CN115176665A

CN115176665A - Loess slope vegetation repairing machine

Info

Publication number: CN115176665A
Application number: CN202210826304.8A
Authority: CN
Inventors: 王栋浩; 陈德旺; 傅盛豪; 陆九天; 周欣跃; 钟麒; 曹胜柯
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2022-10-14
Anticipated expiration: 2042-07-13
Also published as: CN115176665B

Abstract

The invention discloses a loess slope vegetation restoration machine, and belongs to the technical field of ecological and environment-friendly vegetation restoration. The automatic seedling screening and storing device comprises a frame chassis, a vehicle body horizontal platform and a plurality of functional mechanisms mounted on the vehicle body horizontal platform, wherein the roller screening and storing mechanism is used for storing and primarily screening seedlings; the aligning and screening plate mechanism and the infrared separation plate mechanism are used for aligning and accurately separating the saplings; the sapling conveying mechanism is used for conveying saplings from the storage area to the planting area; the soil drilling mechanism is used for pre-digging a pit in soil; the mechanical gripper mechanism grabs the saplings and realizes planting; the roller soil covering mechanism is used for covering soil and reserving the water tank; the horizontal platform of the vehicle body can be integrally leveled; the chassis of the frame can walk under the slope terrain. The invention adopts the roller storage tree seedling technology, the tree seedling screening technology, the earthing technology, the vehicle body leveling technology and the like, realizes the automatic screening and planting of the tree seedlings in large batch, overcomes the difficulty of planting trees on slopes by the vegetation restoration machine, and improves the environmental adaptability of the loess slope vegetation restoration machine.

Description

Loess slope vegetation repairing machine

Technical Field

The invention belongs to the technical field of ecological and environment-friendly vegetation restoration, and relates to a loess slope vegetation restoration machine.

Background

In the existing scheme, a specific tree planter is used in a specific area, and for tree planting in mountainous areas, the tree planting is mainly carried out by matching a small horsepower tractor with a semi-automatic tree planter, a suspension type earth boring machine and a portable earth boring machine; for the afforestation work in plain areas, a large-horsepower tractor is matched with a semi-automatic tree planter, a strip-shaped ditcher and a spiral earth boring machine to implement the afforestation work, in addition, a plurality of advanced machine types are designed aiming at the wind-proof and sand-fixing afforestation work, such as a traction-type ditching seedling feeder, a sand dune tree planter and the like, and the requirements of the sand afforestation can be well met. However, the proportion of the application in the actual afforestation work is still obviously insufficient, and many places still need manpower control, which can not completely liberate the hands of people.

In summary, the main disadvantages of the existing methods include: the efficiency is low, the automation level is low, the limitation by terrain is large, and the flexibility is poor.

Disclosure of Invention

In order to overcome the problems of low mechanical efficiency, low automation level, large limitation of terrain, poor flexibility and the like in the prior art, the invention provides the loess slope vegetation repairing machine which has the advantages of high integration of the structure, high automation level, no need of human participation in the tree planting process and good adaptability to various slopes.

In order to realize the purpose, the invention adopts the following technical scheme:

a loess slope vegetation restoration machine comprises a frame chassis, a vehicle body horizontal platform, a roller screening storage mechanism, an aligning screening plate mechanism, an infrared separation plate mechanism, a sapling conveying mechanism, a soil drilling mechanism, a mechanical gripper mechanism and a roller wheel soil covering mechanism, wherein the roller screening storage mechanism, the aligning screening plate mechanism, the infrared separation plate mechanism, the sapling conveying mechanism, the soil drilling mechanism, the mechanical gripper mechanism and the roller wheel soil covering mechanism are installed on the vehicle body horizontal platform;

the horizontal platform of the vehicle body is arranged on the chassis of the vehicle frame and is hinged with the chassis of the vehicle frame through a pair of vertical push rods; the roller screening and storing mechanism is positioned at the uppermost part of the horizontal platform of the vehicle body and can be lifted upwards around one end of the roller screening and storing mechanism; the sapling conveying mechanism is positioned below the roller screening and storing mechanism; the aligning and screening plate mechanism and the infrared separation plate mechanism are positioned below the sapling conveying mechanism and have a lifting function; the mechanical grabbing mechanism is used for grabbing horizontal saplings and rotating the saplings to be vertical, and has a lifting function; the soil drilling mechanism and the roller soil covering mechanism are respectively used for digging holes and covering soil.

Preferably, the horizontal platform of the vehicle body is further provided with a solar auxiliary power supply board and an irrigation mechanism, the solar auxiliary power supply board is used for supplying power, and the irrigation mechanism is used for watering the covered seedlings.

