and the third rotating shaft 506 respectively, two ends of the second chain 504 are sleeved on the second chain wheel 503 and the third chain wheel 505 respectively, and the seedling tube 507 is fixedly installed on a small plate on the side face of the second chain 504.

The planting device 6 comprises a walking wheel frame 601, a walking wheel 602, a fourth rotating shaft 603, a fourth chain wheel 604, a third chain 605, a soil covering wheel frame 606, a soil covering wheel 607, a base plate 608, a left clamping plate 609, a right clamping plate 610, a second spring 611, a planting tube 612, a pull wire 613, a fourth chain 614, a soil planing wheel 615, a fifth chain wheel 616, a fifth rotating shaft 617, a cam 618, a bent plate 619, a sixth chain wheel 620, a seventh chain wheel 621, a sixth rotating shaft 622 and a seventh rotating shaft 623, wherein the walking wheel frame 601 is fixedly arranged at two sides of the bottom of the main frame 1, two ends of the fourth rotating shaft 603 are rotatably arranged with the lower part of the walking wheel frame 601, the walking wheel 602 is fixedly arranged on the fourth rotating shaft 603, the fourth chain wheel 604 is fixedly arranged at one end of the fourth rotating shaft 603, the fifth rotating shaft 617 is rotatably arranged with the base plate 608, the fifth chain wheel 616 and the sixth chain wheel 620 are respectively fixedly arranged at two ends of the fifth rotating shaft 617, two ends of the third chain 605, a planting cylinder 612 is fixedly arranged on a base plate 608, a left clamping plate 609 and a right clamping plate 610 are respectively and rotatably arranged with the planting cylinder 612, two ends of a second spring 611 are respectively fixed on the left clamping plate 609 and the right clamping plate 610, two sixth rotating shafts 622 are respectively and rotatably arranged with the base plate 608, two seventh chain wheels 621 are respectively and fixedly arranged with two sixth rotating shafts 622, a fourth chain 614 is sleeved on the sixth chain wheel 620 and the two seventh chain wheels 621, a cam 618 is fixedly arranged on one sixth rotating shaft 622 close to the end part of the base plate 608, a bent plate 619 is rotatably arranged with the base plate 608 and is tangent to the cam 618, one end of a stay wire 613 is fixed on the right clamping plate 610, the other end is fixed on the bent plate 619, the middle part of a soil planing wheel 615 is fixedly arranged on the sixth rotating shaft 622, the tail part thereof is rotatably arranged with one end of a seventh rotating shaft 623, the other end of the seventh rotating shaft 623 is fixedly arranged on the planting cylinder 612, the soil covering wheel 607 is rotatably mounted to the soil covering wheel frame 606.

The working principle of the invention is as follows: when the transplanter starts to work, the cylinder rod of the cylinder 208 retracts to drive the push plate 209 to convey the seedling tray 207 onto the conveyor belt 310, then the cylinder rod of the cylinder 208 extends, the first motor 211 works to drive the first rotating shaft 203 to rotate so as to drive the first gear 212 to rotate so as to drive the second gear 213 to rotate, the second gear 213 rotates to drive the second rotating shaft 215 to rotate so as to drive the driving pulley 214 to rotate, the driving pulley 214 rotates to drive the driven pulley 217 to rotate through the synchronous belt 216 so as to drive the first rotating shaft 203 on the other side to rotate, the first rotating shaft 203 rotates to drive the first chain wheel 205 to rotate so as to drive the first chain 206 to move downwards, the first chain 206 moves downwards to drive the next seedling tray 207 to move to the push plate 209 to prepare for loading of the next seedling tray 207, after the seedling tray 207 is conveyed to the conveyor belt 310, the third motor 308 works to drive the driving roller 309 to rotate so as to drive the conveyor belt 310 to move the seedling tray 207, then the second motor 302 works to drive the screw 303 to rotate so as to drive the screw nut seat 304 to move left and right, the screw nut seat 304 moves left and right to drive the whole longitudinal moving unit to move left and right to move the seedling tray 207 to a transverse grabbing position, then the fourth motor 403 works to drive the transverse shaft 407 to move obliquely and downwards through the first connecting rod 404, the second connecting rod 405, the third connecting rod 406 and the fourth connecting rod 408, the transverse shaft 407 moves obliquely and downwards to drive the clamping plate 411 to get close to the seedling, at the moment, the small cylinder 410 contracts to drive the clamping plate 411 to clamp the seedling, then the fourth motor 403 rotates reversely to drive the plate 411 to clamp the seedling to move to the position right above the guide plate 402, the small cylinder 410 extends out to enable the clamping plate 411 to loosen the seedling, the seedling falls into the seedling cylinder 507 through the guide plate 402, at the moment, the fifth motor 502 works to drive the second chain wheel 503 to rotate so as to drive the second chain 504 to rotate, seedlings fall into the planting cylinder 612 through a square hole on the chassis 501, the walking wheel 602 rotates as the tractor pulls the transplanter to walk forward, the walking wheel 602 rotates to drive the fourth rotating shaft 603 to rotate so as to drive the fourth chain wheel 604 to rotate, the fourth chain wheel 604 rotates to drive the fifth chain wheel 616 to rotate through the third chain 605 so as to drive the fifth rotating shaft 617 to rotate, the fifth rotating shaft 617 rotates to drive the sixth chain wheel 620 to rotate through the fourth chain 614 so as to drive the seventh chain wheel 621 to rotate, the seventh chain wheel 621 rotates to drive the sixth rotating shaft 622 to rotate so as to drive the soil planing wheel 615 to rotate for soil planing, the sixth rotating shaft 622 rotates to drive the cam 618 on the back surface of the base plate 608 to rotate so as to drive the bent plate 619 to rock back and forth, the bent plate 619 rocks back and forth so that the left clamping plate 609 and the right clamping plate 610 are mutually folded and separated through the pull.

