CN114885789B

CN114885789B - Full-automatic integrated machine for haloxylon ammodendron tree planting

Info

Publication number: CN114885789B
Application number: CN202210471372.7A
Authority: CN
Inventors: 姜姝; 张奕霖; 李婉婷; 胡祎; 田宇凡; 张锋; 刘佳男
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2023-06-30
Anticipated expiration: 2042-04-28
Also published as: CN114885789A

Abstract

A full-automatic integrated machine for haloxylon ammodendron tree planting belongs to the technical field of full-automatic tree planting machines. The chassis module is used for walking, steering and getting rid of the trouble of the whole machine; the upper plate module is used for installing a tree storage barrel mechanism, a water tank mechanism, a parking mechanism and a compacting mechanism; the sliding table module is used for installing the drill bit mechanism and the earthing mechanism, driving the drill bit mechanism and the earthing mechanism to move and switch positions, and the parking mechanism is used for preventing the integrated machine from moving for the second time and completing the escaping operation by matching with the chassis module; the drill bit mechanism is used for drilling pits for saplings; the tree cylinder storage mechanism is used for storing tree seedlings and sending the single tree seedlings into pits drilled by the drill bit mechanism; and the earthing mechanism is used for ensuring that the saplings falling from the tree storage barrel mechanism can fall into the pits drilled by the drill bit mechanism and closing sand around the saplings. The invention has the functions of digging pit, planting, earthing, watering, detecting soil humidity and positioning, can control planting distance, and realizes reasonable planning of large-scale planting.

Description

Full-automatic integrated machine for haloxylon ammodendron tree planting

Technical Field

The invention belongs to the technical field of full-automatic tree planting machines, and particularly relates to a full-automatic haloxylon ammodendron tree planting integrated machine.

Background

With the development of agricultural technology and the improvement of importance degree of greening engineering, more and more agricultural machines are facing planting at home and abroad at present, but no planting machine is used for desert application scenes, and no tree planting vehicle capable of penetrating through the whole tree planting process and realizing the functions of digging pit, planting tree, filling soil and watering is provided, so that the efficiency of the desert haloxylon ammodendron tree planting engineering is low, and the labor is wasted.

Disclosure of Invention

The invention aims to solve the problems in the background technology, and further provides a full-automatic haloxylon ammodendron tree planting integrated machine with functions of digging pits, planting, earthing and watering;

the technical scheme adopted by the invention is as follows: full-automatic integrated machine for haloxylon ammodendron tree planting, comprising

The chassis module is used for walking, steering and getting rid of the trouble of the whole machine;

the upper plate module is arranged above the chassis module and is used for installing a tree storage barrel mechanism, a water tank mechanism, a parking mechanism and a pressing mechanism;

the slipway module is arranged between the chassis module and the upper plate module, is used for installing the drill bit mechanism and the earthing mechanism and can drive the drill bit mechanism and the earthing mechanism to move and switch positions,

the parking mechanism is arranged at the front end of the upper plate module and used for preventing the integrated machine from moving for the second time and completing the escaping operation by matching with the chassis module;

the drill bit mechanism is arranged at the rear side of the earthing mechanism and used for drilling pits for saplings;

the tree storage barrel mechanism is arranged at the rear side of the parking mechanism and is used for storing the tree seedlings and sending the single tree seedlings into the pit drilled by the drill bit mechanism;

the earthing mechanism is arranged below the seedling falling gap of the tree storage barrel mechanism and is used for ensuring that seedlings falling from the tree storage barrel mechanism can fall into pits drilled by the drill bit mechanism and covering sand around the seedlings.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention has the functions of digging pit, planting, earthing, watering, detecting soil humidity and positioning, can control planting distance, and realizes reasonable planning of large-scale planting.

2. Desert driving safety: the chassis module has the escaping function.

3. Stability of desert travel: the chassis module of the invention introduces a suspension damping system and a low-pressure tire with a wide cross section, thereby improving the cross-country performance of the vehicle and the flexibility and stability of the movement process.

4. Desert operation quicksand problem: the parking mechanism is arranged, so that the integral machine is ensured not to shift in the working process; and the device is matched with the chassis module to finish the escape.

5. Protection of desert water resources: the soil humidity sensor module is designed, the watering quantity can be controlled in a feedback way, the optimal growth conditions are provided for the haloxylon ammodendron seedlings, meanwhile, the water is saved, and the resource waste is prevented.

