CN109479469B - Pneumatic seedling suction and double four-bar mechanism type seedling planting transplanter - Google Patents

Abstract

The invention discloses a pneumatic seedling suction and double four-bar mechanism type seedling transplanting machine. Existing automatic transplanting machine efficiency is not high. The invention comprises a seedling sucking and rotating device of a groove wheel mechanism, a bare seedling conveying device, a multi-degree-of-freedom double four-bar planting device and a main frame moving device; the seedling sucking and rotating device of a groove wheel mechanism realizes intermittent sucking of seedlings through the intermittent movement of the groove wheel; the bare seedlings The movement of the conveyor belt in the transmission device cooperates with the movement of the grooved wheel. When the bare seedlings rotate to the top of the conveyor belt, they fall onto the conveyor belt; The gear meshing drives two multi-degree-of-freedom flexible four-bar mechanisms, and the two multi-degree-of-freedom flexible four-bar mechanisms drive two planting nozzles to clamp and plant naked seedlings downward. The invention can automatically suck seedlings, deliver seedlings and plant seedlings, reduce labor costs, and can realize automatic transplanting of bare seedlings of fruits, vegetables and other crops with high efficiency.

Description

A pneumatic seedling suction and double four-bar mechanism seedling transplanting machine

technical field

The invention belongs to the technical field of agricultural machinery and relates to transplanting machinery, in particular to a pneumatic seedling suction and double four-bar mechanism type seedling transplanting machine.

Background technique

Transplanting is one of the important links in the planting process. Transplanting refers to the operation process of transplanting seedlings from the seedbed to the field. Seedling cultivation and transplanting can solve the problem of stubble, shorten the field growth period, make up for the lack of crop growth period, and reduce Seed dosage, reduce seed cost, and provide a good environment for seedling growth, so that crops can improve their ability to resist cold, drought, salinity, and pests and diseases, thereby increasing survival rate, increasing yield, and obtaining high-quality and robust seedlings, so transplanting in the planting process is of great significance. At present, transplanting machines can be divided into pot seedling transplanting machines and bare seedling transplanting machines according to whether the seedlings are soiled. High yield, convenient transportation, high survival rate and better adaptability to the new environment, so bare seedling transplanting is widely used in actual production.

At present, the bare seedling transplanting machine can be divided into manual transplanting machine, semi-automatic transplanting machine and fully automatic transplanting machine according to the degree of automation of the operation. Manual transplanting machines generally use simple tools to punch holes and place seedlings manually; semi-automatic transplanting machines take seedlings manually or with manual assistance, and the machines complete the operations of ditching, watering, planting seedlings, and covering soil; fully automatic transplanting machines It is generally considered that a group of seedlings (such as a seedling tray) is fed mechanically or manually, and the operations of taking seedlings and planting are completed by the machine tool; since the seedling feeding action must match the planting mouth, the mechanical naked seedling transplanter Seedling feeding action has the requirement of movement trajectory, and at the same time, there is a change in the spatial posture of bare seedlings. At present, there is no high-efficiency automatic transplanting machine product in the market. Therefore, it is necessary to design a set of seedling taking, transplanting and planting mechanisms with higher efficiency and more stable transmission for melons, fruits, vegetables and other crops suitable for transplanting seedlings, and can complete the cooperation to realize the nakedness of melons, fruits, vegetables and other crops. Automatic transplanting of seedlings.

