CN114557178B

CN114557178B - Tamping device and self-adaptive sand covering and hole filling equipment

Info

Publication number: CN114557178B
Application number: CN202210227040.4A
Authority: CN
Inventors: 王波; 赵芷民; 刘小娇; 凤印印; 张莹莹; 陈梦迪
Original assignee: Chuzhou University
Current assignee: Chuzhou University
Priority date: 2022-03-08
Filing date: 2022-03-08
Publication date: 2023-03-24
Anticipated expiration: 2042-03-08
Also published as: CN114557178A

Abstract

The invention discloses a tamping device and self-adaptive sand covering and hole filling equipment, wherein the tamping device comprises a rotary driving mechanism, a gear transmission mechanism II, a plurality of three-dimensional cams distributed in an annular array manner and a plurality of tamping hammers; the self-adaptive sand covering and hole filling equipment comprises a walking device, a righting and seedling erecting device, a connecting rod sand pushing device, a tamping device, a ratchet wheel sand covering device, a tamping device and a solar power generation device; an inner gearing planetary gear train in the seedling righting and standing device drives a rack to slide and drives a righting claw to gather towards the center, so that the seedling righting and standing function is realized; the connecting rod sand pushing device skillfully utilizes a connecting rod chute mechanism to realize forward and backward movement of the sand pushing plate and realize the sand pushing function; the tamping device adopts two-layer conical gear train about the lower floor, and first layer conical gear train is through driving three trapezoidal lead screw synchronous revolution, and the centre-to-centre spacing of three solid cam is enlarged or is dwindled at the same moment, and second layer conical gear train drives three solid cam simultaneous movement and tamps sandy soil, realizes the tamping function.

Description

Tamping device and self-adaptive sand covering and hole filling equipment

Technical Field

The invention relates to the field of agricultural mechanical equipment, in particular to a tamping device and self-adaptive sand covering and hole filling equipment.

Background

The land area of the desert and desertification land in China is about 160.7 ten thousand square kilometers, occupies 16.7 percent of the land area, and is one of the most serious countries of desertification in the world. The sand-fixing plants such as salix mongolica and floral bouquet are the most common in desert, and have the advantages of strong saline-alkali resistance, strong stress resistance, easy propagation, strong germination capacity, strong sand-fixing and soil-retaining capacity and high utilization value.

Sea buckthorn is a deciduous shrub which is drought-resistant and sand-resistant, can survive in saline-alkali lands, is widely used for water and soil conservation, and is planted in large quantities in northwest China for desert greening.

The flower stick is desert and semi-desert drought-tolerant plant, is sand-grown, drought-tolerant and Xiguang tree species, is suitable for drift sand environment, is favorable for sand burying, wind erosion, cold and heat resistance, flourishing branches and leaves, strong tillering force and great wind prevention and sand fixation effects. The shrubs are usually planted in the desert and used for wind prevention and sand fixation and desert greening.

The prior planting technology of salix mongolica and flower sticks mainly depends on auger drilling and water flushing methods, the salix mongolica and flower sticks are placed manually, then the salix mongolica and flower sticks are righted and covered with sand manually, tamping is carried out by using wood sticks, holes are buried, and the procedures of covering sand and burying holes are complicated and labor is large.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a tamping device and self-adaptive sand covering and hole filling equipment, which are used for improving the survival rate of saplings, reducing the labor cost and solving the problem of large labor amount in the prior art.

The invention provides a tamping device, which comprises a rotary driving mechanism, a gear transmission mechanism II, a plurality of three-dimensional cams distributed in an annular array manner and a plurality of tamping hammers; the gear transmission mechanism II comprises a bevel gear set I and a plurality of bevel gear sets II distributed in an annular array, the bottom of the three-dimensional cam is connected with the tamping hammer, and the upper end of the three-dimensional cam is in transmission connection with the bevel gear set II through a connecting piece and a bearing seat; the rotary driving mechanism drives the bevel gear set I to rotate, and then controls the tamping hammer to rotate and move up and down through the bevel gear set II, so that sandy soil around plants is tamped, and the plants are fixed.

Further, the bevel gear set I comprises a driving gear I and a plurality of driven gears I which are meshed with each other; the second bevel gear set comprises a second driving gear and a second driven gear which are meshed with each other, the first driven gear drives the corresponding second driving gear to rotate through a spline-shaped gear shaft, and then the second driven gear drives the three-dimensional cam to work.

Furthermore, the rotary driving mechanism comprises a first stepping motor and a synchronous belt transmission mechanism, a driving wheel of the synchronous belt transmission mechanism is in transmission connection with the stepping motor through a coupler, and a driven wheel of the synchronous belt transmission mechanism is connected with a first driving gear of the first bevel gear set through a synchronous belt wheel shaft; and the first stepping motor is arranged on the outer side of the three-dimensional cam and is fixedly connected with the rack.

Furthermore, the tamping device is also provided with a radial synchronous driving mechanism, the radial synchronous driving mechanism is connected with the connecting pieces, and the bevel gear set II is circumferentially fixed and axially connected with the spline-shaped gear shaft in a sliding manner; the three-dimensional cams and the tamping hammers synchronously and radially move to adapt to planting holes with different diameters.

