An automated planter apparatus for inserting a rootstock, rooting stock or plantings into the ground, especially useful in hop yards, vineyards and orchards, the planter apparatus mountable to a tractor or trailer, and with grapes as a preferred rooting stock. Apples, or any other type of grafted tree or vine may be planted in the alternative. The planter apparatus includes a chain driven grabber mechanism, attached to a chain loop and driven by sprockets at each end, the grabber mechanism able to grasp and insert the rooting stock into the soil at precisely predetermined points, preferably aided by GPS (Global Positioning System). The grabber mechanism includes a pair of grabbers that receive the rooting stock at a pick-up, and then rotate from an open position to a closed position as the chain loop proceeds around a forward sprocket, rotating the grabber mechanism to a planting release.

The present disclosure relates to an automatic seedling taking and separation system for substrate block seedlings. The automatic seedling taking and separation system includes a seedling taking device, a seedling delivery device, and two seedling separation devices; the seedling taking device conveys substrate block seedlings on a seedling tray to the seedling delivery device in rows; the seedling delivery device divides a row of substrate block seedlings into two parts and conveys the substrate block seedlings to the two seedling separation devices; and the seedling separation devices perform single-seedling separation through seedling separation mechanisms. The present disclosure can automatically take and separate vegetable substrate block seedlings, thus improving the working efficiency.

The present invention provides an automatic picking and launching seedling device for transplanting machine and method thereof. The device includes a seedling picking mechanism, seedling guiding devices, a box shifting mechanism and seedling separating mechanisms. The seedling picking mechanism is mounted on the box shifting mechanism, the two sets of seedling separating mechanisms are symmetrically arranged on both sides of the box shifting mechanism, and the seedling guiding device is arranged on the top of the seedling separating mechanism. The box shifting mechanism transports the disc to the seedling picking point, and the seedling picking mechanism moves the picking seedling claws to the seedling picking point to take the seedlings and moves to the seedling launching point to launch the seedlings. The seedling guiding device makes the seedling pot to enter the seedling separating mechanism according to a predetermined trajectory. The seedling separating mechanism rotates the seedlings pot to the seedling falling point to fall the seedling. It can realize picking seedlings in whole row without interval and launching seedlings at the same time, and increase the efficiency and success rate of picking and launching seedlings. The disc only needs to be longitudinally transported, which improves the efficiency of the disc transporting. The needles of the seedling picking claws are used to comb the seedlings in a pot before inserting the seedling pot, which improves the quality of picking seedlings. The seedling guiding device receives the seedlings statically and shortens the free-falling movement distance, so that the launching of seedlings is more accurate.

The invention provides a plug-tray seedling automatic transplanting machine and control method thereof, wherein, said machine comprises a chassis bracket, a planting mechanism, seedling separating mechanisms, seedling guiding devices, a power mechanism, a box shifting mechanism, a seedling picking mechanism. The box shifting mechanism is installed on the chassis bracket, the seedling picking mechanism is installed on the box shifting mechanism, and two sets of seedling separating mechanism are symmetrically arranged on both sides of the box shifting mechanism by the chassis bracket, the seedling guiding device is provided above each set of seedling separating mechanism, and the planting mechanism is provided under each set of seedling separating mechanism. With the synergistic effect of various mechanisms and control system, it is possible to pick seedlings in whole row without interval in various sizes of plug-trays, and drop seedlings at the same time, which increase the efficiency and success rate of picking seedlings and dropping seedlings. The plug-tray only needs to move longitudinally, thereby improving the efficiency of the plug-tray transport. The seedling claw can comb the pot seedlings before being inserted into the pot, which improves the quality of seedling picking. The seedling guiding device receives the seedlings statically and shortens the free-falling movement distance, which makes seedling dropping more accurate.

A tractor suspension type automatic transplanting machine for plug tray seedlings is provided. The machine includes land wheels, a machine frame, a three-point linkage, a seedling pickup mechanism, a plug tray conveying device, a plug tray recovery device, seedling separating and planting devices driven by land wheels, and a watering device. Through front and rear drive cylinders, the seedling pickup mechanism is driven to move front and back to pick up seedlings above plug trays and release seedlings above a seedling guide device. Juxtaposed left and right seedling pickup modules in the seedling pickup mechanism are driven by left and right drive cylinders, to move left and right and pick up seedlings after combing, and to release seedlings after separating towards left and right. Plug trays fall onto a plug tray conveyor belt of the plug tray recovery device and slides into a plug-tray-recovery stacking box.