Contents of the invention

The object of the present invention is to provide a pneumatic seedling suction and double four-bar mechanism seedling transplanting machine, which can meet the technical requirements of fully automatic transplanting of bare seedlings of fruits, vegetables and other crops.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The invention includes a seedling sucking and rotating device with a groove wheel mechanism, a bare seedling conveying device, a multi-degree-of-freedom double four-bar planting device and a main frame moving device. The seedling sucking and rotating device of the groove wheel mechanism comprises a seedling sucking plate (1), an air duct (2), a seedling sucking plate connecting plate (3), an air cover (4), a flange (5), a hollow shaft (6 ), sheave (7), support cylinder (9), driving dial (12), motor one (14), air duct (16), air pump (17), bare seedling disc (18), seedling disc Support block (19), seedling disc rotating shaft (20), driving pulley, driven pulley (21) and synchronous belt (22); described support cylinder (9) is fixedly connected on the main frame moving device; Hollow shaft (6) is supported on the bearing cylinder (9) by bearing; The base of motor one (14) is fixedly connected on the bearing cylinder (9); Described driving dial (12) and motor one ( The output shaft of 14) is connected by key; The output shaft of motor one (14) is fixed with driving pulley, is fixed with driven pulley (21) on the seedling disc rotating shaft (20), and driving pulley and driven pulley ( 21) Connected by a synchronous belt (22); the ratio of the diameter of the driving pulley to the driven pulley (21) is 1:4; the seedling disk rotating shaft (20) and the seedling disk support block (19) Constituting a revolving pair, the seedling disc support block (19) is fixedly connected on the main frame moving device; the naked seedling disc (18) is connected with the seedling disc rotating shaft (20) by a key; the naked seedling disc (18) is fixedly provided with a Four seedling slots evenly distributed in the circumferential direction; the flange (5) and the sheave (7) are all fixedly connected on the hollow shaft (6), and the sheave (7) is positioned under the flange (5); The slot hole on the wheel (7) is slidably matched with the upper round pin of the driving dial (12); the four seedling suction plate connecting plates (3) are evenly distributed along the circumference of the flange (5); the four seedling suction plate connecting plates (3) One end is fixed to the flange (5), and the other end is fixed to four seedling suction plates (1) respectively; the distance between the bottom surface of the seedling suction plate (1) and the top of the seedling release channel of the bare seedling tray is set; each seedling suction plate The air chamber of (1) communicates with one end of an air guide tube (2), and the other end of all the air guide tubes (2) communicates with the air cover (4); each air guide tube (2) is provided with a switch electric valve; the air cover (4) be threadedly connected with one end of the hollow shaft (6) endoporus; the other end of the hollow shaft (6) endoporus is threadedly connected with one end of the air pipe (16); the other end of the air pipe (16) is connected with the air pump ( 17) the air inlet is connected; the seat body of the air pump (17) is fixed on the main frame moving device.

The naked seedling transmission device includes a conveyor belt (23), a second motor (24), a baffle plate (25), a slideway (26), a drive shaft one (27), a driven shaft one (28), and a driven shaft two (29) and roller bearing (30); described baffle plate (25) is fixedly connected on the main frame moving device; driving shaft one (27), driven shaft one (28) and driven shaft two (29) Both form a revolving pair with the baffle (25), and the first driving shaft (27), the first driven shaft (28) and the second driven shaft (29) are connected by a conveyor belt (23); the roller bearing (30) and the baffle (25) constitute a revolving pair, and compress the outside of the conveyor belt (23); the output shaft of the motor two (24) is connected with the driving shaft one (27); the described slideway (26) is connected with the baffle plate (25) , and is located at the output end of the conveyor belt (23); the height of the naked seedling conveying device is lower than that of the seedling suction plate (1).

