CN112243655B - Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof - Google Patents
Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof Download PDFInfo
- Publication number
- CN112243655B CN112243655B CN202011133167.7A CN202011133167A CN112243655B CN 112243655 B CN112243655 B CN 112243655B CN 202011133167 A CN202011133167 A CN 202011133167A CN 112243655 B CN112243655 B CN 112243655B
- Authority
- CN
- China
- Prior art keywords
- transplanting
- cylinder
- conveying belt
- seedling
- movable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The invention discloses unmanned automatic transplanting equipment for greening ecological restoration slope and a transplanting method thereof, wherein the unmanned automatic transplanting equipment comprises seedling pots and moving trolleys, the two moving trolleys are connected with a moving chassis through a steel wire rope in a traction manner, a through transplanting area is formed on the moving chassis, and a conveying device for conveying the seedling pots in batches is installed on the moving chassis positioned on one side of the transplanting area; a vertical frame is fixedly connected to the moving chassis on the other side of the transplanting area, a rodless cylinder stretching over the transplanting area is fixedly arranged on the vertical frame, and a placement device extending towards the direction of the transplanting area is fixedly mounted on a cylinder slide block of the rodless cylinder; the cylinder slide block is also fixedly provided with a punching device extending towards the direction of the transplanting area, and the bottom of the movable chassis is provided with a soil covering device extending towards the direction of the transplanting area. This equipment can remove on the slope, accomplishes the holing automatically, transplants seedling raising alms bowl and earthing work, practices thrift the labour and improves work efficiency.
Description
Technical Field
The invention relates to the technical field of ecological restoration, in particular to unmanned automatic transplanting equipment for slope greening of ecological restoration and a transplanting method thereof.
Background
In the engineering construction of highways, railways, hydraulic engineering, mine restoration and the like, a large number of steep side slopes are often left, which is a difficult point for slope protection greening. For the treatment of steep soil slope, the conventional method uses two kinds of slope protection of grout rubble and shotcrete, and both methods have higher slope protection intensity, but these two kinds of methods cost is very high, all belong to rigid structure, and tiny geological motion can all cause the destruction to the bank protection of large tracts of land, and the landscape effect is poor, does not accord with green's requirement. Another greening method is to adopt a method of spraying grass seeds in foreign soil for greening, thereby achieving the greening effect. However, in arid regions, the slope has poor self-condition, severe water and fertilizer shortage, poor growth condition and rapid degradation of the turf.
The technology of straw seedling raising pots is successfully developed by dry land research centers of agricultural academy of Shanxi province, the straw seedling raising pots are used for raising seedlings and then transplanted to the side slopes, and the obvious effect is achieved. Selecting drought-resistant plants such as caragana microphylla, putting the seedling pot of straws into a flat-bottom container capable of containing water, putting a certain amount of nutrient soil into the seedling pot, spraying caragana microphylla seeds on the surface of the nutrient soil, putting a proper amount of nutrient soil to cover the seeds, pouring a certain amount of water into the flat-bottom container to enable the seedling pot to absorb water, and after the seeds of the seedling pot grow, enabling the seedling pot to absorb water again in a saturated mode. Manually using a tool to make a hole in the side slope, putting the seedling raising pot full of water into the hole, and covering the hole with soil. And repeating the operation until the seedling pots are uniformly distributed on the side slope. Because the straw seedling raising pot has strong capacity of storing water and is a nutrient substance which is very beneficial to the growth of plants, the survival rate of the plants can reach more than 90 percent by using the method.
However, the work of manually punching and transplanting seedling pots on a steep high slope is very high in labor intensity and danger. Therefore, an unmanned automatic transplanting device for slope greening ecological restoration and a transplanting method thereof are provided for solving the problems.
Disclosure of Invention
The invention aims to provide unmanned automatic transplanting equipment for slope greening ecological restoration and a transplanting method thereof, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned automatic transplanting device for greening ecological restoration side slope, which comprises a seedling pot and two movable trolleys which can be freely and movably erected on the side slope in parallel,
the two travelling dollies are connected with a travelling chassis through a steel wire rope in a traction manner, the travelling dollies are also provided with traction mechanisms for retracting the steel wire rope, and the bottom of the travelling chassis is provided with a plurality of rollers for rolling on a side slope;
a through transplanting area is formed in the movable chassis, and a conveying device for conveying the seedling-raising pots in batches is mounted on the movable chassis positioned on one side of the transplanting area;
the conveying device comprises a box body with an opening at the top and a cuboid structure and a first conveying belt arranged at the bottom of the box body, and the first conveying belt is driven by a first motor arranged on the box body;
a rectangular output port is formed in the bottom of the box body close to the tail end of the first conveying belt, a second conveying belt is mounted on the output port and driven by a second motor mounted on the box body, the conveying direction of the second conveying belt is perpendicular to that of the first conveying belt, seedling pots located at the tail end of the first conveying belt enter the second conveying belt, and an outlet at the tail end of the second conveying belt extends to the outer side of the box body;
a vertical frame is fixedly connected to the moving chassis on the other side of the transplanting area, a rodless cylinder stretching over the transplanting area is fixedly arranged on the vertical frame, and a placement device extending towards the direction of the transplanting area is fixedly mounted on a cylinder slide block of the rodless cylinder;
the placing device comprises an up-down moving air cylinder fixedly connected with an air cylinder sliding block, the driving end of the up-down moving air cylinder is fixedly connected with a groove frame, a guide sliding rod is further connected between the air cylinder sliding block and the groove frame, an arc-shaped limiting groove plate is fixedly connected to the end part of the groove frame, a movable telescopic baffle is arranged below the limiting groove plate, and the limiting groove plate is movably located at the tail end outlet of the second conveying belt;
the air cylinder sliding block is also fixedly provided with a punching device extending towards the direction of the transplanting area, the punching device comprises a rotating motor fixedly connected with the air cylinder sliding block, and the driving end of the rotating motor is fixedly connected with a rotary drilling bit through a telescopic platform;
the soil covering device is installed at the bottom of the movable chassis and extends towards the direction of a transplanting area, the soil covering device comprises a sliding frame capable of moving up and down, two semi-conical sleeves are installed on the sliding frame, and a conical cover is further installed above the two semi-conical sleeves.
