CN220606539U - Self-propelled transplanter with electric caterpillar band - Google Patents

Abstract

The utility model belongs to the technical field of transplanting machines, and relates to an electric crawler self-propelled transplanting machine, which comprises: the system comprises a walking system, a power system, a drilling system, a transplanting system and an irrigation system; the utility model can greatly shorten the turning radius by combining the electric crawler chassis and the transplanting mechanism, and compared with the traditional wheel type self-propelled transplanting machine and the traction type transplanting machine, the electric crawler self-propelled transplanting machine has the turning radius smaller than 1 meter and has obvious advantages; the crawler chassis has good trafficability, under the condition that the weight of the whole machine is similar, the electric crawler self-propelled transplanter has smaller damage to farmland soil rolling, and has stronger adaptability of the crawler when being used on plots with excessive soil moisture compared with the traditional wheel type and traction type.

Description

Self-propelled transplanter with electric caterpillar band

Technical Field

The utility model belongs to the technical field of transplanting machines, and relates to an electric crawler self-propelled transplanting machine.

Background

With the continuous development of productivity and the continuous progress of technology, mechanical automatic transplanting has become a development trend and gradually replaces the traditional manual transplanting. Most of the existing transplanting machines are suitable for plain areas, the operation is stable, and the vibration amplitude is small; the transplanting machines suitable for small land hilly areas are mostly small-sized transplanting machines, and the traction type transplanting machines or the self-propelled transplanting machines all need to manually assist in walking during operation, so that time and labor are wasted, the efficiency is low, and the operation stability is low.

However, most of the existing self-propelled transplanting machines are matched with a diesel engine as a power source, so that the damage to the environment and the pollution to the field are serious. In addition, the existing wheel type transplanting machine is easy to slip caused by insufficient power during field operation; when the ground turns, the turning radius is overlarge, the contact area of the tire and the ground is small, the pressure on the soil is large, the soil loosened in the field is compacted to influence planting, meanwhile, the existing transplanting machine is single in function, more than two machines are required to be used for completing the procedures of hole punching, watering, transplanting and the like, after the first machine completes hole punching operation, the machine which is used for carrying out operation next cannot complete fixed-point operation without errors, and the problems of hole punching, watering and transplanting are caused.

Therefore, a transplanting machine which is cleaner, environment-friendly, skid-proof and stable and is used for transplanting in cooperation is needed to solve the problems.

Disclosure of Invention

The technical scheme adopted for solving the technical problems is as follows: an electric track self-propelled transplanter comprising: running system, driving system, drilling system, transplanting system, irrigation system, running system includes: the crawler belt is positioned at the bottom of the rack, the lower bottom surface of the crawler belt is contacted with the ground, and the crawler belt is provided with two crawler belts which are arranged in parallel; the power system comprises: the battery box is arranged on the frame, a battery pack is arranged in the battery box, the battery box provides power for the driving motor, and the driving motor drives the crawler belt to circularly rotate through the speed reducer so as to drive the frame to move forwards or backwards; the drilling system comprises: the perforating motor drives the perforating drill bit to rotate, and the perforating drill bit can break earth vertically along the direction of the rotating shaft to form holes; the transplanting system comprises: the planting duckbill is in an inverted conical cylinder shape with a big top and a small bottom, a circular opening is horizontally cut at the bottom, a rotating shaft of the planting duckbill is vertical, the planting duckbill is a duckbill opening which is rotated to the outside rotating shaft, the seedling conveying tray is used for placing a seedling cup, the seedling cup is filled with seedlings to be transplanted, and the circular opening at the bottom of the seedling guiding barrel is similar to the opening at the top of the planting duckbill in size and is communicated with the opening at the top of the planting duckbill; the diameter of the top of the seedling guiding cylinder is larger than the outer diameter of the seedling cup, and the seedling conveying tray is fixedly connected to the frame; the irrigation system comprises: the water tank is communicated to the water injection port after passing through the water pump, the water injection port is communicated to the water outlet after passing through the switch, the water outlet is abutted to the outside of the duckbill mouth at the bottom of the planted duckbill, and the water outlet direction is vertically downward; the electrically driven crawler-type walking transplanter is clean, environment-friendly, antiskid and stable;