The multi-degree-of-freedom double four-bar planting device includes a four-bar base (31), a motor support pad (32), a bevel gear three (33), a bevel gear two (34), a bevel gear one (35), a motor Connecting plate (36), motor three (37), bare seedling auxiliary moving device, flexible planting part, driving gear (46), driving gear installation shaft (47), driven gear (48) and driven gear installation shaft (49 ); the described four-bar base (31) is fixedly connected with the main frame moving device; the described motor support pad (32) is fixedly connected with the four-bar base (31); the motor connecting plate (36) is connected with the motor support Spacer (32) is fixedly connected by bolt; The base of motor three (37) is connected by bolt with motor connecting plate (36); The output shaft of motor three (37) is connected with bevel gear one (35) by key; Described Bevel gear one (35) meshes with one side of bevel gear two (34); the other side of bevel gear two (34) meshes with bevel gear three (33); Gear installation shaft (47) is connected by key; Driven gear (48) is connected by key with driven gear installation shaft (49), and meshes with driving gear (46); Described driving gear installation shaft (47) and slave Moving gear installation shaft (49) all forms revolving pair with four-bar base (31); Described naked seedling auxiliary moving device comprises bar piece frame (38), connecting frame bar one (39), crank (40), Connecting rod one (41) and hook claw; Bevel gear two (34) is hinged with one end of bar frame (38); The other end of bar frame (38) is hinged with connecting frame rod one (39) one end; The rod frame (38) is fixedly connected with the motor connecting plate (36); one end of the crank (40) is fixed at the center of rotation of the bevel gear two (34); the other end of the connecting rod one (39) is connected with the connecting rod one (41) one end is hinged; the other end of the connecting rod one (41) is hinged with the other end of the crank (40); the claw is fixed at the end where the connecting rod one is hinged with the connecting rod one (39); the flexible planting part Including connecting rod two (42), connecting rod three (43), connecting rod two (44), springs (54) and planting nozzles (45); connecting rod two (42) one end and connecting rod two (44) One end is hinged; one end of the connecting rod three (43) is hinged with the middle part of the connecting rod two (44); the other end of the connecting rod two (44) is hinged with the planting mouth (45); one end of the spring (54) is connected with the connecting rod The middle part of frame bar three (43) is affixed; Two flexible planting parts are arranged symmetrically about the symmetrical center line of driving gear installation shaft (47) and driven gear installation shaft (49); the connecting rod two ( 42) The other ends are respectively eccentrically hinged with the driving gear (46) and the driven gear (48), and the other ends of the connecting rod three (43) of the two flexible planting parts are respectively installed with the driving gear installation shaft (47) and the driven gear The shaft (49) is hinged, and the hinge center is coaxially arranged with the driving gear installation shaft (47) and the driven gear installation shaft (49) respectively; the spring (54) other ends of the two flexible planting parts are all connected to the four-bar base ( 31) Fixed connection; the planting nozzles (45) of the two flexible planting parts are enclosed into a conical tube shape, and are all located at the exit of the slideway (26) of the bare seedling conveying device.

The seedling-releasing channel is arranged along the radial direction of the bare seedling tray (18).

The distance between the bottom surface of the seedling suction plate (1) and the top of the seedling release channel of the naked seedling tray is 1-2mm.

The conveyor belt (23) is fixed with a plurality of partitions arranged equidistantly along the conveyor belt (23).

The second (42) of the connecting rod (42), the third (43) of the connecting rod, the second (44) of the connecting rod, the spring (54) and the driving gear (46) of a flexible planting part are composed of a multi-degree-of-freedom flexible four-bar mechanism, and the other Another multi-degree-of-freedom flexible four-bar mechanism is composed of two connecting rods (42), three connecting rods (43), two connecting rods (44), springs (54) and driven gears (48) of the flexible planting part.

The main frame moving device includes a pulling mechanism (50), a main frame (51), wheels (52) and wheel axles (53); the pulling mechanism (50) is fixedly connected with the main frame (51); the main frame (51) bottom and four wheels (52) are all hinged by wheel axle (53).

The first motor (14), the second motor (24), and the third motor (37) are all electrically connected to the control system.

The beneficial effects that the present invention has are:

The seedling sucking and rotating device of the grooved wheel mechanism adopted in the present invention automatically sucks and intermittently rotates through the air pump, and can transfer the spatial position of the bare seedlings without damaging the bare seedlings. The multi-degree-of-freedom flexible four-bar mechanism increases flexibility through springs, The damage of bare seedlings during the planting process is reduced, and the planting mouth is always vertically downward due to the action of gravity, and the uprightness after transplanting is good; at the same time, the invention has a compact structure and good mechanical properties, which can meet the requirements of automatic seedling picking, The technical requirements for seedling delivery and transplanting are high, and the efficiency is high.

Description of drawings

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

Fig. 2 is a schematic diagram of the positional relationship between the seedling sucking plate and the naked seedling disc in the seedling sucking and rotating device of the grooved wheel mechanism of the present invention.

Fig. 3 is a schematic diagram of the transmission of the driving dial, the sheave and the bare seedling disc in the seedling sucking and rotating device of the sheave mechanism of the present invention.