Preferably, the movable trolley is movably mounted on the guide rail frame, a guide rail wheel in rolling fit with the guide rail frame is arranged at the bottom of the movable trolley, and the guide rail wheel is driven by a fourth motor mounted on one side of the movable trolley.
Preferably, the traction mechanism comprises a steel rope reel arranged at the top of the mobile trolley, the steel rope is wound on the steel rope reel, and the steel rope reel is driven by a winch.
Preferably, the bottom of the box body is elastically connected with the movable chassis through a damping spring.
Preferably, the limiting groove plate is inwards concave towards the outlet prescription at the tail end of the second conveying belt, the shape of the groove inside the limiting groove plate is matched with the shape of the outer part of the seedling raising pot, the baffle is attached to the bottom of the limiting groove plate, the end part of the baffle is fixedly connected with the driving end of the horizontal cylinder, and the horizontal cylinder is installed on the groove frame.
Preferably, the telescopic platform comprises an upper platform fixedly connected to the driving end of the rotating motor and a lower platform fixedly connected to the end of the rotary drilling bit, the upper platform and the lower platform are connected through a plurality of telescopic sliding rods, and a first air cylinder is further arranged between the upper platform and the lower platform.
Preferably, a rotary joint is installed at the driving end of the rotary motor, and the air pipe of the first air cylinder is fixedly connected with an external air pump through the rotary joint.
Preferably, earthing device still includes the sliding seat, sliding seat slip joint is on the curb plate, curb plate fixed mounting is in the bottom that removes the chassis, and the sliding seat top is connected through first spring and curb plate top, and still is equipped with first electro-magnet group between sliding seat and the curb plate, first electro-magnet group comprises the electro-magnet that two magnetic poles are the same, and one of them electro-magnet fixed mounting is at the sliding seat top, and another electro-magnet fixed mounting corresponds position department on the curb plate.
Preferably, the sliding seat with through second cylinder fixed connection between the carriage, slide on the outside terminal surface of carriage and set up two half cone covers, the lateral surface of half cone cover passes through second spring and carriage end connection, and still is equipped with second electro-magnet group between the lateral surface of half cone cover and the carriage tip, second electro-magnet group comprises the electro-magnet that two magnetic poles are the same, and one of them electro-magnet fixed mounting is at the lateral surface of half cone cover, and another electro-magnet fixed mounting is at the carriage tip.
An unmanned automatic transplanting method for greening ecological restoration slope, which adopts the automatic transplanting equipment, comprises the following steps:
s1, equipment installation: the upper end and the lower end of the surface of the slope to be greened are respectively fixedly provided with a guide rail frame which is parallel to each other, two movable trolleys are respectively arranged on the two guide rail frames, a steel wire rope is respectively pulled out from the two movable trolleys and is fixed on the side surface of a movable chassis, and the movable chassis freely moves in the area between the two guide rail frames;
s2, manually placing materials: manually placing the batch seedling pots at the feed end of the first conveying belt in order until the surface of the whole first conveying belt is fully paved;
s3, primary feeding: an operator remotely controls to start the first motor, and the first conveying belt conveys a row of seedling raising pots close to the outlet end to the second conveying belt;
s4, feeding again, starting a second motor, sequentially driving the seedling-raising bowls to move towards the outlet direction by a second conveying belt, conveying the outermost seedling-raising bowls into a limiting groove plate of the placing device, and at the moment, positioning a baffle below the limiting groove plate and supporting the seedling-raising bowls;
s5, side slope holing: the rotary motor drives the rotary drilling bit to rotate, the rotary drilling bit is driven by the telescopic platform to move towards the inside of the side slope, and a hole for placing a seedling raising pot is punched on the side slope;
s6, transplanting: the rotary drilling bit rises back and is separated from the hole, at the moment, the rodless cylinder is started to drive the placing device to move above the drilled hole, the up-and-down moving cylinder extends out to enable the limiting groove plate provided with the seedling raising pot to be close to the hole, and at the moment, the horizontal cylinder of the control baffle retracts to enable the seedling raising pot to fall into the hole;
s7, covering soil: the rodless cylinder is started again, the rotary drilling bit is enabled to return to the position above the hole again, the second cylinder of the soil covering device extends out, the two semi-conical sleeves are located on the two sides of the hole, the rotary drilling bit is rotated in the reverse direction, and soil in the rotary drilling bit covers the edge of the hole again;
s8, mobile planting: and starting a winch on the movable trolley, driving the movable trolley to run on the guide rail frame under the driving of a fourth motor, driving the movable chassis to move to different positions on the slope, and completing transplanting in the steps S1-S7 again.