Further, the radial synchronous driving mechanism comprises a gear rack mechanism and a second stepping motor, the gear rack mechanism comprises a central gear and a plurality of radially extending racks which are distributed in an annular array, the radially extending racks are connected with the corresponding connecting pieces, and the central gear is in transmission connection with the second stepping motor.

Further, the radial synchronous driving mechanism comprises a second stepping motor, a third bevel gear set and a plurality of lead screw nut assemblies; the third bevel gear set comprises a third driving gear and a plurality of third driven gears distributed in an annular array, the third driving gear is in transmission connection with the second stepping motor, the lead screw nut assembly comprises a trapezoidal lead screw and a lead screw nut, the trapezoidal lead screw is connected with the corresponding third driven gear, and the lead screw nut is fixedly connected with the corresponding connecting piece.

Further, the connecting piece with be equipped with the connecting plate between the screw nut, the connecting plate lower extreme has dodges the groove, dodge the groove and be used for dodging spline shape gear shaft with bevel gear set two.

Furthermore, the three-dimensional cam, the tamping hammer head, the bevel gear set II and the connecting piece are all three and distributed in an annular array and work synchronously.

The invention also provides self-adaptive sand covering and hole filling equipment which comprises the tamping device, the walking device, the seedling righting and erecting device, the connecting rod sand pushing device and the ratchet wheel sand covering device; the seedling righting and erecting device is used for gathering the seedlings to the circle center of the hole and righting the seedlings; the connecting rod sand pushing device is used for pushing sand on the left side and the right side of the hole into the hole, and the ratchet wheel sand covering device is used for covering the sand on the rear side of the hole to the hole.

Further, the seedling righting and erecting device comprises a swinging mechanism, a first gear transmission mechanism and a plurality of righting claws; the first gear transmission mechanism comprises an internal gear ring, a plurality of pinions and a plurality of racks; the centering claw is welded with the racks, the front end of the centering claw is shaped like a Chinese character 'ba', a plurality of racks are arranged on the upper side of the internal tooth gear ring in an annular array mode, and the racks extend along the radial direction of the internal tooth gear ring; the upper end of the pinion is meshed with the rack, and the lower end of the pinion is meshed with the internal gear ring; the swing mechanism is used for driving the internal tooth gear ring to swing, so that the plurality of righting claws radially and centripetally move along the internal tooth gear ring, and the saplings positioned on the inner sides of the plurality of righting claws are righted; the connecting rod sand pushing device comprises an electric push rod, an X-shaped telescopic rod, a sand pushing plate and the like, wherein the electric push rod drives the sand pushing plate to transversely move through the X-shaped telescopic rod, so that sand is pushed from two sides to the middle.

The self-adaptive sand covering and hole filling equipment provided by the invention can reduce the labor capacity, straighten the saplings in the holes, and then cover the holes with sand, tamp the holes, cover the holes with sand and tamp the holes until the holes are completely tamped. The technical scheme of the invention has the characteristics of ingenious structure, stable transmission and the like; can improve the survival rate of saplings, reduce labor cost, reduce the amount of labor and solve the problem of large amount of labor in the prior art.

In the preferred scheme of the invention, the seedling righting and standing device is arranged, and the inner gear and the outer gear are meshed and the gear rack is meshed ingeniously to drive the inner splayed righting claws to gather together towards the middle to form a circle, so that the tree seedling is righted. The pinion is widened, the lower half part of the pinion is meshed with the internal tooth gear ring, and the upper half part of the pinion is meshed with the rack, so that the transmission stability is improved.

Through setting up the connecting rod and pushing away husky device, utilize connecting rod spout mechanism and X type link mechanism ingeniously, utilize electric putter to drive X type link mechanism concertina movement, and then drive and push away the motion of husky board to the motion of pushing away husky from both sides to the centre.

Through setting up the tamping unit who has a plurality of bevel gear groups, bevel gear group three is through driving three lead screw synchronous revolution, enlarge or reduce three-dimensional cam's centre-to-centre spacing at the same moment, reduce the step of manpower regulation and improved the degree of accuracy, can satisfy the tamping task in planting hole of different diameters size, rotary driving mechanism and gear drive mechanism two drive three-dimensional cam simultaneous movement and tamp sandy soil, the power supply has been reduced, moreover, the steam generator is simple in structure, high durability and convenient use, three-dimensional cam hammer head portion adopts the horseshoe type, the inclined plane normal direction concentrates on as a bit, be favorable to tamping sandy soil around the plant.

The ratchet wheel sand covering device is arranged, the stepping motor III is utilized to drive the sand covering plate to rotate reversely, so that the sand covering plate is perpendicular to the ground, and the sand covering plate moves along with the vehicle body and can cover sand; the ratchet wheel is braked by slightly pressing the pawl by using the elastic pressing sheet, so that the ratchet wheel is prevented from reversing; the brushless motor drives the reel to roll up the elastic rope, so that the pawl can be lifted and then separated from a braking state; the third stepping motor drives the sand covering plate to rotate forwards and reset, so that the whole planting device can move quickly.