Fig. 4 is a schematic diagram of the position of the seedling sucking plate and the conveyor belt when the seedlings fall of the present invention.

Fig. 5 is a structural perspective view of the naked seedling transfer device in the present invention.

Fig. 6 is a structural perspective view of the multi-degree-of-freedom double four-bar planting device in the present invention.

Fig. 7 is a side view of the multi-degree-of-freedom double four-bar planting device in the present invention.

Among the figure: 1, seedling suction plate, 2, air duct, 3, seedling suction plate connecting plate, 4, air cover, 5, flange plate, 6, hollow shaft, 7, sheave, 8, end cover, 9, Support cylinder, 10, semicircular hoop, 11, fixed plate, 12, driving dial, 13, motor seat, 14, motor one, 15, motor seat connecting plate, 16, air duct, 17, air pump, 18 , naked seedling disc, 19, seedling disc support block, 20, seedling disc rotating shaft, 21, driven pulley, 22, synchronous belt, 23, conveyor belt, 24, motor two, 25, baffle plate, 26, slideway, 27 , Driving shaft one, 28, driven shaft one, 29, driven shaft two, 30, roller bearing, 31, four-rod base, 32, motor support pad, 33, bevel gear three, 34, bevel gear two , 35, bevel gear 1, 36, motor connection plate, 37, motor 3, 38, rod frame, 39, connecting rod 1, 40, crank, 41, connecting rod 1, 42, connecting rod 2, 43 , connecting frame rod three, 44, connecting rod two, 45, planting nozzle, 46, driving gear, 47, driving gear installation shaft, 48, driven gear, 49, driven gear installation shaft, 50, dragging mechanism, 51, Main frame, 52, wheel, 53, wheel shaft, 54, spring.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawings and examples.

As shown in Figure 1, Figure 2 and Figure 3, a pneumatic seedling suction and double four-bar mechanism seedling transplanting machine includes a grooved wheel mechanism seedling suction rotation device, a naked seedling transmission device, and a multi-degree-of-freedom double four-bar planting machine. device and main rack mobile device. The seedling suction rotating device of the grooved wheel mechanism includes a seedling suction plate 1, an air guide pipe 2, a seedling suction plate connecting plate 3, an air cover 4, a flange plate 5, a hollow shaft 6, a groove wheel 7, an end cover 8, and a support cylinder 9 , semicircle hoop 10, fixed plate 11, driving dial 12, motor base 13, motor one 14, motor base connecting plate 15, air duct 16, air pump 17, bare seedling disc 18, seedling disc support block 19, seedling circled The rotating shaft 20, the driving pulley, the driven pulley 21 and the timing belt 22; the fixed plate 11 is fixed on the main frame 51; the support cylinder 9 is fixed on the fixed plate 11 by screws; the end cover 8 is fixed by screws On the support cylinder 9; the hollow shaft 6 passes through the inner hole of the end cover 8, and is supported on the support cylinder 9 through a bearing; the semicircular hoop 10 is fixedly connected with one end of the connecting plate 15 of the motor base through bolts, and fixed Connected on the support cylinder 9; the motor base 13 is fixed on the motor base connecting plate 15; the base of the motor one 14 is connected with the motor base 13 by bolts; the driving dial 12 is connected with the output shaft of the motor one 14 by a key; the motor A driving pulley is fixed on the output shaft of -14, and a driven pulley 21 is fixed on the seedling disc rotating shaft 20, and the driving pulley and the driven pulley 21 are connected by a synchronous belt 22; The ratio of the diameters is 1:4; the seedling disc rotating shaft 20 and the seedling disc supporting block 19 constitute a revolving pair, and the seedling disc supporting block 19 is fixedly connected on the main frame 51; the bare seedling disc 18 is connected with the seedling disc rotating shaft 20 by a key; The disc 18 is fixedly provided with four seedling-discharging channels evenly distributed in the circumferential direction; the seedling-releasing channels are arranged radially along the bare seedling disc 18; The wheel 7 is located below the flange 5; the slot hole on the sheave 7 is slidingly matched with the round pin on the driving dial 12; the four seedling suction plate connecting plates 3 are evenly distributed along the circumference of the flange plate 5; the four seedling suction plate connecting plates 3. One end is fixed with the flange plate 5, and the other end is respectively fixed with four seedling suction plates 1; the distance between the bottom surface of the seedling suction plate 1 and the top of the seedling release channel of the naked seedling plate is 1-2 mm; the distance between each seedling suction plate 1 The air cavity is connected to one end of an air guide tube 2, and the other ends of all the air guide tubes 2 are connected to the air cover 4; each air guide tube 2 is provided with a switch electric valve; the air cover 4 is connected to one end of the inner hole of the hollow shaft 6 through a thread; The other end of the hollow shaft 6 inner hole is threadedly connected with one end of the air pipe 16; the other end of the air pipe 16 is connected with the air inlet of the air pump 17;

