CN114908813A

CN114908813A - Automatic cruise grass grid sand fixation machine and sand fixation method

Info

Publication number: CN114908813A
Application number: CN202210379188.XA
Authority: CN
Inventors: 王红军; 张嘉谋; 廖滔; 尤德安; 林子钧; 彭志锋; 谢建民
Original assignee: South China Agricultural University
Current assignee: South China Agricultural University
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2022-08-16
Anticipated expiration: 2042-04-12
Also published as: CN114908813B

Abstract

The invention discloses an automatic cruise grass square sand fixation machine and a sand fixation method. The invention applies the grass grid planting mode to desert control, and effectively reduces the rolling compaction rate and the laying cost, greatly improves the laying efficiency and efficiently finishes continuous work in a severe desert environment by using the T + I type grass grid planting mode and automatic cruising.

Description

Automatic cruise grass grid sand fixation machine and sand fixation method

Technical Field

The invention relates to a sand field grass grid sand fixation machine based on integrated sand fixation and GNSS automatic cruising, in particular to an automatic cruising grass grid sand fixation machine and a sand fixation method, and belongs to the field of wind prevention and sand fixation.

Background

In recent years, with the continuous deepening of ecological civilization construction, the national investment on sand prevention and control is continuously increased, higher requirements are put on the technological innovation of desertification prevention and control, and the traditional desert control is developed towards mechanization, intellectualization and integration. The technical means of mechanized sand stabilization can not only ensure good sand control effect, but also improve the control efficiency, realize sand control by mechanical equipment, and accelerate the process of desertification control. The mechanized sand control has more scientificity and high efficiency, plays an important role in environmental protection and ecological construction, is popularized in future desert control, and has an urgent need for sand control at present in the aspect of improving the mechanization level of sand-fixing forestation.

The planting of grass grids is one of the most effective methods for wind prevention and sand fixation at present. The grass square grid is made up by using waste wheat straw bundle and spreading it on the sand in the form of square grid, then using shovel to roll it into the sand, and naturally erecting 1/3 or half of the wheat straw on the four sides, then pulling the sand in the centre of square grid towards the root of wheat straw on the periphery of square grid so as to make the wheat straw firmly stand on the sand. Compared with the artificial grass planting square, the mechanical planting efficiency and the economical efficiency are higher.

Disclosure of Invention

The invention aims to overcome the technical defects of the existing seedling transplanting operation and the single-plant seedling transplanting operation, and provides the automatic-cruising grass square grid sand fixation machine.

The second purpose of the invention is to provide a cruise grass square sand fixation method, which is realized based on the automatic cruise grass square sand fixation machine.

The first purpose of the invention can be achieved by adopting the following technical scheme:

an automatic cruise grass square sand fixation machine comprises a rack, a grass inserting mechanism, a grass covering and pressing mechanism, a sowing and watering mechanism, two wheel carrier mechanisms, a lifting mechanism, a grass box mechanism, a ditching mechanism and a control box, wherein the grass inserting mechanism is movably mounted at the middle end inside the rack, the grass covering and pressing mechanism is mounted at the rear end of the grass inserting mechanism, the sowing and watering mechanism is mounted at the rear end of the rack, the two wheel carrier mechanisms are mounted at the front end and the rear end of the lower part of the rack, wheels are fixedly mounted at the two ends of each wheel carrier mechanism, the lifting mechanism is mounted on the outer surface of the upper part of the rack, the grass box mechanism is mounted at the front end of the rack, the ditching mechanism is mounted on one side of the outer surface of the lower part of the grass box mechanism, and the control box is mounted on the rack;

the grass inserting mechanism comprises a longitudinal grass inserting mechanism and a transverse grass inserting mechanism, the sand covering and pressing mechanism comprises a longitudinal sand covering and pressing mechanism and a transverse sand covering and pressing mechanism, the longitudinal grass inserting mechanism and the longitudinal sand covering and pressing mechanism are arranged on the lifting mechanism, and the grass box mechanism comprises a longitudinal grass box mechanism and a transverse grass box mechanism; the control box is respectively connected with the transverse grass inserting mechanism, the transverse sand covering and pressing mechanism, the sowing and sprinkling mechanism, the lifting mechanism and the transverse grass box mechanism.

Furthermore, the longitudinal grass inserting mechanism comprises a laying disc, a bearing sleeve, a suspension slideway, a suspension spring, a first spring sleeve, a second spring sleeve, an angle brace, a slideway aluminum profile, a lifting plate, an ultrasonic sensor bracket and an ultrasonic sensor;

the elevating plate is installed on elevating system, first spring sleeve and elevating plate fixed connection, second spring sleeve with hang slide fixed connection, ultrasonic sensor support with hang slide fixed connection, ultrasonic sensor and ultrasonic sensor support fixed connection, suspension spring installs between first spring sleeve and second spring sleeve, the angle sign indicating number is installed on the elevating plate to install the slide aluminium alloy on the elevating plate, hang slide and slide aluminium alloy swing joint, the bearing housing is installed on hanging the slide, and bearing housing movable mounting has the disc axle, lay disc and disc axle swing joint.

Furthermore, the transverse grass inserting mechanism comprises a fixed support, a first flange, a rotary cylinder shaft, a first vertical bearing, a cylinder fixing plate, a first double-shaft cylinder, a first transverse slotting tool and a large steering engine;

the first flange is fixedly connected with the large steering engine, the rotary cylinder shaft is connected with the first flange, the first vertical bearing is movably connected with the rotary cylinder shaft, the first vertical bearing is installed on the fixed support, the cylinder fixing plate is fixedly connected with the rotary cylinder shaft, the first double-shaft cylinder is connected with the cylinder fixing plate, and the first transverse slotting tool is fixedly connected with the first double-shaft cylinder.

Furthermore, the longitudinal sand covering and pressing mechanism comprises a longitudinal sand pressing fixing plate, a second vertical bearing, a sand pressing wheel shaft, a bearing, a first sand pressing wheel and a soil covering plate;

the second vertical bearing is fixedly connected with the longitudinal sand pressing fixing plate, the sand pressing wheel shaft is movably connected with the second vertical bearing, the bearing is fixedly connected with the sand pressing wheel shaft, the first sand pressing wheel is connected with the bearing, and the soil covering plate is connected with the longitudinal sand pressing fixing plate.

Further, the transverse sand covering and pressing mechanism comprises a first fixing frame, a small rudder rack, a small steering engine, a second flange, a baffle plate shaft, a first horizontal bearing, a third flange, a baffle plate, a steering engine supporting plate, a second double-shaft cylinder, a pulley bottom plate, a pulley, a first sliding rail, a suspension fixing plate, a shock absorber frame, a shock absorber, a suspension lower hole fixing block, a sand pressing wheel bearing fixing plate, a third vertical bearing and a second sand pressing wheel;

the small rudder frame is fixedly connected with a first fixing frame, the small steering engine is connected with a small steering engine frame, the second flange is connected with the small steering engine, the baffle plate shaft is fixedly connected with the second flange, the first horizontal bearing is movably connected with the baffle plate shaft, the third flange is fixedly connected with the baffle plate shaft, the baffle plate is fixedly connected with a third flange, the steering engine support plate and the second double-shaft cylinder are respectively fixedly connected with the first fixing frame, the second transverse slotting tool is connected with the shaft end of the second double-shaft cylinder, the pulley bottom plate is positioned above the second transverse slotting tool, the pulley is fixedly connected with the pulley bottom plate, the first slide rail is fixedly connected with the second double-shaft cylinder, the suspension fixing plate is connected with the first slide rail, the shock absorber frame is fixedly connected with the suspension fixing plate, and the shock absorber is fixedly connected with the shock absorber frame, the suspension lower hole fixing block is movably connected with the shock absorber, the grinding wheel bearing fixing plate is connected with the suspension lower hole fixing block, the third vertical bearing is fixedly connected with the grinding wheel bearing fixing plate, and the second grinding wheel is movably connected with the third vertical bearing.