Preferably, the roller screening and storing mechanism comprises a first transmission device, a roller bracket, a plurality of screening rods, a rolling shaft and a roller with a gap;

one end of the roller bracket is hinged with the horizontal platform of the vehicle body, the other end of the roller bracket is provided with a handle, the roller is arranged on the roller bracket through a rolling shaft, and the direction of a gap on the roller is parallel to the central axis of the roller; the screening rods are uniformly distributed along the circumferential direction of the inner wall of the roller, each screening rod consists of a transverse rod and a vertical rod, the transverse rods are fixed on the inner wall of the roller, and the vertical rods are perpendicular to the central axis of the roller; the first transmission device is connected with the roller (109) and used for driving the roller to rotate around the central axis.

Preferably, the first transmission device comprises a first motor, a first transmission gear, a second transmission gear and a rolling bearing;

the first motor is arranged on the roller bracket, the first transmission gear is connected with an output shaft of the first motor, and the second transmission gear is coaxially arranged on the first end surface of the roller and is meshed with the first transmission gear; the rolling bearing is arranged on the second end surface of the roller; and a window for putting the saplings is arranged on the second end surface of the roller.

Preferably, the sapling conveying mechanism comprises a pair of parallel sapling positioning groove plates, a track device and a second transmission device;

the rail device fix on automobile body horizontal platform, sapling positioning groove board perpendicular with the axis of cylinder, sapling positioning groove board top is the cockscomb structure, a pair of parallel sapling positioning groove board is installed on rail device, can follow the track direction and remove, second transmission be used for providing power for the removal of sapling positioning groove board.

Preferably, the aligning and screening plate mechanism comprises a bottom plate, guide columns, a screening shell and a crank lifting device;

the bottom plate is installed on a horizontal platform of the vehicle body, the guide post is fixed on the bottom plate, the bottom surface of the screening shell is provided with a through hole matched with the guide post, the top surface of the screening shell is provided with a serrated groove, the length direction of the serrated groove is parallel to the central axis of the roller, and the length of the serrated groove is smaller than the distance between a pair of parallel sapling positioning groove plates; the crank lifting device is installed on the bottom plate and used for driving the screening shell to lift.

Preferably, the infrared separating plate mechanism comprises a side plate, a pair of V-shaped inserting hands and a connecting rod lifting device;

the side plate is arranged on a horizontal platform of the vehicle body, the pair of V-shaped inserting hands are arranged on one side of the side plate through the connecting rod lifting device, and the distance between the pair of V-shaped inserting hands is smaller than the distance between the pair of parallel sapling positioning groove plates; the connecting rod lifting device is used for driving the pair of V-shaped plug hands to lift.

Preferably, the mechanical gripper mechanism comprises a gripper frame, a gripper body, a screw rod lifting device and a vertical overturning device;

the gripper frame is installed on a horizontal platform of the vehicle body, the screw rod lifting device is fixed on the gripper frame, the gripper body is installed on a sliding block of the screw rod lifting device through the overturning device, and the overturning device is used for upwards overturning the gripper body by 90 degrees.

Preferably, the roller soil covering mechanism comprises a fixing rod, a horizontal push rod, a pair of connecting shafts, a pair of connecting rod assemblies and a pair of rollers; the fixed rod and the horizontal push rod are arranged on a horizontal platform of the vehicle body, and the roller is hinged with the fixed rod through a connecting rod assembly;

the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, and the third connecting rod is an L-shaped rod; one end of the first connecting rod and one end of the second connecting rod are respectively hinged with the fixed rod, the other end of the first connecting rod is hinged with the top end of the third connecting rod, the middle part of the third connecting rod is hinged with the other end of the second connecting rod, and the roller is arranged at the bottom end of the L-shaped rod;

the top ends of two second connecting rods in the pair of connecting rod assemblies are meshed through a limiting gear; the horizontal push rod is hinged with the two first connecting rods through the pair of connecting shafts respectively, and the distance between the pair of connecting shafts is controlled through the horizontal push rod, so that the pair of rollers are driven to move in an opening and closing mode.

Preferably, the frame chassis adopts a crawler-type frame chassis.

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

(1) The invention adopts the roller storage sapling technology, overcomes the problem of small sapling planting amount in the prior art, and achieves the realization of large-batch planting;

(2) The invention adopts the seedling screening technology, overcomes the problem that the seedlings need to be manually placed flat in the prior art, thereby realizing no need of human interference in the process of seedling;

(3) The invention adopts the soil covering technology, and overcomes the problem that two different machines are required for respectively covering soil and digging a water storage tank in the prior art, thereby obtaining the effect of highly centralized structure;

(4) The invention adopts the vehicle body leveling technology, and overcomes the problem that the vegetation restoration machine in the prior art cannot plant trees on slopes, thereby improving the overall environmental adaptability.