Drawings

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a left side view of the present invention;

FIG. 4 is a top view of the present invention;

FIG. 5 is an isometric view of a chassis module of the present invention;

FIG. 6 is a schematic view of a double-wishbone independent suspension of the chassis module of the present invention;

FIG. 7 is a schematic view of the trailing arm suspension structure of the chassis module of the present invention;

FIG. 8 is a schematic view of the mechanism of the trailing arm suspension of the chassis module of the present invention;

FIG. 9 is a schematic view of the escape mode-rear wheel retraction demonstration mechanism of the present invention;

FIG. 10 is a schematic view of the escape mode-rear stirrup-out mechanism of the present invention;

FIG. 11 is a front view of a slipway module of the present invention;

FIG. 12 is a side view of a slipway module of the present invention;

FIG. 13 is a top view of a slipway module of the present invention;

FIG. 14 is a schematic view of the drill bit mechanism of the present invention;

FIG. 15 is a schematic view of the drill bit mechanism movement of the present invention;

FIG. 16 is a schematic view of the construction of the soil covering mechanism of the present invention;

FIG. 17 is an isometric view of the soil covering mechanism of the present invention;

FIG. 18 is a schematic view of the installation of the earthing mechanism of the present invention;

FIG. 19 is a schematic view of the movement of the soil covering mechanism of the present invention;

FIG. 20 is a schematic view of a parking mechanism according to the present invention;

FIG. 21 is a side view of the park mechanism of the present invention;

FIG. 22 is a schematic illustration of the movement of the parking mechanism of the present invention;

FIG. 23 is a front view of the tree cylinder mechanism of the present invention;

FIG. 24 is a top view of the tree cylinder mechanism of the present invention;

FIG. 25 is an isometric view of the tree cylinder mechanism of the present invention;

FIG. 26 is a schematic diagram of the movement of the tree cylinder mechanism of the present invention;

FIG. 27 is a schematic illustration of a cistern mechanism of the present invention;

wherein: 1. a parking mechanism; 2. a tree cylinder storing mechanism; 3. a drill bit mechanism; 4. a slipway module; 5. a water tank mechanism; 6. an upper plate module; 7. a chassis module; 8. a soil covering mechanism; 11. a rocker; 12. an eccentric shaft; 13. a disc; 14. a parking claw; 15. the base is connected; 16. a slide bar; 17. a case; 18. a strip notch; 19. a parking drive motor; 110. a connecting plate; 21. A tree storage barrel; 22. an upper seat plate; 23. a gear ring; 24. a lower seat plate; 25. a bullseye bearing; 26. an idler; 27. a tree storage stepping motor; 28. an upper seat plate; 29. seedling falling openings; 210. a tree storage gear; 31. a drill motor; 32. bevel gears; 33. drilling an earth screw rod; 34. a mounting base; 35. drilling an earth nut; 36. a drill bit; 37. a soil drilling driving motor; 38. a soil drilling driving belt wheel; 39. a driven belt wheel for drilling soil; 310. bevel gear; 311. a wire rail bracket; 41. a sliding table gear motor; 42. a slipway synchronous belt transmission mechanism; 43. a supporting vertical plate; 44. an adapter; 45. a slide platen; 46. a slide rail; 421. a sliding table driven belt wheel; 422. a slipway driving belt wheel; 423. a belt wheel seat; 451. tree falling holes; 51. feeding into a water tank; 52. a hose; 53. discharging the water tank; 54. a water pump; 71. a bottom plate; 72. a travel mechanism; 73. a steering mechanism; 74. a shock absorbing mechanism; 741. a rear shock absorbing gas spring; 742. a push rod; 743. a support arm; 744. a suspension arm; 745. a hanging rod; 746. a shock absorbing support plate; 747. a front shock-absorbing gas spring; 748. an upper swing arm; 749. turning to a C seat; 7410. a lower swing arm; 7411. a suspension support seat; 81. tree falling guide barrels; 82. an annular plate; 83. a connecting rod; 84. clamping claws; 85. earthing screw rod; 86. earthing driven gear; 87. earthing driving gear; 88. a soil-covering stepping motor; 89. and (5) earthing the screw nut.

Detailed Description

For a better understanding of the objects, structures and functions of the present invention, reference should be made to the following detailed description of the invention with reference to the accompanying drawings.

Referring to FIGS. 1-27, the full-automatic haloxylon ammodendron tree planting all-in-one machine of the invention comprises

The chassis module 7 is used for walking, steering and getting rid of the trouble of the whole machine;

an upper plate module 6 mounted above the chassis module 7 for mounting thereon the tree cylinder mechanism 2, the water tank mechanism 5, the parking mechanism 1 and the pressing mechanism; the pressing mechanism adopts a pressing wheel.

A slipway module 4 which is arranged between the chassis module 7 and the upper plate module 6, is used for installing the drill bit mechanism 3 and the earthing mechanism 8 and can drive the drill bit mechanism 3 and the earthing mechanism 8 to move to switch positions,

the parking mechanism 1 is arranged at the front end of the upper plate module 6 and is used for preventing the integrated machine from moving for the second time and completing the escaping operation by matching with the chassis module 7;

the drill bit mechanism 3 is arranged at the rear side of the earthing mechanism 8 and is used for drilling pits for saplings;

a tree cylinder storing mechanism 2 arranged at the rear side of the parking mechanism 1 and used for storing tree seedlings and sending single tree seedlings into pits drilled by the drill bit mechanism 3;

the earthing mechanism 8 is arranged below the seedling falling gap 29 of the tree storage barrel mechanism 2 and is used for ensuring that seedlings falling from the tree storage barrel mechanism 2 can fall into pits drilled by the drill bit mechanism 3 and covering sand around the seedlings.