A working vehicle includes a traveling body supported by a traveling apparatus, a steering portion that steers the traveling body, a lifting/lowering apparatus that lifts and lowers a working machine, and a controller configured to execute a turning control including setting a working machine descent start line, calculating coordinates of the traveling body based on a steering operation and a traveling distance of the traveling apparatus, and in a case where the traveling body has reached the working machine descent start line in a state in which the traveling body has completed the turning, starting lowering the working machine by the lifting/lowering apparatus.

A working vehicle includes a traveling body supported by a traveling apparatus, a steering portion that steers the traveling body, a lifting/lowering apparatus that lifts and lowers a working machine, and a controller configured to execute a turning control including setting a working machine descent start line, calculating coordinates of the traveling body based on a steering operation and a traveling distance of the traveling apparatus, and in a case where the traveling body has reached the working machine descent start line in a state in which the traveling body has completed the turning, starting lowering the working machine by the lifting/lowering apparatus.

The present invention provides a flexible reciprocating linear seedling separating device for a pot seedling transplanter, including a frame, a seedling cup opening and closing device, a linear transmission device, a seedling cup moving device, several seedling cups and a control system. A flexible linear transmission device is fixed on the frame, a seedling cup moving device is fixed on the flexible linear transmission device, and a seedling cup opening and closing device is fixed on the seedling cup moving device. Several seedling cups are fixed on the seedling cup moving device. The control system is respectively electrically connected with a motor of the linear transmission device and a cylinder of the seedling cup opening and closing device. The control system controls the motor to drive flexible linear transmission device to move seedling cup moving device, thereby driving the seedling cups to reach a designated position and receive the pot seedlings. The control system controls opening and closing of the seedling cups through a seedling cup opening and closing device and drop the pot seedlings onto the designated falling point. The seedling separating device of the present invention has simple structure, controllable procedure and high reliability; through flexible transmission, the movement is smooth, which can greatly reduce the noise and vibration. The motor drives the seedlings cups to move left and right in a straight line; the cylinder pushes the cups to open and close; the seedling cup is vertically downward, the seedling falling posture is better.

The present invention provides a flexible reciprocating linear seedling separating device for a pot seedling transplanter, including a frame, a seedling cup opening and closing device, a linear transmission device, a seedling cup moving device, several seedling cups and a control system. A flexible linear transmission device is fixed on the frame, a seedling cup moving device is fixed on the flexible linear transmission device, and a seedling cup opening and closing device is fixed on the seedling cup moving device. Several seedling cups are fixed on the seedling cup moving device. The control system is respectively electrically connected with a motor of the linear transmission device and a cylinder of the seedling cup opening and closing device. The control system controls the motor to drive flexible linear transmission device to move seedling cup moving device, thereby driving the seedling cups to reach a designated position and receive the pot seedlings. The control system controls opening and closing of the seedling cups through a seedling cup opening and closing device and drop the pot seedlings onto the designated falling point. The seedling separating device of the present invention has simple structure, controllable procedure and high reliability; through flexible transmission, the movement is smooth, which can greatly reduce the noise and vibration. The motor drives the seedlings cups to move left and right in a straight line; the cylinder pushes the cups to open and close; the seedling cup is vertically downward, the seedling falling posture is better.

An agricultural planter has a plurality of planter row units spaced across a width of the planter, and release mechanisms for releasing seeds or plants into the ground from each row unit. A positioning system determines a location of the planter in a field, and a controller uses the location information to cause the release mechanism to release seeds or plants at predetermined tripping points in the field. The release mechanisms of all of the planter row units are moved simultaneously as the planter reaches each tripping point location in the field. This allows the seeds or plants from all of the row units to be released in a synchronized manner and aligned in a lateral direction relative to a direction of travel of the planter while planting. In one embodiment, the release mechanisms are positioned near lower ends of seed delivery tubes that receive seeds from seed metering mechanisms.