Drawings

FIG. 1 is a schematic perspective view of a loess slope vegetation restoration machine according to an embodiment of the present invention;

FIG. 2 is a schematic side view of the vegetation restoration machine for loess slope according to the embodiment of the present invention;

FIG. 3 is a schematic rear view of the vegetation restoration machine for loess slope according to the embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a drum screening storage mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an aligned screening deck mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating the principle of the crank lifter in the aligning screen plate mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an infrared separating plate mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating the transmission principle of three links in the infrared separating plate mechanism according to the embodiment of the present invention;

FIG. 9 is a schematic structural view of a seedling transport mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic view of an earth-boring mechanism according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a mechanical gripper mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic structural view of a roller soil covering mechanism according to an embodiment of the present invention;

FIG. 13 is a schematic diagram illustrating the operation of a linkage assembly in the roller soil covering mechanism according to an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of a horizontal platform of a vehicle body and a solar auxiliary power supply panel according to an embodiment of the invention;

in the figure: 1-roller screening storage mechanism, 101-first motor, 102-first transmission gear, 103-rolling shaft, 104-roller support, 105-roller support, 106-screening rod, 107-rolling bearing, 108-handle, 109-roller; 2-aligning a screening plate mechanism, 201-a bottom plate, 202-a guide column, 203-a first steering engine, 204-a power beam, 205-a screening shell, 206-a connecting rod and 207-a disc; 3-an infrared separation plate mechanism, 301-a second steering engine, 302-a positioning block, 303-a three-connecting rod, 304-a V-shaped inserting handle, 305-a sliding rod and 306-a side plate; 4-a sapling conveying mechanism, 401-a transmission block, 402-a crawler, 403-a transmission wheel, 404-a second motor, 405-a U-shaped sliding table, 406-a sliding block, 407-a sapling positioning groove plate and 408-a base; 5-an earth drilling mechanism, 501-a drill bit, 502-a drill bit vertical polish rod, 503-a first screw rod, 504-an aluminum profile frame, 505-a third motor, 506-a drill bit horizontal polish rod, 507-a fourth motor, 508-a drill bit slide block, 509-a fifth motor; 6-mechanical gripper mechanism, 601-gripper sliding block, 602-hand vertical polished rod, 603-limiting block, 604-second screw rod, 605-sixth motor, 606-guide sliding groove, 607-L-shaped block and 608-gripper body; 7-roller soil covering mechanism, 701-seventh motor, 702-fixed block, 703-horizontal push rod, 704-connecting shaft, 705-fixed rod, 706-limit gear, 707-connecting shaft, 708-roller and 709-connecting rod assembly; 8-solar auxiliary power supply board; 9-a frame chassis; 10-horizontal platform of the vehicle body, 1001-vertical push rod.

Detailed Description

In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

Referring to the attached drawings 1-3 of the specification, the embodiment discloses a loess slope vegetation restoration machine, which realizes the function of entering from bulk saplings to finishing sapling slope planting by taking the design concept of small size, multifunction and automation, and the machine is divided into 10 plates which are respectively a roller screening storage mechanism 1, an aligning screening plate mechanism 2, an infrared separation plate mechanism 3, a sapling conveying mechanism 4, an earth drilling mechanism 5, a mechanical gripper mechanism 6, a roller soil covering mechanism 7, a solar auxiliary power supply plate 8, a frame chassis 9 and a vehicle body horizontal platform 10.

The horizontal platform 10 of the vehicle body is arranged on the chassis 9 of the vehicle frame and is hinged with the chassis 9 of the vehicle frame through a pair of vertical push rods; the roller screening and storing mechanism 1 is positioned at the uppermost part of the horizontal platform 10 of the vehicle body and can be lifted upwards around one end of the roller screening and storing mechanism 1; the sapling conveying mechanism 4 is positioned below the roller screening and storing mechanism 1; the aligning screening plate mechanism 2 and the infrared separation plate mechanism 3 are positioned below the sapling conveying mechanism 4 and have a lifting function; the mechanical gripper mechanism 6 is used for gripping horizontal saplings and rotating the saplings to be vertical, and has a lifting function; the soil drilling mechanism 5 and the roller soil covering mechanism 7 are respectively used for digging holes and covering soil. The solar auxiliary power supply board 8 is used for supplying power.