the rotating shaft of the perforating drill bit, the rotating shaft of the planting duckbill and the advancing direction of the frame during transplanting are positioned in the same vertical plane;

the power system further includes: the gear box is fixedly connected to the frame, the input shaft torque of the gear box is connected to the output shaft of the speed reducer, the gear box is provided with a first output shaft and a second output shaft, the second output shaft is fixedly connected with a swing arm, the length direction of the swing arm is perpendicular to the axial direction of the second output shaft, one end of the swing arm, which is far away from the second output shaft, is connected with an end effector assembly through a rotating shaft, the axis of the rotating shaft, which is far away from one end of the second output shaft, is parallel to the axis of the second output shaft, and the swing arm drives the end effector assembly to do circular motion in a vertical plane around the second output shaft when rotating around the second output shaft;

the punching motor, the punching bit and the planting duckbill are fixedly connected to the end effector assembly; the punching drill bit, the planting duckbilled and the water outlet synchronously move in a circular motion in a vertical plane along with the end effector assembly, and the machine frame is driven to advance at a uniform speed in a matched manner to prevent slipping, so that in the transplanting process, the punching drill bit is used for punching in front, the planting duckbilled and the water outlet are used for planting and watering in rear, and the planting hole in the circular motion of the former end effector assembly is just used for planting and watering in the circular motion of the latter end effector assembly, so that the planting operation is mutually coordinated and continuously carried out, the planting efficiency is improved, and the problems of hole punching, watering and transplanting incompatibility of the existing planting machinery are solved.

Preferably, the two swing arms are arranged, the gear box is provided with a third output shaft, the two swing arms are respectively and fixedly connected with the second output shaft and the third output shaft, one ends of the two swing arms, which are far away from the gear box, are respectively connected with the end effector assembly through rotating shafts, and the second output shaft and the third output shaft respectively synchronously drive the two swing arms to drive the end effector assembly to do circular motion in a vertical plane; the two swing arms, the gear box and the end effector assembly jointly form a four-bar mechanism, so that the end effector assembly performs circular motion in a vertical plane, the circular motion is more stable and reliable than that of a single-bar mechanism, and the punching drill bit on the end effector assembly does not cause too great torque influence on the end effector assembly when the front punching action, the planting duckbilled and the water outlet are subjected to uneven stress before and after the post planting watering action.

Preferably, the power system is provided with an electromagnetic clutch, the electromagnetic clutch is connected in series between the speed reducer and a torque transmission path of the gear box, the torque of a power input end of the electromagnetic clutch is connected to an output end of the speed reducer, and the torque of a power output end of the electromagnetic clutch is connected to an input end of the gear box; the electromagnetic clutch can control the on-off of the power torque when being transmitted to the gear box, so that the transplanting machine can realize a pure walking mode and a transplanting mode in walking.

Preferably, the seedling conveying tray is provided with a chain transmission driving device, the chain transmission driving device is used for driving the seedling cups to horizontally move on the seedling conveying tray, and the output end of the first output shaft is connected with the power input end of the chain transmission driving device in a torque manner; the chain transmission driving device can horizontally transfer the seedling cups on the seedling conveying tray to the designated position in sequence, so that the subsequent transplanting operation is convenient for manual or mechanical work.

More preferably, the seedling conveying tray is provided with a horizontally placed grid-shaped seedling tray placing rack, and the seedling tray placing rack is used for placing seedlings to be transplanted or problem seedlings; the seedling tray placing frame is convenient for operators to place the seedlings to be transplanted or the problem seedlings in advance or distinguish the seedlings from the seedlings on the chain transmission driving device.

Preferably, a seat is arranged beside the seedling conveying tray, and the seat surface faces the seedling conveying tray; the seat is convenient for operators to ride when transplanting by operating the transplanting machine for a long time, reduces the labor intensity of the operators, and improves the comfort during operation.