Through setting up the ramming device, ingenious utilization is by eccentric disc, connecting rod, the slider-crank mechanism that the ladder pole constitutes, drives the tamp up-and-down motion of ware, carries out the compaction to the sand and soil around the sapling, is the type of falling U in the middle of the tamp the ware the latter half, and both sides are semi-circular, and the integrality of sapling has been protected to the type of falling U, and the semi-circular ramming in both sides has the sand and soil around the sapling, and the device structure is ingenious, has improved the survival rate of sapling.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of the adaptive sand-covering and hole-filling apparatus according to the present invention;

FIG. 2 is a bottom view of the adaptive apparatus for covering and filling a hole with sand according to the present invention;

FIG. 3 is a schematic structural diagram of a seedling righting and erecting device in the self-adaptive sand-covering and hole-filling apparatus of the present invention;

FIG. 4 is a schematic structural diagram of a connecting rod sand pushing device in the self-adaptive sand-covering and hole-filling apparatus of the present invention;

FIG. 5 is a schematic structural diagram I of a tamping device in the adaptive sand-covering and hole-filling apparatus according to the present invention;

FIG. 6 is a schematic structural diagram of a second tamping device of the adaptive sand-covering and hole-filling apparatus of the present invention;

FIG. 7 is a schematic structural diagram III of a tamping device in the adaptive sand-covering and hole-filling apparatus according to the present invention;

FIG. 8 is a first schematic structural diagram of a ratchet wheel sand-covering device in the self-adaptive sand-covering and hole-filling apparatus of the present invention;

FIG. 9 is a second schematic structural view of a ratchet wheel sand-covering device in the self-adaptive sand-covering and hole-filling apparatus of the present invention;

FIG. 10 is a schematic structural diagram of a tamping device in the adaptive sand-covering and hole-filling apparatus of the present invention.

Description of the reference numerals

1. A traveling device; 2. a seedling righting and standing device; 3. a connecting rod sand pushing device; 4. a tamping device; 5. a ratchet wheel sand-coating device; 6. a tamping device; 7. a solar power generation device; 201. a steering engine; 202. a slide bar; 203. a roller needle bearing; 204. a rectangular chute; 205. an internal-tooth ring gear; 206. a pinion gear; 207. a rack; 208. a chute; 209. a righting claw; 210. rotating the chassis;

31. an electric push rod; 32. a guide rail chute; 33. a first connecting rod; 34. a second connecting rod; 35. pushing a sand plate; 401. a second stepping motor; 402. a coupling; 403. a gear shaft; 404. a bevel gear set III; 405. a bevel gear set I; 406. a bearing seat; 407. a trapezoidal lead screw; 408. a lead screw nut; 409. a connecting member; 410. a first stepping motor; 411. a spline-shaped gear shaft; 412. a synchronous belt; 413. a synchronous pulley shaft; 414. a stereo cam; 415. a bevel gear set II; 416. a connecting plate; 417. a tamping hammer head;

501. a ratchet wheel; 502. a pawl; 503. elastic tabletting; 504. a step motor III; 505. covering a sand plate; 506. a pedestal bearing; 508. a brushless DC motor; 509. a reel; 510. elastic rope winding; 511. an intermediate shaft; 61. a step motor IV; 62. a first knuckle bearing; 63. a tamper; 64. an eccentric disc; 65. a second knuckle bearing; 66. a connecting rod; 67. a step bar; 68. and (4) a linear bearing seat.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 10, the present embodiment discloses a self-adaptive sand covering and hole filling apparatus, which includes a walking device 1, a seedling righting and erecting device 2, a connecting rod sand pushing device 3, a tamping device 4, a ratchet wheel sand covering device 5, a tamping device 6, and a solar power generation device 7.

The walking device 1 is provided with an installation bottom plate and a crawler belt, the seedling righting and standing device 2 is installed at the front end of the installation bottom plate of the walking device 1, and the connecting rod sand pushing devices 3 are installed on two sides of the seedling righting and standing device 2 and connected with the installation bottom plate; the tamping device 4 is installed in the middle of the installation bottom plate, the ratchet wheel sand covering device 5 is installed at the bottom of the installation bottom plate and located behind the upright seedling righting device 2, the tamping device 6 is installed at the tail of the walking device 1, and the solar power generation device 7 is installed above and around the walking device 1.

Specifically, as shown in fig. 3, the seedling righting and standing device 2 includes a swing mechanism, a first gear transmission mechanism, a plurality of righting claws 209, and a plurality of chutes 208; the swing mechanism comprises a steering engine 201, a slide rod 202, a roller needle bearing 203 and a rectangular sliding groove 204; the first gear transmission mechanism comprises an internal gear ring 205, a rotating chassis 210, a plurality of pinions 206 and a plurality of racks 207; the rotating chassis 210 is used to fixedly mount the internal gear ring 205, the pinion gear 206, and the slide groove 208.

The swinging mechanism is used for driving the first gear transmission mechanism to work, the gear transmission mechanism drives the plurality of righting claws 209 to move centripetally along the sliding groove 208, and the plurality of righting claws 209 are matched with each other and used for righting the saplings which are positioned on the inner sides of the plurality of righting claws 209 and incline.

