CN111758525A

CN111758525A - A manipulator for carrying sapling and watering

Info

Publication number: CN111758525A
Application number: CN202010784505.7A
Authority: CN
Inventors: 谭幸福
Original assignee: Hangzhou Fuyang Xuanxing Intelligent Technology Co ltd
Current assignee: Hangzhou Fuyang Xuanxing Intelligent Technology Co ltd
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2020-10-13

Abstract

The invention discloses a manipulator for carrying and irrigating saplings, which comprises an equipment box body, wherein a conveying cavity is fixedly connected to the left end wall of the equipment box body, a conveying device is arranged in the conveying cavity and used for conveying saplings, a third transmission cavity is fixedly connected to the right end wall of the equipment box body, a turntable device used for driving the manipulator is arranged in the third transmission cavity, a mechanical arm box is arranged in the turntable device, a hydraulic box is rotatably connected to the left end wall of the mechanical arm box, a clamping device used for clamping saplings is arranged in the hydraulic box, an irrigation box is fixedly connected to the right end wall of the mechanical arm box, and an irrigation device used for irrigating saplings is arranged in the irrigation box.

Description

A manipulator for carrying sapling and watering

Technical Field

The invention relates to the field of manipulator equipment, in particular to a manipulator for carrying saplings and irrigating.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. When common saplings are planted, the saplings need to be transported from one place to another place, manual transportation is mostly adopted, the working efficiency is low, meanwhile, time is consumed, the transportation time process is easy to cause, the saplings are dry, the productivity of the saplings is affected, the saplings need to be irrigated subsequently, time is consumed, and the efficiency is low.

Disclosure of Invention

The technical problem is as follows: most adopt be artifical transport, work efficiency is lower, and is more time consuming simultaneously, in handling, leads to the transport time process easily, and the sapling is withered, influences the productivity ratio of sapling, still need water the sapling in follow-up, can spend time, and efficiency is lower.

In order to solve the problems, the present embodiment designs a manipulator for carrying saplings and irrigating, the manipulator for carrying saplings and irrigating of the present embodiment comprises an equipment box body, a transport cavity is fixedly connected to the left end wall of the equipment box body, a conveying device is arranged in the transport cavity and used for conveying saplings, the conveying device comprises a first transmission shaft which is rotatably connected to the rear end face of the transport cavity and extends forwards, an auxiliary transmission wheel is fixedly connected to the first transmission shaft, a second transmission shaft which extends forwards is rotatably connected to the rear end face of the transport cavity and is fixedly connected to the second transmission shaft, a transmission belt is rotatably connected between the transmission wheel and the auxiliary transmission wheel, a transmission table is fixedly connected to the right end face of the transport cavity and is positioned on the right side of the transmission wheel, a grooved pulley is fixedly connected to the second transmission shaft, a fourth transmission cavity is fixedly connected to the front end wall of the equipment box body, a fourth transmission shaft extending backwards is rotatably connected to the front end face of the fourth transmission cavity, a drive plate is fixedly connected to the rear end face of the fourth transmission shaft, a round pin is rotatably connected to the rear end face of the drive plate and meshed with the sheave, a second secondary pulley is fixedly connected to the fourth transmission shaft, a second gear shaft extending backwards is rotatably connected to the front end face of the fourth transmission cavity, a second pulley is fixedly connected to the second gear shaft, a second V-belt is rotatably connected between the second pulley and the second secondary pulley, a second secondary bevel gear is fixedly connected to the second gear shaft, a fixing frame is fixedly connected to the rear end face of the second secondary bevel gear, a third gear shaft extending rightwards is rotatably connected to the left end wall of the fixing frame, and a third secondary bevel gear is fixedly connected to the right end face of the third gear shaft, a second bevel gear is fixedly connected with the end face at the rear side of the second gear shaft, the second bevel gear is in meshed connection with the third bevel gear, a third transmission cavity is fixedly connected with the right end wall of the equipment box body, a turntable device for driving the manipulator is arranged in the third transmission cavity, a first bevel gear is arranged in the rotary table device and is in meshed connection with the second auxiliary bevel gear, the rotary table device can transmit power to the conveying device through the meshing connection of the first bevel gear and the second bevel gear, a mechanical arm box is arranged in the turntable device, the end wall of the left side of the mechanical arm box is rotationally connected with a hydraulic box, the device is got to the clamp that is equipped with in the hydraulic pressure incasement and is used for pressing from both sides to get the sapling, arm case right side end wall fixedly connected with watering case, the watering incasement is equipped with the watering device who is used for the sapling watering.