The aligning and screening plate mechanism 2 and the infrared separation plate mechanism 3 are arranged in front and back below the sapling conveying mechanism 4. The front of the sapling conveying mechanism 4 can be below the grippers, and the rear can be about 10cm behind the aligning and screening plate mechanism 2; the mechanical gripper mechanism 6 is aligned with the roller soil covering mechanism 7 when moving to the lower side.

The roller screening and storing mechanism is used for storing and primarily screening the saplings; the aligning and screening plate mechanism and the infrared separation plate mechanism are used for aligning and accurately separating the saplings; the sapling conveying mechanism is used for conveying saplings from the storage area to the planting area; the soil drilling mechanism is used for pre-digging a pit in soil; the mechanical gripper mechanism grabs the saplings and realizes planting; the roller soil covering mechanism is used for covering soil and reserving the water tank; the irrigation mechanism is used for watering the saplings; the horizontal platform of the vehicle body is used for the integral leveling of the horizontal platform; the frame chassis is used for running under sloping surface terrains.

Those skilled in the art can also install an irrigation mechanism on the horizontal platform 10 of the vehicle body for watering the covered seedlings.

In this embodiment, the frame chassis 9 is a crawler-type frame chassis, the two side crawlers are installed on the frame chassis, the mechanism is designed to work on a slope surface smaller than 35 degrees, and the stroke of a push rod of a horizontal platform is not smaller than 40cm.

As shown in fig. 4, the roller sifting storage mechanism 1 includes a first transmission device, a roller frame 105, a plurality of sifting bars 106, a rolling shaft 103 and a notched roller 109;

one end of the roller bracket 105 is hinged with the horizontal platform 10 of the vehicle body, the other end is provided with a handle 108, the roller 109 is arranged on the roller bracket 105 through a rolling shaft 103, the roller 109 can be placed down and lifted up through the roller bracket 105, and a rebound rod with proper damping and rebound force can be selected for realization; the direction of the gap on the roller 109 is parallel to the central axis of the roller 109, and the length of the gap is equal to or slightly less than that of the roller; the screening rods 106 are uniformly distributed along the circumferential direction of the inner wall of the roller 109, each screening rod is composed of a cross rod and a vertical rod, the cross rods are fixed on the inner wall of the roller, and the vertical rods are perpendicular to the central axis of the roller; the first transmission device is connected with the roller 109 and is used for driving the roller to rotate around the central axis.

In this embodiment, the first transmission device adopts gear transmission, and includes a first motor 101, a first transmission gear 102, a second transmission gear 104, and a rolling bearing 107; the first motor 101 is arranged on the roller bracket 105, the first transmission gear 102 is connected with an output shaft of the first motor 101, and the second transmission gear 104 is coaxially arranged on a first end surface of the roller 109 and is meshed with the first transmission gear 102; a rolling bearing 107 is mounted on a second end face of the drum 109; the second end face of the roller 109, that is, the end face close to the handle 108, is provided with a window for putting the saplings, and the roller 109 can adopt a hard film as an outer wall.

When the roller screening and storing mechanism works, the first motor 101 drives the roller 109 to rotate through gear transmission, the saplings are placed into the roller 109 from the window at the handle 108, the roller 109 makes circular motion or left-right swing with the rolling bearing through the roller shaft, and the saplings fall from the gap after primary screening.

As shown in fig. 9, the seedling conveying mechanism 4 includes a pair of parallel seedling positioning grooved plates 407, a rail device, and a second transmission device; rail set pass through base 408 and fix on automobile body horizontal platform 10, sapling positioning groove board 407 perpendicular with the axis of cylinder 109, sapling positioning groove board 407 top is the cockscomb structure, a pair of parallel sapling positioning groove board 407 installs on rail set, can follow the track direction and remove, second transmission be used for providing power for sapling positioning groove board 407's removal.

In this embodiment, the rail device is fixed below the drum screening and storing mechanism and is composed of a U-shaped sliding table 405 and a sliding block 406; the second transmission device adopts a track transmission mode and comprises a transmission block 401, a track 402, a transmission wheel 403 and a second motor 404. The second motor 404 and the U-shaped sliding table 405 are fixed on the base 408, and the seedling positioning groove plate 407 is installed on a pair of parallel guide rails in the U-shaped sliding table 405 through a sliding block; the crawler 402 is arranged on the transmission wheel and is driven to rotate by the second motor 404; the drive wheel 403 bottom is installed on the track, and sapling positioning groove board 407 is connected at the top, consequently, sapling positioning groove board 407 can follow the guide rail removal on the U type sliding stand under the drive of second motor.