Compared with the prior art, the invention has the beneficial effects that:
this equipment can remove on the slope, accomplishes the holing automatically, transplants seedling raising alms bowl and earthing work, practices thrift the labour and improves work efficiency, avoids operation personnel injured or dead.
The placer of the seedling-raising pot in the equipment is provided with the arc-shaped limiting groove plate, the seedling-raising pot is prevented from falling down in the moving process, the baffle is opened when the seedling-raising pot is in contact with a slope, the seedling-raising pot is put down, and the phenomenon that the seedling-raising pot is broken is avoided.
The conical cover of the device can prevent soil from spilling over the seedlings.
The movable chassis walks through the rollers, is flexible, and can change the walking direction at will according to the needs.
The outer edge of the guide rail wheel is provided with a lug boss and limits the guide rail wheel to be separated from the guide rail frame, so that the equipment is prevented from tipping.
Drawings
FIG. 1 is a perspective view of a side slope installation structure of the transplanting apparatus of the present invention;
FIG. 2 is a side view of the installation structure of the transplanting device on the slope in the invention;
FIG. 3 is a schematic view of the mounting structure of the traveling carriage according to the present invention;
FIG. 4 is a main view of the mobile car of the present invention;
FIG. 5 is a side view of the traveling carriage of the present invention;
FIG. 6 is a schematic view of the structure of the transplanting apparatus of the present invention;
FIG. 7 is a front view of the transplanting apparatus of the present invention;
FIG. 8 is a top view of the transplanting apparatus of the present invention;
FIG. 9 is a schematic view of the structure of the conveying device of the present invention;
FIG. 10 is a front view of the delivery device of the present invention;
FIG. 11 is a cross-sectional view taken at B-B of FIG. 10 in accordance with the present invention;
FIG. 12 is a top view of the delivery device of the present invention;
FIG. 13 is a cross-sectional view taken at C-C of FIG. 12 in accordance with the present invention;
FIG. 14 is a schematic view of the structure of the case of the present invention;
FIG. 15 is a top view of the housing of the present invention;
FIG. 16 is a sectional view of the case of the present invention;
FIG. 17 is a schematic view of a mobile chassis according to the present invention;
FIG. 18 is a front view of the mobile chassis of the present invention;
FIG. 19 is a cross-sectional view taken at A-A of FIG. 18 in accordance with the present invention;
FIG. 20 is a schematic view of a placement device of the present invention;
FIG. 21 is a top view of a placement device of the present invention;
FIG. 22 is a front view of a placement device of the present invention
FIG. 23 is a schematic view of the hole-punching device of the present invention;
FIG. 24 is a schematic view of a covering device according to the present invention;
FIG. 25 is a top view of the covering device of the present invention;
FIG. 26 is a sectional view of the casing device of the present invention.
In the figure: 1 moving chassis, 101 transplanting area, 102 rollers, 103 vertical frames, 104 rodless cylinders, 1041 cylinder sliding blocks and 105 side plates;
2, a conveying device: 21 box, 2101 damping spring, 2102 delivery outlet, 22 first conveyer belt, 2201 spacing baffle, 23 first motor, 24 spacing backup pad, 25 second conveyer belt, 2501 parting bead, 26 second motor, 27 spacing rack plate subassembly: 271 rack plate, 272 slide chamber plate, 273 third motor, 274 gear;
3, seedling raising pots;
4, placing a device: 41 up-down moving cylinders, 42 groove frames, 4201 guide slide bars, 43 limit groove plates, 44 baffles and 45 horizontal cylinders;
5, punching device: 51 rotating motors, 521 upper platforms, 522 lower platforms, 523 sliding rods, 53 first cylinders, 5301 rotating joints and 54 rotary drilling bits;
6, a soil covering device: 61, a sliding seat, 62, a second cylinder, 63, a sliding frame, 64, a semicircular taper sleeve, 65, a conical cover, 66, a first spring, 67, a first electromagnet group, 68, a second spring and 69, wherein the sliding seat is arranged on the upper portion of the sliding seat;
7, a guide rail bracket;
8 moving trolleys, 801 guide rail frames, 802 fourth motors, 803 steel rope reels and 804 poplars;
9 steel wire rope.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides an ecological remediation slope afforestation is with unmanned automatic transplanting equipment, erects the dolly 8 on the side slope including educating seedling pot 3 and two freely movable formula parallels, and dolly 8 movable mounting is on guide rail frame 7, and the bottom of dolly 8 is equipped with and guides rail wheel 801 with guide rail frame 7 roll fit, and the outer edge of guide rail wheel 801 is equipped with the boss, and restriction guide rail wheel 801 breaks away from guide rail frame 7, and guide rail wheel 801 is through installing the fourth motor 802 drive in dolly 8 one side. The installation structure of the movable trolley 8 and the guide rail frame 7 can be realized by adopting a guide rail pulley structure in the prior art.