Preferably, the turntable device comprises a third transmission cavity fixedly connected to the right end wall of the equipment box body, a second motor base is fixedly connected to the right end face of the third transmission cavity, a second motor shaft extending leftwards is rotatably connected to the left end face of the second motor base, the second motor shaft is in power connection with a second motor fixedly connected to the second motor base, the first bevel gear is fixedly connected to the left end face of the second motor shaft, a first gear shaft extending through the third transmission cavity is rotatably connected to the upper end face of the third transmission cavity, a first secondary bevel gear is fixedly connected to the lower end face of the first gear shaft, the first secondary bevel gear is in meshing connection with the first bevel gear, a fixed table is fixedly connected to the upper end face of the first gear shaft, a pressure plate is fixedly connected to the left end face of the fixed table, and a first spring cavity is fixedly connected to the right end wall of the equipment box body, a first extrusion block is arranged in the first spring cavity, a tensioning rope is fixedly connected to the left end face of the first extrusion block, a first spring is fixedly connected between the left end face of the first extrusion block and the left end face of the first spring cavity, two fixing frames are fixedly connected to the rear end face of the fourth transmission cavity, a friction block is fixedly connected to the right end face of each fixing frame, a second spring cavity is arranged in each fixing frame, a second extrusion block is arranged in each second spring cavity, the tensioning rope is fixedly connected to the right end face of the second extrusion block, a second spring is fixedly connected between the right end face of the second extrusion block and the right end face of the second spring cavity, the friction block is fixedly connected to the left end face of the second extrusion block, a base is fixedly connected to the upper end face of the fixing table, a second transmission cavity is arranged in the base, and a first motor base is fixedly connected to the right end face of the second transmission cavity, first motor cabinet left side terminal surface rotates and is connected with the first motor shaft that extends left, first motor shaft power connection has fixed connection to be in first motor in the first motor cabinet, the first pulley of fixedly connected with on the first motor shaft, base left side terminal surface rotates and is connected with the arm case, the arm incasement is equipped with first transmission chamber, first transmission chamber left side terminal surface rotates and is connected with the third transmission shaft that runs through the extension, the first subband wheel of fixedly connected with on the third transmission shaft, first subband wheel with rotate between the first pulley and be connected with first V area.

Preferably, the clamping device comprises a hydraulic box fixedly connected to the end wall of the left side of the mechanical arm box, a hydraulic cavity is arranged in the hydraulic box, a hydraulic cylinder is fixedly connected to the end face of the upper side of the hydraulic cavity, a hydraulic rod is slidably connected to the end face of the lower side of the hydraulic cylinder, a fixing block is fixedly connected to the hydraulic rod, a fixing rod is rotatably connected to the left side of the fixing block, a pin is rotatably connected between the fixing rod and the fixing block, a gripper is fixedly connected to the fixing rod, the gripper is rotatably connected to the fixing rod, a third spring is fixedly connected to the end face of the right side of the gripper and the end face of the left side of the hydraulic cylinder, and the third spring is fixedly connected.