Preferably, a switch between the water injection port and the water outlet is a watering control cam, a duckbill opening and closing control cam is arranged on the planting duckbill, the watering control cam and the duckbill opening and closing control cam are completely opened when the planting duckbill descends to the lowest position, and the planting duckbill starts to be closed when the planting duckbill ascends from the lowest position; the duckbill opening is conveniently controlled to be opened at the lowest position of the planted duckbill after the planted duckbill falls into the transplanting hole so that the seedling falls into the hole, meanwhile, the water outlet is watered, and when the planted duckbill ascends from the lowest position, the duckbill opening and the water outlet are closed, so that redundant seedlings are prevented from falling into the hole and the water quantity is controlled.

Preferably, two groups of battery packs are arranged in the battery box, one group of battery packs is used for supplying power to the driving motor, and the other group of battery packs is used for supplying power to the punching motor and the water pump; different battery packs respectively drive the crawler belt and the end effector assembly, do not influence each other, and prevent the occurrence of unstable power condition caused by multi-directional power supply of one battery pack.

The beneficial effects of the utility model are as follows:

1. the utility model can greatly shorten the turning radius by combining the electric crawler chassis and the transplanting mechanism, and compared with the traditional wheel type self-propelled transplanting machine and the traction type transplanting machine, the electric crawler self-propelled transplanting machine has the turning radius smaller than 1 meter and has obvious advantages; the crawler chassis has good trafficability, under the condition that the weight of the whole machine is similar, the electric crawler self-propelled transplanter has smaller damage to farmland soil rolling, and has stronger adaptability of the crawler when being used on plots with excessive soil moisture compared with the traditional wheel type and traction type.

2. According to the utility model, the punching motor, the punching drill bit and the planting duckbilled are fixedly connected to the end effector assembly, the electric crawler self-propelled transplanting machine drills holes in the holes, water is supplied, seedling throwing and transplanting are integrated on the uniform moving part, a plurality of operation tasks can be completed at the same time, the actions are mutually coordinated, and the transplanting efficiency is high.

3. In plant spacing control and adjustment, the land wheels are the caterpillar tracks and are connected through the electromagnetic clutch, so that the phenomenon of deviation of plant spacing can not be generated as long as the electromagnetic clutch does not slide relatively, and the tobacco transplanting operation can be realized more stably.

Drawings

FIG. 1 is a schematic diagram of the overall operation flow of an electric crawler self-propelled transplanter;

FIG. 2 is a schematic diagram of a combination of a running system and a power system;

FIG. 3 is a schematic diagram of a combination of a walking system, a power system, a drilling system, and a transplanting system;

FIG. 4 is a schematic perspective view of a drilling system, a transplanting system, and an irrigation system;

FIG. 5 is a side view of a drilling system, transplanting system, irrigation system combination;

FIG. 6 is a side view of a drilling system and transplanting system assembly;

FIG. 7 is a schematic perspective view of a drilling system and transplanting system combination;

FIG. 8 is a perspective view of a drilling system, transplanting system, irrigation system with seat assembly;

FIG. 9 is a schematic perspective view of the complete machine without the water tank;

fig. 10 is a schematic perspective view of the whole machine.

In the figure: 1. a track; 2. a speed reducer; 3. a driving motor; 4. a battery box; 5. a frame; 6. the main working platform fixing frame; 7. an electromagnetic clutch; 8. a gear box; 9. conveying seedling trays; 10. swing arms; 11. balancing weight; 12. an end effector assembly; 13. a punching motor; 14. a perforating drill bit; 15. a gearbox input shaft; 16. a first output shaft; 17. a second output shaft; 18. a third output shaft; 19. a watering control cam; 20. duckbill opening and closing control cams; 21. a water pump; 22. a water tank; 23. a water filling port; 24. a water outlet; 25. planting duckbilled; 26. a seedling guiding cylinder; 27. seedling cups; 28. a seedling tray placing rack; 29. and (5) a seat.