As shown in Fig. 4 and Fig. 5, naked seedling transmission device comprises conveyer belt 23, motor two 24, baffle plate 25, slideway 26, driving shaft one 27, driven shaft one 28, driven shaft two 29 and roller bearing 30 The baffle plate 25 is fixedly connected on the main frame 51; the driving shaft one 27, the driven shaft one 28 and the driven shaft two 29 all form a rotating pair with the baffle plate 25, and the driving shaft one 27, the driven shaft one 28 and the slave The second moving shaft 29 is connected by the conveyor belt 23; the conveyor belt 23 is fixed with a plurality of partitions arranged equidistantly along the conveyor belt 23; the roller bearing 30 and the baffle plate 25 form a rotating pair, and press the conveyor belt 23 outside; The output shaft of two 24 is connected with driving shaft one 27; Slideway 26 is connected with baffle plate 25, and is positioned at the output end of conveyor belt 23;

As shown in Figures 6 and 7, the multi-degree-of-freedom double four-bar planting device includes a four-bar base 31, a motor support pad 32, a bevel gear three 33, a bevel gear two 34, a bevel gear one 35, a motor connecting plate 36, Motor three 37, bare seedling auxiliary moving device, flexible planting parts, driving gear 46, driving gear mounting shaft 47, driven gear 48 and driven gear mounting shaft 49; four-bar base 31 is fixedly connected with main frame 51; motor support The spacer 32 is fixedly connected with the four-bar base 31; the motor connection plate 36 is fixedly connected with the motor bracket spacer 32 by bolts; the base of the motor three 37 is connected with the motor connection plate 36 by bolts; the output shaft of the three motors 37 is connected to the bevel gear One 35 is connected by a key; bevel gear one 35 meshes with one side of bevel gear two 34; the other side of bevel gear two 34 meshes with bevel gear three 33; bevel gear three 33 and driving gear 46 all pass key with driving gear installation shaft 47 Connect; Driven gear 48 is connected with driven gear installation shaft 49 by key, and meshes with driving gear 46; Drive gear installation shaft 47 and driven gear installation shaft 49 all constitute rotating pair with four-bar base 31; Bare seedling auxiliary Mobile device comprises rod frame 38, connecting rod one 39, crank 40, connecting rod one 41 and hook claw; Bevel gear two 34 is hinged with rod frame 38 one end; One end of one 39 is hinged; the rod frame 38 is fixedly connected with the motor connecting plate 36; one end of the crank 40 is fixed at the center of rotation of the bevel gear two 34; the other end of the connecting rod one 39 is hinged with one end of the connecting rod one 41; The other end is hinged with the other end of the crank 40; the claw is fixed at the end where the connecting rod one is hinged with the connecting rod one 39; the flexible planting part includes connecting rod two 42, connecting rod three 43, connecting rod two 44, spring 54 and planting mouth 45; Connecting rod two 42 one ends are hinged with connecting rod two 44 one ends; Connecting rod three 43 one ends are hinged with connecting rod two 44 middle parts; Connecting rod two 44 other ends are hinged with planting mouth 45; Spring 54 one ends and The middle part of connecting frame rod three 43 is affixed; two flexible planting parts are arranged symmetrically about the center line of symmetry of driving gear mounting shaft 47 and driven gear mounting shaft 49; The gear 46 and the driven gear 48 are eccentrically hinged, and the other ends of the connecting rods 43 of the two flexible planting parts are respectively hinged with the driving gear installation shaft 47 and the driven gear installation shaft 49, and the hinge center is respectively connected with the driving gear installation shaft 47 and the driven gear installation shaft 49. The driven gear mounting shaft 49 is coaxially arranged; the other ends of the springs 54 of the two flexible planting parts are fixedly connected to the four-bar base 31; The slideway 26 outlets of the naked seedling delivery device. Wherein, a multi-degree-of-freedom flexible four-bar mechanism of a flexible planting member's connecting rod two 42, connecting rod three 43, connecting rod two 44, spring 54 and driving gear 46 has only one degree of freedom. Embodiment The multi-degree-of-freedom flexible four-bar mechanism has two degrees of freedom, and is flexibly connected by a spring 54, so that the movement is deterministic under the drive of one power, and the second connecting rod 42 and the third connecting rod of the other flexible planting part 43, connecting rod two 44, spring 54 and driven gear 48 assemble another multi-degree-of-freedom flexible four-bar mechanism. Two multi-degree-of-freedom flexible four-bar mechanisms not only ensure clamping and centering when planting seedlings, but also do not damage bare seedlings.