Further, the lifting mechanism comprises a second fixing frame, a bearing supporting plate, a fourth vertical bearing, a worm wheel shaft, a worm wheel, a worm shaft, a lifting motor coupler, a lifting motor support, a wire wheel, a lifting motor clamping coupler, a chain wheel, a chain, a slide rail fixing plate, a second horizontal bearing, a second slide rail and a lifting frame;

the bearing support plate is fixedly connected with the second fixing frame, the fourth vertical bearing is fixedly connected with the bearing support plate, the worm wheel shaft is connected with the fourth vertical bearing, the worm wheel is fixedly connected with the worm wheel shaft, the worm is meshed with the worm wheel, the worm shaft is fixedly connected with the worm, the lifting motor is connected with the worm shaft through a lifting motor coupler, the lifting motor is fixed on the bearing supporting plate through a lifting motor bracket, the wire wheel is connected with the worm wheel shaft, the lifting motor clamping coupler is fixedly connected with the wire wheel, the chain wheel is fixedly connected with the lifting motor clamping coupler, the chain is engaged with the chain wheel, the slide rail fixing plate is fixedly connected with the second fixing frame, the second slide rail is fixedly connected with the slide rail fixing plate through the second horizontal bearing, the lifting frame is fixedly connected with the second sliding rail, and the longitudinal grass inserting mechanism and the longitudinal sand covering and pressing mechanism are installed on the lifting frame.

Further, the device comprises a third fixing frame, a longitudinal grass box, a fifth vertical bearing, a roller shaft, a roller, a first pressure sensor, a first tooth and a first synchronous belt;

the straw harvester is characterized in that the longitudinal straw box is fixedly connected with the third fixing frame, the third fixing frame is fixedly connected with the first pressure sensor, the first pressure sensor is fixedly connected with a wheel frame fixing plate of the wheel frame mechanism, the fifth vertical bearing is fixedly connected with the longitudinal straw box, the roller shaft is movably connected with the fifth vertical bearing, the roller is installed on the roller shaft, the first tooth is fixedly connected with the roller shaft, and the first synchronous belt is meshed with the first tooth and is connected with the gear box.

Further, the transverse grass box mechanism comprises a fourth fixing frame, a transverse grass box, a bearing seat plate, a third horizontal bearing, a rocker shaft, a fourth flange, a first connecting rod, a fourth horizontal bearing, an intermediate shaft, a second tooth, a fifth flange, a second connecting rod, a fifth horizontal bearing, a crank shaft, a third tooth, a sixth flange, a third connecting rod, a hexagonal round copper column screw, a second synchronous belt, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an L-shaped grass pushing plate, a second pressure sensor and a third synchronous belt;

the transverse grass box is fixedly connected with a fourth fixing frame, the bearing seat plate is fixedly connected with a second pressure sensor and then fixedly connected with the frame, the third horizontal bearing is fixedly connected with the bearing seat plate, the rocker shaft is movably connected with the third horizontal bearing, the fourth flange is fixedly connected with the rocker shaft, the first connecting rod is fixedly connected with the fourth flange, the fourth horizontal bearing is fixedly connected with the bearing seat plate, the intermediate shaft is movably connected with a fifth horizontal bearing, the second tooth and the fifth flange are respectively fixedly connected with the intermediate shaft, the second connecting rod is fixedly connected with the fifth flange, the fifth horizontal bearing is fixedly connected with the bearing seat plate, the crankshaft is movably connected with the fifth horizontal bearing, the third tooth and the sixth flange are respectively fixedly connected with the crankshaft, the third connecting rod is fixedly connected with the sixth flange, and the hexagonal copper column screw is fixedly connected with the bearing seat plate, the second synchronous belt is connected with a second gear, a third gear and a hexagonal round copper column screw respectively, the fourth connecting rod is connected with a second connecting rod, a third connecting rod, a fifth connecting rod and a sixth connecting rod movably respectively, the fifth connecting rod is connected with a first connecting rod and a second connecting rod movably respectively, the sixth connecting rod is connected with the third connecting rod movably, the seventh connecting rod is connected with the fifth connecting rod and the sixth connecting rod movably respectively, the L-shaped grass pushing plate is fixedly connected with the seventh connecting rod, and the third synchronous belt is meshed with the second gear and is connected with a gear box.

Furthermore, the sowing and watering mechanism comprises a fifth fixing frame, a mounting frame, a water tank support, a watering tank cover, a thin worm shell, a sowing dispersion box, a sowing worm, a separation blade, a seventh flange, a gearwheel, a pinion, a third pressure sensor, a seed tank and a fourth pressure sensor;

mounting bracket and water tank support respectively with fifth mount fixed connection, it supports fixed connection with the water tank to spill the water tank, watering case lid and watering case cooperation, thin worm shell and seeding dispersion box respectively with mounting bracket fixed connection, fourth pressure sensor and mounting bracket fixed connection, seeding worm and separation blade respectively with thin worm shell cooperation, seventh flange and seeding worm fixed connection, gear wheel and seventh flange fixed connection, pinion and gear wheel meshing, third pressure sensor and thin worm shell fixed connection, kind seed box and third pressure sensor fixed connection.

The second purpose of the invention can be achieved by adopting the following technical scheme:

a cruise grass square sand fixation method is realized based on the automatic cruise grass square sand fixation machine, and the method comprises the following steps:

the distance between the bottom of the sand fixing machine and the sand surface is measured through an ultrasonic sensor, and the height of a lifting frame in a lifting mechanism is adjusted in real time to control the depth of the longitudinal grass inserting mechanism and the longitudinal sand covering and pressing mechanism pressed into the sand surface;

when the lifting mechanism descends, the steel wire rope is tensioned, so that the ditching mechanism rotates around the ditching nozzle shaft, the ditching nozzle is obliquely inserted downwards into the sand surface, and a groove is scraped for longitudinal grass inserting; when the lifting mechanism ascends, the steel wire rope is loosened, and the ditching mechanism returns under the action of the extension spring;

when a gear driving motor of the gear box rotates forwards, the gear driving motor drives the rollers of the longitudinal grass box mechanism and the L-shaped grass pushing plate of the transverse grass box mechanism to simultaneously drive the grass of the longitudinal grass box mechanism and the L-shaped grass pushing plate of the longitudinal grass box mechanism to continuously send grass along with the rotation of the rollers, the laying disc of the longitudinal grass inserting mechanism continuously rolls to insert grass, the transverse grass box mechanism intermittently pushes grass through the connecting rod mechanism, and the first transverse slotting cutter of the transverse grass inserting mechanism intermittently inserts grass to realize that the sand fixing machine lays grass squares in a T mode; when a gear driving motor of the gear box rotates reversely, the rollers of the longitudinal grass box mechanism do not rotate, and the L-shaped grass pushing plate of the transverse grass box mechanism maintains the original motion state, so that grass can be continuously inserted transversely when the sand fixing machine lays grass grids in a one-line mode, and grass insertion is stopped longitudinally;

when the sand fixing machine runs forwards, a transverse slotting tool of the transverse sand covering and pressing mechanism pushes sand to a transverse grass sand barrier to simulate a manual sand covering process; when the grass sand barrier is close to the grass sand barrier, the transverse slotting tool is retracted, and at the moment, sand is pressed by a second sand pressing wheel of the transverse sand covering and pressing mechanism;

the seeding and sprinkling mechanism is started, the pinion is driven to rotate through driving the pinion, the pinion drives the gear wheel to rotate, the seeding worm is driven, the seeding worm is used for converting spiral motion into linear motion of seeds, the seeds fall from the seed leaking holes, when the quality of the seeds in the seed box changes, the numerical value fed back to the control box by the pressure sensor also changes, and the residual quantity of the seeds is monitored.

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

1. based on the traditional grass square sand fixation theory and experience, the automatic cruise grass square sand fixation machine comprehensively considers the liberation of labor force, improves the automation degree and the practicability of equipment, reduces the equipment cost, designs the automatic cruise grass square sand fixation machine with small and light volume, applies a grass square planting mode to desert control, and replaces manual driving by using a T + one type grass square planting mode and adopting automatic cruise control of GNSS (Global Navigation Satellite System), thereby effectively reducing the rolling rate and the laying cost, greatly improving the laying efficiency, efficiently finishing continuous work in a severe desert environment, relieving the pressure of workers, improving the accuracy of grass square planting and greatly improving the economic benefit.