Detailed Description

The following description of the related art will be made apparent to, and is not intended to limit the scope of, the embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-10, an electric track self-propelled transplanter, comprising: running system, driving system, drilling system, transplanting system, irrigation system, running system includes: the crawler belt 1, the speed reducer 2 and the frame 5, wherein the crawler belt 1 is positioned at the bottom of the frame 5, the lower bottom surface of the crawler belt 1 is contacted with the ground, and the crawler belt 1 is provided with two crawler belts which are arranged in parallel; the power system comprises: the driving motor 3 and the battery box 4 are arranged on the frame 5, a battery pack is arranged in the battery box 4, the battery box 4 provides power for the driving motor 3, and the driving motor 3 drives the crawler belt 1 to circularly rotate through the speed reducer 2 so as to drive the frame 5 to advance or retreat; the drilling system comprises: the perforating motor 13 and the perforating drill bit 14, the perforating motor 13 drives the perforating drill bit 14 to rotate, and the perforating drill bit 14 can break earth vertically along the direction of the rotating shaft of the perforating motor to form holes; the transplanting system comprises: the planting duckbill 25, the seedling guiding cylinder 26 and the seedling conveying disc 9 are in an inverted conical cylinder shape with a big upper part and a small lower part, a circular opening is reserved at the bottom of the seedling guiding cylinder 26 in a horizontal cutting way, the rotating shaft of the planting duckbill 25 is vertical, the planting duckbill 25 is a duckbill opening which is outwards rotated to be split, the circular opening at the bottom of the seedling guiding cylinder 26 is similar in size to the opening at the top of the planting duckbill 25 and is communicated with the opening at the top of the planting duckbill, the seedling conveying disc 9 is used for placing a seedling cup 27, the seedling cup 27 is filled with a seedling plant to be transplanted, the diameter of the top of the seedling guiding cylinder 26 is larger than the outer diameter of the Yu Miao cup 27, and the seedling conveying disc 9 is fixedly connected to the frame 5; the irrigation system comprises: the water pump 21, the water tank 22, the water filling port 23 and the water outlet 24, wherein the water tank 22 is communicated to the water filling port 23 after passing through the water pump 21, the water filling port 23 is communicated to the water outlet 24 after passing through the switch, and the water outlet 24 is abutted against the outside of the duckbill mouth at the bottom of the planting duckbill 25 and the water outlet direction is vertically downward; the electrically driven crawler-type walking transplanter is clean, environment-friendly, antiskid and stable;

the rotation axis of the perforating drill bit 14, the rotation axis of the planting duckbill 25 and the advancing direction of the frame 5 during transplanting are positioned in the same vertical plane;

the power system further includes: the gear box 8 is fixedly connected to the frame 5, the input shaft torque of the gear box 8 is connected to the output shaft of the speed reducer 2, the gear box 8 is provided with a first output shaft 16 and a second output shaft 17, the second output shaft 17 is fixedly connected with a swing arm 10, the length direction of the swing arm 10 is perpendicular to the axial direction of the second output shaft 17, one end rotating shaft of the swing arm 10, which is far away from the second output shaft 17, is connected with an end effector assembly 12, the axis of one end rotating shaft of the swing arm 10, which is far away from the second output shaft 17, is parallel to the axis of the second output shaft 17, and when the swing arm 10 rotates around the second output shaft 17, the end effector assembly 12 is driven to do circular motion in a vertical plane around the second output shaft 17;

the punching motor 13, the punching bit 14 and the planting duckbill 25 are fixedly connected to the end effector assembly 12; the punching drill bit 14, the planting duckbill 25 and the water outlet 24 synchronously do circular motion in a vertical plane along with the end effector assembly 12, and the anti-slip stable driving frame 5 matched with the crawler belt 1 moves forwards at a constant speed without slipping, so that in the transplanting process, the punching drill bit 14 punches holes in front, the planting duckbill 25 and the water outlet 24 are used for planting and watering after the planting and watering, and the planting holes in the circular motion of the former end effector assembly 12 are just used for planting and watering in the circular motion of the latter end effector assembly 12, so that the planting operation is mutually coordinated and continuously performed, the planting efficiency is improved, and the problems of hole punching, watering and transplanting incoordination of the existing planting machinery are solved.