Preferably, the irrigation device comprises the irrigation box fixedly connected to the right end wall of the mechanical arm box, an irrigation cavity is arranged in the irrigation box, a stop block is fixedly connected to the lower end face of the irrigation cavity, a second bevel gear is arranged in the stop block, a third bevel gear is slidably connected to the second bevel gear, a piston rod is fixedly connected to the upper end face of the third bevel gear, a fixing plate is fixedly connected to the piston rod, a fourth spring is fixedly connected between the lower end face of the fixing plate and the upper end wall of the stop block, a fifth transmission shaft is rotatably connected to the piston rod, a sliding wheel is fixedly connected to the fifth transmission shaft, a cam is fixedly connected to the right end face of the third transmission shaft, a water inlet pipe is fixedly connected to the left end face of the second bevel gear, a first overflow valve is fixedly connected to the water inlet pipe, the water inlet pipe is fixedly connected in the water tank, a water outlet pipe is fixedly connected to the right end face of the second bevel gear, a second overflow valve is fixedly connected to the water outlet pipe, the water outlet pipe is fixedly connected to the fixing block, a nozzle is fixedly connected to the lower end face of the water outlet pipe, a front wheel shaft is rotatably connected to the lower end wall of the equipment box body, a front wheel is fixedly connected to the front wheel shaft, a rear wheel shaft is rotatably connected to the lower end wall of the equipment box body, the rear wheel shaft is located on the right side of the front wheel shaft, and a rear wheel is fixedly.

The invention has the beneficial effects that: the manipulator for carrying and irrigating saplings can automatically carry and irrigate saplings, the base of the manipulator is driven to rotate through the rotation of the motor, the sheave mechanism is driven to drive the conveying belt to move intermittently for clamping and carrying by the manipulator, the conveying belt is controlled to move by utilizing the principle of a differential mechanism, the hydraulic cylinder is used for driving the mechanical claw to open and close to grab the saplings, the mechanical arm is driven to stretch by the second motor to control the carrying distance, the reciprocating motion of the piston is realized by utilizing the cam structure during driving, water is automatically pumped from the water tank, and irrigation is carried out through the nozzles above the mechanical claw, so that the manipulator is more automatic in use and higher in use efficiency.

Drawings

For ease of illustration, the invention is described in detail by the following specific examples and figures.

FIG. 1 is a schematic view of the entire structure of a manipulator for carrying seedlings and watering in accordance with the present invention;

FIG. 2 is a schematic view of the structure in the direction "A-A" of FIG. 1;

FIG. 3 is a schematic view of the structure in the direction "B-B" of FIG. 1;

FIG. 4 is a schematic view of the structure in the direction "C-C" of FIG. 3;

FIG. 5 is an enlarged view of the structure at "D" of FIG. 1;

fig. 6 is an enlarged schematic view of the structure at "E" of fig. 1.

Detailed Description

The invention will now be described in detail with reference to fig. 1 to 6, for the sake of convenience of description, the following orientations are now defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to a manipulator for carrying saplings and irrigating, which is mainly used for transporting saplings and irrigating, and is further explained by combining the attached drawings of the invention as follows:

the invention relates to a manipulator for carrying saplings and irrigating, which comprises an equipment box body 11, wherein a conveying cavity 20 is fixedly connected to the left end wall of the equipment box body 11, a conveying device 101 is arranged in the conveying cavity 20, the conveying device 101 is used for conveying saplings, the conveying device 101 comprises a first transmission shaft 15 which is rotatably connected to the rear end face of the conveying cavity 20 and extends forwards, an auxiliary transmission wheel 16 is fixedly connected to the first transmission shaft 15, a second transmission shaft 19 which extends forwards is rotatably connected to the rear end face of the conveying cavity 20, a transmission wheel 18 is fixedly connected to the second transmission shaft 19, a transmission belt 17 is rotatably connected between the transmission wheel 18 and the auxiliary transmission wheel 16, a transmission table 21 is fixedly connected to the right end face of the conveying cavity 20, the transmission table 21 is positioned on the right side of the transmission wheel 18, a grooved pulley 68 is fixedly connected to the second transmission shaft 19, a fourth transmission cavity 67 is fixedly connected to a front end wall of the apparatus box 11, a fourth transmission shaft 72 extending backward is rotatably connected to a front end face of the fourth transmission cavity 67, a dial 70 is fixedly connected to a rear end face of the fourth transmission shaft 72, a round pin 69 is rotatably connected to a rear end face of the dial 70, the round pin 69 is engaged with the grooved wheel 68, a second secondary pulley 71 is fixedly connected to the fourth transmission shaft 72, a second gear shaft 48 extending backward is rotatably connected to a front end face of the fourth transmission cavity 67, a second pulley 76 is fixedly connected to the second gear shaft 48, a second V-belt 73 is rotatably connected between the second pulley 76 and the second secondary pulley 71, a second secondary bevel gear 47 is fixedly connected to the second gear shaft 48, a fixing frame 77 is fixedly connected to a rear end face of the second secondary bevel gear 47, and a third gear shaft 91 extending rightward is rotatably connected to a left end wall of the fixing frame 77, a third bevel gear 83 is fixedly connected to the right end face of the third gear shaft 91, a second bevel gear 82 is fixedly connected to the rear end face of the second gear shaft 48, the second bevel gear 82 is meshed with the third bevel gear 83, a third transmission chamber 53 is fixedly connected to the right end wall of the equipment box 11, a turntable device 102 for driving a manipulator is arranged in the third transmission chamber 53, a first bevel gear 49 is arranged in the turntable device 102, the first bevel gear 49 is meshed with a second bevel gear 47, the turntable device 102 can transmit power to the conveying device 101 through the meshing connection of the first bevel gear 49 and the second bevel gear 47, a manipulator box 27 is arranged in the turntable device 102, a hydraulic box 25 is rotatably connected to the left end wall of the manipulator box 27, and a clamping device 103 for clamping a seedling is arranged in the hydraulic box 25, the right end wall of the mechanical arm box 27 is fixedly connected with a watering box 32, and a watering device 104 for watering the saplings is arranged in the watering box 32.

Advantageously, the turntable device 102 comprises the third transmission chamber 53 fixedly connected to the right end wall of the equipment cabinet 11, a second motor base 52 is fixedly connected to the right end surface of the third transmission chamber 53, a second motor shaft 50 extending leftward is rotatably connected to the left end surface of the second motor base 52, the second motor shaft 50 is in power connection with a second motor 51 fixedly connected to the second motor base 52, the first bevel gear 49 is fixedly connected to the left end surface of the second motor shaft 50, a first gear shaft 45 extending through the third transmission chamber 53 is rotatably connected to the upper end surface of the third transmission chamber 53, a first secondary bevel gear 46 is fixedly connected to the lower end surface of the first gear shaft 45, the first secondary bevel gear 46 is in meshing connection with the first bevel gear 49, a fixed platform 44 is fixedly connected to the upper end surface of the first gear shaft 45, and a pressure plate 43 is fixedly connected to the left end surface of the fixed platform 44, a first spring cavity 39 is fixedly connected to the right end wall of the equipment box 11, a first extrusion block 42 is arranged in the first spring cavity 39, a tensioning rope 41 is fixedly connected to the left end surface of the first extrusion block 42, a first spring 40 is fixedly connected between the left end surface of the first extrusion block 42 and the left end surface of the first spring cavity 39, two fixing frames 74 are fixedly connected to the rear end surface of the fourth transmission cavity 67, a friction block 75 is fixedly connected to the right end surface of each fixing frame 74, a second spring cavity 80 is arranged in each fixing frame 74, a second extrusion block 78 is arranged in each second spring cavity 80, the tensioning rope 41 is fixedly connected to the right end surface of each second extrusion block 78, a second spring 79 is fixedly connected between the right end surface of each second extrusion block 78 and the right end surface of each second spring cavity 80, and the friction block 75 is fixedly connected to the left end surface of each second extrusion block 78, the upper end surface of the fixed table 44 is fixedly connected with a base 33, a second transmission cavity 34 is arranged in the base 33, a first motor base 35 is fixedly connected to the right end face of the second transmission cavity 34, a first motor shaft 37 extending leftwards is rotatably connected to the left end face of the first motor base 35, the first motor shaft 37 is in power connection with a first motor 36 fixedly connected in the first motor base 35, a first belt pulley 38 is fixedly connected on the first motor shaft 37, the mechanical arm box 27 is rotatably connected on the left end surface of the base 33, a first transmission cavity 30 is arranged in the mechanical arm box 27, a third transmission shaft 26 which penetrates and extends is rotatably connected with the left end surface of the first transmission cavity 30, a first secondary pulley 28 is fixedly connected to the third transmission shaft 26, and a first V-belt 29 is rotatably connected between the first secondary pulley 28 and the first pulley 38.