As shown in fig. 5, the aligned screening deck mechanism 2 comprises a base plate 201, guide posts 202, a screening housing 205 and a crank lift;

the bottom plate is installed on the horizontal platform 10 of the vehicle body, the guide post 202 is fixed on the bottom plate 201, the bottom surface of the screening shell 205 is provided with a through hole matched with the guide post, the top surface of the screening shell 205 is provided with a serrated groove, the length direction of the serrated groove is parallel to the central axis of the roller 109, and the length of the serrated groove is smaller than the distance between the pair of parallel sapling positioning groove plates 407; the crank lifting device is installed in the screening housing 205 and is used for driving the screening housing 205 to lift.

In this embodiment, the crank lifting device includes a first steering engine 203, a power beam 204, a connecting rod 206 and a disc 207, the power beam 204 is fixed inside a screening housing 205, the connecting rod 206 is hinged to the power beam 204, a power output shaft of the first steering engine 203 is eccentrically fixed to the disc 207, and the disc 207 is hinged to the connecting rod 206; the lifting principle of the crank lifting device is shown in fig. 6, and the first steering engine 203 can drive the screening shell 205 to lift along the guide column 202.

When the aligning and screening plate mechanism works, in the initial state of the screening shell 205, the serrated groove on the top surface of the screening shell 205 is positioned below a pair of parallel sapling positioning groove plates 407 in the sapling conveying mechanism 4, when the screening shell 205 is lifted, the serrated groove of the screening shell 205 is matched with the sapling positioning groove plates 407, and when the serrated groove of the screening shell 205 is higher than the sapling positioning groove plates 407, the saplings primarily screened on the sapling positioning groove plates 407 can be screened for the second time, so that each sapling is independently positioned in the serrated groove of each screening shell 205; next, the screening housing 205 is lowered, so that the saplings on the screening housing 205 fall on the sapling positioning trough plate 407 again, secondary screening is completed, and the saplings are arranged in parallel and independently.

As shown in fig. 7, the infrared separation plate mechanism 3 includes a side plate 306, a pair of V-shaped inserts 304, and a link lifting device; the side plate 306 is arranged on the horizontal platform 10 of the vehicle body, the pair of V-shaped inserting hands 304 are arranged on one side of the side plate 306 through the connecting rod lifting device, and the distance between the pair of V-shaped inserting hands 304 is smaller than the distance between the pair of parallel sapling positioning groove plates 407; the connecting rod lifting device is used for driving the pair of V-shaped inserting hands 304 to lift.

In this embodiment, the connecting rod lifting device includes a second steering engine 301, a positioning block 302, a three-connecting rod 303, and a sliding rod 305; the number of the sliding rods 305 is 2, the sliding rods are respectively arranged on the side plates through positioning blocks 302, a pair of V-shaped inserting hands 304 are arranged on the sliding rods through sliding blocks, and the sliding blocks are connected with the three connecting rods; the second steering engine 301 is installed on the side plate and used for providing power for the three connecting rods 303, and the three connecting rods push the sliding blocks to move on the sliding rods 305 under the driving of the second steering engine 301, so that the pair of V-shaped inserting hands 304 is driven to lift. The transmission principle of the three-link is shown in fig. 8.

When the infrared separating plate mechanism works, when the V-shaped slotting tool 304 is located at an initial position, the V-shaped slotting tool 304 is located below a pair of parallel sapling positioning groove plates 407 in the sapling conveying mechanism 4, the sapling positioning groove plates 407 are controlled to move forward and located right above the V-shaped slotting tool 304, the V-shaped slotting tool 304 is lifted and matched with the sapling positioning groove plates 407, when the V-shaped slotting tool 304 is higher than the sapling positioning groove plates 407, the saplings after secondary screening on the sapling positioning groove plates 407 can be selected, at the moment, the sapling positioning groove plates 407 retreat, the V-shaped slotting tool 304 is controlled to descend, the selected saplings are separated from other saplings, and the saplings are still placed on the sapling positioning groove plates 407; the seedling positioning slot plate 407 is continuously controlled to move forward, so that the selected seedling is delivered to the position right below the mechanical gripper mechanism 6.

As shown in fig. 10, the earth boring mechanism 5 includes a drill 501, a drill vertical polished rod 502, a first screw 503, an aluminum profile frame 504, a third motor 505, a drill horizontal polished rod 506, a fourth motor 507, a drill slider 508, and a fifth motor 509. The vertical drill polish rod 502, the first screw 503 and the fifth motor 509 form a vertical transmission device for driving the horizontal drill polish rod 506 to move up and down; the fourth motor 507 is installed on the drill slider 508, the drill slider 508 and the third motor 505 form a transverse transmission device, and the transverse transmission device adopts belt transmission and is used for driving the drill 501 to move horizontally; the fourth motor 507 is used for driving the drill bit 501 to rotate. The vertical transmission device, the transverse transmission device, the fourth motor 507 and the drill bit 501 are arranged on the horizontal platform 10 of the vehicle body through an aluminum profile frame 504.