Further, two swing arms 10 are arranged, a gear box 8 is provided with a third output shaft 18, the two swing arms 10 are respectively and fixedly connected with a second output shaft 17 and the third output shaft 18, one ends of the two swing arms 10 far away from the gear box 8 are respectively and rotatably connected with the end effector assembly 12, and the second output shaft 17 and the third output shaft 18 respectively and synchronously drive the two swing arms 10 to drive the end effector assembly 12 to do circular motion in a vertical plane; the two swing arms 10, the gear box 8 and the end effector assembly 12 together form a four-bar mechanism, so that the end effector assembly 12 performs circular motion in a vertical plane more stable and reliable than that of a single bar, and the perforating drill 14 on the end effector assembly 12 does not cause too much torque influence on the end effector assembly 12 when the front perforating action, the planting duckbilled 25 and the water outlet 24 are stressed unevenly before and after the post planting watering action.

Further, the power system is provided with an electromagnetic clutch 7, the electromagnetic clutch 7 is connected in series between the torque transmission paths of the speed reducer 2 and the gear box 8, the power input end torque of the electromagnetic clutch 7 is connected to the output end of the speed reducer 2, and the power output end torque of the electromagnetic clutch 7 is connected to the input end of the gear box 8; the electromagnetic clutch 7 can control the on-off of the power torque when being transmitted to the gear box 8, so that the transplanting machine can realize a pure walking mode and a transplanting-in-walking mode.

Further, a chain transmission driving device is arranged on the seedling conveying tray 9, the chain transmission driving device is used for driving the seedling cups 27 to horizontally move on the seedling conveying tray 9, and the output end torque of the first output shaft 16 is connected with the power input end of the chain transmission driving device; the chain transmission driving device can horizontally transfer the seedling cups 27 on the seedling conveying tray 9 to the designated position in sequence, so that the subsequent transplanting operation can be conveniently performed manually or mechanically.

Further, a grid-shaped seedling tray placing rack 28 which is horizontally placed is arranged on the seedling tray 9, and the seedling tray placing rack 28 is used for placing seedlings to be transplanted or problematic seedlings; the tray rack 28 facilitates the operator to place the seedlings or problem seedlings to be transplanted in advance or to distinguish them from the seedlings on the chain drive.

Further, a seat 29 is arranged beside the seedling conveying tray 9, and the seat 29 faces towards the seedling conveying tray 9; the seat 29 facilitates the operator to ride when operating the transplanting machine for a long time to transplant, reduces the labor intensity of the operator, and improves the comfort during operation.

Further, a switch between the water injection port 23 and the water outlet 24 is a watering control cam 19, a duckbill opening and closing control cam 20 is arranged on the planting duckbill 25, the watering control cam 19 and the duckbill opening and closing control cam 20 are completely opened when the planting duckbill 25 descends to the lowest position, and the planting duckbill 25 starts to be closed when the planting duckbill ascends from the lowest position; the duckbill opening is opened at the lowest position of the planted duckbill 25 after the planted duckbill 25 falls into the transplanting hole so that the seedling falls into the hole, meanwhile, the water outlet 24 is watered, and when the planted duckbill 25 ascends from the lowest position, the duckbill opening and the water outlet 24 are closed, so that redundant seedlings are prevented from falling into the hole and the water quantity is controlled.

Further, two sets of battery packs are arranged in the battery box 4, wherein one set of battery pack is used for supplying power to the driving motor 3, and the other set of battery pack is used for supplying power to the punching motor 13 and the water pump 21; the different battery packs respectively drive the crawler belt 1 and the end effector assembly 12, and the power instability caused by the multi-directional power supply of one battery pack is prevented.

Examples

The self-propelled electric crawler transplanter in the embodiment can realize the functions of drilling holes, watering and transplanting simultaneously, so that the improvement of the working efficiency in the tobacco planting process is realized, the working capacity of the transplanter under complex ground conditions is further improved by using the electric crawler chassis, and the ground wheel of the transplanting mechanism is the crawler itself, so that the problem that the actual plant spacing is larger than the design value due to the sliding of the ground wheel of the conventional transplanter using the ground wheel does not exist in the embodiment. The method provides a high-efficiency and stable design scheme for mechanization of tobacco transplanting operation.