Advantageously, the gripping device 103 includes the hydraulic tank 25 fixedly connected to the left end wall of the robot arm box 27, a hydraulic chamber 23 is disposed in the hydraulic tank 25, a hydraulic cylinder 24 is fixedly connected to the upper end surface of the hydraulic chamber 23, a hydraulic rod 22 is slidably connected to the lower end surface of the hydraulic cylinder 24, a fixed block 60 is fixedly connected to the hydraulic rod 22, a fixed rod 62 is rotatably connected to the left side of the fixed block 60, a pin 61 is rotatably connected between the fixed rod 62 and the fixed block 60, a gripper 58 is fixedly connected to the fixed rod 62, the pin 61 is rotatably connected between the gripper 58 and the fixed rod 62, a third spring 63 is fixedly connected between the right end surface of the gripper 58 and the left end surface of the hydraulic cylinder 24, and three third springs 63 are fixedly connected to the hydraulic cylinder 24.

Advantageously, the pouring device 104 comprises the pouring box 32 fixedly connected to the right end wall of the robot arm box 27, the pouring box 32 is provided with a pouring cavity 31 therein, the lower end surface of the pouring cavity 31 is fixedly connected with a stopper 81, the stopper 81 is provided with a second bevel gear 82 therein, the second bevel gear 82 is slidably connected with a third bevel gear 83, the upper end surface of the third bevel gear 83 is fixedly connected with a piston rod 84, the piston rod 84 is fixedly connected with a fixing plate 86, a fourth spring 85 is fixedly connected between the lower end surface of the fixing plate 86 and the upper end wall of the stopper 81, the piston rod 84 is rotatably connected with a fifth transmission shaft 87, the fifth transmission shaft 87 is fixedly connected with a sliding wheel 88, the right end surface of the third transmission shaft 26 is fixedly connected with a cam 89, and the left end surface of the second bevel gear 82 is, the water pump is characterized in that a first overflow valve 56 is fixedly connected to the water inlet pipe 57, a water tank 12 is fixedly connected to the lower side end wall of the equipment box body 11, the water inlet pipe 57 is fixedly connected to the inside of the water tank 12, a water outlet pipe 66 is fixedly connected to the right side end surface of the second bevel gear 82, a second overflow valve 90 is fixedly connected to the water outlet pipe 66, the water outlet pipe 66 is fixedly connected to the fixing block 60, a nozzle 59 is fixedly connected to the lower side end surface of the water outlet pipe 66, the lower side end wall of the equipment box body 11 is rotatably connected to a front wheel shaft 14, a front wheel 13 is fixedly connected to the front wheel shaft 14, a rear wheel shaft 54 is rotatably connected to the lower side end wall of the equipment box body 11.

The following detailed description of the operation of a manipulator for transporting and watering seedlings is provided in conjunction with fig. 1 to 6: initially, the first spring 40 is in a compressed state, the tensioning rope 41 is in a tensioned state, the second spring 79 is in a stretched state, the third spring 63 is in a normal state, the fourth spring 85 is in a stretched state, the pressing plate 43 presses the first pressing block 42, and the friction block 75 clamps the second gear shaft 48.