When the soil drilling mechanism 5 works, the drill bit is moved to the position right above the designated position through the vertical transmission device and the transverse transmission device, the fourth motor 507 drives the drill bit to rotate, soil drilling work is completed downwards, and the drill bit is reset after the completion.

As shown in fig. 11, the mechanical gripper mechanism 6 includes a gripper frame, a gripper body 608, a lead screw lifting device and a vertical turning device; the gripper frame is installed on the horizontal platform 10 of the vehicle body, the screw rod lifting device is fixed on the gripper frame, the gripper body 608 is installed on a sliding block of the screw rod lifting device through a turnover device, and the turnover device is used for turning the gripper body 608 upwards by 90 degrees.

In this embodiment, the screw lifting device includes a gripper slider 601, a gripper vertical polish rod 602, a limiting block 603, a second screw 604, a sixth motor 605, and a guide chute 606; the guide sliding groove and the gripper vertical polished rod are fixed on the support, the sliding block can move up and down along the gripper vertical polished rod, when the gripper vertical polished rod works, the sixth motor 605 drives the second screw rod 604 to rotate, the gripper body 608 is in transmission connection with the second screw rod through the gripper sliding block 601, up and down movement is realized under the action of the guide sliding groove 606, and the limiting block 603 plays a limiting role;

the vertical turnover device is composed of an L-shaped block 607 with a steering engine, the L-shaped block 607 is hinged to the sliding block 601, the hand grip body 608 is fixed on the L-shaped block 607, the L-shaped block 607 can be driven to turn upwards by 90 degrees under the rotation of the steering engine, and after the horizontally placed seedlings are gripped by the hand grip body, the seedlings are vertically gripped by turning 90 degrees.

As shown in fig. 12, the roller soil-covering mechanism 7 includes a fixing rod 705, a horizontal push rod 703, a pair of connecting

shafts

704 and 707, a pair of link assemblies 709, and a pair of rollers; the fixed rod 705 and the horizontal push rod 703 are arranged on the horizontal platform 10 of the vehicle body, and the roller is hinged with the fixed rod 705 through a connecting rod assembly;

the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, and the third connecting rod is an L-shaped rod; one end of the first connecting rod and one end of the second connecting rod are hinged with the fixing rod 705 respectively, the other end of the first connecting rod is hinged with the top end of the third connecting rod, the middle part of the third connecting rod is hinged with the other end of the second connecting rod, and the roller is installed at the bottom end of the L-shaped rod;

the top ends of two second connecting rods in the pair of connecting rod assemblies are meshed through a limiting gear 706; the horizontal push rod 703 is hinged to the two first connecting rods through a pair of connecting shafts respectively, and the distance between the pair of connecting shafts is controlled through the horizontal push rod, so that the pair of rollers are driven to move in an opening and closing mode.

In this embodiment, the rollers are driven to rotate by the seventh motor 701, the outer rod of the horizontal push rod 703 is connected with the connecting shaft 704 through the fixing block 702, the inner rod of the horizontal push rod 703 is directly connected with the connecting shaft 707, the working principle of the connecting rod assembly is as shown in fig. 13, when the inner rod extends out of the outer rod, the distance between the two connecting shafts is increased, and the pair of rollers are driven to open upwards and outwards; when the inner rod gradually retracts into the outer rod, the distance between the two connecting shafts is reduced, the pair of rollers are driven to close towards the lower side of the inner rod, and the rollers are rotated towards the inner side in the closing process; therefore, the rollers are opened towards two sides initially, the rollers are closed towards the center downwards in the soil covering process, soil on the outer side is closed towards the inner side along with the rotation of the rollers, and soil covering action can be achieved.

As shown in fig. 14, the horizontal platform 10 of the car body is built by an aluminum frame, the solar auxiliary power supply board 8 is installed on the top of the horizontal platform, and a pair of vertical push rods 1001 are used for being hinged with the chassis. The leveling of the entire platform can be achieved by adjusting the height of the vertical push rod 1001 and the angle of articulation with the chassis.

The invention is not the best known technology.