The electric crawler self-propelled transplanting machine comprises an electric crawler chassis, the electric crawler chassis is provided with functions of drilling holes, watering and transplanting tobacco seedlings, and the electric crawler self-propelled transplanting machine is driven by pure electricity and is provided with two battery packs. The respective end effectors of drilling, watering, transplanting, etc. are focused on an end effector assembly 12, and the end effector assembly 12 is secured to an end effector assembly securing platform. The end effector assembly fixing platform is connected to the gear box 8 through two parallel swing arms 10, the gear box 8 is connected with the right wheel of the chassis of the crawler belt 1 through the electromagnetic clutch 7, the right wheel plays the role of a land wheel, and the working plant spacing is controlled by adjusting a proper transmission ratio.

The electric crawler chassis comprises a left crawler belt 1, a right crawler belt 1, a battery box 4, a driving motor 3, a speed reducer 2, a frame 5, a main working platform fixing frame, an electromagnetic clutch 7 and the like. The same battery boxes 4 are arranged on the two sides of the vehicle body, and the batteries in the boxes are respectively responsible for power supply of the driving motor 3 and other auxiliary functions. The driving motor 3 and the speed reducer 2 are respectively arranged in a left-right mode. The main working platform fixing frame is fixed in front of the frame 5 (relative to the running direction of the transplanting machine) through a U-shaped bolt, and the driving motors 3 on two sides drive the crawler belt 1 to run and advance through chain transmission by the speed reducer 2. The inner side of the right speed reducer 2 is connected with an electromagnetic clutch 7 by taking the running direction of the crawler belt 1 as a reference, and the electromagnetic clutch is adsorbed or disconnected according to the working condition to drive the transplanting mechanism to move. The main working platform is fixed on the frame 5 through a main working platform fixing frame.

The transmission system of the main working platform comprises: the seedling tray conveying device comprises a driving motor 3, an electromagnetic clutch 7, a gear box 8, a seedling tray conveying device 9, a parallel double swing arm 10, a balancing weight 11 and an end effector assembly fixing platform.

The electromagnetic clutch 7 is responsible for controlling the power cut-off and input of the transplanting mechanism, is connected in a working state, is disconnected in a running state, and only moves the tracked vehicle.

The driving motor of the transplanting module is a right driving motor of the crawler, and the left driving motor is only responsible for the left crawler running function.

The perforating motor 13 is responsible only for the power supply of the perforating bit 14.

The drilling and hole punching functional module mainly comprises: a battery pack, a punching motor 13 and a punching drill bit 14.

The gearbox 8 shares one input shaft and three output shafts. The input shaft of the gear box 8 is provided with a chain wheel which is connected with the chain wheel arranged on the electromagnetic clutch 7 in a chain transmission mode, and the transplanting plant spacing can be controlled by adjusting the tooth number of the chain wheel of the input shaft. The first output shaft 16 of the gearbox 8 is connected to the seedling tray 9. The second output shaft 17 and the third output shaft 18 of the gear box 8 are connected with the swing arm 10 in parallel, and two sides of the swing arm 10 are respectively connected with the balancing weight 11 and the end effector assembly fixing platform. Two sets of cam means are arranged at the ends of the second output shaft 17 and the third output shaft 18.

The cam fixedly connected on the second output shaft 17 is a watering control cam 19.

The cam fixedly connected to the third output shaft 18 is a duckbill opening and closing control cam 20.

The watering function module comprises: the water pump comprises a battery pack, a water tank 22, a water pump 21, a water injection port 23, a watering control cam 19 and a water outlet 24.

The battery pack is mainly responsible for drilling holes, punching holes, supplying power to the modules with two functions of watering, and independently setting a switch which is irrelevant to the power supply of other mechanisms.

The transplanting system comprises a seedling tray placing rack 28, a seat 29, a gear box 8, a duckbill opening and closing control cam 20, a seedling tray 9, a duckbill 25 for planting and the like, and manual seedling throwing auxiliary operation is needed. The planting duckbilled 25 moves circularly around the second output shaft 17 and the third output shaft 18 which are arranged in parallel along with the end effector assembly fixing platform, and a group of drilling, hole punching, watering and tobacco seedling transplanting operations are completed every week. 10 seedling cups 27 are arranged on the conveying seedling tray 9 according to a groove, the driving mode is chain transmission, the first output shaft 16 is connected, and the transmission ratio relation is as follows: the end effector assembly mounting platform rotates one revolution about the second output shaft 17 and the third output shaft 18, and the transport trays 9 advance one seedling cup 27.