Claims

1. The utility model provides a crops seedling transplanter, includes main frame (1), stack material feeding unit (2), removes step device (3), transplanting device (4), throws seedling device (5), planting device (6), its characterized in that: the stacking and feeding device (2) is fixedly arranged at the front end of the main frame (1), the moving stepping device (3) is fixedly arranged in the middle of the main frame (1), the seedling transplanting device (4) is fixedly arranged above the main frame (1), the seedling throwing device (5) is fixedly arranged at two sides of the main frame (1), and the planting device (6) is fixedly arranged at the bottom of the main frame (1);

the stacking and feeding device (2) comprises a stacking frame (201), vertical plates (202), first rotating shafts (203), bearings with seats (204), a first chain wheel (205), a first chain (206), seedling trays (207), an air cylinder (208), a push plate (209), side frames (210), first motors (211), first gears (212), second gears (213), driving pulleys (214), second rotating shafts (215), synchronous belts (216) and driven pulleys (217), wherein the four vertical plates (202) are respectively and fixedly arranged on two sides of the stacking frame (201), the first motors (211) are fixedly arranged on one vertical plate (202), the bearings with seats (204) are fixedly arranged on the upper end and the lower end of the vertical plate (202), two ends of the four first rotating shafts (203) are respectively and rotatably arranged with the bearings with seats (204), one end of each first rotating shaft (203) is inserted into a hollow shaft of each first motor (211), a second rotating shaft (215) is rotatably installed with a side frame (210), a first gear (212) is fixedly installed on a first rotating shaft (203), a second gear (213) is fixedly installed on the second rotating shaft (215) and is meshed with the first gear (212), a driving pulley (214) and a driven pulley (217) are respectively fixedly installed on the second rotating shaft (215) and the first rotating shaft (203), two ends of a synchronous belt (216) are respectively sleeved on the driving pulley (214) and the driven pulley (217), first chain wheels (205) are respectively fixedly installed at two ends of the first rotating shaft (203), two ends of a first chain (206) are respectively sleeved on an upper first chain wheel (205) and a lower first chain wheel (205), a seedling tray (207) is overlapped on a small plate on the side surface of the first chain (206), an air cylinder (208) is fixedly installed in the middle of the stacking frame (201), and a push plate (209) is fixedly installed at the head of an air cylinder rod of the air cylinder (208);

the moving stepping device (3) comprises a second motor base (301), a second motor (302), a lead screw (303), a lead screw nut base (304), a sliding base (305), a moving frame (306), a baffle (307), a third motor (308), a driving roller (309), a conveying belt (310), a driven roller (311), a fulcrum shaft (312), a guide wheel (313) and a sliding rail (314), wherein the sliding base (305) and the sliding rail (314) are respectively and fixedly arranged at the front end and the rear end of the main frame (1), the second motor base (301) is fixedly arranged on the sliding base (305), the second motor (302) is fixedly arranged on the second motor base (301), one end of the lead screw (303) is rotatably arranged with the sliding base (305), the other end of the lead screw nut base (304) is inserted into a hollow shaft of the second motor (302), the lead screw nut base (304) is rotatably arranged with the lead screw (303) and is slidably arranged with the sliding base (305), one end of the moving frame (306) is fixedly, the third motor (308) is fixedly arranged at the other end of the moving frame (306), one end of the driving roller (309) is rotatably arranged with the front end of the moving frame (306), the other end of the driving roller is inserted into a hollow shaft of the third motor (308), two ends of the driven roller (311) are rotatably arranged with two sides of the rear end of the moving frame (306), two ends of the conveyor belt (310) are respectively sleeved on the driving roller (309) and the driven roller (311), the baffle (307) is fixedly arranged above the moving frame (306), the two fulcrum shafts (312) are fixed at the bottom of the moving frame (306), and the guide wheel (313) is rotatably arranged with the fulcrum shafts (312) and is slidably arranged with the slide rail (314);