One motor 14, two motors 24, three motors 37 are all electrically connected with the control system figure without drawing.

As shown in Figure 1, the main frame moving device comprises a pulling mechanism 50, a main frame 51, wheels 52 and wheel axles 53; the pulling mechanism 50 is fixedly connected with the main frame 51; hinged.

The working principle of the present invention is as follows:

The seedling transplanting machine of the present invention is connected with other dragging devices such as tractors by the traction mechanism 50 to advance; in the whole process of advancing, the naked seedlings are manually placed in the seedling release channel of the naked seedling tray 18; , and through the driving pulley, synchronous belt 22 and driven pulley 21 to drive the naked seedling plate 18 uniform circular motion; the driving dial 12 drives the sheave 7 and the hollow shaft 6 to move intermittently, and the hollow shaft 6 drives the four seedling suction plates intermittently Rotate; move to the seedling suction plate 1 directly above the conveyor belt 23 to stop pumping, the suction of the seedling suction plate 1 is eliminated, the naked seedlings fall on the conveyor belt, and the remaining seedling suction plates 1 maintain suction; due to the driving pulley and the driven pulley The ratio of the diameter of 21 is 1:4, after sheave 7 rotates 90 ° and stops, bare seedling disc 18 just rotates 90 ° gradually, and the direction of rotation of sheave and naked seedling disc is consistent; When the naked seedlings in a seedling-putting channel are transported to the direct below of the seedling suction plate 1, the naked seedlings are sucked up; the motor one continues to run, and the naked seedlings continuously fall on the conveyor belt 23; Partition plate blocks, only a single naked seedling is sent to the slideway 26 through the conveyor belt; motor three is driven by bevel gear 1 and bevel gear 2, and then drives the auxiliary moving device for naked seedlings, so that the connecting rod 39 of the auxiliary moving device for naked seedlings reciprocates Movement, the claw pushes the bare seedling roots on the slideway 26 to slide downwards into the planting mouth; the second bevel gear and the third bevel gear are meshed and driven to drive the driving gear 46 to rotate, and the driving gear 46 drives the driven gear 48 to rotate, thereby driving two Flexible planting parts, the planting nozzles 45 of the two flexible planting parts move up and down synchronously, and gradually close up when moving from bottom to top, and gradually separate when moving from top to bottom; the spring 54 of the flexible planting parts has flexibility, reducing the flexibility of the two parts. The degree of injury to the bare seedlings when the planting mouth 45 of the planting part is closed. After the planting mouth 45 moved down and inserted into the soil, the bare seedlings entered the soil to complete the planting.

The specific embodiments above are used to explain the present invention, rather than to limit the present invention. Within the protection scope of the present invention and the claims, any modification and change made to the present invention will fall into the protection scope of the present invention.