The electric crawler chassis is combined with the transplanting mechanism, so that the turning radius can be greatly shortened, and compared with the traditional wheel type self-propelled transplanting machine and the traction type transplanting machine, the electric crawler self-propelled transplanting machine has the turning radius smaller than 1 meter and obvious advantages. The crawler chassis has good trafficability, under the condition that the weight of the whole machine is similar, the electric crawler self-propelled transplanter has smaller damage to farmland soil rolling, and has stronger adaptability of the crawler when being used on plots with excessive soil moisture compared with the traditional wheel type and traction type.

And in the transplanting operation module, the electric caterpillar self-propelled transplanting machine drills holes, waters, throws seedlings and transplants the seedlings to be integrated on a uniform moving part, can simultaneously complete a plurality of operation tasks, and has high efficiency.

In plant spacing control and adjustment, the rotation of the land wheel is used for providing a signal for the working frequency of a planting mechanism, but the traditional land wheel is easy to generate a sliding phenomenon in the operation process, so that the actual movement distance of a machine is larger than the distance travelled by the rotation of the land wheel, the characteristic can lead to the actual plant spacing to be larger than a design value in the tobacco seedling transplanting process, if the land wheel is locked to stop rotating, even tobacco seedlings cannot be transplanted normally, the land wheel is a crawler belt and is connected through an electromagnetic clutch, and therefore, the phenomenon of deviation of plant spacing can not be generated as long as the electromagnetic clutch does not slide relatively, and the tobacco transplanting operation can be realized more stably.

In conclusion, the utility model can greatly shorten the turning radius by combining the electric crawler chassis and the transplanting mechanism, and compared with the traditional wheel type self-propelled transplanting machine and the traction type transplanting machine, the electric crawler self-propelled transplanting machine has the turning radius smaller than 1 meter and has obvious advantages; the crawler chassis has good trafficability, under the condition that the weight of the whole machine is similar, the electric crawler self-propelled transplanter has smaller damage to farmland soil rolling, and has stronger adaptability of the crawler compared with the traditional wheel type and traction type in plots with excessive soil moisture, so the electric crawler self-propelled transplanter has wide application prospect.

It is emphasized that: the above embodiments are merely preferred embodiments of the present utility model, and the present utility model is not limited in any way, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims (8)

1. An electric track self-propelled transplanter comprising: traveling system, driving system, drilling system, transplanting system, irrigation system, its characterized in that, traveling system includes: the crawler belt (1), the speed reducer (2) and the frame (5), wherein the crawler belt (1) is positioned at the bottom of the frame (5), the lower bottom surface of the crawler belt (1) is contacted with the ground, and the crawler belts (1) are provided with two crawler belts and are arranged in parallel; the power system includes: the device comprises a driving motor (3) and a battery box (4), wherein the battery box (4) is arranged on a rack (5), a battery pack is arranged in the battery box (4), the battery box (4) provides power for the driving motor (3), and the driving motor (3) drives a crawler belt (1) to circularly rotate through a speed reducer (2) so as to drive the rack (5) to move forwards or backwards; the drilling system comprises: the drilling machine comprises a drilling motor (13) and a drilling bit (14), wherein the drilling motor (13) drives the drilling bit (14) to rotate, and the drilling bit (14) can break earth vertically along the direction of a self rotating shaft to form holes; the transplanting system comprises: the planting duckbill (25), a seedling guiding cylinder (26) and a seedling conveying tray (9), wherein the seedling guiding cylinder (26) is in an inverted conical cylinder shape with a big end down, a circular opening is horizontally cut at the bottom of the seedling guiding cylinder (26), a rotating shaft of the planting duckbill (25) is vertical, the planting duckbill (25) is a duckbill-shaped opening which is rotated to be split outwards, and the circular opening at the bottom of the seedling guiding cylinder (26) is similar to and is communicated with the opening at the top of the planting duckbill (25 in size; the seedling conveying tray (9) is used for placing seedling cups (27), seedling plants to be transplanted are contained in the seedling cups (27), the seedling plants fall to planting duckbilled (25) through seedling guide barrels (26) through the seedling cups (27), the diameter of the tops of the seedling guide barrels (26) is larger than the outer diameter of the Yu Miao cup (27), and the seedling conveying tray (9) is fixedly connected to the rack (5); the irrigation system comprises: the water injection device comprises a water pump (21), a water tank (22), a water injection port (23) and a water outlet (24), wherein the water tank (22) is communicated to the water injection port (23) after passing through the water pump (21), the water injection port (23) is communicated to the water outlet (24) after passing through a switch, and the water outlet (24) is attached to the outside of a duckbill mouth at the bottom of a planted duckbill (25) and the water outlet direction is vertically downward;