The invention discloses a loess slope vegetation restoration machine, which comprises the following working processes:

s01, manually pulling up the roller screening storage mechanism 1 to a proper position, putting a plurality of saplings in the roller screening storage mechanism, putting down the roller, wherein the roller is designed with a certain inclination angle for aligning the bottoms;

s02, when the vehicle moves to a designated position, the horizontal platform 10 of the vehicle body is leveled, the saplings work through the roller screening storage mechanism 1, and the saplings are primarily screened onto the sapling positioning groove plate 407 of the sapling conveying mechanism 4; meanwhile, the drill bit starts to work, the hole is dug downwards, and the drill bit returns to the original position after the hole is dug;

s03, enabling the sapling conveying mechanism to be matched with the aligning screening plate to achieve parallel arrangement of saplings, enabling the infrared screening mechanism to be matched with the sapling conveying mechanism to achieve independent separation of the saplings, and conveying the separated saplings to the position below the mechanical gripper;

the method comprises the following specific steps: controlling the screening shell of the simultaneous screening plate mechanism 2 to rise, and carrying out secondary screening on the saplings on the sapling positioning groove plate 407; and controlling the screening shell of the simultaneous screening plate mechanism 2 to descend, so that the saplings on the screening shell 205 fall on the sapling positioning groove plate 407 again, completing secondary screening, and realizing the mutual parallel arrangement of the saplings. The seedling positioning groove plate 407 is controlled to move forward to be located right above the V-shaped plug 304 of the infrared separating plate mechanism 3, the V-shaped plug 304 is controlled to rise and is matched with the seedling positioning groove plate 407, and when the V-shaped plug 304 is higher than the seedling positioning groove plate 407, a seedling subjected to secondary screening on the seedling positioning groove plate 407 can be selected; then, the seedling positioning groove plate 407 retreats, the V-shaped hand grip 304 is controlled to descend, the selected seedling is separated from other seedlings, and the seedling is still placed on the seedling positioning groove plate 407.

S04, controlling the seedling positioning groove plate 407 in the seedling conveying mechanism 4 to move forward, conveying the selected seedling to the position under the mechanical gripper mechanism 6, gripping the seedling by the mechanical gripper, retracting the seedling conveying mechanism, simulating the path of the seedling of a human by the gripper to finish the seedling operation,

s05, controlling the mechanical gripper mechanism 6 to grip the saplings and place the saplings into the drilled holes, starting the roller soil covering mechanism 7 to work when the gripper moves to the lowest position, moving the two rollers inwards, rotating the rollers simultaneously, and bringing soil on the two sides to the middle to realize soil covering operation;

and S06, opening the mechanical gripper to reserve a space for separating the sapling from the machine, moving the whole vehicle downwards, resetting the device, and continuously completing the planting of the next sapling.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. Modifications and variations of the present invention are within the scope of the claims.

Claims

1. A loess slope vegetation restoration machine is characterized by comprising a frame chassis (9), a vehicle body horizontal platform (10), a roller screening storage mechanism (1), an aligning screening plate mechanism (2), an infrared separation plate mechanism (3), a sapling conveying mechanism (4), a soil drilling mechanism (5), a mechanical gripper mechanism (6) and a roller soil covering mechanism (7), wherein the roller screening storage mechanism (1), the aligning screening plate mechanism (2), the infrared separation plate mechanism (3) and the sapling conveying mechanism are arranged on the vehicle body horizontal platform (10);

the horizontal platform (10) of the vehicle body is arranged on the chassis (9) of the vehicle frame and is hinged with the chassis (9) of the vehicle frame through a pair of vertical push rods; the roller screening storage mechanism (1) is positioned at the uppermost part of the horizontal platform (10) of the vehicle body and can be lifted upwards around one end of the roller screening storage mechanism (1); the sapling conveying mechanism (4) is positioned below the roller screening and storing mechanism (1); the aligning and screening plate mechanism (2) and the infrared separation plate mechanism (3) are positioned below the sapling conveying mechanism (4) and have a lifting function; the mechanical gripper mechanism (6) is used for gripping horizontal saplings and rotating the saplings to be vertical, and has a lifting function; the soil drilling mechanism (5) and the roller soil covering mechanism (7) are respectively used for digging holes and covering soil.

2. The loess slope vegetation repairing machine according to claim 1, wherein a solar auxiliary power supply board (8) and an irrigation mechanism are further installed on the vehicle body horizontal platform (10), the solar auxiliary power supply board (8) is used for supplying power, and the irrigation mechanism is used for watering the covered seedlings.

3. The loess slope vegetation restoration machine according to claim 1, wherein the roller screening storage mechanism (1) comprises a first transmission device, a roller bracket (105), a plurality of screening rods (106), a rolling shaft (103) and a roller (109) with a notch;

one end of the roller support (105) is hinged with the horizontal platform (10) of the vehicle body, the other end of the roller support is provided with a handle (108), the roller (109) is arranged on the roller support (105) through a rolling shaft (103), and the direction of a gap on the roller (109) is parallel to the central axis of the roller (109); the screening rods (106) are uniformly distributed along the circumferential direction of the inner wall of the roller (109), each screening rod consists of a transverse rod and a vertical rod, the transverse rods are fixed on the inner wall of the roller, and the vertical rods are perpendicular to the central axis of the roller; the first transmission device is connected with the roller (109) and used for driving the roller to rotate around the central axis.

4. The loess slope vegetation restoration machine according to claim 3, wherein the first transmission device comprises a first motor (101), a first transmission gear (102), a second transmission gear (104) and a rolling bearing (107);

the first motor (101) is installed on the roller bracket (105), the first transmission gear (102) is connected with an output shaft of the first motor (101), and the second transmission gear (104) is coaxially installed on the first end face of the roller (109) and is meshed with the first transmission gear (102); the rolling bearing (107) is arranged on the second end surface of the roller (109); and a window for putting the sapling is arranged on the second end surface of the roller (109).

5. The loess slope vegetation restoration machine according to claim 1, wherein the seedling conveying mechanism (4) comprises a pair of parallel seedling positioning trough plates (407), a track device and a second transmission device;

the rail device fix on automobile body horizontal platform (10), sapling positioning groove board (407) perpendicular with the axis of cylinder (109), sapling positioning groove board (407) top is the cockscomb structure, a pair of parallel sapling positioning groove board (407) are installed on rail device, can move along the track direction, second transmission be used for providing power for the removal of sapling positioning groove board (407).

6. The loess slope vegetation restoration machine according to claim 5, wherein the aligning screen plate mechanism (2) comprises a bottom plate (201), a guide post (202), a screen shell (205) and a crank lifting device;

the bottom plate is installed on a horizontal platform (10) of the vehicle body, the guide post (202) is fixed on the bottom plate (201), a through hole matched with the guide post is formed in the bottom surface of the screening shell (205), a serrated groove is formed in the top surface of the screening shell (205), the length direction of the serrated groove is parallel to the central axis of the roller (109), and the length of the serrated groove is smaller than the distance between a pair of parallel sapling positioning groove plates (407); the crank lifting device is arranged on the bottom plate (201) and used for driving the screening shell (205) to lift.

7. The loess slope vegetation restoration machine according to claim 5, wherein the infrared separation plate mechanism (3) comprises a side plate (306), a pair of V-shaped inserting hands (304) and a connecting rod lifting device;

the side plate (306) is arranged on a horizontal platform (10) of the vehicle body, a pair of V-shaped inserting hands (304) are arranged on one side of the side plate (306) through a connecting rod lifting device, and the distance between the pair of V-shaped inserting hands (304) is smaller than the distance between a pair of parallel sapling positioning groove plates (407); the connecting rod lifting device is used for driving the pair of V-shaped inserting hands (304) to lift.

8. The loess slope vegetation restoration machine according to claim 1, wherein the mechanical gripper mechanism (6) comprises a gripper frame, a gripper body (608), a screw rod lifting device and a vertical turnover device;

the gripper frame is installed on a horizontal platform (10) of the vehicle body, the screw rod lifting device is fixed on the gripper frame, the gripper body (608) is installed on a sliding block of the screw rod lifting device through the overturning device, and the overturning device is used for upwards overturning the gripper body (608) by 90 degrees.

9. The loess slope vegetation restoration machine according to claim 1, wherein the roller soil covering mechanism (7) comprises a fixing rod (705), a horizontal push rod (703), a pair of connecting shafts, a pair of connecting rod assemblies and a pair of rollers (708); the fixed rod (705) and the horizontal push rod (703) are arranged on a horizontal platform (10) of the vehicle body, and the roller is hinged with the fixed rod (705) through a connecting rod assembly;

the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, and the third connecting rod is an L-shaped rod; one end of the first connecting rod and one end of the second connecting rod are respectively hinged with a fixed rod (705), the other end of the first connecting rod is hinged with the top end of a third connecting rod, the middle part of the third connecting rod is hinged with the other end of the second connecting rod, and the roller is arranged at the bottom end of the L-shaped rod;

the top ends of two second connecting rods in the pair of connecting rod assemblies are meshed through limiting gears; the horizontal push rod (703) is hinged with the two first connecting rods through the pair of connecting shafts respectively, and the distance between the pair of connecting shafts is controlled through the horizontal push rod, so that the pair of rollers are driven to move in an opening and closing mode.

10. The loess slope vegetation restoration machine according to claim 1, wherein the frame chassis (9) is a crawler-type frame chassis.