The front end of the righting claw 209 is in a shape of Chinese character 'ba', and is welded with the rack 207, and a plurality of racks 207 are arranged in an annular array on the upper side of the internal gear ring 205, and the rack 207 extends along the radial direction of the internal gear ring 205. A plurality of pinion gears 206 are arranged in an annular array within the internally toothed ring gear 205, and the lower ends of the pinion gears 206 are meshed with the internally toothed ring gear 205, and the upper ends of the pinion gears 206 are meshed with the rack gears 207; the rotation of the internal gear ring 205 can drive a plurality of racks 207 to simultaneously move centripetally.

Swing mechanism's steering wheel 201 is fixed on the mounting panel, slide bar 202 one end and steering wheel 201's output shaft, the other end of slide bar 202 has downwardly extending's arch, rectangle spout 204 is located the protruding outside is followed slide bar 202 one end, and internal tooth ring gear 205 with rectangle spout 204 is connected. In order to reduce friction, a roller needle bearing 203 is arranged on the protrusion, so that the rectangular sliding groove 204 and the roller needle bearing 203 are in rolling friction and move horizontally along with the roller needle bearing 203. When the steering engine 201 works, the gear transmission mechanism can work through the sliding rod 202, the roller needle bearing 203 and the rectangular sliding groove 204.

One end of the slide bar 202 is provided with a roller needle bearing 203, and three pinion gears 206 and an internal gear ring 205 form an internal meshing planetary gear train. The steering engine 201 drives the sliding rod 202 to swing left and right for 30 degrees, and drives the roller needle bearing 203 to roll in the rectangular sliding groove 204, so as to drive the internal gear ring 205 to rotate, and further drive the three pinions 206 to rotate. The pinion gear 206 is subjected to widening processing, and the lower half portion is engaged with the internal gear ring 205 and the upper half portion is engaged with the rack gear 207. The pinion 206 rotates to drive the rack 207 to move radially, so that the three righting claws 209 gather towards the center, and the effect of righting and standing seedlings is achieved.

The setting up rights upright seedling device utilizes inside and outside gear engagement, rack and pinion meshing ingeniously, drives the interior splayed righting claw and gathers together towards the centre, constitutes circularly, rights the sapling. The pinion is widened, the lower half part of the pinion is meshed with the internal tooth gear ring, and the upper half part of the pinion is meshed with the rack, so that the transmission stability is improved.

As shown in fig. 4, the connecting rod sand pushing device 3 includes an electric push rod 31, an X-shaped telescopic rod, a sand pushing plate 35, and the like, and the electric push rod 31 drives the sand pushing plate 35 to move left and right to the equipment through the X-shaped telescopic rod, so as to realize the movement of pushing sand from both sides to the middle.

The X-shaped telescopic rod comprises a guide rail chute 32, a first connecting rod 33, a second connecting rod 34 and a hinge, and the centers of the first connecting rod 33 and the second connecting rod 34 are connected through the hinge; the electric push rod 31 is rotatably connected with one end of the first connecting rod 33 through a pin, the first connecting rod 33 slides in the guide rail chute 32 through the pin, and the other end of the first connecting rod 33 is hinged with the sand pushing plate 35; two ends of the second connecting rod 34 are respectively hinged with the sand pushing plate 35 and the guide rail sliding groove 32. The telescopic direction of the electric push rod 31 is the same as the advancing direction of the walking device, the electric push rod 31 drives the first connecting rod 33 to do telescopic motion in the guide rail sliding groove 32, and then the sand pushing plate 35 is driven to move left and right to the equipment, so that sand pushing motion from two sides to the middle is achieved.

As shown in fig. 5 to 7, the tamping device 4 includes a rotary driving mechanism, a second gear transmission mechanism, a plurality of stereoscopic cams 414 distributed in an annular array, and a plurality of tamping hammers 417; the gear transmission mechanism II comprises a bevel gear set I405 and a plurality of bevel gear sets II 415 distributed in an annular array, the bottom of the three-dimensional cam 414 is connected with a tamping hammer 417, and the upper end of the three-dimensional cam 414 is in transmission connection with the bevel gear sets II 415 through a connecting piece 409 and a bearing seat 406; the rotary driving mechanism controls the tamping hammer 417 to rotate and move up and down through the gear transmission mechanism II, so that sandy soil around the plant is tamped, and the plant is fixed.

In order to prevent the rotary driving mechanism from interfering with the stereo cam 414, a synchronous belt transmission mechanism is arranged at the lower end of the bevel gear set 415, a first stepping motor 410 of a main driving mechanism of the rotary driving mechanism is arranged outside the stereo cam 414, and the first stepping motor 410 is fixedly connected with the rack, so that the second stepping motor 410 drives the gear transmission mechanism to work through the synchronous belt transmission mechanism.

Specifically, as shown in fig. 7, the synchronous belt transmission mechanism includes a synchronous belt 412, a driving wheel and a driven wheel, the driving wheel is in transmission connection with a first stepping motor 410 through a coupler, the driven wheel is connected with a first driving gear of a first bevel gear set 405 through a synchronous belt wheel shaft 413, and a plurality of first driven gears of the first bevel gear set 405 are meshed with the first driving gear; and the second bevel gear set 415 comprises a second driving gear and a second driven gear which are meshed with each other, the first driven gear drives the second driving gear to rotate through the spline-shaped gear shaft 411, and then the second driven gear drives the three-dimensional cam 414 to work, so that the tamping hammer 417 rotates and moves up and down at the same time.