Starting to work, starting the second motor 51, the second motor 51 driving the second motor shaft 50 to rotate, the second motor shaft 50 driving the first bevel gear 49 to rotate, the first bevel gear 49 meshing with the first bevel gear 46 to drive the first bevel gear 46 to rotate, the first bevel gear 46 driving the first gear shaft 45 to rotate, the first gear shaft 45 driving the fixed table 44 to rotate, the fixed table 44 driving the base 33 to rotate, the base 33 driving the clamping device 103 to rotate, the fixed table 44 driving the pressure plate 43 to rotate, when the clamping device 103 rotates above the conveying device 101, the pressure plate 43 rotates away from the first squeezing block 42, the first squeezing block 42 moves to the right to be in a non-squeezing state, and the first spring 40 changes to a stretching state, the tension rope 41 is changed to be in a tensioned state, the second spring 79 is changed to be in a compressed state, the second pressing block 78 moves to the right, the second pressing block 78 drives the friction block 75 to move to the right, the friction block 75 releases the second gear shaft 48, simultaneously, the first bevel gear 49 drives the second bevel gear 47 to rotate, the second bevel gear 47 drives the second gear shaft 48 to rotate, the second gear shaft 48 drives the second pulley 76 to rotate, the second pulley 76 drives the second pulley 71 to rotate through the rotary connection of the second V-belt 73, the second pulley 71 drives the fourth transmission shaft 72 to rotate, the fourth transmission shaft 72 drives the dial 70 to rotate, the dial 70 drives the grooved wheel 68 to rotate through the round pin 69, the grooved wheel 68 drives the second transmission shaft 19 to rotate, and the second transmission shaft 19 drives the transmission wheel 18 to rotate, the conveying wheel 18 is connected through the conveying belt 17 in a rotating mode to drive the auxiliary conveying wheel 16 to rotate, the conveying belt 17 starts to convey the saplings, and the saplings are conveyed to the upper side of the conveying table 21.

After the saplings are transported to the conveying table 21, the first motor 36 is started, the first motor 36 drives the first motor shaft 37 to rotate, the first motor shaft 37 drives the first belt pulley 38 to rotate, the first belt pulley 38 drives the first secondary belt pulley 28 to rotate through the rotational connection of the first V-belt 29, the first secondary belt pulley 28 drives the third transmission shaft 26 to rotate, the third transmission shaft 26 drives the hydraulic tank 25 to rotate, the adjustment of the mechanical arm is performed, the mechanical arm is moved to the position above the conveying table 21, the hydraulic cylinder 24 is started, the hydraulic cylinder 24 drives the hydraulic rod 22 to move downwards, the hydraulic rod 22 drives the fixed block 60 to move downwards, the fixed block 60 drives the fixed rod 62 to move upwards through the pin 61, and the fixed rod 62 drives the mechanical claw 58 to move outwards through the pin 61, the third spring 63 is in a compressed state, the manipulator is opened, the hydraulic rod 22 moves downwards to move the manipulator to the position of the sapling, the hydraulic cylinder 24 drives the hydraulic rod 22 to move upwards, the hydraulic rod 22 drives the fixing block 60 to move upwards, the fixing block 60 drives the fixing rod 62 to move downwards, the fixing rod 62 drives the mechanical claw 58 to move inwards, the manipulator clamps the sapling, and the sapling can be carried.

When the manipulator grabs and carries the tree seedling, the third transmission shaft 26 drives the cam 89 to rotate, the cam 89 is in contact and meshed with the sliding wheel 88 to drive the sliding wheel 88 to move, the sliding wheel 88 drives the piston rod 84 to move, the piston rod 84 drives the fixed plate 86 to move, the piston rod 84 drives the third bevel pinion 83 to move, when the third bevel pinion 83 moves downwards, the fixed plate 86 extrudes the fourth spring 85, the fourth spring 85 becomes a compressed state, the second overflow valve 90 is opened, the first overflow valve 56 is closed, water is conveyed from the second bevel pinion 82 to the nozzle 59 through the water outlet pipe 66, the nozzle 59 irrigates the grabbed tree seedling, and when the third bevel pinion 83 moves upwards, the fourth spring 85 becomes a stretched state, the piston rod 84 is moved upwards, the second overflow valve 90 is closed, the first overflow valve 56 is opened, and water is delivered from the water tank 12 to the second bevel gear 82 through the water inlet pipe 57 for replenishment.