The haloxylon ammodendron is moved to a designated cultivation place by a preset route planning, a parking mechanism 1 at the front part of the vehicle is pricked for stabilizing the vehicle, a drill bit mechanism 3 is used for digging a pit, a tree storage barrel mechanism 2 rotates, a soil covering mechanism 8 covers soil after seedlings fall into the pit, a water tank mechanism 5 is used for watering, soil humidity is detected, whether the soil humidity reaches a reasonable range or not is judged, if the soil humidity does not reach the reasonable range, watering is continued until the set humidity is reached, a parking claw 14 of the parking mechanism 1 is pulled out, the vehicle moves away from an operation area, and single seedling planting is completed. Thereafter, the machine moves forwards to appoint displacement to plant the next sapling, thereby realizing the purpose of controlling the planting distance and completing large-scale planting.

The chassis module 7 described with reference to fig. 5 to 10 includes a bottom plate 71, a traveling mechanism 72 mounted on the bottom plate 71, a steering mechanism 73, and a shock absorbing mechanism 74; the steering mechanism 73 adopts an ackerman chassis structure and is arranged at the front end of the bottom plate 71, the travelling mechanism 72 comprises two front wheels and two rear wheels, the two front wheels and the two rear wheels adopt low-pressure tyres with wide cross sections, the integrated machine is prevented from sinking in sandy soil, meanwhile, the problems of easy abrasion of the caterpillar, high failure rate, difficult steering and low efficiency are avoided,

both rear wheels are directly driven by adopting a JGY2430 brushless direct-current worm gear speed reducing motor,

the two front wheels are arranged on the steering mechanism 73 through double-fork-arm type independent suspension brackets of a shock absorbing mechanism 74, the steering angle of the front wheels is controlled by a 40 kg-level steering engine, and a gas spring is used for shock absorption, and the parameter is 50N/mm. The two rear wheels are mounted at the rear end of the bottom plate 71 through a trailing arm type suspension bracket of the shock absorbing mechanism 74 to compress the rear wheel area space and simultaneously facilitate the escaping action.

As shown in fig. 6, the whole double-fork independent suspension bracket is of a bilateral symmetry structure and comprises a shock-absorbing supporting plate 746, a suspension supporting seat 7411, two front shock-absorbing gas springs 747, two upper swing arms 748, two lower swing arms 7410 and two steering C seats 749; the suspension supporting seat 7411 and the shock-absorbing supporting plate 746 are of a bilateral symmetry structure, the front and rear settings are fixed on the ackerman chassis structure, the left and right ends of the suspension supporting seat 7411 are respectively used for hinging and installing the upper swing arm 748 and the lower swing arm 7410, the lower ends of the upper swing arm 748 and the lower swing arm 7410 which are positioned on the same side are respectively hinged and installed on the steering C seat 749, the two front wheels are respectively installed on the two steering C seats 749, the cylinder ends of the two front shock-absorbing gas springs 747 are respectively hinged and installed at the left and right ends of the shock-absorbing supporting plate 746, and the telescopic ends of the two shock-absorbing gas springs are respectively hinged with the corresponding lower swing arm 7410.

As shown in fig. 5, 7 and 8, each of the trailing arm suspension frames includes a rear shock gas spring 741, a push rod 742, a suspension arm 744, a support arm 743 and a suspension rod 745; the front end of the suspension arm 744 is hinged on the rear end of the upper surface of the bottom plate 71, the suspension arm 744 is driven to rotate up and down by a rear shock-absorbing gas spring 741 arranged between the suspension arm 744 and the bottom plate 71, the rear end of the suspension arm 744 is coaxially hinged with the upper end of the support arm 743, the support arm 743 is driven to rotate around the hinge shaft of the rear end of the suspension arm 744 by a push rod 742 arranged between the suspension arm 744 and the support arm 743, the lower end of the support arm 743 is used for mounting a rear wheel,

under complex terrain, the unmanned vehicle is likely to meet the condition that the sand is trapped in the rear wheel tires of the vehicle caused by the sand-flowing ground, so that the unmanned vehicle has a escape mode which is that the rear wheel passes through the lowest point after the push rod 742 is pushed out to perform sand-pedaling action as shown in fig. 9 and 10. After the vehicle body is completely kicked out, the vehicle body keeps horizontal, so that the parking mechanism 1 can be smoothly inserted and used for fixing the vehicle, and the rear wheels are retracted, so that the actions of automatic escape from the rear wheel kicking out, the vehicle body fixing and the rear wheel retracting are realized, and the working safety and the working stability of the tree planting vehicle are improved.

Wherein: the rear shock-absorbing gas spring 741 is arranged in front of the suspension arm 744, a suspension rod 745 is arranged at the upper part of the front end of the suspension arm 744, the front end of the rear shock-absorbing gas spring 741 is hinged on the upper surface of the bottom plate 71, the rear end of the rear shock-absorbing gas spring 741 and the upper end of the push rod 742 are coaxially hinged on the suspension rod 745, and the lower end of the push rod 742 is hinged at the middle part of the support arm 743.