As shown in fig. 6, the tamping device 4 is further provided with a radial synchronous driving mechanism, the radial synchronous driving mechanism is connected with the plurality of connecting pieces 409, so that the plurality of connecting pieces 409 can synchronously and radially move, and the center distances between the plurality of solid cams 414 and the tamping hammers 417 are adjusted to adapt to planting holes with different diameters and sizes, thereby increasing the application range of the tamping device 4.

Specifically, the radial synchronous driving mechanism comprises a second stepping motor 401, a third bevel gear set 404 and a plurality of lead screw nut assemblies; the bevel gear set III 404 comprises a driving gear III and a plurality of driven gears III distributed in an annular array, the driving gear III is in transmission connection with the stepping motor II 401 through a gear shaft 403 and a coupler 402, a trapezoidal lead screw 407 of a lead screw nut assembly is connected with the corresponding driven gear III, and a lead screw nut 408 of the lead screw nut assembly is fixedly connected with a corresponding connecting piece 409; the second stepping motor 401 controls the radial movement of the tamping hammer 417 at the lower end of the connecting piece 409 through the third bevel gear set 404 and the lead screw nut assembly, and is used for adapting to the tamping of sandy soil of holes with different diameters.

In order to enable the tamping hammer 417 at the lower end of the connecting piece 409 to move smoothly and radially, a spline groove is formed in the second driving gear, so that the spline-shaped gear shaft 411 and the driving gear are fixedly connected in a circumferential direction and are connected in an axial sliding manner. In addition, in order to avoid interference with other parts in the connection process of the connecting piece 409 and the lead screw nut 408, a connecting plate 416 is arranged between the connecting piece 409 and the lead screw nut 408, and the lower end of the connecting plate 416 is provided with an avoiding groove for avoiding the spline-shaped gear shaft 411 and the bevel gear set II 415.

The spline-shaped gear shaft 411 and the second driving gear are matched to form a spline shaft pair to form a linear motion system, and the spline-shaped gear shaft 411 and the second driving gear perform relative linear motion and can transmit torque. When torque is applied to the bevel gear by the spline shaft or is applied to the spline shaft by the bevel gear, linear motion and rotary motion can be performed, and load transmission is uniform. The spline shaft has high transmission efficiency, good positioning precision, transmission reversibility and good synchronization performance.

Bevel gear group three can be replaced into rack and pinion mechanism among the radial synchronous drive mechanism, rack and pinion mechanism includes a plurality of radial extension racks that central gear and annular permutation distribute, radial extension rack along central gear radial extension set up and with correspond connecting piece 409 connects, the central gear with step motor two 401 transmission is connected for adjust a plurality of solid cams 414 and tamping tup 417 centre-to-centre spacing, in order to adapt to the planting hole of equidimension not.

In this embodiment, three parts, namely the solid cam 414, the tamping hammer 417, the bevel gear set 415, the connecting member 409, the screw nut assembly and the like, are arranged and distributed in an annular array and work synchronously, so as to achieve the purpose of tamping.

Two layers of bevel gear trains are respectively used for controlling the three solid cams 414 to translate and rotate, the crossed axes of the bevel gears are both 90 degrees, the inner hole of a driving gear II in a bevel gear group II 415 is in a hexagonal spline shape, one side of a spline-shaped gear shaft 411 is provided with a raised hexagonal spline, and the other side of the spline-shaped gear shaft is provided with an optical axis; the three trapezoidal lead screws 407 are annularly distributed and are spaced by 120 degrees; the tamping hammers at the bottoms of the three-dimensional cams 414 are enlarged and are shaped like horseshoes.

The second stepping motor 401 is connected with a gear shaft 403 through a coupler 402, the gear shaft 403 is connected with a third driving gear, the third driving gear is meshed with three driven gears, the three driven gears are respectively connected with a trapezoidal screw 407, and a square screw nut 408 is connected with a three-dimensional cam 414 through a connecting piece 409.

The first stepping motor 410 is connected with a synchronous belt wheel shaft 413 of a synchronous belt wheel through a coupler 402, the synchronous belt wheel shaft 413 is connected with a first driving gear, the first driving gear is meshed with three first driven gears, and the first driven gears are connected with a second driving gear through spline-shaped gear shafts 411 to achieve coaxial rotation. The second driven gear is meshed with the second driving gear, and the second driven gear is connected with the three-dimensional cam 414 through a rotating shaft.

The first stepping motor 410 drives the synchronous belt 412 to rotate, and then drives the first driving gear to rotate, the first driving gear drives the three driven gears to rotate simultaneously, the first driven gear and the second driving gear on the outer side rotate coaxially, the second driving gear on the outer side drives the second driven gear on the lower side to rotate, the second driven gear on the lower side drives the three-dimensional cam 414 to rotate, the three-dimensional cam 414 moves up and down, and then the tamping hammer head at the bottom of the three-dimensional cam tamps sandy soil around the saplings.

The second stepping motor 401 drives the three driven gears to rotate simultaneously through the third driving gear, and then drives the three trapezoidal lead screws 407 to rotate synchronously, so that the three square lead screw nuts 408 move radially simultaneously, the three-dimensional cams 414 are driven to move simultaneously, and the function of adjusting the center distance of the three-dimensional cams is realized.