After the clamping is completed, the fixed table 44 rotates to drive the pressure plate 43 to rotate, the pressure plate 43 extrudes the first extrusion block 42, the tensioning rope 41 returns to the tension state, the first spring 40 returns to the compression state, the second spring 79 returns to the tension state, the second extrusion block 78 moves leftwards, the friction block 75 re-tightens the second gear shaft 48, the second gear shaft 48 stops rotating, the first bevel gear 49 continues to drive the second bevel gear 47 to rotate, the second bevel gear 47 drives the fixed frame 77 to rotate, the third bevel gear 83 is engaged with the second bevel gear 82, the second bevel gear 82 stops rotating, and the fixed frame 77 drives the third bevel gear 83 to rotate.

In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.

Claims

1. A manipulator for carrying sapling and watering, includes the equipment box, its characterized in that: the equipment box body is characterized in that a transportation cavity is fixedly connected to the end wall of the left side of the equipment box body, a conveying device is arranged in the transportation cavity and used for conveying saplings, the conveying device comprises a first transmission shaft which is rotatably connected to the end face of the rear side of the transportation cavity and extends forwards, an auxiliary transmission wheel is fixedly connected to the first transmission shaft, a second transmission shaft which extends forwards is rotatably connected to the end face of the rear side of the transportation cavity, a transmission wheel is fixedly connected to the second transmission shaft, a transmission belt is rotatably connected between the transmission wheel and the auxiliary transmission wheel, a transmission table is fixedly connected to the end face of the right side of the transportation cavity and positioned on the right side of the transmission wheel, a grooved wheel is fixedly connected to the second transmission shaft, a fourth transmission cavity is fixedly connected to the end wall of the front side of the equipment box body, and a fourth transmission shaft which extends backwards is rotatably connected, a driving plate is fixedly connected to the end face of the rear side of the fourth transmission shaft, a round pin is rotatably connected to the end face of the rear side of the driving plate, the round pin is engaged with the grooved pulley, a second auxiliary pulley is fixedly connected to the fourth transmission shaft, a second gear shaft extending backwards is rotatably connected to the end face of the front side of the fourth transmission cavity, a second pulley is fixedly connected to the second gear shaft, a second V-belt is rotatably connected between the second pulley and the second auxiliary pulley, a second auxiliary bevel gear is fixedly connected to the second gear shaft, a fixing frame is fixedly connected to the end face of the rear side of the second auxiliary bevel gear, a third gear shaft extending rightwards is rotatably connected to the end face of the left side of the fixing frame, a third auxiliary bevel gear is fixedly connected to the end face of the right side of the third gear shaft, a second bevel gear is fixedly connected to the end face of the rear side of the second, the utility model discloses a sapling irrigation device, including equipment box, third transmission chamber, first bevel gear, the vice bevel gear meshing of second is connected, revolving stage device accessible first bevel gear with the vice bevel gear meshing of second is connected power transmission and is given for conveyor, be equipped with the arm case in the revolving stage device, arm case left side end wall rotates and is connected with the hydraulic tank, the hydraulic tank is equipped with the clamp that is used for pressing from both sides to get the sapling and gets the device, arm case right side end wall fixedly connected with watering case, the watering incasement is equipped with the watering device who is used for the sapling watering.