The two travelling dollies 8 are connected with the travelling chassis 1 through a steel wire rope 9 in a traction manner, the travelling dollies 8 are also provided with a traction mechanism for retracting the steel wire rope 9, and the bottom of the travelling chassis 1 is provided with a plurality of rollers 102 for rolling on a side slope; the hoisting mechanism of the wire rope 9 is directly implemented by conventional means in the prior art, such as: the traction mechanism comprises a rope reel 803 arranged on the top of the mobile trolley 8, a steel rope 9 is wound on the rope reel 803, and the rope reel 803 is driven by a winch 804.
Referring to fig. 6-8, a through transplanting area 101 is formed on the moving chassis 1, and a conveying device 2 for conveying the seedling-raising pots 3 in batches is mounted on the moving chassis 1 on one side of the transplanting area 101;
referring to fig. 9-16, the conveyor 2 includes a box 21 with an open top and a rectangular parallelepiped structure, and a first conveyor belt 22 mounted at the bottom of the box 21, wherein the bottom of the box 21 is elastically connected to the mobile chassis 1 through a damping spring 2101.
The first conveying belt 22 is driven by a first motor 23 installed on the box body 21, the box body 21 close to the feeding end of the first conveying belt 22 is provided with a detachable movable door, and the seedling raising bowls 3 are placed on the first conveying belt 22 conveniently after the movable door is opened.
Referring to fig. 14-16, in the middle of the box 21, a plurality of limiting support plates 24 are distributed along the conveying direction of the first conveying belt 22, a gap is formed between two adjacent limiting support plates 24, the seedling raising bowls 3 are placed on the first conveying belt 22, seedlings in the seedling raising bowls 3 penetrate out of the gap, the limiting partition plates 2201 of a plurality of grids are uniformly distributed on the first conveying belt 22 and are staggered in a crisscross mode, the bottom of each seedling raising bowl 3 is clamped and placed in the grids formed by the limiting partition plates 2201, the seedling raising bowls 3 are limited through the limiting partition plates 2201, and the seedling raising bowls 3 are prevented from being crushed due to collision in the conveying process.
An output port 2102 of a rectangle is opened to the bottom of box 21 near the end of first conveyer belt 22, installs second conveyer belt 25 on the output port 2102, and second conveyer belt 25 is through installing the drive of second motor 26 on box 21, and second conveyer belt 25 and first conveyer belt 22's direction of delivery mutually perpendicular are located the terminal seedling bowl 3 of first conveyer belt 22 and enter into second conveyer belt 25 on, and the terminal export department of second conveyer belt 25 extends to the box 21 outside.
A plurality of parting beads 2501 of its direction of delivery of perpendicular to of evenly distributed on the second conveyer belt 25, the bottom joint of seedling-raising alms bowl 3 is placed between two adjacent parting beads 2501, carries on spacingly through parting bead 2501 to seedling-raising alms bowl 3, prevents in the transportation, bumps and breakage between the seedling-raising alms bowl 3.
Referring to fig. 11-13, a limiting rack plate assembly 27 is installed in the box 21 above the second conveyor belt 25, the limiting rack plate assembly 27 includes a rack plate 271 slidably engaged with a sliding slot on an inner wall of the box 21, the rack plate 271 is disposed parallel to the conveying direction of the second conveyor belt 25, an outer end of the rack plate 271 penetrates through the box 21, a coaxial sliding cavity plate 272 is fixedly connected to an outer side wall of the box 21, an outer end of the rack plate 271 is slidably inserted into the sliding cavity plate 272, a bottom of the rack plate 271 is movably contacted with a top of the seedling-raising pot 3 to limit the conveying process of the seedling-raising pot 3, teeth are uniformly distributed on a top surface of the rack plate 271, a third motor 273 is fixedly installed on the sliding cavity plate 272, and a gear 274 engaged with the teeth on the top of the rack plate 271 is fixedly connected to a rotating shaft of the third motor 273.
Referring to fig. 6-8 and fig. 20-22, a vertical frame 103 is fixedly connected to the moving chassis 1 at the other side of the transplanting area 101, a rodless cylinder 104 spanning above the transplanting area 101 is fixedly arranged on the vertical frame 103, and a placing device 4 extending towards the direction of the transplanting area 101 is fixedly arranged on a cylinder slider 1041 of the rodless cylinder 104;
the placing device 4 comprises an up-down moving cylinder 41 fixedly connected with a cylinder slider 1041, the driving end of the up-down moving cylinder 41 is fixedly connected with a groove frame 42, a guide sliding rod 4201 is further connected between the cylinder slider 1041 and the groove frame 42, the end part of the groove frame 42 is fixedly connected with an arc-shaped limiting groove plate 43, a movable telescopic baffle 44 is arranged below the limiting groove plate 43, and the limiting groove plate 43 is movably located at the tail end outlet of the second conveying belt 25.
Spacing frid 43 is towards the terminal export prescription of second conveyer belt 25 to the indent setting, and the inside recess shape of spacing frid 43 and the outside shape fit of alms bowl 3 of growing seedlings, and baffle 44 laminating sets up in spacing frid 43 bottom, and baffle 44 tip fixed connection horizontal cylinder 45 drive end, and horizontal cylinder 45 installs on ledge 42.