As shown in fig. 8 and 9, the ratchet sand-coating device 5 comprises a ratchet 501, a pawl 502, an elastic pressing sheet 503, a three-step motor 504, a sand-coating plate 505, a bearing 506 with a seat, a reset mechanism and a frame. The sand-covered plate 505 is fixedly connected with the ratchet 501, and the pawl 502 is installed on the rotating shaft and is circumferentially fixed by welding or a key or a pin shaft; and the rotating shaft is installed on the frame through a bearing 506 with a seat, and one end of the rotating shaft is connected with a third stepping motor 504 through a coupler.

The pawl 502 is rotatably connected to the frame; the elastic pressing sheet 503 is arranged on the upper side of the pawl 502 and is fixedly connected with the frame, and the elastic pressing sheet 503 is used for pressing the pawl 502 so as to brake the ratchet 501 through the pawl 502. The pawl 502 is connected with a reset mechanism, the reset mechanism drives the pawl 502 to rotate reversely to separate the ratchet wheel 501 from a braking state, and the stepping motor III 504 drives the ratchet wheel 501 to rotate reversely to further drive the sand covering plate 505 to rotate forwards for 90 degrees to reset.

Wherein, canceling release mechanical system includes: brushless dc motor 508, reel 509, elastic cord 510, and intermediate shaft 511. The brushless DC motor 508 is arranged at the rear side of the frame, and the scroll 509 is connected with the output end of the brushless DC motor 508 through a coupler; one end of the elastic cord 510 is connected to the reel 509, and the other end of the elastic cord 510 is connected to the intermediate shaft 511. The intermediate shaft 511 is fixedly connected to the pawl 502, and the brushless dc motor 508 drives the winding shaft 509 to rotate, so that the length of the elastic winding rope 510 is shortened, and further the pawl 502 is driven to rotate reversely, thereby disengaging the ratchet 501 from the braking state.

In the scheme, two ratchet wheels 501, two pawls 502, two elastic pressing sheets 503 and two sand-covered plates 505 are symmetrically distributed, and the two pawls 502 are connected through an intermediate shaft 511 to realize synchronous rotation.

When the device works, the third stepping motor 504 drives the pair of ratchet wheels 501 to rotate reversely by 90 degrees, so that the sand covering plate 505 is driven to rotate reversely by 90 degrees, at the moment, the sand covering plate 505 is in contact with the ground and is in a vertical state, the elastic pressing sheet 503 slightly presses the pawl 502 to brake the ratchet wheels 501, and the ratchet wheels 501 are prevented from rotating reversely; after the work is finished, the ratchet wheel 501 rotates forwards by 5 degrees, the reel 509 driven by the brushless direct current motor 508 winds up the elastic winding rope 510, the ratchet wheel 501 is separated from a braking state after the pawl 502 is lifted, the third stepping motor 504 drives the ratchet wheel 501 to rotate backwards, further the sand covering plate 505 is driven to rotate forwards and reset by 90 degrees, the third stepping motor 504 is self-locked, and the sand covering plate 505 of the executing element is prevented from falling down due to self weight.

The ratchet wheel sand covering device drives the sand covering plate to rotate reversely by using the stepping motor III, so that the sand covering plate is vertical to the ground, and the sand covering plate moves along with the vehicle body to cover sand; the ratchet wheel is braked by slightly pressing the pawl by using the elastic pressing sheet, so that the ratchet wheel is prevented from reversing; the brushless motor drives the reel to roll up the elastic rope, so that the pawl can be lifted and then separated from a braking state; the third stepping motor drives the sand covering plate to rotate forwards and reset, so that the whole planting device can move quickly.

As shown in fig. 10, the tamping device 6 comprises a four step motor 61 mounted on the frame, a crank block mechanism, and a tamper 63, wherein the four step motor 61 is used for driving the crank block mechanism to work and driving the tamper 63 to move up and down, thereby realizing tamping of sandy soil around the saplings.

The crank slider mechanism comprises an eccentric disc 64, a first joint bearing 62, a second joint bearing 65, a connecting rod 66, a stepped rod 67 and a linear bearing seat 68, wherein the eccentric disc 64 is rotatably connected with the rack through an outer spherical bearing with a seat, and meanwhile, the eccentric disc 64 is in transmission connection with a fourth stepping motor 61 through a quincunx coupler.

The first knuckle bearing 62 is connected with the eccentric disc 64, and the second knuckle bearing 65 is connected with the stepped rod 67; the first knuckle bearing 62 and the second knuckle bearing 65 are connected through a connecting rod 66, so that the stepped rod 67 moves linearly along the linear bearing seat 68, and the tamper 63 arranged at the bottom of the stepped rod 67 is driven to move. Wherein, the upper half of the tamper 63 is hollow cylinder shape, the tamper 63 is directly connected with the step rod 67 through bolts and nuts, the middle of the lower half of the tamper 63 is inverted U-shaped, and the two sides are semi-circular.

The four stepping motors 61 drive the eccentric disks 64 to rotate, the eccentric disks 64 drive the connecting rods 66 to move, the connecting rods 66 drive the stepped rods 67 to move up and down, and then the tampers 63 are driven to move, so that the sandy soil around the saplings is tamped.