the rotating shaft of the perforating drill bit (14), the rotating shaft of the planting duckbill (25) and the advancing direction of the frame (5) during transplanting are positioned in the same vertical plane;

the power system further includes: the gear box (8), gear box (8) is fixedly connected on frame (5), the input shaft torque of gear box (8) is connected to the output shaft of reduction gear (2), gear box (8) are equipped with first output shaft (16), second output shaft (17), fixedly connected with swing arm (10) on second output shaft (17), the length direction of swing arm (10) is perpendicular with the axial of second output shaft (17), the one end pivot that swing arm (10) kept away from second output shaft (17) is connected with end effector assembly (12), the axis that swing arm (10) kept away from one end pivot of second output shaft (17) is parallel with the axis of second output shaft (17), swing arm (10) are around second output shaft (17) when rotating drive end effector assembly (12) are around second output shaft (17) do the circular motion in the vertical plane;

the punching motor (13), the punching bit (14) and the planting duckbill (25) are fixedly connected to the end effector assembly (12).

2. The electric crawler self-propelled transplanting machine according to claim 1, wherein two swing arms (10) are arranged, the gear box (8) is provided with a third output shaft (18), the two swing arms (10) are respectively and fixedly connected with a second output shaft (17) and the third output shaft (18), one ends, far away from the gear box (8), of the two swing arms (10) are respectively and rotatably connected with the end effector assembly (12), and the second output shaft (17) and the third output shaft (18) respectively and synchronously drive the two swing arms (10) to drive the end effector assembly (12) to do circular motion in a vertical plane.

3. An electric crawler self-propelled transplanting machine according to claim 1, characterized in that the power system is provided with an electromagnetic clutch (7), the electromagnetic clutch (7) being connected in series between the torque transmission path of the speed reducer (2) and the gearbox (8), the power input torque of the electromagnetic clutch (7) being connected to the output of the speed reducer (2), the power output torque of the electromagnetic clutch (7) being connected to the input of the gearbox (8).

4. An electric crawler self-propelled transplanting machine according to claim 1, characterized in that the seedling conveying tray (9) is provided with a chain transmission driving device, the chain transmission driving device is used for driving seedling cups (27) to horizontally move on the seedling conveying tray (9), and the output end torque of the first output shaft (16) is connected with the power input end of the chain transmission driving device.

5. The electric crawler self-propelled transplanting machine according to claim 4, wherein the seedling tray (9) is provided with a horizontally placed grid-shaped seedling tray placing frame (28), and the seedling tray placing frame (28) is used for placing seedlings to be transplanted or problematic seedlings.

6. The electric crawler self-propelled transplanting machine according to claim 1, wherein a seat (29) is arranged beside the seedling conveying tray (9), and the seat (29) faces the seedling conveying tray (9).

7. The electric crawler self-propelled transplanting machine according to claim 1, wherein a switch between the water injection port (23) and the water outlet (24) is a watering control cam (19), a duckbill opening and closing control cam (20) is arranged on the planting duckbill (25), the watering control cam (19) and the duckbill opening and closing control cam (20) are completely opened when the planting duckbill (25) descends to the lowest position, and the planting duckbill (25) starts to be closed when ascending from the lowest position.

8. The electric crawler self-propelled transplanting machine according to claim 1, wherein two groups of battery packs are arranged in the battery box (4), one group of battery packs is used for supplying power to the driving motor (3), and the other group of battery packs is used for supplying power to the punching motor (13) and the water pump (21).