the seedling transplanting device (4) comprises a support frame (401), a guide plate (402), fourth motors (403), a first connecting rod (404), a second connecting rod (405), a third connecting rod (406), a transverse shaft (407), fourth connecting rods (408), a cylinder mounting plate (409), a small cylinder (410), a clamping plate (411), an optical axis (412) and a first spring (413), wherein the guide plate (402) is fixedly arranged at two ends of the support frame (401), the two fourth motors (403) are respectively and fixedly arranged at two sides of the support frame (401), one end of the first connecting rod (404) is fixedly arranged with an extending shaft of the fourth motor (403), the other end of the first connecting rod is rotatably arranged with the second connecting rod (405), the other end of the second connecting rod (405) is rotatably arranged with the transverse shaft (407), one end of the third connecting rod (406) is rotatably arranged with the support frame (401), and the other end of the third connecting rod is rotatably arranged with the transverse shaft, two ends of a fourth connecting rod (408) are fixedly installed with two transverse shafts (407), two cylinder installation plates (409) are respectively and fixedly installed at two ends of a small cylinder (410) and fixedly installed with the transverse shafts (407), a clamp plate (411) is fixedly installed at the head of a cylinder rod of the small cylinder (410), an optical shaft (412) is fixedly installed with the cylinder installation plates (409) and is slidably installed with the clamp plate (411), and a first spring (413) is arranged between the cylinder installation plates (409) and the clamp plate (411);

the seedling throwing device (5) comprises a chassis (501), a fifth motor (502), a second chain wheel (503), a second chain (504), a third chain wheel (505), a third rotating shaft (506) and a seedling tube (507), wherein a square hole is formed in one side of the chassis (501), the fifth motor (502) is fixedly installed at one end of the chassis (501), the third rotating shaft (506) is rotatably installed with the other end of the chassis (501), the second chain wheel (503) and the third chain wheel (505) are fixedly installed on an extending shaft of the fifth motor (502) and the third rotating shaft (506) respectively, two ends of the second chain (504) are sleeved on the second chain wheel (503) and the third chain wheel (505) respectively, and the seedling tube (507) is fixedly installed on a small plate on the side face of the second chain (504);

the planting device (6) comprises a traveling wheel frame (601), traveling wheels (602), a fourth rotating shaft (603), a fourth chain wheel (604), a third chain (605), a soil covering wheel frame (606), a soil covering wheel (607), a base plate (608), a left clamping plate (609), a right clamping plate (610), a second spring (611), a planting barrel (612), a pull wire (613), a fourth chain (614), a soil planing wheel (615), a fifth chain wheel (616), a fifth rotating shaft (617), a cam (618), a bent plate (619), a sixth chain wheel (620), a seventh chain wheel (621), a sixth rotating shaft (622) and a seventh rotating shaft (623), wherein the traveling wheel frame (601) is fixedly arranged on two sides of the bottom of the main frame (1), two ends of the fourth rotating shaft (603) are rotatably arranged with the lower part of the traveling wheel frame (601), the traveling wheels (602) are fixedly arranged on the fourth rotating shaft (603), and the fourth chain wheel (604) is fixedly arranged at one end of the fourth rotating shaft (603), a fifth rotating shaft (617) is rotatably installed with a base plate (608), a fifth chain wheel (616) and a sixth chain wheel (620) are respectively and fixedly installed at two ends of the fifth rotating shaft (617), two ends of a third chain (605) are respectively sleeved on the fourth chain wheel (604) and the fifth chain wheel (616), a planting cylinder (612) is fixedly installed on the base plate (608), a left clamping plate (609) and a right clamping plate (610) are respectively and rotatably installed with the planting cylinder (612), two ends of a second spring (611) are respectively and fixedly installed on the left clamping plate (609) and the right clamping plate (610), two sixth rotating shafts (622) are respectively and rotatably installed with the base plate (608), two seventh chain wheels (621) are respectively and fixedly installed with the two sixth rotating shafts (622), a fourth chain (614) is sleeved on the sixth chain wheel (620) and the two seventh chain wheels (621), a cam (618) is fixedly installed on one sixth rotating shaft (622) close to the end part of the base plate (608), the bending plate (619) is rotatably installed with the base plate (608) and is tangent to the cam (618), one end of a pull wire (613) is fixed on the right clamping plate (610), the other end of the pull wire is fixed on the bending plate (619), the middle part of the soil planing wheel (615) is fixedly installed on a sixth rotating shaft (622), the tail part of the pull wire is rotatably installed with one end of a seventh rotating shaft (623), the other end of the seventh rotating shaft (623) is fixedly installed on the planting cylinder (612), the soil covering wheel frame (606) is fixedly installed below the planting cylinder (612), and the soil covering wheel (607) and the soil covering wheel frame (606) are rotatably installed.