The push rod 742 is an electric push rod and can be extended and contracted.

In the tree planting process, a plurality of steps such as tree falling, watering, earthing and the like are needed after a pit is dug, wherein the need of switching different devices is avoided, and the shuttle tree is small in size, which all provide challenges for accuracy. Considering that starting slip easily occurs in sand and the driving distance of a vehicle is not easy to accurately control, the integrated machine is fixed on a vehicle body in the whole planting process, and the sliding table module 4 is innovatively applied to the integrated machine, so that the movement precision is ensured. The slipway module has the following functions:

(1) positioning: the movement of the actuating member on the slipway module 4 to the corresponding position can be controlled precisely.

(2) And (3) supporting: the drill mechanism 3 and the earth-covering mechanism 8 are fixed thereto, and it is necessary to be able to withstand a certain work load.

As shown in fig. 12 to 13, the sliding table module 4 includes a sliding table speed reducing motor 41, a sliding table synchronous belt transmission mechanism 42, a supporting vertical plate 43, a sliding table plate 45, two sliding rails 46 and a plurality of adapters 44; the supporting vertical plate 43 is fixed on one side of the bottom plate 71 along the front-back direction, the sliding table synchronous belt transmission mechanism 42 and the sliding table gear motor 41 are all installed on the supporting vertical plate 43, sliding rails 46 are all installed on the left end face and the right end face of the sliding table plate 45, one sliding rail 46 is connected with a synchronous belt of the sliding table synchronous belt transmission mechanism 42, the sliding table gear motor 41 drives the sliding rail 46 and the sliding table plate 45 to move back and forth through the sliding table synchronous belt transmission mechanism 42, and the sliding rail 46 is in sliding connection with the upper plate module 6 through a plurality of transfer pieces 44.

The sliding table synchronous belt transmission mechanism 42 consists of a sliding table driven belt pulley 421, a sliding table driving belt pulley 422 and a synchronous belt; the hold-in range encircles the suit and is in the support riser 43 outside, and slip table driven pulley 421 and slip table driving pulley 422 are all installed on support riser 43 through taking wheel seat 423.

The sliding table module 4 adopts linear rail guiding and adopts a mode of a deceleration stepping motor and synchronous belt driving. The slide platen 45 is made of glass fiber.

The drill bit can move up and down along the guide rail, is controlled by a double motor and is driven in a lead screw differential mode, and the drill bit mechanism 3 designed according to the method has the following functions:

(1) the differential driving can control the functions of high-rotation-speed low-custom feeding and low-rotation-speed high-speed exiting, and the control principle is simple.

(2) Variable feed rate: the rotation speed of the harder sand drill bit is reduced, so that the feeding speed is synchronously reduced, the load of the drill bit is reduced, and the drill bit is protected.

(3) The earth boring motor is blocked, so that automatic drill retraction can be realized, and a drill bit is protected.

(4) Replaceable drill bit: the proper drill bit can be replaced for different sandy materials to achieve the best effect, and the success rate and the survival rate of the sapling planting are improved.

As shown in fig. 14 to 15, the drill mechanism 3 includes a drill motor 31, an earth-boring screw 33, a mounting seat 34, an earth-boring screw 35, a drill 36, an earth-boring driving motor 37, and a wire rail bracket 311; the vertical setting the soil lead screw 33 lower extreme is provided with the drill bit 36, and the drill bit motor 31 drives the drill bit through the soil lead screw 33 and rotates, realizes boring the husky function, the screw thread cover of boring the soil lead screw 35 is installed on boring the soil lead screw 33, boring the soil driving motor 37 and driving the soil lead screw 33 through drive mechanism and rotating, bore the soil lead screw 33 and reciprocate, realize the downfeed of drill bit 36, the drill bit motor 31 is installed on boring the soil lead screw 33 through the linear rail support 311 and is reciprocated with boring the soil lead screw 33, bore the soil lead screw 35 and drive mechanism and install on mount pad 34, and linear rail support 311 and mount pad 34 upper and lower sliding connection, mount pad 34 and boring the soil driving motor 37 and install on the slip table board 45 of slip table module 4 to conveniently bore the perforation that soil lead screw 33 and linear rail support 311 reciprocated has been seted up on slip table board 45.

Wherein: the drill motor 31 horizontally disposed drives the earth-boring screw 33 vertically disposed to horizontally rotate through the pair of bevel gears 32,

the transmission mechanism comprises a soil drilling driving belt pulley 38, a soil drilling driven belt pulley 39 and a bevel gear 310; the soil drilling driving belt wheel 38 is in transmission connection with the soil drilling driven belt wheel 39 through a soil drilling synchronous belt, the soil drilling driving belt wheel 38 is horizontally arranged on an output shaft of a driving motor, the soil drilling driven belt wheel 39 and the bevel gear 310 are coaxially and rotatably arranged between the mounting seat 34 and the sliding table plate 45, and the bevel gear 310 is in meshed connection with an external tooth arranged on the soil drilling screw 35. The driving motor drives the soil-drilling driven belt wheel 39 to rotate through the soil-drilling driving belt wheel 38 so as to drive the bevel gear 310 to rotate, the bevel gear 310 rotates to drive the soil-drilling screw 35 to rotate, and the soil-drilling screw 35 rotates to drive the soil-drilling screw 33 to move up and down.

