CN115136880B

CN115136880B - Integrated intelligent trolley for tree planting and irrigation

Info

Publication number: CN115136880B
Application number: CN202210949972.XA
Authority: CN
Inventors: 缪海滔; 肖顺根; 纪贤优; 郭霖彬; 刘潇; 刘续
Original assignee: Ningde Normal University
Current assignee: Ningde Normal University
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2023-06-27
Anticipated expiration: 2042-08-09
Also published as: CN115136880A

Abstract

The invention discloses an intelligent trolley for planting tree irrigation, which comprises: a chassis; the travelling device is arranged on the chassis; the soil drilling device is arranged on the chassis; the gripper device comprises a gripper power mechanism, a driving piece, a guiding piece, a first sliding piece, a second sliding piece and a sliding shaft, wherein the gripper power mechanism is arranged on a chassis and connected with the driving piece, a driving chute is formed in the driving piece, the guiding piece is arranged on the chassis and provided with the guiding chute, the first sliding piece is rotatably arranged on the chassis and provided with the sliding chute, the lower end of a pressing piece is arranged on the first sliding piece through a first chute sliding block component, the second sliding piece is in linear sliding connection with the first sliding piece, the upper end of the pressing piece is rotatably arranged at the upper end of the second sliding piece, and the lower end of the second sliding piece is sleeved on the sliding shaft. The technical scheme has ingenious structural design, the gripper device can continuously operate, and the cost is low.

Description

Integrated intelligent trolley for tree planting and irrigation

Technical Field

The invention relates to the technical field of tree planting equipment, in particular to an intelligent trolley for planting and irrigating trees.

Background

The land desertification causes the land to lose the biological production capacity, and sand invades farmlands, grasslands and forests, thereby threatening traffic and villages. It is one of the global environmental problems. Currently, global desertification land areas have 3600 ten thousand square kilometers and account for one quarter of global land area, corresponding to the sum of russia, canada, china and united states territories, and expanding at speeds of 5 to 7 ten thousand square kilometers per year. China is a country with wide distribution of desertification land in the world, 17.6 ten thousand square kilometers of desertified land and 15.8 ten thousand square kilometers of land with potential desertification danger. According to the data of the Shangzhou desert institute of China, the land desertification speed is increased by 1560 square kilometers per year in 50-70 years in China; from 70 to 80 years, the speed has increased to 2100 square kilometers per year; currently, the current technology is expanded to 2460 square kilometers per year. The speed is surprising. At present, about 6000 ten thousand mu of farmlands in China are in desertification threat. Although the land desertification in some local areas is effectively restrained or improved, the land desertification in China is still accelerating to expand and spread in general. If the total is combined with desert and gobi, 153.3 km square is found, which accounts for almost 16% of the land area of the country.

In view of the fact that the current domestic tree planting work is still finished by manpower, especially drilling deep planting forestation, manual forestation is used, time and labor are wasted, labor intensity is high, efficiency is low, and speed of tree planting is greatly reduced.

Automatic tree planting equipment is emerging in the market, such as application number CN202111373634.8, and the name is full-automatic tree planting equipment for deep planting forestation of populus tomentosa adopts a manipulator to clamp and plant sapling into a tree pit dug by a pit digging mechanism, and the manipulator needs more driving parts to drive, and has complex manufacturing and assembling processes and high cost, so that an automatic tree planting trolley with cost saving is needed.

Disclosure of Invention

Therefore, the integrated intelligent trolley for tree planting and irrigation is needed to solve the problems that automatic tree planting equipment is emerging in the market, a mechanical arm is used for clamping and planting tree seedlings into tree pits dug by a pit digging mechanism, the mechanical arm needs more driving parts to drive, and the manufacturing and assembling processes are complex and high in cost.

To achieve the above object, the present application provides a planting tree irrigation integration intelligent trolley, including:

a chassis;

the travelling device is arranged on the chassis and used for driving the intelligent trolley to travel;

the soil drilling device is arranged on the chassis and used for drilling soil;

the irrigation device is arranged on the chassis and is used for irrigating seedlings;

the gripper device comprises a gripper power mechanism, a driving piece, a guiding piece, a first sliding piece, a second sliding piece and a sliding shaft, wherein the gripper power mechanism is arranged on a chassis and is connected with the driving piece and used for driving the driving piece to rotate, the driving piece is provided with a driving sliding groove, the guiding piece is arranged on the chassis and is provided with a guiding sliding groove, the guiding sliding groove comprises a first section, a second section and a third section which are sequentially connected, the second section is arc-shaped, the first sliding piece is rotatably arranged on the chassis, the first sliding piece is provided with a sliding groove, the lower end of the pressing piece is arranged on the first sliding piece through a first sliding groove sliding block assembly, the sliding groove in the first sliding groove sliding block assembly is inclined to the horizontal plane, the second sliding piece is in linear sliding connection with the first sliding piece, the upper end of the pressing piece is rotatably arranged on the second sliding piece, the second sliding piece is rotatably arranged on the upper end of the second sliding piece, the second sliding piece is rotatably arranged on the second sliding piece, the second sliding piece is rotatably pressed on the driving shaft, and the sliding piece is rotatably pressed on the sliding piece, and the sliding shaft is used for pressing the sliding piece.

Further: the sliding device comprises a first sliding path piece and a second sliding path piece, wherein a second sliding groove sliding block assembly is arranged between the first sliding path piece and the second sliding path piece and used for guiding the first sliding path piece and the second sliding path piece to move linearly, a sliding block of the second sliding groove sliding block assembly is arranged on the second sliding path piece, and a sliding groove of the second sliding groove sliding block assembly is a sliding path sliding groove.

Further: the first section and the third section are straight, and the first section and the third section are perpendicular to each other so that the second runner rotates 90 ° along the runner axis.

Further: the driving piece, the guide piece, first stroke piece is two respectively, two be provided with between the first stroke piece the second stroke piece, and two be fixed each other between the first stroke piece, two be provided with two between the guide piece first stroke piece, two be provided with two between the driving piece the guide piece, two are in the same place through the universal driving shaft fixing between the driving piece, the universal driving shaft with tongs power unit passes through gear connection.

Further: the soil compacting device is arranged on the chassis and is used for compacting soil.

Further: the device comprises a filling unit, wherein the filling unit comprises a filling power mechanism, a power connecting rod, a filling connecting rod and a pressing sheet, the filling power mechanism is arranged on the chassis and used for pushing the power connecting rod in the horizontal direction, one end of the power connecting rod is rotatably arranged on the filling power mechanism, the other end of the power connecting rod is rotatably arranged on the filling connecting rod, the top of the filling connecting rod is arranged on the chassis through a third sliding groove sliding block assembly, a sliding groove in the third sliding groove sliding block assembly is inclined to the horizontal direction so that the filling connecting rod is inclined to the horizontal direction to move, and the bottom of the filling connecting rod is rotatably arranged on the pressing sheet.

Further: the soil filling power mechanism comprises a gear motor, a chain and a fourth sliding groove sliding block assembly, the gear motor is arranged on the chassis, the gear motor is connected with the chain, the chain is arranged along the horizontal direction, one end of the power connecting rod is rotatably arranged on the sliding block of the fourth sliding groove sliding block assembly of the soil filling power mechanism, the sliding block of the fourth sliding groove sliding block assembly is further arranged on the chain, and a sliding groove in the fourth sliding groove sliding block assembly is arranged on the chassis.

Further: the two soil filling units are symmetrically arranged in the same horizontal direction, and the pressing sheets in the two soil filling units move relatively to compact soil.

Further: the seedling conveying device is arranged on the chassis and is positioned above the gripper device.

Further: the irrigation device comprises a water storage bottle, a pump and a valve, wherein the water storage bottle is arranged on the chassis, the input end of the pump is connected with the water storage bottle, and the output end of the pump is connected with a pipeline.

In the technical scheme, the gripper device pushes the sliding shaft to move in the sliding chute, the guiding chute and the driving chute by virtue of the driving piece, so that the gripper device can realize the functions of gripping, loosening and swinging up and down, the gripper device can continuously operate, and the gripper device has ingenious structural design, reliable operation, low cost and high automation degree, reduces the labor intensity of workers and improves the efficiency of tree planting.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent vehicle integrated with tree planting and irrigation in the present embodiment;

FIG. 2 is a schematic view of the structure of the hand grip device according to the present embodiment;

fig. 3 is a schematic structural view of the guide member in the present embodiment;

FIG. 4 is a schematic structural view of the soil filling device according to the present embodiment;

fig. 5 is a schematic structural diagram of the seedling feeding device in this embodiment.

Reference numerals illustrate:

1. a chassis;

11. an upper layer; 12. a lower layer;

2. a traveling device;

3. a gripper device;

31. a gripper power mechanism; 311. a gripper motor; 312. a bevel gear; 313. a linkage shaft;

32. a driving member; 321. driving the chute;

33. a guide; 331. a guide chute; 332. a first section; 333. a second section; 334. a third section;

34. a first runner; 341. a pressing member;

35. a second runner; 351. a bearing surface;

36. a slip shaft;

37. a first chute slider assembly;

38. a second chute slider assembly;

4. an earth drilling device;

41. a soil drilling motor; 42. drilling a soil head; 43. a lifting mechanism;

5. a soil filling device;

51. a soil filling unit;

52. a soil filling power mechanism; 521. a chain; 522. a fourth chute slider assembly;

53. a power connecting rod; 54. a soil filling connecting rod; 55. tabletting; 56. a third chute slider assembly;

6. a seedling feeding device;

61. a fixing seat; 62. a seedling feeding power mechanism; 621. steering engine; 622. a cam assembly; 63. miao Ban; 64. a first seedling passage;

7. an irrigation device.

Detailed Description

In order to describe the possible application scenarios, technical principles, practical embodiments, and the like of the present application in detail, the following description is made with reference to the specific embodiments and the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples and are not intended to limit the scope of protection of the present application.

Referring to fig. 1 to 5, an intelligent cart for tree planting and irrigation integration according to the present embodiment includes:

a chassis 1;

the travelling device 2 is arranged on the chassis 1 and is used for driving the intelligent trolley to travel;

the soil drilling device 4 is arranged on the chassis 1 and used for drilling soil;

the gripper device 3, the gripper device 3 includes the gripper power mechanism 31, the driving piece 32, the guiding piece 33, first sliding piece 34, second sliding piece 35 and sliding shaft 36, gripper power mechanism 31 sets up on chassis 1, and be connected with driving piece 32, be used for driving the rotation of driving piece 32, be provided with driving slide 321 on the driving piece 32, guiding piece 33 sets up on chassis 1, be provided with guiding slide 331 on the guiding piece 33, guiding slide 331 includes the first section 332 that connects gradually, second section 333 and third section 334, second section 333 is the arc, first sliding piece 34 rotatably sets up on chassis 1, first sliding piece 34 is provided with the sliding groove, the lower extreme of compressing piece 341 is through first sliding piece slider subassembly 37 setting up on first sliding piece 34, the spout in the first sliding piece subassembly is inclined to the horizontal plane, be linear sliding connection between second sliding piece 35 and first sliding piece 34, the upper end of compressing piece 341 rotatably sets up on second sliding piece 35, guiding piece 35 is provided with second sliding piece 35 and sliding piece 35 in the upper end 35, second sliding piece 35 is equipped with sliding piece 35 and is connected with sliding piece 35 in the sliding piece 35, the sliding piece 35 is driven by the sliding shaft 35, the sliding piece 35 is connected with second sliding piece 35, and sliding piece 35 moves along sliding piece 35, the sliding piece 35 is compressed down in the sliding piece 35, slide 35 is compressed down the sliding piece 35 is moved to the sliding piece 35, sliding piece 35 is compressed down along the sliding piece 35, sliding piece 35 is compressed down sliding piece 35, sliding piece 35 is compressed down sliding piece 35 and slide 35 is equipped with sliding piece 35.

Referring to fig. 1 to 3, it should be noted that the size of the sliding shaft 36 is adapted to the size of the driving chute 321, so that the sliding shaft 36 can slide along the wall of the driving chute 321, the length of the driving chute 321 is set along the vertical direction, the depth of the driving chute 321 is set along the horizontal direction, and the size of the sliding shaft 36 is adapted to the size of the guiding chute 331, so that the sliding shaft 36 can slide along the wall of the guiding chute 331; the end part of the sliding shaft 36 is provided with a limit part for preventing the sliding shaft 36 from being separated from the driving chute 321; the length of the guide chute 331 is set along the vertical direction, the depth of the guide chute 331 is set along the horizontal direction, the size of the sliding shaft 36 is adapted to the size of the sliding chute, so that the sliding shaft 36 can slide along the wall of the sliding chute, the length of the sliding chute is set along the vertical direction, and the depth of the sliding chute is set along the horizontal direction;

referring to fig. 1 and 2, it should be noted that, the driving member 32 rotates under the driving of the gripper mechanism 31, so that the sliding shaft 36 slides in the driving chute 321, and then, because the sliding shaft 36 is further slidably connected in the guiding chute 331 and the sliding chute, the sliding shaft 36 drives the sliding connection between the first sliding member 34 and the second sliding member 35, the sliding track between the first sliding member 34 and the second sliding member 35 is limited by the first chute slider assembly 37, the pressing member 341 rotates on the second sliding member 35, the second sliding member 35 has a bearing surface 351 for bearing the sapling, the pressing member 341 rotates towards the bearing surface 351 of the second sliding member 35 (corresponding to the process that the sliding shaft 36 slides from the head end of the first section 332 to the tail end of the first section 332), and then, presses against the bearing surface 351, so as to grasp the sapling, the pressing member 341 rotates towards a direction away from the bearing surface 351 (corresponding to the tail end of the third section 334), and the sapling is released from the bearing surface 351, so that the sapling falls down horizontally along the bearing surface of the sliding shaft 36 (corresponding to the sliding surface of the first section 332).

Referring to fig. 2, it should be noted that the first sliding groove sliding block assembly 37 has a first sliding block and a first sliding groove, and the first sliding block is slidably disposed on the first sliding groove to slide along the length direction of the first sliding groove. A slider refers to a protrusion on an object. The sliding grooves are two types, the first type is a groove on the object, the structure of the sliding groove is shown in fig. 2, and the second type is a groove on two side walls of the object respectively. To achieve linear motion, the chute is a straight chute. The positions of the runners and blocks may be reversed, in fig. 2, the first block of the first runner block assembly 37 is fixed to the top of the first runner 34, the first runner of the first runner block assembly 37 is disposed at the lower end of the hold-down member 341, in some embodiments, the first block of the first runner block assembly 37 is fixed to the bottom of the hold-down member 341, and the first runner of the first runner block assembly 37 is disposed at the upper end of the first runner 34.

Referring to fig. 2, according to an embodiment of the present application, the second sliding member 35 slides on the first sliding member 34 under the driving of the sliding shaft 36, and in order to enable the first sliding member 34 and the second sliding member 35 to slide along a predetermined direction, a second sliding groove sliding block assembly 38 is disposed between the first sliding member 34 and the second sliding member 35, for guiding the first sliding member 34 and the second sliding member 35 to slide linearly. The slide of the second chute slide assembly 38 is arranged on the second slide 35, the slide of the second chute slide assembly 38 is also called second slide, the chute of the second chute slide assembly 38 is also called slide chute, and the chute of the second chute slide assembly 38 is also called slide chute. The runner chute is a straight slot provided on the first runner 34. Because the sliding shaft 36 moves along the second sliding groove (also referred to as sliding groove), the first sliding member 34 rotates on the chassis 1, and the second sliding member 35 is driven by the second sliding groove and sliding block assembly 38 to move stably, so that the overall stress problem is fixed, and the deviation from the preset direction is not easy.

The seedling grabbing and placing processes can be realized by only one steering engine or motor for the driving part of the gripper device, and the existing gripper device has more driving parts and higher required accuracy.

Referring to fig. 3, according to an embodiment of the present application, the first segment 332 and the third segment 334 are straight, and a non-zero included angle is formed between the first segment 332 and the third segment 334, so that the second sliding member 35 rotates by a preset angle along the sliding shaft 36. Preferably, the first section 332 and the third section 334 are perpendicular to each other so that the second sliding member 35 rotates 90 ° along the sliding shaft 36, and the structure is as shown in fig. 3, so that the initial position of the bearing surface 351 of the second sliding member 35 is parallel to the horizontal direction, and the seedlings can fall onto the bearing surface 351 of the second sliding member 35 from top to bottom, and in addition, the bearing surface 351 is perpendicular to the horizontal direction after the second sliding member 35 rotates 90 ° along the sliding shaft 36, so that the seedlings finally fall vertically and penetrate from the chassis 1 and fall into the tree pit. In some embodiments, the first section 332 and the third section 334 form an angle of 60 °, 70 °, 80 °, etc., such that the seedlings are obliquely passed through the through holes in the chassis 1 and fall into the tree pit.

According to one embodiment of the present application, the travel of the grip is limited according to a slip profile, and the gripping and releasing of the grip can also be controlled using springs and slip profiles.

Referring to fig. 1 and 2, according to an embodiment of the present application, in order to increase the stability of the gripper device 3, the driving member 32, the guiding member 33, and the first sliding member 34 are respectively two. A second runner 35 is provided between the two first runners 34, and the two first runners 34 are fixed to each other, and the two first runners 34 move together with the runner shaft 36. Two first sliding members 34 are provided between the two guide members 33, two guide members 33 are provided between the two driving members 32, and the gripper device 3 includes the following components: first driver 32, first guide 33, first runner 34, second runner 35, second first runner 34, second guide 33, second driver 32.

The two driving pieces 32 are fixed together through a linkage shaft 313, the linkage shaft 313 is connected with the gripper power mechanism 31 through a gear, and the gripper power mechanism 31 transmits power to the driving pieces 32 through the linkage shaft 313 so as to drive the gripper device 3 to take and place saplings, so that continuity of operation of the gripper device 3 is provided.

Referring to fig. 2, according to an embodiment of the present application, the gripper power mechanism 31 selects a gripper motor 311, for example, a stepper motor, which is a 42BYGH250C140 type stepper motor, and the stepper motor precisely controls the rotation angle of the output shaft according to the pulse number given by the controller, so as to better calculate the displacement of the gripper device 3. The linkage shaft 313 is connected with the hand grip power mechanism 31 through a bevel gear 312, the bevel gear 312 is sleeved on the output shaft of the hand grip power mechanism 31, the bevel gear 312 is sleeved on the linkage shaft 313, and the two bevel gears 312 are meshed with each other, so that the hand grip power mechanism 31 is gripped. In some embodiments, the linkage shaft 313 is connected to the gripper power mechanism 31 by a spur gear.

Referring to fig. 1, according to an embodiment of the present application, the tree planting and irrigation integrated intelligent vehicle further includes a soil filling device 5, where the soil filling device 5 is disposed on the chassis 1 for compacting soil.

Referring to fig. 4, according to one embodiment of the present application, the filling device 5 includes a filling unit 51, and the filling units 51 each include a filling power mechanism 52, a power link 53, a filling link 54, and a pressing piece 55. A filling power mechanism 52 is provided on the chassis 1 for pushing the power link 53 in the horizontal direction. One end of the power link 53 is rotatably provided on the filling power mechanism 52, and the other end of the power link 53 is rotatably provided on the filling link 54. The top of the filling link 54 is disposed on the chassis 1 through a third chute slider assembly 56, and a chute (also referred to as a third chute) in the third chute slider assembly is inclined to the horizontal direction so that the filling link 54 is moved to the horizontal direction, and the bottom of the filling link 54 is rotatably disposed on a pressing sheet 55, so that the pressing sheet 55 can adjust its posture in real time to compact soil. It should be noted that the third slider of the third sliding-slot slider assembly 56 and the third sliding slot may be interchanged, for example, the third sliding slot is disposed on the chassis 1, and the third slider is disposed on the filling link 54; or a third chute is provided on the filling link 54 and a third slide is provided on the chassis 1. The third chute slider assembly 56 moves the pressing piece 55 from the outside of the pit to the inside of the pit, pushing the soil around the pit toward the center of the pit, and covering the soil around the root.

Referring to fig. 4, according to one embodiment of the present application, the fill power mechanism 52 includes a gear motor, a chain 521, and a fourth chute slide block assembly 522. The gear motor is provided on the chassis 1, the gear motor is connected with a chain 521, and the chain 521 is provided along the horizontal direction. One end of the power link 53 is rotatably disposed on a slide (also referred to as a fourth slide) of a fourth chute slide assembly 522 of the fill power mechanism 52, the slide of the fourth chute slide assembly 522 also being disposed on the chain 521. The chain 521 is disposed in a horizontal direction, and an output shaft of the gear motor is disposed in a vertical direction. A chute (also referred to as a fourth chute) in a fourth chute slider assembly 522 is provided on the chassis 1, the fourth chute being disposed in a horizontal direction, guiding the power link 53 to push the fill link 54.

Referring to fig. 4, according to an embodiment of the present application, two soil filling units 51 are disposed symmetrically in the same horizontal direction, and the pressing sheets 55 in the two soil filling units 51 move relatively to compact the soil, i.e. the pressing sheets 55 in the soil filling units 51 press the soil from the outside to the inside, thereby improving the efficiency.

In some embodiments, the fill power mechanism 52 is a pneumatic or hydraulic cylinder that drives the sheeting 55 to compact the soil downward.

Referring to fig. 1 and 5, according to an embodiment of the present application, the tree planting and irrigation integrated intelligent trolley further includes a seedling conveying device 6, where the seedling conveying device 6 is disposed on the chassis 1 and above the gripper device 3, and the seedling conveying device 6 conveys the tree seedlings to the gripper device 3. In the gripper device 3, the initial position of the bearing surface 351 of the second slider 35 is parallel to the horizontal direction, the seedling feeding device 6 is located right above the bearing surface 351, the seedlings fall onto the bearing surface 351 from top to bottom, and then the gripper device 3 transports the seedlings into the tree pit.

Referring to fig. 5, according to an embodiment of the present application, the seedling feeding device 6 includes a fixing base 61, a seedling feeding power mechanism 62, and a seedling feeding plate 63. The chassis 1 comprises an upper layer and a lower layer, the upper layer 11 is parallel to the lower layer 12, and the upper layer 11 and the lower layer 12 are fixed together through vertical rods. The upper layer 11 is provided with a seedling feeding device 6, and the lower layer 12 is provided with a gripper device 3, a travelling device 2 and a soil drilling device 4. The fixing base 61 is arranged on the upper layer 11 and is positioned above the gripper device 3, and the fixing base 61 and the upper layer 11 are provided with a first sapling passage 64. The bottom of the seedling feeding plate 63 is provided with a groove for accommodating the sapling, so that the sapling moves to the first sapling passage 64 and falls onto the gripper device 3 below. A plurality of seedling conveying plates 63 are slidably arranged in the fixing seat 61, the seedling conveying plates 63 are stacked up and down, and the seedling conveying power mechanism 62 pushes the seedling conveying plates 63 below to the first seedling passage 64, so that seedlings carried by the seedling conveying plates 63 fall into the first seedling passage 64. The seedling feeding power mechanism 62 comprises a steering engine 621 and a cam assembly 622, the steering engine 621 is arranged on the fixing base 61 or the upper layer 11 of the chassis 1, and the steering engine 621 is connected with the cam assembly 622 to drive the cam assembly 622 to push the seedling feeding plate 63 to move in the fixing base 61.

According to one embodiment of the application, the lower layer 12 is further provided with a second seedling passage for the seedlings to pass through, so that the seedlings penetrate from the chassis 1 and fall down into the tree pit.

Referring to fig. 1, according to an embodiment of the present application, the intelligent trolley for tree planting and irrigation integration further comprises an irrigation device 7, wherein the irrigation device 7 is arranged on the chassis 1 and is used for irrigating tree seedlings. The irrigation device 7 comprises a water storage bottle, a pump and a valve, wherein the water storage bottle is arranged on the chassis 1, the input end of the pump is connected with the water storage bottle, and the pump is a mechanism for conveying fluid or pressurizing the fluid. It transmits mechanical energy of the prime mover or other external energy to the liquid, causing the liquid to increase in energy. The output end of the pump is connected with a pipeline, and a valve is connected to the pipeline and used for controlling whether the output end outputs water or not. The water source is released by the water suction pump matched with the valve, the water is irrigated at the root of the sapling, and the tree planting work is completed.

Referring to fig. 1, according to one embodiment of the present application, the soil drilling device 4 includes a soil drilling mechanism and a lifting mechanism 43, wherein the lifting mechanism 43 is disposed on the chassis 1 and is used for driving the soil drilling mechanism to move in a vertical direction, and the soil drilling mechanism is disposed on the lifting mechanism 43 and is used for drilling soil. The lifting mechanism 43 comprises a cylinder, a hydraulic cylinder, an electric telescopic rod and the like, and can drive the earth drilling mechanism to linearly move, and the lifting mechanism 43 is vertically arranged, so that the movement in the vertical direction can be realized. The earth boring mechanism comprises an earth boring motor 41 and an earth boring head 42, the earth boring motor 41 is connected with a lifting mechanism 43, and the earth boring motor 41 is connected with the earth boring head 42. The second seedling passage is a long groove on the lower layer 12 of the chassis 1, the drill 42 penetrates the second seedling passage, and the lifting mechanism 43 is disposed on the lower layer 12 of the chassis 1.

Referring to fig. 1, the traveling device 2 may be a traveling wheel traveling device or a crawler traveling device according to an embodiment of the present application. The travelling wheel travelling device is characterized in that a motor drives the travelling wheel to rotate, so that the tree planting and irrigation integrated intelligent trolley is driven to travel on a road surface. The crawler belt feeding device is characterized in that a motor drives a crawler belt wheel to rotate so as to drive the crawler belt to rotate, and finally, the tree planting and irrigation integrated intelligent trolley is driven to travel on a road surface.

According to an embodiment of the application, the integrated intelligent trolley for tree planting and irrigation further comprises a control unit, wherein the control unit is respectively connected with the advancing device, the soil drilling device, the gripper device, the irrigation device, the soil filling device and the seedling conveying device, and the control unit is a control core of the integrated intelligent trolley for tree planting and irrigation and is used for driving the advancing device, the soil drilling device, the gripper device, the irrigation device, the soil filling device and the seedling conveying device to operate.

According to one embodiment of the application, the control unit adopts an Arduino Mega ADK development board to realize intelligent control, the processor core of the Mega ADK is ATmega2560, compared with other development boards, arduino and peripheral products are relatively low in quality and excellent, learning or creation cost is low, development and maintenance in daily life are convenient, and the control unit is provided with rich interfaces, digital I/O ports, analog I/O ports and the like, and meanwhile SPI, IIC, UART serial port communication is supported.

According to an embodiment of this application, tree planting irrigates integration intelligent vehicle has 3 power supply modes: 1. the USB interface is used for supplying power, and the voltage is 5V; 2. the DC power input interface is used for supplying power, and the voltage is required to be 7-12V; 3. the power is supplied through a 5V or VIN port at the power interface, the power supply at the 5V port is required to be 5V, and the power supply at the VIN port is required to be 7-12V.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the phrase "in various places in the specification are not necessarily all referring to the same embodiment, nor are they particularly limited to independence or relevance from other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the technical features mentioned in the embodiments may be combined in any manner to form a corresponding implementable technical solution.

Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains; the use of related terms herein is for the description of specific embodiments only and is not intended to limit the present application.

In the description of the present application, the term "and/or" is a representation for describing a logical relationship between objects, which means that there may be three relationships, e.g., a and/or B, representing: there are three cases, a, B, and both a and B. In addition, the character "/" herein generally indicates that the front-to-back associated object is an "or" logical relationship.

In this application, terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual number, order, or sequence of such entities or operations.

Without further limitation, the use of the terms "comprising," "including," "having," or other like terms in this application is intended to cover a non-exclusive inclusion, such that a process, method, or article of manufacture that comprises a list of elements does not include additional elements but may include other elements not expressly listed or inherent to such process, method, or article of manufacture.

As in the understanding of the "examination guideline," the expressions "greater than", "less than", "exceeding", and the like are understood to exclude the present number in this application; the expressions "above", "below", "within" and the like are understood to include this number. Furthermore, in the description of the embodiments of the present application, the meaning of "a plurality of" is two or more (including two), and similarly, the expression "a plurality of" is also to be understood as such, for example, "a plurality of groups", "a plurality of" and the like, unless specifically defined otherwise.

In the description of the embodiments of the present application, spatially relative terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc., are used herein as terms of orientation or positional relationship based on the specific embodiments or figures, and are merely for convenience of description of the specific embodiments of the present application or ease of understanding of the reader, and do not indicate or imply that the devices or components referred to must have a particular position, a particular orientation, or be configured or operated in a particular orientation, and therefore are not to be construed as limiting of the embodiments of the present application.

Unless specifically stated or limited otherwise, in the description of the embodiments of the present application, the terms "mounted," "connected," "affixed," "disposed," and the like are to be construed broadly. For example, the "connection" may be a fixed connection, a detachable connection, or an integral arrangement; the device can be mechanically connected, electrically connected and communicated; it can be directly connected or indirectly connected through an intermediate medium; which may be a communication between two elements or an interaction between two elements. The specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains according to the specific circumstances.

It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.

Claims

1. Integrated intelligent dolly is irrigated to planting tree, its characterized in that includes:

a chassis;

the soil drilling device is arranged on the chassis and used for drilling soil;

the gripper device comprises a gripper power mechanism, a driving piece, a guiding piece, a first sliding piece, a second sliding piece and a sliding way shaft, wherein the gripper power mechanism is arranged on the chassis and connected with the driving piece for driving the driving piece to rotate, the driving piece is provided with a driving sliding groove, the guiding piece is arranged on the chassis, the guiding piece is provided with a guiding sliding groove, the guiding sliding groove comprises a first section, a second section and a third section which are sequentially connected, the second section is arc-shaped, the first sliding piece is rotatably arranged on the chassis, the first sliding piece is provided with a sliding way sliding groove, the lower end of the pressing piece is arranged on the first sliding piece through a first sliding groove sliding block assembly, the sliding groove in the first sliding groove sliding block assembly is inclined to the horizontal plane, the upper end of the pressing piece is rotatably arranged on the upper end of the second sliding piece, the second sliding piece is rotatably arranged on the sliding piece, and the driving piece is pressed by the sliding piece, and the sliding piece is pressed by the sliding shaft, and the sliding piece is pressed by the driving piece and is pressed by the sliding way shaft;

a second sliding groove and sliding block assembly is arranged between the first sliding path piece and the second sliding path piece and used for guiding the first sliding path piece and the second sliding path piece to move linearly, a sliding block of the second sliding groove and sliding block assembly is arranged on the second sliding path piece, and a sliding groove of the second sliding groove and sliding block assembly is a sliding path sliding groove;

the driving piece, the guide piece, first stroke piece is two respectively, two be provided with between the first stroke piece the second stroke piece, and two be fixed each other between the first stroke piece, two be provided with two between the guide piece first stroke piece, two be provided with two between the driving piece the guide piece, two are in the same place through the universal driving shaft fixing between the driving piece, the universal driving shaft with tongs power unit passes through gear connection.

2. A tree watering integrated intelligent cart according to claim 1, wherein: the first section and the third section are straight, and the first section and the third section are perpendicular to each other so that the second runner rotates 90 ° along the runner axis.

3. A tree watering integrated intelligent cart according to claim 1, wherein: the soil compacting device is arranged on the chassis and is used for compacting soil.

4. A tree watering integrated intelligent cart according to claim 3 wherein: the device comprises a filling unit, wherein the filling unit comprises a filling power mechanism, a power connecting rod, a filling connecting rod and a pressing sheet, the filling power mechanism is arranged on the chassis and used for pushing the power connecting rod in the horizontal direction, one end of the power connecting rod is rotatably arranged on the filling power mechanism, the other end of the power connecting rod is rotatably arranged on the filling connecting rod, the top of the filling connecting rod is arranged on the chassis through a third sliding groove sliding block assembly, a sliding groove in the third sliding groove sliding block assembly is inclined to the horizontal direction so that the filling connecting rod is inclined to the horizontal direction to move, and the bottom of the filling connecting rod is rotatably arranged on the pressing sheet.

5. A tree watering integrated intelligent cart according to claim 4 wherein: the soil filling power mechanism comprises a gear motor, a chain and a fourth sliding groove sliding block assembly, the gear motor is arranged on the chassis, the gear motor is connected with the chain, the chain is arranged along the horizontal direction, one end of the power connecting rod is rotatably arranged on the sliding block of the fourth sliding groove sliding block assembly of the soil filling power mechanism, the sliding block of the fourth sliding groove sliding block assembly is further arranged on the chain, and a sliding groove in the fourth sliding groove sliding block assembly is arranged on the chassis.

6. A tree watering integrated intelligent cart according to claim 4 wherein: the two soil filling units are symmetrically arranged in the same horizontal direction, and the pressing sheets in the two soil filling units move relatively to compact soil.

7. A tree watering integrated intelligent cart according to claim 1, wherein: the seedling conveying device is arranged on the chassis and is positioned above the gripper device.

8. A tree watering integrated intelligent cart according to claim 1, wherein: the irrigation device comprises a water storage bottle, a pump and a valve, wherein the water storage bottle is arranged on the chassis, the input end of the pump is connected with the water storage bottle, and the output end of the pump is connected with a pipeline.