The tamping device ingeniously utilizes a crank-slider mechanism consisting of an eccentric disc, a connecting rod and a step rod to drive the tamping device to move up and down to compact sandy soil around the saplings, the middle of the lower half portion of the tamping device is of an inverted U shape, the two sides of the tamping device are semicircular, the inverted U shape protects the integrity of the saplings, the sandy soil around the saplings is tamped by the semicircular shapes on the two sides, the structure of the device is ingenious, and the survival rate of the saplings is improved.

In this scheme, running gear 1 includes that apron, track, motor, link, reduction gear, riding wheel, support frame, thrust wheel, leading wheel etc. constitute, drives the machine through the differential and turns to, and the apron is connected with the track through the link, places other devices above the apron.

According to the self-adaptive sand-covering hole-filling equipment, the internal meshing planetary gear train in the seedling righting and erecting device drives the rack to slide and drives the righting claw to gather towards the center, so that the function of righting and erecting seedlings is realized; the connecting rod sand pushing device skillfully utilizes a connecting rod chute mechanism to realize forward and backward movement of the sand pushing plate and realize the sand pushing function; an upper layer of conical gear train and a lower layer of conical gear train are adopted by the tamping device, the first layer of conical gear train drives the three trapezoidal screws to synchronously rotate, the center distances of the three-dimensional cams are enlarged or reduced at the same time, and the second layer of conical gear train drives the three-dimensional cams to simultaneously move to tamp sandy soil, so that the tamping function is realized; the ratchet wheel sand covering device skillfully utilizes the ratchet wheel mechanism to carry out sand covering treatment on the planted salix mongolica and the flower sticks, so that the survival rate of the salix mongolica and the flower sticks can be improved; the tamping device tamps sandy soil around the plants by utilizing a crank-slider mechanism; the solar power generation device is arranged on the top and the periphery of the machine and generates electricity to supplement power supply electricity by utilizing the illumination of the sun. The invention has smart structure and stable transmission; can improve the survival rate of the saplings, reduce the labor cost and reduce the labor amount.

The working principle and the working process of the self-adaptive sand covering and hole filling equipment are briefly described below with reference to the attached drawings.

When the device moves right above the planted sapling opening, the electric push rod 31 in the connecting rod sand pushing device 3 drives the first connecting rod 33 to move in the guide rail sliding groove 32 in a telescopic mode, and drives the sand pushing plate 35 to move, so that sand on two sides of the opening is pushed into the opening.

After the sand pushing is finished, the seedling righting and erecting device 2 is driven by the lifting device to descend to the surface of the sand ground, the steering engine 201 rotates for 60 degrees to drive the sliding rod 202 to slide in the rectangular sliding groove 204, so that the internal gear ring 205 is driven to rotate, three pinion gears 206 in the planetary gear train are driven to rotate, the pinion gears 206 respectively drive racks 207 meshed with the pinion gears to slide, and the righting claws 209 are driven to contract towards the circle center, so that the saplings are gathered to the circle center of the hole to be righted.

Then, the tamping device 4 and the seedling righting and erecting device 2 are driven by the lifting device to move downwards at the same time, the first-layer stepping motor II 401 drives the driving gear III to rotate, the driving gear III drives the three driven gears to rotate at the same time, and then the three trapezoidal screws 407 are driven to rotate synchronously, so that the three square screw nuts 408 are driven to slide synchronously and radially, the square screw nuts 408 drive the connecting piece 409 to move, the driving gear II moves along the spline-shaped gear shaft 411 in a radial direction, the three-dimensional cams 414 move simultaneously, and the function of adjusting the center distances of the three-dimensional cams is achieved.

The first stepping motor 410 on the second layer drives the synchronous belt 412 to rotate, the synchronous belt 412 drives the first driving gear to rotate through the driven wheel, the first driving gear drives the first driven gear which is meshed with the first driving gear to rotate, the first driven gear drives the spline-shaped gear shaft 411 to rotate, the spline-shaped gear shaft 411 drives the second bevel gear group to rotate, and then the three-dimensional cam 414 is driven to rotate, so that the tamping hammer head extends downwards to complete tamping work.

After tamping is finished, the walking device 1 moves forwards, the ratchet wheel sand covering device 5 brakes, the stepping motor III 504 drives the pair of ratchet wheels 501 to rotate reversely by 90 degrees, the sand covering plate 505 is further driven to rotate reversely by 90 degrees, at the moment, the sand covering plate 505 is vertical to the ground, the elastic pressing sheet 503 lightly presses the pawl 502 to brake the ratchet wheels, the ratchet wheels 501 are prevented from rotating reversely, and the ratchet wheel sand covering device 5 starts to cover sand along with the forward movement of the vehicle body;

after the sand covering is finished, the walking device 1 continues to move forwards, the four stepping motors 61 in the tamping device 6 rotate to drive the crank-slider mechanism to work, and the tampers 63 are connected below the crank-slider mechanism so as to drive the tampers 63 to tamp up and down, and finally the function of filling holes and covering sand is finished.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tamping device is characterized by comprising a rotary driving mechanism, a gear transmission mechanism II, a plurality of three-dimensional cams (414) distributed in an annular array manner and a plurality of tamping hammers (417);