Referring to fig. 6-8 and fig. 23, a punching device 5 extending towards the direction of the transplanting area 101 is further fixedly mounted on the cylinder block 1041, the punching device 5 includes a rotating motor 51 fixedly connected with the cylinder block 1041, and a driving end of the rotating motor 51 is fixedly connected with a rotary drilling bit 54 through a telescopic platform.
The telescopic platform comprises an upper platform 521 fixedly connected to the driving end of the rotating motor 51 and a lower platform 522 fixedly connected to the end part of the rotary drilling bit 54, the upper platform 521 and the lower platform 522 are connected through a plurality of telescopic slide rods 523, and a first air cylinder 53 is further arranged between the upper platform 521 and the lower platform 522;
the driving end of the rotating motor 51 is provided with a rotary joint 5301, and the air pipe of the first air cylinder 53 is fixedly connected with an external air pump through the rotary joint 5301. Thereby avoiding the air pipe of the first air cylinder 53 from being twisted during the rotation of the rotary drilling bit 54.
Referring to fig. 17-19, a soil covering device 6 extending toward the direction of the transplanting area 101 is installed at the bottom of the movable chassis 1, the soil covering device 6 includes a sliding frame 63 capable of moving up and down, two half cone-shaped sleeves 64 are installed on the sliding frame 63, and a cone-shaped cover 65 is installed above the two half cone-shaped sleeves 64.
Referring to fig. 24-26, the soil covering device 6 further includes a sliding seat 61, the sliding seat 61 is slidably engaged with the side plate 105, the side plate 105 is fixedly installed at the bottom of the movable chassis 1, the top of the sliding seat 61 is connected with the top of the side plate 105 through a first spring 66, a first electromagnet group 67 is further disposed between the sliding seat 61 and the side plate 105, the first electromagnet group 67 is composed of two electromagnets with the same magnetic pole, one of the electromagnets is fixedly installed at the top of the sliding seat 61, and the other electromagnet is fixedly installed at a corresponding position on the side plate 105;
the sliding seat 61 is fixedly connected with the sliding frame 63 through a second air cylinder 62, two half-cone sleeves 64 are arranged on the outer side end face of the sliding frame 63 in a sliding mode, the outer side faces of the half-cone sleeves 64 are connected with the end portion of the sliding frame 63 through second springs 68, a second electromagnet group 69 is further arranged between the outer side faces of the half-cone sleeves 64 and the end portion of the sliding frame 63, the second electromagnet group 69 is composed of two electromagnets with the same magnetic pole, one electromagnet is fixedly installed on the outer side face of the half-cone sleeve 64, and the other electromagnet is fixedly installed at the end portion of the sliding frame 63.
The operation steps of the automatic transplanting equipment for the straw seedling-raising pot for slope greening in the invention are as follows:
s1, equipment installation: the upper end and the lower end of the surface of the slope to be greened are respectively fixedly provided with a guide rail frame 7 which is parallel to each other, two movable trolleys 8 are respectively arranged on the two guide rail frames 7, a steel wire rope 9 is respectively pulled out from each of the two movable trolleys 8 and is fixed on the side surface of the movable chassis 1, and the movable chassis 1 freely moves in the area between the two guide rail frames 7;
s2, manually placing materials: manually placing the batch of seedling raising bowls 3 at the feeding end of the first conveying belt 22 in order until the surface of the first conveying belt 22 is fully paved;
s3, primary feeding: an operator remotely starts the first motor 23, and the first conveyer belt 22 conveys a row of seedling raising bowls 3 close to the outlet end to the second conveyer belt 25;
s4, feeding again, starting the second motor 26, sequentially driving the seedling raising bowls 3 to move towards the outlet direction by the second conveying belt 25, conveying the outermost seedling raising bowls 3 into the limiting groove plates 43 of the placing device 4, and at the moment, positioning the baffle 44 below the limiting groove plates 43 and supporting the seedling raising bowls 3;
s5, side slope holing: the rotary motor 51 drives the rotary drilling bit 54 to rotate, and drives the rotary drilling bit 54 to move towards the side slope through the telescopic platform, and a hole for placing the seedling raising pot 3 is punched on the side slope;
s6, transplanting: the rotary drilling bit 54 rises back and is separated from the hole, at the moment, the rodless cylinder 104 is started to drive the placing device 4 to move above the drilled hole, the up-and-down moving cylinder 41 extends out, so that the limiting groove plate 43 provided with the seedling raising pot 3 is close to the hole, at the moment, the horizontal cylinder 45 of the control baffle 44 retracts, and the seedling raising pot 3 falls into the hole;
s7, covering soil: the rodless cylinder 104 is started again, the rotary drilling bit 54 is enabled to return to the position above the hole again, the second cylinder 62 of the soil covering device 6 extends out, the two semi-conical sleeves 64 are enabled to be located on the two sides of the hole, the rotary drilling bit 54 rotates reversely, soil in the rotary drilling bit 54 covers the edge of the hole again, the conical cover 65 is located above seedlings, and the soil falling out of the rotary drilling bit 54 is prevented from covering the seedlings;
s8, mobile planting: and (4) starting the winch 804 on the moving trolley 8, driving the moving trolley 8 to run on the guide rail bracket 7 under the driving of the fourth motor, driving the moving chassis 1 to move to different positions on the slope, and completing transplanting in the steps S1-S7 again.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an ecological remediation slope afforestation is with unmanned automatic transplanting equipment, erects removal dolly (8) on the side slope including seedling pot (3) and two freely movable formula parallels, its characterized in that:
the two moving trolleys (8) are connected with a moving chassis (1) through a steel wire rope (9) in a traction manner, the moving trolleys (8) are also provided with a traction mechanism for retracting the steel wire rope (9), and the bottom of the moving chassis (1) is provided with a plurality of rollers (102) for rolling on a side slope;
a through transplanting area (101) is formed in the movable chassis (1), and a conveying device (2) for conveying seedling raising pots (3) in batches is mounted on the movable chassis (1) located on one side of the transplanting area (101);
the conveying device (2) comprises a box body (21) with an open top and a cuboid structure and a first conveying belt (22) arranged at the bottom of the box body (21), and the first conveying belt (22) is driven by a first motor (23) arranged on the box body (21);
a rectangular output port (2102) is formed in the bottom of the box body (21) close to the tail end of the first conveying belt (22), a second conveying belt (25) is installed on the output port (2102), the second conveying belt (25) is driven by a second motor (26) installed on the box body (21), the conveying directions of the second conveying belt (25) and the first conveying belt (22) are mutually perpendicular, seedling raising bowls (3) located at the tail end of the first conveying belt (22) enter the second conveying belt (25), and an outlet of the tail end of the second conveying belt (25) extends to the outer side of the box body (21);
a vertical frame (103) is fixedly connected to the moving chassis (1) positioned on the other side of the transplanting area (101), a rodless cylinder (104) stretching over the transplanting area (101) is fixedly arranged on the vertical frame (103), and a placing device (4) extending towards the direction of the transplanting area (101) is fixedly installed on a cylinder slide block (1041) of the rodless cylinder (104);
the placing device (4) comprises an up-and-down moving cylinder (41) fixedly connected with a cylinder sliding block (1041), the driving end of the up-and-down moving cylinder (41) is fixedly connected with a groove frame (42), a guide sliding rod (4201) is further connected between the cylinder sliding block (1041) and the groove frame (42), the end part of the groove frame (42) is fixedly connected with an arc-shaped limiting groove plate (43), a movable telescopic baffle (44) is arranged below the limiting groove plate (43), and the limiting groove plate (43) is movably located at the tail end outlet of the second conveying belt (25);
the air cylinder sliding block (1041) is also fixedly provided with a punching device (5) extending towards the direction of the transplanting area (101), the punching device (5) comprises a rotating motor (51) fixedly connected with the air cylinder sliding block (1041), and the driving end of the rotating motor (51) is fixedly connected with a rotary drilling bit (54) through a telescopic platform;
the soil covering device (6) extending towards the direction of the transplanting area (101) is installed at the bottom of the movable chassis (1), the soil covering device (6) comprises a sliding frame (63) capable of moving up and down, two semi-conical sleeves (64) are installed on the sliding frame (63), and a conical cover (65) is further installed above the two semi-conical sleeves (64).
2. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 1, which is characterized in that: the movable trolley (8) is movably mounted on the guide rail frame (7), a guide rail wheel (801) in rolling fit with the guide rail frame (7) is arranged at the bottom of the movable trolley (8), and the guide rail wheel (801) is driven by a fourth motor (802) mounted on one side of the movable trolley (8).
3. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 1, which is characterized in that: the traction mechanism comprises a steel rope reel (803) arranged at the top of the movable trolley (8), the steel rope (9) is wound on the steel rope reel (803), and the steel rope reel (803) is driven by a winch (804).
4. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 1, which is characterized in that: the bottom of the box body (21) is elastically connected with the movable chassis (1) through a damping spring (2101).
5. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 1, which is characterized in that: spacing frid (43) are towards the terminal export prescription of second conveyer belt (25) to the indent setting, and the inside groove shape of spacing frid (43) and the outside shape fit of alms bowl of growing seedlings (3), baffle (44) laminating sets up in spacing frid (43) bottom, and baffle (44) tip fixed connection horizontal cylinder (45) drive end, horizontal cylinder (45) are installed on truss (42).
6. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 1, which is characterized in that: the telescopic platform comprises an upper platform (521) fixedly connected to the driving end of the rotating motor (51) and a lower platform (522) fixedly connected to the end of the rotary drilling bit (54), the upper platform (521) is connected with the lower platform (522) through a plurality of telescopic sliding rods (523), and a first air cylinder (53) is further mounted between the upper platform (521) and the lower platform (522).
7. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 6, which is characterized in that: the driving end of the rotating motor (51) is provided with a rotary joint (5301), and the air pipe of the first air cylinder (53) is fixedly connected with an external air pump through the rotary joint (5301).
8. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 1, which is characterized in that: earthing device (6) still include sliding seat (61), sliding seat (61) slip joint is on curb plate (105), curb plate (105) fixed mounting is in the bottom of removing chassis (1), and sliding seat (61) top is connected with curb plate (105) top through first spring (66), and still is equipped with first electro-magnet group (67) between sliding seat (61) and curb plate (105), first electro-magnet group (67) comprise the electro-magnet that two magnetic poles are the same, and one of them electro-magnet fixed mounting is at sliding seat (61) top, and another electro-magnet fixed mounting corresponds position department on curb plate (105).