2. The integrated sand fixation design is combined with the automatic cruise of the GNSS, the unmanned automatic sand fixation process is realized on the premise of meeting the planting requirement of the grass square, the operation requirement in the wind prevention and sand fixation field is met, and the consumption of human resources is greatly reduced; the adaptability is strong, the theme of current intelligent development is met, and the goal of unmanned sand stabilization is hopefully realized; the whole machine is low in manufacturing and production cost, the speed of planting grass squares can be effectively increased, various problems of inconvenience in manual work and the like caused by desert climate problems are solved, the market effect is good, and the popularization and application prospects are very high; by utilizing the cylinder transmission, the pneumatic system has stronger adaptability to the working environment and longer service life in the complex desert operation environment.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of an automatic cruise grass grid sand fixation machine according to an embodiment of the invention.

Fig. 2 is a schematic structural view of a longitudinal grass-inserting mechanism according to an embodiment of the invention.

Fig. 3 is a schematic structural view of a transverse grass-inserting mechanism according to an embodiment of the invention.

Fig. 4 is a schematic structural view of a longitudinal sand-pressing mechanism according to an embodiment of the present invention.

FIG. 5 is a schematic view of one angle of the transverse sand-covering mechanism according to the embodiment of the invention.

FIG. 6 is a schematic view of another angle of the lateral sand-covering mechanism according to the embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention.

FIG. 8 is a schematic view of an assembly structure of the longitudinal straw box mechanism of an embodiment of the present invention at one angle.

FIG. 9 is a schematic view of another angle of the longitudinal straw box mechanism of the present invention.

FIG. 10 is a schematic view of the assembly structure of the transverse straw box mechanism according to the embodiment of the present invention.

FIG. 11 is a schematic view of a first angle of the lateral straw box mechanism of an embodiment of the present invention.

FIG. 12 is a schematic view of a second angle of the lateral straw box mechanism of the present invention.

FIG. 13 is a third angle view of the lateral straw box assembly of the present invention.

FIG. 14 is a schematic view of a gearbox according to an embodiment of the present invention.

FIG. 15 is a schematic view of the structure of one of the angles of the sowing and watering mechanism according to the embodiment of the present invention.

FIG. 16 is a schematic view of another angle of the sowing and watering mechanism according to the embodiment of the present invention.

Fig. 17 is a structural schematic view of a wheel carrier mechanism according to an embodiment of the invention.

FIG. 18 is a schematic view of a ditching mechanism of an embodiment of the present invention.

FIG. 19 is a schematic diagram of a Fuzzy-PID navigation control algorithm according to an embodiment of the present invention.

Fig. 20 is a flow chart of the working principle of the automatic cruise grass square sand fixation machine according to the embodiment of the invention.

Fig. 21 is a schematic view of a laying manner of "T + one" shaped grass squares according to an embodiment of the present invention.

FIG. 22 is a schematic diagram of the working three positions of the lateral sand-covering mechanism according to the embodiment of the present invention.

Wherein, 1-a frame, 2-a sowing and watering mechanism, 201-a fifth fixing frame, 202-a mounting frame, 203-a water tank support, 204-a watering tank, 205-a watering tank cover, 206-a thin worm shell, 207-a sowing and dispersing box, 208-a sowing worm, 209-a baffle, 210-a seventh flange, 211-a big gear, 212-a small gear, 213-a third pressure sensor, 214-a seed box, 215-a fourth pressure sensor, 3-a wheel frame mechanism, 301-a mounting plate, 302-a wheel frame fixing plate, 303-a hinge, 304-a second shock absorber, 305-a wheel coupler, 306-a driving motor, 4-a lifting mechanism, 401-a second fixing frame, 402-a first bearing supporting plate, 403-a fourth vertical bearing, 404-worm wheel shaft, 405-worm wheel, 406-worm, 407-worm shaft, 408-lifting motor coupling, 409-lifting motor, 410-lifting motor support, 411-wheel, 412-lifting motor clamping coupling, 413-chain wheel, 414-chain, 415-slide rail fixing plate, 416-second horizontal bearing, 417-second slide rail, 418-lifting frame, 5-ditching mechanism, 501-, 6-wheel, 7-longitudinal grass inserting mechanism, 701-laying disc, 702-bearing sleeve, 703-suspension slide rail, 704-suspension spring, 705-first spring sleeve, 706-second spring sleeve, 707-corner brace, 708-slide aluminum profile, 709-lifting plate, 710-ultrasonic sensor support, 711-an ultrasonic sensor, 8-a transverse grass inserting mechanism, 801-a fixed support, 802-a first flange, 803-a rotary cylinder shaft, 804-a first vertical bearing, 805-a cylinder fixed plate, 806-a first double-shaft cylinder, 807-a first transverse slotting tool, 808-a large steering engine, 9-a longitudinal sand covering mechanism, 901-a longitudinal sand covering fixed plate, 902-a second vertical bearing, 903-a sand covering wheel shaft, 904-a bearing, 905-a first sand pressing wheel, 906-a soil covering plate, 10-a transverse sand covering mechanism, 1001-a first fixed frame, 1002-a small steering engine frame, a small steering engine, 1004-a second flange, 1005-a baffle plate shaft, 1006-a first bearing, 1007-a third flange, 1008-a baffle plate and 1003-a supporting plate, 1010-a second double-shaft cylinder, 1011-a second transverse slotting tool, 1012-a pulley bottom plate, 1013-a pulley, 1014-a first sliding rail, 1015-a suspension fixing plate, 1016-a shock absorber frame, 1017-a shock absorber, 1018-a suspension lower hole fixing block, 1019-a sand wheel bearing fixing plate, 1020-a third vertical bearing, 1021-a second sand wheel, 11-a longitudinal grass box mechanism, 1101-a third fixing frame, 1102-a longitudinal grass box, 1103-a fifth vertical bearing, 1104-a roller shaft, 1105-a roller, 1106-a first pressure sensor, 12-a transverse grass box mechanism, 1201-a fourth fixing frame, 1202-a transverse grass box, 1203-a bearing seat plate, 1204-a third horizontal bearing, 1205-a rocker shaft and 1206-a fourth flange, 1207-first link, 1208-fourth horizontal bearing, 1209-intermediate shaft, 1210-second tooth, 1211-fifth flange, 1212-second link, 1213-fifth horizontal bearing, 1214-first crank shaft, 1215-sixth flange, 1216-third link, 1217-hexagonal copper cylinder screw, 1218-second synchronous belt, 1219-fourth link, 1220-fifth link, 1221-sixth link, 1222-seventh link, 1223-L-shaped grass pushing plate, 1224-second pressure sensor, 13-gear box, 1301-shaft bottom plate, 1302-second bearing support plate, 1303-first horizontal cylindrical gear, 1304-sixth bearing, 1305-second cylindrical gear, 1306-one-way bearing, 1307-first synchronous wheel, 1308-third cylindrical gear, 1309-fourth synchronous belt, 1310-eighth flange, 1311-fourth cylindrical gear, 1312-fifth cylindrical gear, 1313-gear 4 shaft, 1314-input shaft, 1315-second crank shaft, 1316-second synchronous wheel, 1317-motor bracket, 1318-gear driving motor, 1319-sixth vertical bearing and 14-base bracket.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

Example (b):

as shown in fig. 1, the present embodiment provides an automatic cruise grass grid sand fixation machine, which comprises a frame 1, a grass inserting mechanism, a sand covering and pressing mechanism, a sowing and watering mechanism 2, two wheel carrier mechanisms 3, a lifting mechanism 4, a grass box mechanism, a ditching mechanism 5, a control box and a storage battery, wherein the grass inserting mechanism is movably mounted at the middle end inside the frame 1, the sand covering and pressing mechanism is mounted at the rear end of the grass inserting mechanism, the sowing and watering mechanism 2 is mounted at the rear end of the frame 1, the two wheel carrier mechanisms 3 are arranged at the front and rear ends of the lower part of the frame 1, wheels 6 are fixedly mounted at the two ends of each wheel carrier mechanism 3, the lifting mechanism 4 is mounted on the outer surface of the upper part of the frame 1, the grass box mechanism is mounted at the front end of the frame 1, the ditching mechanism 5 is mounted on one side of the outer surface of the lower part of the grass box mechanism, the control box and the storage battery are mounted on the frame 1, the control box is arranged on one side of the outer surface of the lower part of the frame 1, and the storage battery is arranged on one side of the inner surface of the lower part of the frame 1.

The grass inserting mechanism comprises a longitudinal grass inserting mechanism 7 and a transverse grass inserting mechanism 8, the sand covering and pressing mechanism comprises a longitudinal sand covering and pressing mechanism 9 and a transverse sand covering and pressing mechanism 10, the longitudinal grass inserting mechanism 7 and the longitudinal sand covering and pressing mechanism 9 are installed on the lifting mechanism 4, and the grass box mechanism comprises a longitudinal grass box mechanism 11 and a transverse grass box mechanism 12; the control box is respectively connected with the transverse grass inserting mechanism 8, the transverse sand covering and pressing mechanism 10, the sowing and watering mechanism 2, the lifting mechanism 4 and the transverse grass box mechanism 12.

In this embodiment, the transverse grass inserting mechanism 8 is installed beside the longitudinal grass inserting mechanism 7, the transverse sand covering mechanism 10 is installed beside the longitudinal sand covering mechanism 9, the longitudinal sand covering mechanism 9 is installed at the rear end of the longitudinal grass inserting mechanism 7, the transverse sand covering mechanism 10 is installed at the rear end of the transverse grass inserting mechanism 8, and the transverse grass box mechanism 12 is installed beside the longitudinal grass box mechanism 11.

As shown in fig. 1 and 2, the longitudinal grass-inserting mechanism 7 includes a laying disc 701, a bearing housing 702, a suspension slideway 703, a suspension spring 704, a first spring sleeve 705, a second spring sleeve 706, an angle bracket 707, a slideway aluminum profile 708, a lifting plate 709, an ultrasonic sensor bracket 710 and an ultrasonic sensor 711.

The lifting plate 709 is installed on the lifting mechanism 4, the first spring sleeve is fixedly connected with the lifting plate 709, the second spring sleeve 706 is fixedly connected with the suspension slideway 703, the ultrasonic sensor support 710 is fixedly connected with the suspension slideway 703, the ultrasonic sensor 711 is fixedly connected with the ultrasonic sensor support 711, the suspension spring 704 is installed between the first spring sleeve 705 and the second spring sleeve 706, the number of the suspension springs 704, the number of the first spring sleeve 705 and the number of the second spring sleeve 706 in the embodiment are two, and the two suspension springs 704, the two first spring sleeves 705 and the two second spring sleeves 706 are in one-to-one correspondence; the corner connector 707 is installed on the lifting plate 709, the slide aluminum profile 708 is installed on the lifting plate 709, the suspension slide 703 is movably connected with the slide aluminum profile 708, the suspension base is installed at the tail end of the slide aluminum profile 708, the bearing sleeve 702 is installed on the suspension slide 703 and is provided with a gasket, the bearing sleeve 702 is movably installed with a disc shaft, and the laying disc 701 is movably connected with the disc shaft.

In the longitudinal grass inserting mechanism 7 of this embodiment, the lifting plate 709 moves up and down along with the lifting mechanism 4 to realize the laying of the laying disc 701, the suspension slideway 703 can realize the buffer effect in the laying process under the action of the suspension spring 704, and the height of the lifting mechanism 4 is adjusted in time through the ultrasonic sensor 712.

As shown in fig. 1 and 3, the transverse grass-inserting mechanism 8 includes a fixed bracket 801, a first flange 802, a rotary cylinder shaft 803, a first vertical bearing 804, a cylinder fixing plate 805, a first double-shaft cylinder 806, a first transverse slotting tool 807 and a large steering engine 808.

A first flange 802 is fixedly connected with a large steering engine 808, a rotary cylinder shaft 803 is connected with the first flange 802, a first vertical bearing 804 is movably connected with the rotary cylinder shaft 803, the first vertical bearing 804 is installed on a fixed support 801, a cylinder fixing plate 805 is fixedly connected with the rotary cylinder shaft 803, a first double-shaft cylinder 806 is connected with the cylinder fixing plate 805, and a first transverse slotting tool 807 is fixedly connected with the first double-shaft cylinder 806; among them, the first biaxial cylinder 806 employs a TN series biaxial cylinder.

In the transverse grass inserting mechanism 8 of the embodiment, the large steering engine 808 is electrified to rotate to drive the rotary cylinder shaft 803 to rotate, the rotary cylinder shaft 803 drives the first double-shaft cylinder 806 on the cylinder fixing plate 805, so that the double-shaft end of the first double-shaft cylinder 806 can stretch and rotate, when the rotary cylinder shaft 803 rotates, the first transverse slotting tool 807 moves forwards along with the machine, the motion track of the first transverse slotting tool 807 is very similar to that of a cycloid, and a specific motion curve is provided, so that the first transverse slotting tool 807 fixed at the double-shaft end can realize transverse grass inserting work.

As shown in fig. 1 and 4, the longitudinal sand-pressing mechanism 9 includes a longitudinal sand-pressing fixing plate 901, a second vertical bearing 902, a sand-pressing wheel shaft 903, a bearing 904, a first sand-pressing wheel 905 and a soil-covering plate 906.

The second vertical bearing 902 is fixedly connected with the longitudinal sand-pressing fixing plate 901, the sand-pressing wheel shaft 903 is movably connected with the second vertical bearing, the bearing 904 is fixedly connected with the sand-pressing wheel shaft 903, the first sand-pressing wheel 905 is connected with the bearing 904, the soil covering plate 906 is connected with the longitudinal sand-pressing fixing plate 901, the second vertical bearing 902, the sand-pressing wheel shaft 903, the bearing 904, the first sand-pressing wheel 905 and the soil covering plate 906 are all two, and the two second vertical bearings 902, the two sand-pressing wheel shafts 903, the two bearings 904, the two first sand-pressing wheels 905 and the two soil covering plates 906 are all in one-to-one correspondence relationship and are all symmetrically arranged.

In the longitudinal sand covering and pressing mechanism 9 of the embodiment, the longitudinal sand covering is realized by adopting the bionic palm and the double-side sand pressing rollers (the first sand pressing wheels 905) at two sides, the angle of the bionic palm for covering sand can be adjusted according to the width of the longitudinal grass sand barrier, and the distance between the first sand pressing wheels 905 at two sides can be adjusted to adapt to the grass sand barriers with different widths, so that the better sand covering effect can be achieved on the premise of not damaging the grass sand barrier.

As shown in fig. 1, 5 and 6, the transverse sand overlaying and pressing mechanism 10 includes a first fixing frame 1001, a small steering engine frame 1002, a small steering engine 1003, a second flange 1004, a baffle shaft 1005, a first horizontal bearing 1006, a third flange 1007, a baffle 1008, a steering engine support plate 1009, a second double-shaft cylinder 1010, a second transverse slotting tool 1011, a pulley bottom plate 1012, a pulley 1013, a first slide rail 1014, a suspension fixing plate 1015, a shock absorber frame 1016, a first shock absorber 1017, a suspension lower hole fixing block 1018, a sand pressing wheel bearing fixing plate 1019, a third vertical bearing 1020 and a second sand pressing wheel 1021.

A small steering engine frame 1002 is fixedly connected with a first fixing frame 1001, a small steering engine 1003 is connected with the small steering engine frame 1002, a second flange 1004 is connected with the small steering engine 1003, a baffle plate shaft 1005 is fixedly connected with the second flange 1004, a first horizontal bearing 1006 is movably connected with the baffle plate shaft 1005, a third flange 1007 is fixedly connected with the baffle plate shaft 1005, a baffle plate 1008 is fixedly connected with the third flange 1007, a steering engine support plate 1009 and a second double-shaft cylinder 1010 are respectively fixedly connected with the first fixing frame 1001, a second transverse slotting tool 1011 is connected with the shaft end of the second double-shaft cylinder 1010, a pulley bottom plate 1012 is positioned above the second transverse slotting tool 1011, a pulley 1013 is fixedly connected with the pulley bottom plate 1012, a first slide rail 1014 is fixedly connected with the second double-shaft cylinder 1010, a suspension fixing plate 1015 is connected with the first slide rail 1014, a shock absorber frame 1016 is fixedly connected with the suspension fixing plate 1015, the first shock absorbers 1017 are fixedly connected with a shock absorber frame 1016, the number of the first shock absorbers 1017 is two, the two first shock absorbers 1017 are arranged in bilateral symmetry, the suspension lower hole fixing block 1018 is movably connected with the first shock absorbers 1017, the sand-pressing wheel bearing fixing plate 1019 is connected with the suspension lower hole fixing block 1015, the third vertical bearing 1020 is fixedly connected with the sand-pressing wheel bearing fixing plate 1019, and the second sand-pressing wheel 1021 is movably connected with the third vertical bearing 1020; wherein, the second double-shaft cylinder 1010 adopts TN series double-shaft cylinder.

In the transverse sand covering and pressing mechanism 10 of the embodiment, the second double-shaft cylinder 1010 can enable the second transverse slotting tool 1011 and the second sand pressing wheel 1021 to move up and down, and the small steering engine 1003 can drive the baffle shaft 1005 to rotate, so that the baffle 1008 can rotate to a specified limiting position, and transverse sand covering three-step walking is realized.

As shown in fig. 1 and 7, the lifting mechanism 4 includes a second fixing frame 401, a first bearing support plate 402, a fourth vertical bearing 403, a worm gear shaft 404, a worm gear 405, a worm 406, a worm shaft 407, a lifting motor coupler 408, a lifting motor 409, a lifting motor bracket 410, a wire wheel 411, a lifting motor clamping coupler 412, a chain wheel 413, a chain 414, a slide rail fixing plate 415, a second horizontal bearing 416, a second slide rail 417, a lifting frame 418, and an ultrasonic sensor 419.

The first bearing support plate 402 is fixedly connected with the second fixing frame 401, the fourth vertical bearing 403 is fixedly connected with the first bearing support plate 402, the worm gear shaft 404 is connected with the fourth vertical bearing 403, the worm gear 406 is fixedly connected with the worm gear shaft 404, the worm 406 is meshed with the worm gear 405, the worm shaft 407 is fixedly connected with the worm 406, the lifting motor 409 is connected with the worm shaft 407 through the lifting motor coupler 408, the lifting motor 409 is fixed on the first bearing support plate 402 through the lifting motor bracket 410, the wire wheel 411 is connected with the worm gear shaft 407, the lifting motor clamping coupler 412 is fixedly connected with the wire wheel 411, the chain wheel 413 is fixedly connected with the lifting motor clamping coupler 412, the chain 414 is meshed with the chain wheel 413, the slide rail fixing plate 415 is fixedly connected with the second fixing frame 401, the second slide rail 417 is fixedly connected with the slide rail fixing plate 415 through the second horizontal bearing 416, and the lifting frame 418 is fixedly connected with the second slide rail 417, the lifting plate 709 of the longitudinal grass inserting mechanism 7 and the longitudinal sand covering mechanism 9 are arranged on the lifting frame 418.

In the lifting mechanism 4 of this embodiment, the lifting motor 409 is driven to drive the worm shaft 407 to rotate, and then the worm wheel shaft 404 is driven to rotate, so as to drive the chain 414 and the wire wheel 411, so that the lifting frame 418 can move up and down along the second slide rail 417, and the wire wheel 411 can contract or loosen the chain 414, thereby achieving the lifting function.

As shown in fig. 1, 8 and 9, the longitudinal grass box mechanism 11 includes a third fixing frame 1101, a longitudinal grass box 1102, a fifth vertical bearing 1103, a roller shaft 1104, a roller 1105, a first pressure sensor 1106, a first tooth and a first timing belt; wherein, the first tooth adopts XL10 tooth.

The longitudinal grass box 1102 is fixedly connected with a third fixing frame 1101, the third fixing frame 1101 is fixedly connected with a first pressure sensor 1106, the first pressure sensor 1106 is fixedly connected with a wheel frame fixing plate 302 of the wheel frame mechanism 3, a fifth vertical bearing 1103 is fixedly connected with the longitudinal grass box 1102, a roller shaft 1104 is movably connected with the fifth vertical bearing 1103, a roller 1105 is arranged on the roller shaft 1104, a first tooth is fixedly connected with the roller shaft 1104, and a first synchronous belt is meshed with the first tooth and is connected with the gear box 13.

In the longitudinal grass box mechanism 11 of this embodiment, the first synchronous belt drives the first teeth to rotate, the first teeth drive the roller shaft 1104, and further drive the roller 1105, so that the grass in the longitudinal grass box 1102 can be transferred out along with the rotation of the roller 1105.

As shown in fig. 1 and fig. 10 to 13, the lateral grass box mechanism 12 includes a fourth fixing frame 1201, a lateral grass box 1202, a bearing seat plate 1203, a third horizontal bearing 1204, a rocker shaft 1205, a fourth flange 1206, a first link 1207, a fourth horizontal bearing 1208, an intermediate shaft 1209, a second tooth 1210, a fifth flange 1211, a second link 1212, a fifth horizontal bearing 1213, a first crank shaft 1214, a third tooth, a sixth flange 1215, a third link 1216, a hexagonal round copper post screw 1217, a second timing belt 1218, a fourth link 1219, a fifth link 1220, a sixth link 1221, a seventh link 1222, an L-shaped grass pushing plate 1223, a second pressure sensor 1224, and a third timing belt.

The transverse grass box 1202 is fixedly connected with a fourth fixing frame 1201, a bearing seat plate 1203 is fixedly connected with a second pressure sensor 1224 and is fixedly connected with the frame 1, a third horizontal bearing 1204 is fixedly connected with a bearing seat plate 1203, a rocker shaft 1205 is movably connected with the third horizontal bearing 1204, a fourth flange 1206 is fixedly connected with the rocker shaft 1205, a first connecting rod 1207 is fixedly connected with the fourth flange 1206, a fourth horizontal bearing 1208 is fixedly connected with the bearing seat plate 1203, an intermediate shaft 1209 is movably connected with a fifth horizontal bearing 1213, a second tooth 1210 and a fifth flange 1211 are respectively fixedly connected with the intermediate shaft 1209, a second connecting rod 1212 is fixedly connected with the fifth flange 1211, the fifth horizontal bearing 1213 is fixedly connected with the bearing seat plate 1203, a first crank shaft 1214 is movably connected with the fifth horizontal bearing 1213, a third tooth and a sixth flange 1215 are respectively fixedly connected with a first crank shaft 1214, and a third connecting rod 1216 is fixedly connected with a sixth flange 1215, a hexagonal round copper column screw 1217 is fixedly connected with the bearing seat plate 1203, a second synchronous belt 1218 is respectively connected with the second tooth 1210, the third tooth and the hexagonal round copper column screw 1217, a fourth connecting rod 1219 is respectively movably connected with the second connecting rod 1212, the third connecting rod 1216, the fifth connecting rod 1220 and the sixth connecting rod 1221, the fifth connecting rod 1220 is respectively movably connected with the first connecting rod 1207 and the second connecting rod 1212, the sixth connecting rod 1221 is movably connected with the third connecting rod 1216, a seventh connecting rod 1222 is respectively movably connected with the fifth connecting rod 1220 and the sixth connecting rod 1221, an L-shaped grass pushing plate 1223 is fixedly connected with the seventh connecting rod 1222, and the third synchronous belt is meshed with the second tooth 1210 and connected with the gear box 13; wherein, XL10 tooth is adopted as the second tooth 1210 and the third tooth.

In the transverse grass box mechanism 12 of this embodiment, the third hold-in range drives the jackshaft 1209 and rotates, the jackshaft 1209 drives first crank 1214 through second hold-in range 1218 and rotates, jackshaft 1209 and first crank 1214 drive the second connecting rod 1212 in step simultaneously, the second connecting rod 1212 drives the fourth connecting rod 1220, and then drive fifth connecting rod 1220 and sixth connecting rod 1221, make the L shape push away the grass board 1223 and pass through the nail on the board, release the grass intermittent type formula in the transverse grass box 1202.

As shown in fig. 1 and fig. 8 to 14, the gear box 13 includes a shaft base plate 1301, a second bearing support plate 1302, a first cylindrical gear 1303, a sixth horizontal bearing 1304, a second cylindrical gear 1305, a one-way bearing 1306, a first synchronizing wheel 1307, a third cylindrical gear 1308, a fourth synchronizing belt 1309, an eighth flange 1310, a fourth cylindrical gear 1311, a fifth cylindrical gear 1312, a gear 4 shaft 1313, an input shaft 1314, a second crank shaft 1315, a second synchronizing wheel 1316, a motor bracket 1317, a gear drive motor 1318, and a sixth vertical bearing 1319; wherein the first synchronizing wheel 1307 is an XL30 synchronizing wheel, and the second synchronizing wheel 1316 is an XL15 synchronizing wheel.

The gear box 13 is fixedly connected with the frame 1, the shaft bottom plate 1301 is fixedly connected with the wheel carrier fixing plate 303, the motor bracket 1317 is fixedly connected with the shaft bottom plate 1301, the gear driving motor 1318 is fixedly connected with the motor bracket 1317, the second synchronizing wheel 1316 is fixedly connected with the gear driving motor 1318, the sixth horizontal bearing 1304 is fixedly connected with the shaft bottom plate 1301, the second crank shaft 1315 is movably connected with the sixth horizontal bearing 1304, the third cylindrical gear 1308 is fixedly connected with the eighth flange 1310 and then fixedly connected with the second crank shaft 1315, the fifth cylindrical gear 1312 is fixedly connected with the eighth flange 1310 and then fixedly connected with the second crank shaft 1315, the input shaft 1314 is movably connected with the sixth horizontal bearing 1304, the first cylindrical gear 1303 is fixedly connected with the one-way bearing 1306, the one-way bearing 1306 is fixedly connected with the input shaft 1314, the second cylindrical gear 1305 is fixedly connected with the one-way bearing 1306, the one-way bearing 1314 is fixedly connected with the input shaft 1306, first synchronizing wheel 1307 is fixedly connected with input shaft 1314, first synchronizing wheel 1307 is meshed with second synchronizing wheel 1316 through fourth synchronizing belt 1309, second bearing support plate 1302 is fixedly connected with shaft bottom plate 1301, sixth vertical bearing 1319 is fixedly connected with second bearing support plate 1302, gear 4 shaft 1313 is movably connected with sixth vertical bearing 1319, and fourth cylindrical gear 1311 is fixedly connected with eighth flange 1310 and then is fixedly connected with gear 4 shaft 1313.

As shown in fig. 1, 15 and 16, the sowing and watering mechanism 2 includes a fifth fixing frame 201, a mounting frame 202, a water tank support 203, a watering tank 204, a watering tank cover 205, a thin worm housing 206, a sowing dispersion box 207, a sowing worm 208, a baffle 209, a seventh flange 210, a large gear 211, a small gear 212, a third pressure sensor 213, a seed box 214 and a fourth pressure sensor 215.

The mounting frame 202 and the water tank support 203 are respectively fixedly connected with the fifth fixing frame 201, the sprinkling tank 204 is fixedly connected with the water tank support 203, the sprinkling tank cover 205 is matched with the sprinkling tank 204, the thin worm shell 206 and the seeding dispersion box 207 are respectively fixedly connected with the mounting frame 202, the fourth pressure sensor 215 is fixedly connected with the mounting frame 202, the seeding worm 208 and the baffle 209 are respectively matched with the thin worm shell 206, the seventh flange 210 is fixedly connected with the seeding worm 208, the large gear 211 is fixedly connected with the seventh flange 210, the small gear 212 is meshed with the large gear 211, the third pressure sensor 213 is fixedly connected with the thin worm shell 206, and the seed tank 214 is fixedly connected with the third pressure sensor 213; the seeding worm comprises a fine worm shell 206, two seeding worms 208, two baffle plates 209, a seventh flange 210, two large gears 211, three pressure sensors 213 and four pressure sensors 215, wherein the two fine worm shells 206, the two seeding worms 208, the two baffle plates 209, the two seventh flanges 210, the two large gears 211, the two third pressure sensors 213 and the two fourth pressure sensors 215 are all in one-to-one correspondence and are arranged in bilateral symmetry.

In the seeding watering mechanism 2 of this embodiment, pinion 212 rotates and drives two gear wheels 211 on next door and rotate to drive seeding worm 208, seeding watering mechanism 2 utilizes seeding worm 208 to change the linear motion of helical motion transform for the seed, and the seed falls by the hole that leaks, and the design of seeding box 214 below (seeding dispersion box 207 rear) has converter watering case 204 simultaneously, in time for the seed watering after accomplishing the seeding operation, guarantees the survival rate of seed.

As shown in fig. 1 and 17, two wheel carrier mechanisms 3 are mounted at the front and rear ends of the lower part of the frame 1 through base brackets 14, the base brackets 14 are mounted on the outer surface of the lower part of the frame 1, each wheel carrier mechanism 3 comprises a mounting plate 301, a wheel carrier fixing plate 302, a hinge 303, a second shock absorber 304, a wheel coupling 305 and a driving motor 306, a wheel 6 is mounted on the mounting plate 301 and connected with the wheel carrier fixing plate 302 through the wheel coupling 305, the mounting plate 301 is connected with the wheel carrier fixing plate 302 through the hinge 303, the driving motor 306 is connected with the wheel shaft through the second shock absorber 304, the output end of the storage battery is electrically connected with the input end of the driving motor 306, the storage battery provides power for the driving motor 306 to drive the tire of the wheel 6 to rotate, and the frame 1 is close to the place where grass squares are to be planted.

As shown in fig. 1 and 18, the furrowing mechanism 5 includes a sixth mount 501, a furrowing tip 502, a ninth flange 503, an extension spring 504, a seventh vertical bearing 505, an eighth vertical bearing 506, an extension spring fixing shaft 507, and a furrowing tip shaft 508.

The sixth fixing frame 501 is fixedly arranged on the base bracket 14, the seventh vertical bearing 505 is arranged on one side of the sixth fixing frame 501, the eighth vertical bearing 506 is arranged on the other side of the sixth fixing frame 501, the ditching mouth shaft 508 is movably arranged between the seventh vertical bearing 505 and the eighth vertical bearing 506, the ninth flange 503 is arranged on the ditching mouth shaft 508, the ninth flange 503 is arranged on the ditching mouth 502, the tension spring fixing shaft 507 is arranged on the sixth fixing frame 501, and the tension spring 504 is arranged between the ditching mouth 502 and the tension spring fixing shaft 507; the chain 414 reel 411 on the worm wheel shaft 404 rotates through the rotation of the lifting motor 409 connected with the worm 406, and the pulley block and the steel wire rope enable the ditching nozzle 502 to incline downwards and insert into sand for slotting.

In the electrical control of the embodiment, the pressure sensor is designed to monitor and feed back the grass box, the seed box and the water tank in real time, and the ultrasonic sensor 712 is designed to adjust the height of the lifting mechanism 4 in time to ensure that the depth of pressing into the sand surface of the longitudinal grass inserting mechanism 7 and the longitudinal sand covering and pressing mechanism 10 is constant; in the aspect of automatic navigation control, the error of a GNSS signal is reduced by controlling a control box and combining a Fuzzy control algorithm and a PID control algorithm, the running of the sand fixing machine is adjusted in real time by adopting an IMU (inertial measurement Unit) module, the accuracy of navigation control and the running stability are ensured, and the principle of a Fuzzy-PID navigation control algorithm is shown in figure 19.

The working principle of the automatic cruise grass grid sand fixation machine of the embodiment is shown in fig. 20, and is specifically explained as follows:

the lifting mechanism 4 connects the lifting frame 418 with the second slide rail 417 through two connecting pieces, and then connects one of the connecting pieces with the chain 414 by using the lifting motor coupler 408; the lifting frame 418 is provided with a longitudinal grass inserting mechanism 7 and a longitudinal sand covering mechanism 9; the lifting motor 409 is driven to rotate the chain wheel 26, one side of the chain 28 rises (descends), the lifting frame 418 also rises (descends) along with the chain, the longitudinal grass inserting mechanism 7 and the longitudinal sand pressing mechanism 9 are driven to rise (descend), when the laying disc 701 is continuously pressed into sand for grass inserting, the designed laying disc 701 can rotate around a shaft (can roll on the sand), the laying disc 701 can be conveniently and continuously inserted with grass, the longitudinal sand pressing mechanism 9 is realized by adopting bionic palm sand covering and double-side sand pressing rollers (first sand pressing wheels 905), the angle of the bionic palm for sand covering can be adjusted according to the width of the longitudinal grass sand barriers, the distance between the first sand pressing wheels 905 on two sides can be adjusted, the grass sand barriers with different widths can be adapted, and a good sand covering effect can be achieved under the condition that the grass sand barriers are not damaged. The chain transmission is adopted, so that the transmission ratio is accurate, no sliding exists, the efficiency is high, the structure is compact, and larger power can be transmitted. The worm wheel 21 and the worm 22 are used for transmission, the transmission ratio is large, and the self-locking function of the lifting frame 418 can be realized. The distance between the bottom of the sand fixing machine and the sand surface is measured through an ultrasonic sensor, the height of the lifting frame 418 is adjusted in real time to control the depth of the longitudinal grass inserting mechanism 7 and the longitudinal sand covering and pressing mechanism 9 pressed into the sand surface, and the longitudinal grass inserting depth is ensured to be approximately unchanged; the ditching mechanism 5 is designed below the longitudinal grass box mechanism, shares a power source with the lifting mechanism 4 through a pulley block and a steel wire rope, when the lifting mechanism 4 descends, the steel wire rope is tensioned, so that the ditching mechanism 5 rotates around a ditching mouth shaft 508, the ditching mouth 502 is obliquely inserted downwards into a sand surface, and a groove is scraped for longitudinal grass inserting; when the lifting mechanism 4 ascends, the steel wire rope is loosened, the ditching mechanism 5 returns under the action of the extension spring 504, and no additional power source is needed in the whole working process of the ditching mechanism 5, so that linkage is realized.

The gear driving motor 1318 in the gear box 13 at the front end of the driving frame 1, the roller 1105 for pushing grass longitudinally and the transverse multi-link grass pushing mechanism are matched to use the gear box 13 which is designed independently, and share one gear driving motor 1318 for driving, the control is simple, when the input shaft is reversed, the combination design of the gear set in the gear box 13 and the one-way bearing 1306 can realize that one output shaft is constant in rotation, and the other output shaft stops rotating. (the function can not be realized in the ordinary gear train, so the design is skillfully combined with the one-way characteristic of the one-way bearing 131 for design); when the gear driving motor 1318 rotates forwards, the gear driving motor 1318 drives the L-shaped grass pushing plate 1223 and the roller 1105 simultaneously through gear driving and third synchronous belt driving, the structure of the transverse grass pushing plate adopting the link principle is simpler and easier to realize, gear driving is not needed, the third synchronous belt drives the intermediate shaft 1209 to rotate, the intermediate shaft 1209 drives the first crank shaft 1214 to rotate through the second synchronous belt 1218, the intermediate shaft 1209 and the first crank shaft 1214 synchronously drive the second link 1212, the second link 1212 drives the fourth link 1220, and further drives the fifth link 1220 and the sixth link 1221, so that the L-shaped grass pushing plate 1223 intermittently pushes out grass in the transverse grass box 1202 through nails on the plate; the longitudinal grass box mechanism 10 drives a first tooth to rotate through a first synchronous belt, the first tooth drives a roller shaft 1104 to further drive a roller 1105, so that grass in the longitudinal grass box 1102 can be continuously fed along with the rotation of the roller 1105, a laying disc 701 of the longitudinal grass inserting mechanism 7 continuously rolls to insert grass, and sand barriers are laid transversely and longitudinally at the same time; namely, the transverse grass box mechanism 12 intermittently pushes grass through a link mechanism, and the first transverse slotting tool 807 of the transverse grass slotting mechanism 8 intermittently inserts grass, so that the sand fixation machine lays grass squares in a T-shaped manner; when the motor rotates reversely, the combination of the gear set and the one-way bearing 1306 in the gear box 13 can reverse the direction of the input shaft 1314, one crank shaft 1315 rotates constantly, the other crank shaft 1315 does not rotate, that is, the roller 1105 does not rotate, the L-shaped grass pushing plate 1223 maintains the original motion state, so that grass cutting is continued transversely when grass squares are laid in a one-line mode, grass cutting is stopped longitudinally, and the grass square laying operation mode in a T + one-line mode is met, as shown in fig. 21.

The typical in-line pneumatic grass inserting mechanism has the following disadvantages: when the slotting tool is inserted into sand during the running of the machine, the slotting tool is easy to bend under overlarge stress and has large rigid impact, and the vibration of the whole machine is simultaneously caused; in the embodiment, the design of the transverse grass inserting mechanism 2 is carried out by combining with the cycloid motion law; the transverse grass inserting mechanism 2 is fixed on the rack 1, is electrified to rotate through a large steering engine, drives the rotary cylinder shaft 803 to rotate, and the rotary cylinder shaft 803 drives the first double-shaft cylinder 806 on the cylinder fixing plate 805, so that the double-shaft end of the first double-shaft cylinder 806 can stretch and rotate, when the rotary cylinder shaft 803 rotates, the first transverse slotting tool 807 moves forwards along with the machine at the same time, the motion track of the first transverse slotting tool 807 is very similar to a cycloid curve, and the method is called a cycloid type grass inserting mode; assuming that the rotation angular velocity of the transverse grass cutting mechanism 2 around the rotation axis is ω, and the advancing velocity v of the sand fixing machine, when v/ω is equal to the rotation radius r, the track of the first transverse cutting blade 807 performs transverse grass cutting just in a cycloid shape; the embodiment utilizes pneumatic transmission, and in the complicated desert operation environment, pneumatic system has stronger adaptability and longer life to operational environment. The work efficiency is improved in heavy work.

The second transverse slotting tool 1011 in the transverse sand covering and pressing mechanism 10 needs to reciprocate up and down frequently and has impact when being inserted into sand, so that the second double-shaft cylinder 1010 is used for driving the second transverse slotting tool 1011 and the second sand pressing wheel 1021 to move up and down, and the small steering engine 1003 is started to drive the baffle shaft 1005 and further drive the baffle 1008 in combination with a mechanical limiting device, so that three-position continuous sand covering and pressing is realized; as shown in fig. 22, in the position 1, the mechanical limiting device is opened, the second biaxial cylinder 1010 drives the second transverse slotting tool 1011 to press downwards into the sand, and when the sand fixing machine runs forwards, the second transverse slotting tool 1011 pushes sand towards the transverse grass sand barrier, so that the manual sand covering process is simulated; when approaching the grass sand barrier, the second transverse slotting tool 1011 is retracted (as the 2 position in fig. 22, the mechanical device enables the piston rod of the cylinder to be retracted to a half of the stroke), and then the sand is pressed by the sand pressing wheel 83; and finally, the mechanical device is opened (such as a No. 3 position), and the piston rod is completely retracted, so that the grass and sand barrier can smoothly pass through the device without being damaged.

Starting a motor in the sowing and watering mechanism 2 to drive a pinion 212, wherein the pinion 212 drives two bull gears 211 beside to rotate so as to drive a sowing worm 208, the sowing and watering mechanism 2 converts spiral motion into linear motion of seeds by using the sowing worm 208, the seeds fall from a seed leaking hole, and quantitative sowing can be realized by controlling the number of rotating circles of the sowing worm 208; a third pressure sensor 213 is arranged below the seed box 214, when the seed quality in the seed box 214 changes, the numerical value fed back to the main control board by the third pressure sensor 213 through the sensor application circuit also changes, the residual quantity of the seeds can be monitored, and the working personnel can be reminded through an intelligent feedback function when the seed is exhausted; a converter sprinkling tank 204 is designed below the seed tank 214 (behind the sowing dispersion box 207), and is used for timely sprinkling water for seeds after sowing operation is completed, so that the survival rate of the seeds is ensured.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or given otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations, and the terms "upper", "lower", "left", "right", and the like are used for illustrative purposes only and do not mean a unique embodiment.

In conclusion, the invention is based on the traditional grass square grid sand fixation theory and experience, comprehensively considers the liberation of labor force, improves the automation degree and the practicability of equipment, reduces the equipment cost, designs the automatic cruising grass square grid sand fixation machine with small and light volume, applies a grass square grid planting mode to desert control, and adopts a T + one type grass square grid planting mode and GNSS automatic cruising control to replace manual driving, thereby effectively reducing the rolling compaction rate and the laying cost, greatly improving the laying efficiency, efficiently finishing continuous work in a severe desert environment, reducing the pressure of workers, improving the accuracy of grass square grid planting, and greatly improving the economic benefit.

The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the scope of the present invention.

Claims

1. An automatic cruise grass square sand fixation machine is characterized by comprising a rack, a grass inserting mechanism, a sand covering and pressing mechanism, a sowing and sprinkling mechanism, two wheel carrier mechanisms, two lifting mechanisms, a grass box mechanism, a ditching mechanism and a control box, wherein the grass inserting mechanism is movably arranged at the middle end inside the rack, the sand covering and pressing mechanism is arranged at the rear end of the grass inserting mechanism, the sowing and sprinkling mechanism is arranged at the rear end of the rack, the two wheel carrier mechanisms are arranged at the front end and the rear end of the lower part of the rack, wheels are fixedly arranged at the two ends of each wheel carrier mechanism, the lifting mechanism is arranged on the outer surface of the upper part of the rack, the grass box mechanism is arranged at the front end of the rack, the ditching mechanism is arranged on one side of the outer surface of the lower part of the grass box mechanism, and the control box is arranged on the rack;

2. The auto-cruise grass square sand fixation machine according to claim 1, wherein the longitudinal grass inserting mechanism comprises a laying disc, a bearing sleeve, a suspension slideway, a suspension spring, a first spring sleeve, a second spring sleeve, an angle brace, a slideway aluminum profile, a lifting plate, an ultrasonic sensor bracket and an ultrasonic sensor;

3. The automatic cruise grass square sand fixation machine according to claim 1, wherein the transverse grass inserting mechanism comprises a fixed bracket, a first flange, a rotary cylinder shaft, a first vertical bearing, a cylinder fixed plate, a first double-shaft cylinder, a first transverse slotting cutter and a large steering engine;

4. The automatic cruise grass square sand fixation machine according to claim 1, wherein the longitudinal sand covering and pressing mechanism comprises a longitudinal sand pressing fixing plate, a second vertical bearing, a sand pressing wheel shaft, a bearing, a first sand pressing wheel and a soil covering plate;

5. The automatic cruise grass square sand fixation machine according to claim 1, wherein the transverse covering and pressing mechanism comprises a first fixing frame, a small rudder frame, a small steering engine, a second flange, a baffle plate shaft, a first horizontal bearing, a third flange, a baffle plate, a steering engine supporting plate, a second double-shaft cylinder, a second transverse slotting tool, a pulley bottom plate, a pulley, a first sliding rail, a suspension fixing plate, a shock absorber frame, a shock absorber, a suspension lower hole fixing block, a pressing wheel bearing fixing plate, a third vertical bearing and a second pressing wheel;

the small rudder frame is fixedly connected with a first fixing frame, the small steering engine is connected with a small steering engine frame, the second flange is connected with the small steering engine, the baffle plate shaft is fixedly connected with the second flange, the first horizontal bearing is movably connected with the baffle plate shaft, the third flange is fixedly connected with the baffle plate shaft, the baffle plate is fixedly connected with a third flange, the steering engine support plate and the second double-shaft cylinder are respectively fixedly connected with the first fixing frame, the second transverse slotting tool is connected with the shaft end of the second double-shaft cylinder, the pulley bottom plate is positioned above the second transverse slotting tool, the pulley is fixedly connected with the pulley bottom plate, the first slide rail is fixedly connected with the second double-shaft cylinder, the suspension fixing plate is connected with the first slide rail, the shock absorber frame is fixedly connected with the suspension fixing plate, and the shock absorber is fixedly connected with the shock absorber frame, the suspension lower hole fixing block is movably connected with the shock absorber, the sand pressing wheel bearing fixing plate is connected with the suspension lower hole fixing block, the third vertical bearing is fixedly connected with the sand pressing wheel bearing fixing plate, and the second sand pressing wheel is movably connected with the third vertical bearing.

6. The automatic cruise grass square sand fixation machine according to any one of claims 1 to 5, wherein the lifting mechanism comprises a second fixing frame, a bearing support plate, a fourth vertical bearing, a worm gear shaft, a worm gear, a worm shaft, a lifting motor coupler, a lifting motor bracket, a wire wheel, a lifting motor clamping coupler, a chain wheel, a chain, a slide rail fixing plate, a second horizontal bearing, a second slide rail and a lifting frame;

7. The automated cruise grass grid sand fixation machine according to any one of claims 1 to 5, wherein the longitudinal grass box mechanism comprises a third mount, a longitudinal grass box, a fifth vertical bearing, a roller shaft, a roller, a first pressure sensor, a first tooth, and a first timing belt;

8. The automatic cruise grass square sand fixation machine according to any one of claims 1 to 5, wherein the transverse grass box mechanism comprises a fourth fixing frame, a transverse grass box, a bearing seat plate, a third horizontal bearing, a rocker shaft, a fourth flange, a first connecting rod, a fourth horizontal bearing, an intermediate shaft, a second tooth, a fifth flange, a second connecting rod, a fifth horizontal bearing, a crank shaft, a third tooth, a sixth flange, a third connecting rod, a hexagonal copper column screw, a second synchronous belt, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an L-shaped grass pushing plate, a second pressure sensor and a third synchronous belt;

the transverse grass box is fixedly connected with a fourth fixing frame, the bearing seat plate is fixedly connected with the second pressure sensor and then fixedly connected with the frame, the third horizontal bearing is fixedly connected with the bearing seat plate, the rocker shaft is movably connected with the third horizontal bearing, the fourth flange is fixedly connected with the rocker shaft, the first connecting rod is fixedly connected with the fourth flange, the fourth horizontal bearing is fixedly connected with the bearing seat plate, the intermediate shaft is movably connected with a fifth horizontal bearing, the second tooth and the fifth flange are respectively fixedly connected with the intermediate shaft, the second connecting rod is fixedly connected with the fifth flange, the fifth horizontal bearing is fixedly connected with the bearing seat plate, the crank shaft is movably connected with the fifth horizontal bearing, the third tooth and the sixth flange are respectively fixedly connected with the crank shaft, the third connecting rod is fixedly connected with the sixth flange, and the hexagonal copper column bolt is fixedly connected with the bearing seat plate, the second synchronous belt is connected with the second teeth, the third teeth and the hexagonal round copper column screws respectively, the fourth connecting rod is connected with the second connecting rod, the third connecting rod, the fifth connecting rod and the sixth connecting rod in a movable mode respectively, the fifth connecting rod is connected with the first connecting rod and the second connecting rod in a movable mode respectively, the sixth connecting rod is connected with the third connecting rod in a movable mode, the seventh connecting rod is connected with the fifth connecting rod and the sixth connecting rod in a movable mode respectively, the L-shaped grass pushing plate is fixedly connected with the seventh connecting rod, and the third synchronous belt is meshed with the second teeth and connected with the gear box.

9. The automatic cruise grass square sand fixation machine according to any one of claims 1 to 5, wherein the seeding and watering mechanism comprises a fifth fixing frame, a mounting frame, a water tank support, a water sprinkling tank cover, a fine worm shell, a seeding dispersion box, a seeding worm, a baffle, a seventh flange, a large gear, a small gear, a third pressure sensor, a seed box and a fourth pressure sensor;

10. A cruise grass square sand fixation method realized based on the automatic cruise grass square sand fixation machine according to any one of claims 1 to 9, characterized in that the method comprises the following steps:

when a gear driving motor of the gear box rotates forwards, the roller of the longitudinal grass box mechanism and the L-shaped grass pushing plate of the transverse grass box mechanism are driven simultaneously, grass in the longitudinal grass box can be continuously fed along with the rotation of the roller, grass can be continuously inserted by the laying disc of the longitudinal grass inserting mechanism in a rolling mode, the transverse grass box mechanism intermittently pushes grass through the connecting rod mechanism, grass can be intermittently inserted by the first transverse slotting tool of the transverse grass inserting mechanism, and grass squares can be laid by the sand fixation machine in a T mode; when a gear driving motor of the gear box rotates reversely, the rollers of the longitudinal grass box mechanism do not rotate, and the L-shaped grass pushing plate of the transverse grass box mechanism maintains the original motion state, so that grass can be continuously inserted transversely when the sand fixing machine lays grass grids in a one-line mode, and grass insertion is stopped longitudinally;