The drill mechanism 3 is driven differentially and the feed section is coupled to the rotary movement of the drill. When the drill bit encounters hard sand and is difficult to rotate and the rotating speed is reduced, the feeding speed is correspondingly reduced. If the motor is locked, the motor can be quickly withdrawn, and the motor is protected. The earth drilling screw 35 is fixedly connected with the bevel gear 310, and the axial force generated by the earth drilling screw 33 in a part of feeding process is counteracted by the bevel gear 310, so that the requirement of scram reversing in the differential driving process is avoided, and the earth drilling screw is friendly to superior circuits and mechanical elements.

Earthing mechanism 8

(1) The funnel-shaped tree falling guide barrel 81 plays a guide role when the tree falls down, so that the sapling falling from the tree storage barrel mechanism 2 can be ensured to accurately fall into the pit drilled by the drill bit mechanism 3.

(2) After the sapling falls into the pit, the clamping claws 84 of the soil covering mechanism 8 are closed to cover the sand around the sapling, so that a sand bag easy to store water is formed, and the survival rate of the sapling is ensured.

As shown in fig. 16 to 19, the soil covering mechanism 8 includes a tree falling guiding barrel 81, an annular plate 82, a soil covering screw 85, a soil covering driven gear 86, a soil covering driving gear 87, a soil covering stepping motor 88, a plurality of connecting rods 83 and a plurality of clamping claws 84; the utility model discloses a tree-falling device, including slip table board 45, the slip table board 45 is last to have offered tree hole 451, the funnel-shaped tree-falling guide barrel 81 fixed mounting is on the slip table board 45 upper bottom surface of tree hole 451 department, earthing driving gear 87 fixed cover dress is on the output shaft of earthing step motor 88, the fixed cover dress of earthing driven gear 86 with earthing driving gear 87 is on the earthing lead screw 85 of vertical setting, install earthing nut 89 on the earthing lead screw 85 screw thread, earthing nut 89 links firmly with the annular plate 82 of slip cap dress on tree-falling guide barrel 81 from top to bottom, annular plate 82 reciprocates along with earthing nut 89, a plurality of gripper claws 84 encircle tree-falling guide barrel 81 and set up, every gripper claw 84 upper end all articulates with tree-falling guide barrel 81 lower extreme, every gripper claw 84 surface middle part respectively articulates with a connecting rod 83 lower extreme, a plurality of connecting rod 83 upper ends all articulate with annular plate 82. The earthing screw rod 85 is rotatably mounted on the slide plate 45.

The earthing stepping motor 88 rotates through the earthing driven gear 86 that earthing driving gear 87 drove, and earthing driven gear 86 drives earthing lead screw 85 and rotates, and earthing screw 89 reciprocates along with earthing lead screw 85, and annular plate 82 reciprocates along with earthing screw 89 simultaneously, realizes the opening and closing function of gripper 84 through connecting rod 83. When the gripper jaw 84 is closed to a certain extent, the gripper jaw 84 starts to sink into the sand, and finally when the gripper jaw 84 is fully closed, the inner space of the gripper jaw 84 resembles a hole left in the middle of a round table for passing through the trunk.

The annular plate 82 has a diameter greater than the diameter of the circular shape formed by the clamping jaws 84. The connecting rod 83 can gradually approach the center of the tree falling guide barrel 81 from top to bottom, so that the clamping claws 84 can tighten inwards to clamp the tree seedlings when the annular plate 82 moves up and down along with the earthing nut 89. Can be released when moving upwards.

When the integrated machine reaches a specified position, the parking mechanism 1 mechanically fixes the vehicle at a predetermined position so that the vehicle is not moved, in addition to electric control and software control.

The mechanism has the following two functions:

(1) the main functions are as follows: preventing the tree planting vehicle from moving for the second time after stopping moving.

(2) When getting rid of poverty: the electric push rod of the rear wheel is matched, the vehicle body is fixed after the push rod makes the vehicle body move forwards, the whole vehicle moves forwards, and the escape is completed.

As shown in fig. 20 to 22, the parking mechanism 1 includes a rocker 11, an eccentric shaft 12, a disc 13, a connection base 15, a slide bar 16, a box 17, a parking driving motor 19, a connection plate 110 and two parking claws 14; the box 17 is fixedly connected with the front end of the upper plate module 6, the rocker 11 is arranged in the box 17, one end of the rocker 11 is hinged with the inner wall of the box 17, a strip opening 18 is formed in the middle of the rocker 11, the parking driving motor 19 arranged outside the box 17 drives the disc 13 arranged in the box 17 to rotate, the eccentric shaft 12 is arranged on the outer edge of the disc 13, the eccentric shaft 12 slides through the strip opening 18 of the rocker 11 and can drive the rocker 11 to rotate, the other end of the rocker 11 is hinged with one end of the connecting plate 110, the other end of the connecting plate 110 is hinged with the upper end of the sliding rod 16, the lower end of the sliding rod 16 penetrates out of the box 17 and is hinged with the connecting base 15, and the two parking claws 14 are respectively hinged with the left end and the right end of the connecting base 15.

The slide bar 16 is connected with the box 17 in a sliding way up and down by a guide rail.

Each of the parking claws 14 is constituted by two opposite claws folded in half by 90 °.

The parking mechanism 1 is designed with special-shaped claws inserted into sand to realize ground grabbing, and aluminum profiles and chromed steel pipes are adopted to ensure strength; the motion form simulates a shaper, and the rapid return motion characteristic of low-speed insertion and high-speed retraction is realized.

The parking driving motor 19 rotates to drive the disc 13 and the eccentric shaft 12 to rotate, the eccentric shaft 12 drives the other end of the rocker 11 to rotate and drives the slide bar 16 to move up and down, so that the parking claw 14 is inserted into the sand, and as the parking claw 14 is hinged with the connecting base 15, the hinge shaft is arranged along the front and rear direction, the slide bar 16 and the box 17 can incline synchronously.

The tree cylinder storing mechanism 2 adopts a wheel disc type storage Miao Fangshi,

(1) the seedling storage function is that the haloxylon ammodendron seedlings to be planted are in the tree storage barrel 21, so that direct sunlight is avoided, the protection performance is good, the haloxylon ammodendron seedlings are not easy to squeeze, and the survival rate of the seedlings is improved.

(2) Seedling dropping function: the wheel disk rotates during planting, and seedlings automatically fall into the soil covering mechanism 8, so that the efficiency is high and the speed is high.

As shown in fig. 23 to 26, the tree cylinder mechanism 2 includes a gear ring 23, a lower seat board 24, a tree storage stepping motor 27, an upper seat board 28, a tree storage gear 210 and a plurality of tree cylinders 21; the outer edge of the gear ring 23 is provided with seedling falling openings 29, the rest part of the upper surface of the gear ring 23 is uniformly distributed and surrounds a plurality of tree storage cylinders 21, the upper seat plate 28 is arranged in a circular space surrounded by the plurality of tree storage cylinders 21, the gear ring 23 is supported by a plurality of bull's eye bearings 25 arranged on the lower seat plate 24, the lower seat plate 24 is arranged on the upper plate module 6, the lower seat plate 24 is also provided with corresponding seedling falling openings 29, the seedling falling openings 29 of the lower seat plate 24 are oppositely arranged up and down with the tree falling guide barrels 81 of the soil covering mechanism 8, a tree storage gear 210 driven by the tree storage stepping motor 27 is rotatably arranged between the upper seat plate 28 and the lower seat plate 24, and the gear ring 23 is in meshed connection with the tree storage gear 210.

Wherein: the upper end of the tree storage cylinder 21 is fixed by an upper seat plate 22, a seedling falling gap 29 is arranged on the upper seat plate 22,

the tree storage barrel mechanism 2 is made of acrylic materials as a whole, the tree storage barrel mechanism 2 is powered by a tree storage stepping motor 27 and drives a plurality of tree storage barrels 21 to rotate on a lower seat board 24 through internal gear transmission, seedlings of the tree storage barrels 21 which are turned to a seedling falling opening 29 of the lower seat board 24 fall down, and the centering of a gear ring 23 is realized by matching with two idler pulleys 26 arranged between the lower seat board 24 and an upper seat board 28, so that electric control elements such as a single chip microcomputer and the like can be placed in a circular space surrounded by the tree storage barrels 21. For convenience of debugging and wiring, the tree cylinder 21 is designed to be of a vertically separated structure and can be removed from the lower seat plate 24.

Because the gear ring 23 and the lower seat plate 24 are in surface contact, acrylic is easy to wear, three bull-eye bearings 25 uniformly distributed on the circumference are selected as the supporting mode, the contact mode is changed into point contact, and the wear is greatly reduced.

After the haloxylon ammodendron tree is planted, the haloxylon ammodendron tree needs to be irrigated to improve the survival rate of the haloxylon ammodendron tree

As shown in fig. 27, the water tank mechanism 5 includes a water inlet tank 51, a water outlet tank 53, a hose 52, and a water pump 54; the water inlet tank 51 is communicated with the water outlet tank 53 through a hose 52, the water inlet of the water pump 54 is communicated with the water outlet tank 53, and the water outlet of the water pump 54 is externally connected with a water outlet pipe.

The function is as follows: (1) the water pump 54 pumps out water from the water outlet tank 53 and irrigates the roots of the haloxylon ammodendron through the water outlet pipe to improve survival rate of the haloxylon ammodendron.

(2) Because the water tanks are heavy, the water storage tanks are designed into two water storage tanks, namely a water inlet tank 51 and a water outlet tank 53, which are connected by a hose 52.

The power supply of the driving circuit of the all-in-one machine selects the lion brand 16000mAh 25C 14.8V polymer lithium battery, and the battery can provide energy required by long-time unmanned operation of the all-in-one machine and can meet the maximum current output requirement and the operation power requirement of the tree planting vehicle.

The power supply scheme of the solar panel and the photovoltaic voltage-stabilizing power supply controller is selected as the signal circuit power supply of the all-in-one machine, the power supply scheme can provide clean, stable and durable signal circuit power supply, and the normal operation of the signal circuit can be ensured on the premise that the electric quantity of a driving circuit is exhausted so as to send the position information of the tree planting vehicle, so that a user can find the tree planting vehicle and replace a battery for the tree planting vehicle.

It will be understood that the invention has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A full-automatic all-in-one machine for haloxylon ammodendron tree planting is characterized in that: comprising

The chassis module (7) is used for walking, steering and getting rid of the trouble of the whole machine; the chassis module (7) comprises a bottom plate (71), a traveling mechanism (72), a steering mechanism (73) and a shock absorbing mechanism (74) which are arranged on the bottom plate (71); the steering mechanism (73) adopts an Ackerman chassis structure and is arranged at the front end of the bottom plate (71), the travelling mechanism (72) comprises two front wheels and two rear wheels, the two front wheels are arranged on the steering mechanism (73) through double-fork-arm type independent suspension brackets of the shock absorbing mechanism (74), the two rear wheels are arranged at the rear end of the bottom plate (71) through longitudinal-arm type suspension brackets of the shock absorbing mechanism (74), and each longitudinal-arm type suspension bracket comprises a rear shock absorbing gas spring (741), a push rod (742), a suspension arm (744), a support arm (743) and a suspension rod (745); the front end of the suspension arm (744) is hinged on the rear end of the upper surface of the bottom plate (71), the suspension arm (744) is driven to rotate up and down by a rear shock-absorbing gas spring (741) arranged between the suspension arm (744) and the bottom plate (71), the rear end of the suspension arm (744) is coaxially hinged with the upper end of the support arm (743), the support arm (743) is driven to rotate around a hinge shaft at the rear end of the suspension arm (744) by a push rod (742) arranged between the suspension arm (744) and the support arm (743), the lower end of the support arm (743) is used for mounting a rear wheel,

the upper plate module (6) is arranged above the chassis module (7) and is used for installing the tree storage barrel mechanism (2), the water tank mechanism (5), the parking mechanism (1) and the pressing mechanism;

the sliding table module (4) is arranged between the chassis module (7) and the upper plate module (6), is used for installing the drill bit mechanism (3) and the earthing mechanism (8) on the sliding table module and can drive the drill bit mechanism (3) and the earthing mechanism (8) to move to switch positions,

the parking mechanism (1) is arranged at the front end of the upper plate module (6) and is used for preventing the integrated machine from moving for the second time and completing the escaping operation by being matched with the chassis module (7);

the drill bit mechanism (3) is arranged at the rear side of the earthing mechanism (8) and is used for drilling pits for sapling;

the tree storage barrel mechanism (2) is arranged at the rear side of the parking mechanism (1) and is used for storing saplings and sending single saplings into pits drilled by the drill bit mechanism (3);

the earthing mechanism (8) is arranged below the seedling falling gap (29) of the tree storage barrel mechanism (2) and is used for ensuring that seedlings falling from the tree storage barrel mechanism (2) can fall into pits drilled by the drill bit mechanism (3) and covering sand around the seedlings.

2. The full-automatic all-in-one machine for haloxylon ammodendron tree planting according to claim 1, wherein: the sliding table module (4) comprises a sliding table speed reducing motor (41), a sliding table synchronous belt transmission mechanism (42), a supporting vertical plate (43), a sliding table plate (45), two sliding rails (46) and a plurality of adapter pieces (44); the support riser (43) is fixed on one side about bottom plate (71) along fore-and-aft direction, slip table hold-in range drive mechanism (42) and slip table gear motor (41) are all installed on support riser (43), slip table board (45) are all installed on both sides terminal surface about, and one of them slide rail (46) is connected with the hold-in range of slip table hold-in range drive mechanism (42), and slip table gear motor (41) drive slide rail (46) and slip table board (45) back-and-forth movement through slip table hold-in range drive mechanism (42), slide rail (46) are through a plurality of adaptor (44) and upper plate module (6) sliding connection.

3. The full-automatic all-in-one machine for haloxylon ammodendron tree planting according to claim 2, wherein: the drill bit mechanism (3) comprises a drill bit motor (31), an earth drilling screw rod (33), a mounting seat (34), an earth drilling screw nut (35), a drill bit (36), an earth drilling driving motor (37) and a wire rail bracket (311); the vertical setting the soil lead screw (33) lower extreme is provided with drill bit (36), and drill bit motor (31) drive the drill bit through boring soil lead screw (33) rotatory, realize boring husky function, bore soil screw (35) screw thread suit on boring soil lead screw (33), bore soil driving motor (37) and drive through drive mechanism and bore soil screw (35) rotation, bore soil screw (35) and drive and bore soil lead screw (33) and reciprocate, realize the downfeed of drill bit (36), drill bit motor (31) are installed on boring soil lead screw (33) through line rail support (311) and are bored soil lead screw (33) and reciprocate in step, bore soil screw (35) and drive mechanism and install on mount pad (34), and line rail support (311) and mount pad (34) sliding connection from top to bottom, mount pad (34) and bore soil driving motor (37) and install on slip table board (45) of slip table module (4) to set up on slip table board (45) and bore hole with boring soil lead screw (311) and move down.

4. The full-automatic all-in-one machine for haloxylon ammodendron tree planting according to claim 2, wherein: the earthing mechanism (8) comprises a tree falling guide barrel (81), an annular plate (82), an earthing screw rod (85), an earthing driven gear (86), an earthing driving gear (87), an earthing stepping motor (88), a plurality of connecting rods (83) and a plurality of clamping claws (84); the utility model discloses a tree-falling device, including slip table board (45), slip table board (45) is last to have seted up tree-falling hole (451), on slip table board (45) of tree-falling hole (81) fixed mounting department, earthing driving gear (87) fixed suit is on the output shaft of earthing step motor (88), and earthing driven gear (86) meshing with earthing driving gear (87) is fixed the suit on earthing lead screw (85) of vertical setting, install earthing screw (89) on earthing lead screw (85) screw thread, annular plate (82) of earthing screw (89) and upper and lower slip suit on tree-falling guide barrel (81) link firmly, annular plate (82) reciprocate along with earthing screw (89), a plurality of gripper jaws (84) encircle tree-falling guide barrel (81) and set up, and every gripper jaw (84) upper end all articulates with tree-falling guide barrel (81) lower extreme, every gripper jaw (84) surface middle part respectively with one connecting rod (83) lower extreme, a plurality of articulated connecting rods (83) all link with annular plate (82).

5. The full-automatic all-in-one machine for haloxylon ammodendron tree planting according to claim 1, wherein: the parking mechanism (1) comprises a rocker (11), an eccentric shaft (12), a disc (13), a connecting base (15), a sliding rod (16), a box body (17), a parking driving motor (19), a connecting plate (110) and two parking claws (14); the parking drive motor (19) arranged on the outer side of the box body (17) drives the disc (13) arranged in the box body (17) to rotate, the eccentric shaft (12) is arranged on the outer edge of the disc (13), the eccentric shaft (12) slides through the strip opening (18) of the rocker (11) to drive the rocker (11) to rotate, the other end of the rocker (11) is hinged with one end of the connecting plate (110), the other end of the connecting plate (110) is hinged with the upper end of the sliding rod (16), the lower end of the sliding rod (16) penetrates out of the box body (17) to be hinged with the connecting base (15), and the two claws (14) are hinged with the left end and the right end of the connecting base (15) respectively.

6. The full-automatic all-in-one machine for haloxylon ammodendron tree planting as set forth in claim 5, wherein: each parking claw (14) is composed of two opposite claws folded into 90 degrees.

7. The full-automatic all-in-one machine for haloxylon ammodendron tree planting as set forth in claim 4, wherein: the tree storage barrel mechanism (2) comprises a gear ring (23), a lower seat board (24), a tree storage stepping motor (27), an upper seat board (28), a tree storage gear (210) and a plurality of tree storage barrels (21); the seedling falling opening (29) is formed in the outer edge of the gear ring (23), a plurality of tree storage barrels (21) are uniformly distributed and circumferentially arranged on the upper surface of the gear ring (23), an upper seat plate (28) is arranged in a circular space surrounded by the plurality of tree storage barrels (21), the gear ring (23) is supported by a plurality of bull eye bearings (25) arranged on a lower seat plate (24), the lower seat plate (24) is arranged on an upper plate module (6), the lower seat plate (24) is also provided with the corresponding seedling falling opening (29), the seedling falling opening (29) of the lower seat plate (24) and a tree falling guide barrel (81) of a soil covering mechanism (8) are oppositely arranged up and down, a tree storage gear (210) driven by a tree storage stepping motor (27) is rotatably arranged between the upper seat plate (28) and the lower seat plate (24), and the gear (23) is in meshed connection with the tree storage gear (210).

8. The full-automatic all-in-one machine for haloxylon ammodendron tree planting according to claim 1, wherein: the water tank mechanism (5) comprises a water inlet tank (51), a water outlet tank (53), a hose (52) and a water pump (54); the water inlet tank (51) is communicated with the water outlet tank (53) through a hose (52), a water inlet of the water pump (54) is communicated with the water outlet tank (53), and a water outlet pipe is externally connected to a water outlet of the water pump (54).