the gear transmission mechanism II comprises a bevel gear set I (405) and a plurality of bevel gear sets II (415) distributed in an annular array mode, the bottom of the three-dimensional cam (414) is connected with the tamping hammer head (417), and the upper end of the three-dimensional cam (414) is in transmission connection with the bevel gear set II (415) through a connecting piece (409) and a bearing seat (406); the rotary driving mechanism drives the bevel gear set I (405) to rotate, and then controls the tamping hammer head (417) to rotate and move up and down at the same time through the bevel gear set II (415), so that sandy soil around plants is tamped, and the plants are fixed;

the front side of the tamping device is provided with a seedling righting and erecting device (2), and the seedling righting and erecting device (2) is used for gathering the saplings to the center of the hole and righting the saplings;

the seedling righting and erecting device comprises a swinging mechanism, a first gear transmission mechanism and a plurality of righting claws (209); the first gear transmission mechanism comprises an internal gear ring (205), a plurality of pinions (206) and a plurality of racks (207); the centralizing claw (209) is welded with a rack (207), the front end of the centralizing claw (209) is shaped like a Chinese character 'ba', a plurality of racks (207) are arranged in an annular array on the upper side of the internal gear ring (205), and the racks (207) extend along the radial direction of the internal gear ring (205);

the upper end of the pinion (206) is meshed with a rack (207), and the lower end of the pinion (206) is meshed with the internal-tooth gear ring (205); the swing mechanism is used for driving the internal tooth gear ring (205) to swing, so that the plurality of righting claws (209) radially and centripetally move along the internal tooth gear ring (205), and the saplings positioned on the inner sides of the plurality of righting claws (209) are righted.

2. The tamping apparatus of claim 1, wherein said bevel gear set one (405) comprises a first driving gear and a plurality of first driven gears that are intermeshed; the bevel gear set II (415) comprises a driving gear II and a driven gear II which are meshed with each other, the driven gear I drives the driving gear II to rotate correspondingly through a spline-shaped gear shaft (411), and then drives the stereoscopic cam (414) to work through the driven gear II.

3. The tamping device according to claim 1, wherein the second gear transmission mechanism comprises a first stepping motor (410) and a synchronous belt transmission mechanism, a driving wheel of the synchronous belt transmission mechanism is in transmission connection with the first stepping motor (410) through a coupler, and a driven wheel of the synchronous belt transmission mechanism is connected with a driving gear of the first bevel gear set (405) through a synchronous belt wheel shaft (413); and the first stepping motor (410) is arranged outside the three-dimensional cam (414) and is fixedly connected with the frame.

4. The tamping device according to claim 2, wherein the tamping device (4) is further provided with a radial synchronous drive mechanism, which is connected with a plurality of connecting pieces (409), and the bevel gear set two (415) is connected with the spline-shaped gear shaft (411) in a circumferentially fixed and axially sliding manner; and synchronously and radially moving a plurality of solid cams (414) and the tamping hammers (417) to adapt to planting holes with different diameters.

5. The tamping device according to claim 4, wherein the radial synchronous drive mechanism comprises a rack and pinion mechanism and a second stepper motor (401), the rack and pinion mechanism comprises a central gear and a plurality of radially extending racks distributed in an annular array, the radially extending racks are connected with the corresponding connecting pieces (409), and the central gear is in transmission connection with the second stepper motor (401).

6. The tamping device of claim 4, wherein the radial synchronous drive mechanism comprises a second stepper motor (401), a third bevel gear set (404), and a plurality of lead screw nut assemblies; the bevel gear set III (404) comprises a driving gear III and a plurality of driven gears III distributed in an annular array, the driving gear III is in transmission connection with the stepping motor II (401), the lead screw nut assembly comprises a trapezoidal lead screw (407) and a lead screw nut (408), the trapezoidal lead screw (407) is connected with the corresponding driven gear III, and the lead screw nut (408) is fixedly connected with the corresponding connecting piece (409).

7. The tamping device according to claim 6, wherein a connecting plate (416) is arranged between the connecting piece (409) and the screw nut (408), and an avoiding groove is arranged at the lower end of the connecting plate (416) and is used for avoiding the spline-shaped gear shaft (411) and the bevel gear set II (415).

8. The tamping device according to claim 1, wherein three solid cams (414), three tamping heads (417), three bevel gear sets (415) and three connecting pieces (409) are arranged and arranged in an annular array and work synchronously.

9. An adaptive sand-covering and hole-filling apparatus, characterized by comprising a tamping device (4) according to claims 1 to 8; the sand-pushing device comprises a walking device (1), a connecting rod sand-pushing device (3) and a ratchet wheel sand-covering device (5);

the connecting rod sand pushing device (3) is used for pushing sand on the left side and the right side of the hole into the hole, and the ratchet wheel sand covering device (5) is used for covering the sand on the rear side of the hole to the hole.

10. The self-adaptive sand-covering and hole-filling equipment as claimed in claim 9, wherein the connecting rod sand-pushing device (3) comprises an electric push rod (31), an X-shaped telescopic rod and a sand-pushing plate (35), and the electric push rod (31) drives the sand-pushing plate (35) to move transversely through the X-shaped telescopic rod, so that sand is pushed from two sides to the middle.