Claims (5)

1. A pneumatic seedling suction and double four-bar mechanism type seedling transplanting machine, comprising a grooved wheel mechanism suction seedling rotating device, bare seedling transmission device, multi-degree-of-freedom double four-bar planting device and main frame moving device; it is characterized in that : The described grooved wheel mechanism sucking seedling rotation device includes a seedling sucking plate (1), an air duct (2), a seedling sucking plate connecting plate (3), an air cover (4), a flange (5), a hollow shaft ( 6), sheave (7), support cylinder (9), driving dial (12), motor one (14), air duct (16), air pump (17), bare seedling tray (18), seedling Disk support block (19), seedling disk rotation shaft (20), driving pulley, driven pulley (21) and timing belt (22); the support cylinder (9) is fixedly connected to the main frame moving device The hollow shaft (6) is supported on the support cylinder (9) through the bearing; the base of the motor one (14) is fixedly connected on the support cylinder (9); the driving dial (12) and the motor one The output shaft of (14) is connected by key; On the output shaft of motor one (14), be fixed with driving pulley, be fixed with driven pulley (21) on the seedling disc rotating shaft (20), driving pulley and driven pulley (21) connected by a synchronous belt (22); the ratio of the diameter of the driving pulley to the driven pulley (21) is 1:4; the seedling disk rotation shaft (20) and the seedling disk support block (19 ) to form a revolving pair, the seedling tray support block (19) is fixedly connected to the main frame moving device; the bare seedling tray (18) is connected with the seedling tray rotation shaft (20) through a key; the bare seedling tray (18) is fixedly equipped with Four seedling slots evenly distributed in the circumferential direction; the flange (5) and the sheave (7) are fixedly connected to the hollow shaft (6), and the sheave (7) is located below the flange (5); The grooved hole on the sheave (7) is slidably matched with the upper round pin on the driving dial (12); the four seedling-absorbing plate connecting plates (3) are evenly distributed along the circumference of the flange (5); the four seedling-absorbing plate connecting plates (3 ) one end is fixed with the flange plate (5), and the other end is fixed with four seedling suction plates (1) respectively; The air cavity of the plate (1) communicates with one end of an air guide tube (2), and the other end of all the air guide tubes (2) communicates with the air cover (4); each air guide tube (2) is equipped with a switch electric valve; The cover (4) is threadedly connected to one end of the inner hole of the hollow shaft (6); the other end of the inner hole of the hollow shaft (6) is threaded to one end of the air pipe (16); the other end of the air pipe (16) is connected to the air pump (17) is connected to the air inlet; the base of the air pump (17) is fixed on the main frame mobile device; The naked seedling transmission device includes a conveyor belt (23), a second motor (24), a baffle (25), a slideway (26), a drive shaft one (27), a driven shaft one (28), a driven shaft two (29) and roller bearings (30); the baffle plate (25) is fixedly connected on the main frame moving device; driving shaft one (27), driven shaft one (28) and driven shaft two (29) Both form a revolving pair with the baffle (25), and the first driving shaft (27), the first driven shaft (28) and the second driven shaft (29) are connected through the conveyor belt (23); the roller bearing (30) and the baffle (25) forms a rotating pair, and presses the outside of the conveyor belt (23); the output shaft of the second motor (24) is fixedly connected with the drive shaft one (27); the slideway (26) is fixedly connected with the baffle plate (25) , and is located at the output end of the conveyor belt (23); the height of the naked seedling conveying device is lower than the height of the seedling suction plate (1); The multi-degree-of-freedom double four-bar planting device includes a four-bar base (31), a motor support pad (32), a bevel gear three (33), a bevel gear two (34), a bevel gear one (35), a motor Connecting plate (36), motor three (37), bare seedling auxiliary moving device, flexible planting part, driving gear (46), driving gear installation shaft (47), driven gear (48) and driven gear installation shaft (49 ); the four-bar base (31) is fixedly connected with the main frame moving device; the motor bracket pad (32) is fixedly connected with the four-bar base (31); the motor connecting plate (36) is connected with the motor bracket The spacer (32) is fixedly connected by bolts; the base of the motor three (37) is connected to the motor connection plate (36) by bolts; the