2. A manipulator for handling saplings and watering them according to claim 1 in which: the turntable device comprises a third transmission cavity fixedly connected to the right end wall of the equipment box body, the right end face of the third transmission cavity is fixedly connected with a second motor base, the left end face of the second motor base is rotatably connected with a second motor shaft extending leftwards, the second motor shaft is in power connection with a second motor fixedly connected in the second motor base, the left end face of the second motor shaft is fixedly connected with a first bevel gear, the upper end face of the third transmission cavity is rotatably connected with a first gear shaft extending through, the lower end face of the first gear shaft is fixedly connected with a first secondary bevel gear, the first secondary bevel gear is meshed with the first bevel gear, the upper end face of the first gear shaft is fixedly connected with a fixed table, the left end face of the fixed table is fixedly connected with a pressure plate, and the right end wall of the equipment box body is fixedly connected with a first spring cavity, a first extrusion block is arranged in the first spring cavity, a tensioning rope is fixedly connected to the left end face of the first extrusion block, a first spring is fixedly connected between the left end face of the first extrusion block and the left end face of the first spring cavity, two fixing frames are fixedly connected to the rear end face of the fourth transmission cavity, a friction block is fixedly connected to the right end face of each fixing frame, a second spring cavity is arranged in each fixing frame, a second extrusion block is arranged in each second spring cavity, the tensioning rope is fixedly connected to the right end face of the second extrusion block, a second spring is fixedly connected between the right end face of the second extrusion block and the right end face of the second spring cavity, the friction block is fixedly connected to the left end face of the second extrusion block, a base is fixedly connected to the upper end face of the fixing table, a second transmission cavity is arranged in the base, and a first motor base is fixedly connected to the right end face of the second transmission cavity, first motor cabinet left side terminal surface rotates and is connected with the first motor shaft that extends left, first motor shaft power connection has fixed connection to be in first motor in the first motor cabinet, the first pulley of fixedly connected with on the first motor shaft, base left side terminal surface rotates and is connected with the arm case, the arm incasement is equipped with first transmission chamber, first transmission chamber left side terminal surface rotates and is connected with the third transmission shaft that runs through the extension, the first subband wheel of fixedly connected with on the third transmission shaft, first subband wheel with rotate between the first pulley and be connected with first V area.

3. A manipulator for handling saplings and watering them according to claim 1 in which: the institute the clamp is got the device and is included fixed connection the arm case left side end wall on the hydraulic pressure case, be equipped with the hydraulic pressure chamber in the hydraulic pressure case, side end face fixedly connected with pneumatic cylinder on the hydraulic pressure chamber, pneumatic cylinder downside end face sliding connection has the hydraulic stem, fixedly connected with fixed block on the hydraulic stem, the fixed block left side is rotated and is connected with the dead lever, the dead lever with rotate between the fixed block and be connected with the round pin, fixedly connected with gripper on the dead lever, gripper with rotate between the dead lever and be connected with the round pin, gripper right side end face with fixedly connected with third spring between the pneumatic cylinder left side end face, fixedly connected with is three on the pneumatic cylinder the third spring.

4. A manipulator for handling saplings and watering them according to claim 1 in which: the irrigation device comprises an irrigation box fixedly connected to the right end wall of the mechanical arm box, an irrigation cavity is arranged in the irrigation box, a stop block is fixedly connected to the lower end face of the irrigation cavity, a second bevel gear is arranged in the stop block, a third bevel gear is slidably connected in the second bevel gear, a piston rod is fixedly connected to the upper end face of the third bevel gear, a fixing plate is fixedly connected to the piston rod, a fourth spring is fixedly connected between the lower end face of the fixing plate and the upper end wall of the stop block, a fifth transmission shaft is rotatably connected to the piston rod, a sliding wheel is fixedly connected to the fifth transmission shaft, a cam is fixedly connected to the right end face of the third transmission shaft, a water inlet pipe is fixedly connected to the left end face of the second bevel gear, a first overflow valve is fixedly connected to the water inlet, the water inlet pipe is fixedly connected in the water tank, a water outlet pipe is fixedly connected to the right end face of the second bevel gear, a second overflow valve is fixedly connected to the water outlet pipe, the water outlet pipe is fixedly connected to the fixing block, a nozzle is fixedly connected to the lower end face of the water outlet pipe, a front wheel shaft is rotatably connected to the lower end wall of the equipment box body, a front wheel is fixedly connected to the front wheel shaft, a rear wheel shaft is rotatably connected to the lower end wall of the equipment box body, the rear wheel shaft is located on the right side of the front wheel shaft, and a rear wheel is fixedly.