9. The unmanned automatic transplanting equipment for greening the ecological restoration slope according to claim 8, which is characterized in that: sliding seat (61) with through second cylinder (62) fixed connection between carriage (63), slide on the outside terminal surface of carriage (63) and set up two half cone cover (64), the lateral surface of half cone cover (64) passes through second spring (68) and carriage (63) end connection, and still is equipped with second electro-magnet group (69) between the lateral surface of half cone cover (64) and carriage (63) tip, second electro-magnet group (69) comprise the electro-magnet that two magnetic poles are the same, and one of them electro-magnet fixed mounting is at the lateral surface of half cone cover (64), and another electro-magnet fixed mounting is at carriage (63) tip.
10. An unmanned automatic transplanting method for greening ecological restoration side slopes, which is characterized in that the unmanned automatic transplanting equipment for greening ecological restoration side slopes as claimed in any one of claims 1 to 9 is adopted, and the specific steps are as follows:
s1, equipment installation: the upper end and the lower end of the surface of a slope to be greened are fixedly provided with guide rail frames (7) which are parallel to each other respectively, two movable trolleys (8) are arranged on the two guide rail frames (7) respectively, a steel wire rope (9) is pulled out from each of the two movable trolleys (8) and is fixed on the side surface of a movable chassis (1), and the movable chassis (1) freely moves in an area between the two guide rail frames (7);
s2, manually placing materials: manually placing the batch of seedling raising bowls (3) at the feed end of the first conveying belt (22) in order until the surface of the first conveying belt (22) is fully paved;
s3, primary feeding: an operator remotely starts the first motor (23), and the first conveyer belt (22) conveys a row of seedling raising bowls (3) close to the outlet end to the second conveyer belt (25);
s4, feeding again, starting a second motor (26), sequentially driving the seedling-raising bowls (3) to move towards the outlet direction by a second conveying belt (25), conveying the outermost seedling-raising bowls (3) into a limiting groove plate (43) of the placing device (4), and at the moment, supporting the seedling-raising bowls (3) by a baffle plate (44) below the limiting groove plate (43);
s5, side slope holing: the rotary motor (51) drives the rotary drilling bit (54) to rotate, the rotary drilling bit (54) is driven by the telescopic platform to move towards the inside of the side slope, and a hole for placing a seedling raising pot (3) is drilled on the side slope;
s6, transplanting: the rotary drilling bit (54) rises back and is separated from the hole, at the moment, the rodless cylinder (104) is started to drive the placing device (4) to move above the drilled hole, the up-down moving cylinder (41) extends out, so that the limiting groove plate (43) provided with the seedling-raising pot (3) is close to the hole, at the moment, the horizontal cylinder (45) of the control baffle plate (44) retracts, and the seedling-raising pot (3) falls into the hole;
s7, covering soil: the rodless cylinder (104) is started again, the rotary drilling bit (54) is enabled to return to the position above the hole again, the second cylinder (62) of the soil covering device (6) extends out, the two semi-conical sleeves (64) are enabled to be located on the two sides of the hole, the rotary drilling bit (54) is rotated in the opposite direction, and soil in the rotary drilling bit (54) covers the edge of the hole again;
s8, mobile planting: and (3) starting a winch (804) on the movable trolley (8), driving the movable trolley (8) to run on the guide rail bracket (7) under the driving of a fourth motor, driving the movable chassis (1) to move to different positions on the slope, and completing transplanting in the steps S1-S7 again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011133167.7A CN112243655B (en) | 2020-10-21 | 2020-10-21 | Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011133167.7A CN112243655B (en) | 2020-10-21 | 2020-10-21 | Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112243655A CN112243655A (en) | 2021-01-22 |
| CN112243655B true CN112243655B (en) | 2022-02-18 |
Family
ID=74264505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011133167.7A Active CN112243655B (en) | 2020-10-21 | 2020-10-21 | Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112243655B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113748770B (en) * | 2021-07-24 | 2022-08-05 | 泉州市华泰建设工程有限公司 | Vegetation slope protection construction method |
| CN113853853A (en) * | 2021-10-08 | 2021-12-31 | 广州桃园建筑工程有限公司 | Method for improving and repairing greening soil quality of highway side slope |
| CN115024056B (en) * | 2022-02-18 | 2023-05-26 | 湖北三峡职业技术学院 | Slope garden seed spray seeding seed dropping frame and mounting equipment |
| CN115316073B (en) * | 2022-08-22 | 2024-03-08 | 中煤浙江生态环境发展有限公司 | Automatic punching equipment and punching method for slope greening construction |