output shaft of the motor three (37) is connected to the bevel gear one (35) by a key; Bevel gear one (35) meshes with one side of bevel gear two (34); the other side of bevel gear two (34) meshes with bevel gear three (33); bevel gear three (33) and driving gear (46) are all meshed with the driving The gear installation shaft (47) is connected through a key; the driven gear (48) is connected with the driven gear installation shaft (49) through a key, and is meshed with the driving gear (46); the driving gear installation shaft (47) and the slave The moving gear installation shaft (49) all forms a revolving pair with the four-bar base (31); the described auxiliary moving device for bare seedlings includes a bar frame (38), connecting frame bar one (39), crank (40), Connecting rod one (41) and claw; Bevel gear two (34) is hinged with one end of the rod frame (38); the other end of the rod frame (38) is hinged with one end of the link rod one (39); The rod frame (38) is fixedly connected with the motor connecting plate (36); one end of the crank (40) is fixed at the rotation center of the second bevel gear (34); the other end of the connecting rod one (39) is connected with the connecting rod one (41) is hinged at one end; the other end of the connecting rod one (41) is hinged with the other end of the crank (40); the claw is fixed at the end where the connecting rod one and the connecting rod one (39) are hinged; the flexible planting part Including connecting rod two (42), connecting rod three (43), connecting rod two (44), springs (54) and planting nozzles (45); one end of connecting rod two (42) and connecting rod two (44) One end is hinged; one end of the connecting rod three (43) is hinged with the middle of the connecting rod two (44); the other end of the connecting rod two (44) is hinged with the planting mouth (45); one end of the spring (54) is connected with the connecting rod The middle part of the frame bar three (43) is fixed; the two flexible planting parts are arranged symmetrically about the symmetrical center line of the driving gear installation shaft (47) and the driven gear installation shaft (49); the connecting rod two ( 42) The other ends are respectively eccentrically hinged with the driving gear (46) and the driven gear (48), and the other ends of the connecting rod three (43) of the two flexible planting parts are respectively installed with the driving gear installation shaft (47) and the driven gear The shaft (49) is hinged, and the hinge center is coaxially arranged with the driving gear installation shaft (47) and the driven gear installation shaft (49) respectively; the other ends of the springs (54) of the two flexible planting parts are connected with the four-bar base ( 31) Fixed connection; the planting nozzles (45) of the two flexible planting parts are closed to form a conical cylinder, and both are located at the exit of the slideway (26) of the bare seedling conveying device; The distance between the bottom surface of the seedling suction plate (1) and the top of the seedling release channel of the bare seedling tray is 1-2mm; The conveyor belt (23) is fixed with a plurality of partitions arranged equidistantly along the conveyor belt (23). 2. A pneumatic seedling suction and double four-bar mechanism seedling transplanting machine according to claim 1, characterized in that: the seedling release channel is arranged along the radial direction of the bare seedling tray (18). 3. A pneumatic seedling suction and double four-bar mechanism seedling transplanting machine according to claim 1, characterized in that: the second (42) and third (43) connecting rods of a flexible planting part , connecting rod two (44), springs (54) and driving gears (46) form a multi-degree-of-freedom flexible four-bar mechanism, and the connecting rod two (42) and connecting rod three (43) of another flexible planting part The second connecting rod (44), the spring (54) and the driven gear (48) form another multi-degree-of-freedom flexible four-bar mechanism. 4. A pneumatic seedling suction and double four-bar mechanism seedling transplanting machine according to claim 1, characterized in that: the main frame moving device includes a pulling mechanism (50), a main frame (51), Wheels (52) and wheel axles (53); the traction mechanism (50) is fixedly connected with the main frame (51); the bottom of the main frame (51) is hinged with the four wheels (52) through the wheel axles (53). 5. A pneumatic seedling suction and double four-bar mechanism seedling transplanting machine according to claim 1, characterized in that: the first motor (14), the second motor (24), and the third motor (37) Both are electrically connected with the control system.

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