| CN115868340B (en) * | 2022-11-25 | 2023-06-13 | 徐州中矿岩土技术股份有限公司 | Plant-growing pot, plant-growing pot construction equipment and slope greening method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010053145A1 (en) * | 2010-12-01 | 2012-06-06 | Daimler Ag | Gripper for gripping mask and for positioning mask on component, has two gripping jaws, where gripping of mask takes place by movement of gripping jaws against each other |
| CN102960101A (en) * | 2012-12-06 | 2013-03-13 | 四川川龙拖拉机制造有限公司 | Seedling and seeding machine and seedling and seeding method |
| CN103125186A (en) * | 2013-01-17 | 2013-06-05 | 山东临沂烟草有限公司 | Tobacco seedling under-film transplanting machine |
| CN103650723A (en) * | 2012-09-26 | 2014-03-26 | 株式会社久保田 | Seedling transplanter |
| CN103797941A (en) * | 2012-11-15 | 2014-05-21 | 梁生明 | Automatic dry-land transplanting machine for pot seedling |
| KR20160009809A (en) * | 2014-07-16 | 2016-01-27 | 동양물산기업 주식회사 | Multi-purspse transplanting apparatus |
| CN206728540U (en) * | 2016-11-30 | 2017-12-12 | 亿利首建生态科技有限公司 | A kind of domatic drilling equipment |
| CN108739219A (en) * | 2018-04-28 | 2018-11-06 | 淮阴工学院 | Planting machine |
| CN109197492A (en) * | 2018-09-27 | 2019-01-15 | 杨双军 | A kind of automatic Machine for planting tree people |
| CN111670730A (en) * | 2020-06-19 | 2020-09-18 | 温州职业技术学院 | Potted flower sowing all-in-one machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10745219B2 (en) * | 2018-09-28 | 2020-08-18 | Advanced Intelligent Systems Inc. | Manipulator apparatus, methods, and systems with at least one cable |
-
2020
- 2020-10-21 CN CN202011133167.7A patent/CN112243655B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010053145A1 (en) * | 2010-12-01 | 2012-06-06 | Daimler Ag | Gripper for gripping mask and for positioning mask on component, has two gripping jaws, where gripping of mask takes place by movement of gripping jaws against each other |
| CN103650723A (en) * | 2012-09-26 | 2014-03-26 | 株式会社久保田 | Seedling transplanter |
| CN103797941A (en) * | 2012-11-15 | 2014-05-21 | 梁生明 | Automatic dry-land transplanting machine for pot seedling |
| CN102960101A (en) * | 2012-12-06 | 2013-03-13 | 四川川龙拖拉机制造有限公司 | Seedling and seeding machine and seedling and seeding method |
| CN103125186A (en) * | 2013-01-17 | 2013-06-05 | 山东临沂烟草有限公司 | Tobacco seedling under-film transplanting machine |
| KR20160009809A (en) * | 2014-07-16 | 2016-01-27 | 동양물산기업 주식회사 | Multi-purspse transplanting apparatus |
| CN206728540U (en) * | 2016-11-30 | 2017-12-12 | 亿利首建生态科技有限公司 | A kind of domatic drilling equipment |
| CN108739219A (en) * | 2018-04-28 | 2018-11-06 | 淮阴工学院 | Planting machine |
| CN109197492A (en) * | 2018-09-27 | 2019-01-15 | 杨双军 | A kind of automatic Machine for planting tree people |
| CN111670730A (en) * | 2020-06-19 | 2020-09-18 | 温州职业技术学院 | Potted flower sowing all-in-one machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112243655A (en) | 2021-01-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112243655B (en) | Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof | |
| CN112237073B (en) | Unmanned automatic transplanter is used in ecological remediation side slope afforestation | |
| CN108739219B (en) | Tree planting machine | |
| CN111436347A (en) | Desert salix mongolica planter | |
| JP2006507848A (en) | Hydroponic device and hydroponic port used for it | |
| CN115486231B (en) | Poplar forestation cultivation equipment in arid region | |
| CN114467673A (en) | Robot for planting trees in sand | |
| FI82874C (en) | FOERFARANDE OCH ANORDNING FOER MASKINELL PLANTERING, I SYNNERHET PLANTERING AV UNGA TRAED. | |
| CN114514865A (en) | Novel salix mongolica planting machine | |
| CN115362798B (en) | Plant interplanting system and equipment for heavy metal soil improvement | |
| CN113973532B (en) | Slope greening planting system and construction process | |
| CN113316981B (en) | Tea-oil camellia seeding equipment of growing seedlings | |
| CN111319544B (en) | Road greening flowerpot placement structure and construction method thereof | |
| CN115211308A (en) | High survival type seedling breeds equipment based on plant species | |
| CN209787800U (en) | seedling is planted with device of digging pit | |
| CN112616389A (en) | Transplanting device capable of enhancing development capability of plant roots | |
| KR100998981B1 (en) | an automatic a transplantator for tree seedling | |
| CN214628703U (en) | Organic tea tree is planted with transplanting equipment | |
| CN217183833U (en) | Equipment is transplanted to multi-functional tobacco seedling under membrane plantlet | |
| CN219679214U (en) | Automatic perforating device is planted to tealeaves | |
| CN210202374U (en) | A equipment that loosens soil for soft seed pomegranate is planted | |
| CN218291899U (en) | Grass square sand barrier laying equipment | |
| CN218244378U (en) | Planting device for peucedanum praeruptorum tissue culture seedlings | |
| CN114586495B (en) | Construction method of step green belt | |
| CN218353182U (en) | Agricultural planting device that grows seedlings |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |