CN115176665B - Loess slope vegetation repairing machine - Google Patents

Abstract

The invention discloses a loess slope vegetation repairing machine, and belongs to the technical field of ecological environment-friendly vegetation repairing. The device comprises a frame chassis, a vehicle body horizontal platform and a plurality of functional mechanisms arranged on the vehicle body horizontal platform, wherein a roller screening storage mechanism is used for storing and primarily screening saplings; the alignment screening plate mechanism and the infrared separation plate mechanism are used for aligning and accurately separating sapling; 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 soil; the mechanical gripper mechanism grabs the sapling and realizes planting; the roller earthing mechanism is used for earthing and reserving the water storage tank; the vehicle body horizontal platform can be wholly leveled; the chassis of the frame can walk under the slope topography. The invention adopts the roller seedling storage technology, the seedling screening technology, the soil covering technology, the vehicle body leveling technology and the like, realizes the large-batch automatic screening and planting of the seedlings, overcomes the difficult problem of planting the trees on the slope by the vegetation restoration machine, and improves the environment 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 environment-friendly vegetation restoration, and relates to a loess slope vegetation restoration machine.

Background

When the existing scheme is adopted, a specific tree planter is used in a specific area, and the tree planting work in the mountain area is mainly performed by matching a small horsepower tractor with a semi-automatic tree planter, a suspension type pit digger and a portable pit digger; for the afforestation work in plain areas, the semi-automatic afforestation machine, the strip ditcher and the spiral pit digger matched with the high-horsepower tractor can be used, and in addition, a plurality of advanced machine types are designed for wind-proof sand-fixation afforestation work, such as a traction type ditching seedling throwing machine, a sand dune afforestation machine and the like, so that the requirements of 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 manual control, so that the hands of people cannot be completely liberated.

In summary, the main disadvantages of the existing methods include: lower efficiency, lower automation level, greater terrain restriction and poor flexibility.

Disclosure of Invention

In order to solve the problems of low mechanical efficiency, low automation level, large terrain restriction, 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 human participation in tree planting process and good adaptability to various grounds with slopes.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

a loess slope vegetation repairing machine comprises a frame chassis, a vehicle body horizontal platform, a roller screening and storing mechanism, an alignment screening plate mechanism, an infrared separating plate mechanism, a sapling conveying mechanism, an earth drilling mechanism, a mechanical gripper mechanism and a roller earthing mechanism, wherein the roller screening and storing mechanism, the alignment screening plate mechanism, the infrared separating plate mechanism, the sapling conveying mechanism, the earth drilling mechanism, the mechanical gripper mechanism and the roller earthing mechanism are arranged on the vehicle body horizontal platform;

the vehicle body horizontal platform 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 alignment screening plate mechanism and the infrared separation plate mechanism are positioned below the sapling conveying mechanism and have a lifting function; the mechanical gripper mechanism is used for grabbing horizontal sapling and rotating 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.

As the preferable mode of the invention, the horizontal platform of the vehicle body is also provided with a solar auxiliary power supply board and an irrigation mechanism, wherein the solar auxiliary power supply board is used for supplying power, and the irrigation mechanism is used for watering the seedlings covered with soil.

As the preferable choice of the invention, the said cylinder sieves the storage mechanism and includes the first drive unit, cylinder support, several sifting bars, rolling axis and notched cylinder;

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 notch 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 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.

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 face of the roller and meshed with the first transmission gear; the rolling bearing is arranged on the second end surface of the roller; the second end face of the roller is provided with a window for throwing sapling.

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

the track device is fixed on the horizontal platform of the vehicle body, the sapling positioning groove plates are perpendicular to the central axis of the roller, the sapling positioning groove plates are in a zigzag shape, a pair of parallel sapling positioning groove plates are arranged on the track device and can move along the track direction, and the second transmission device is used for providing power for the movement of the sapling positioning groove plates.

As a preferred aspect of the present invention, the aligning screening plate mechanism includes a bottom plate, a guide post, a screening housing, and a crank lifting device;

the bottom plate is arranged on the horizontal platform of the vehicle body, the guide column is fixed on the bottom plate, a through hole matched with the guide column is formed in the bottom surface of the screening shell, a serrated groove is formed in the top surface of the screening shell, 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 arranged on the bottom plate and used for driving the screening shell to lift.

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

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

As the preferable choice of the invention, 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 arranged on a vehicle body horizontal platform, the screw rod lifting device is fixed on the gripper frame, the gripper body is arranged on the sliding block of the screw rod lifting device through the turnover device, and the turnover device is used for turning the gripper body upwards by 90 degrees.

As preferable, the roller earthing mechanism comprises a fixed 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 idler wheels are hinged with the fixed rod through the 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 idler wheels are 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 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 realize opening and closing movement.

Preferably, the frame chassis adopts a crawler frame chassis.

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

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

(2) The invention adopts the seedling screening technology, overcomes the problem that the seedlings need to be manually laid out in the prior art, and realizes the seedling process without manual interference;

(3) The invention adopts the earthing technology, solves the problem that the earthing and the water storage groove digging in the prior art are respectively completed by two different machines, thereby achieving the effect of high concentration of the structure;

(4) The invention adopts the vehicle leveling technology, solves the problem that the vegetation restoration machine in the prior art can not plant trees on the slope, thereby improving the overall environment adaptability.

Drawings

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

FIG. 2 is a schematic side view of a loess slope vegetation repairing apparatus according to an embodiment of the present invention;

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

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

FIG. 5 is a schematic view of an alignment screen plate mechanism according to an embodiment of the invention;

FIG. 6 is a schematic view of the lifting principle of the crank lifting device in the aligning screen plate mechanism according to the embodiment of the present invention;

FIG. 7 is a schematic view of an infrared separator plate mechanism according to an embodiment of the present invention;

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

FIG. 9 is a schematic view showing a structure of a seedling conveying 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 view of a mechanical gripper mechanism according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a roller earthing mechanism according to an embodiment of the present invention;

fig. 13 is a schematic view illustrating an operation principle of a link assembly in the roller earthing mechanism according to the embodiment of the present invention;

fig. 14 is a schematic structural view of a vehicle body horizontal platform and a solar auxiliary power panel according to an embodiment of the present invention;

in the figure: 1-a roller screening storage mechanism, 101-a first motor, 102-a first transmission gear, 103-a rolling shaft, 104-a roller bracket, 105-a roller bracket, 106-a screening rod, 107-a rolling bearing, 108-a handle and 109-a roller; 2-aligning screening plate mechanism, 201-bottom plate, 202-guide post, 203-first steering engine, 204-power beam, 205-screening shell, 206-connecting rod, 207-disc; the device comprises a 3-infrared separating plate mechanism, 301-a second steering engine, 302-a positioning block, 303-a three-connecting rod, 304-V-shaped inserting hands, 305-a sliding rod and 306-a side plate; 4-sapling conveying mechanisms, 401-transmission blocks, 402-caterpillar tracks, 403-transmission wheels, 404-second motors, 405-U-shaped sliding tables, 406-sliding blocks, 407-sapling positioning groove plates and 408-bases; 5-earth drilling mechanism, 501-drill bit, 502-drill bit vertical polish rod, 503-first screw rod, 504-aluminum profile frame, 505-third motor, 506-drill bit horizontal polish rod, 507-fourth motor, 508-drill bit slide block, 509-fifth motor; 6-mechanical gripper mechanism, 601-gripper slide block, 602-vertical polish rod of hand, 603-limiting block, 604-second screw, 605-sixth motor, 606-guiding chute, 607-L-shaped block, 608-gripper body; 7-roller earthing mechanisms, 701-seventh motors, 702-fixed blocks, 703-horizontal pushing rods, 704-connecting shafts, 705-fixed rods, 706-limiting gears, 707-connecting shafts, 708-rollers and 709-connecting rod assemblies; 8-a solar auxiliary power supply board; 9-a frame chassis; 10-car body horizontal platform, 1001-vertical push rod.

Detailed Description

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

Referring to fig. 1-3 of the specification, the embodiment discloses a loess slope vegetation repairing machine, which realizes the function of completing the slope planting of saplings from bulk saplings by adopting a small-sized, multifunctional and automatic design concept, wherein the machine is divided into 10 plates, namely a roller screening and storing mechanism 1, an alignment screening plate mechanism 2, an infrared separating plate mechanism 3, a sapling conveying mechanism 4, a soil 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.

Wherein, the vehicle body horizontal platform 10 is arranged on the frame chassis 9 and is hinged with the frame chassis 9 through a pair of vertical push rods; the roller screening and storing mechanism 1 is positioned at the uppermost part of the vehicle body horizontal platform 10 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 separating plate mechanism 3 are positioned below the sapling conveying mechanism 4 and have a lifting function; the mechanical gripper mechanism 6 is used for grabbing horizontal sapling and rotating 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 panel 8 is used for supplying power.

The alignment screening plate mechanism 2 and the infrared separating plate mechanism 3 are arranged in front and back below the sapling conveying mechanism 4. The sapling conveying mechanism 4 can be arranged below the grippers and can be arranged at the rear of the aligning screening plate mechanism 2 by about 10cm; the mechanical gripper mechanism 6 is aligned with the roller cover mechanism 7 when moved down.

The roller screening and storing mechanism is used for storing and primarily screening the sapling; the alignment screening plate mechanism and the infrared separation plate mechanism are used for aligning and accurately separating sapling; 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 soil; the mechanical gripper mechanism grabs the sapling and realizes planting; the roller earthing mechanism is used for earthing and reserving the water storage tank; the irrigation mechanism is used for watering the sapling; the vehicle body horizontal platform is used for integrally leveling the horizontal platform; the frame chassis is used for running under slope topography.

One skilled in the art can also install irrigation mechanisms on the body horizontal platform 10 for watering the covered seedlings.

In the embodiment, the frame chassis 9 adopts a crawler frame chassis, two side tracks are arranged 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 drum screening storage mechanism 1 comprises a first transmission device, a drum bracket 105, a plurality of screening rods 106, a rolling shaft 103 and a drum 109 with notches;

one end of the roller bracket 105 is hinged with the vehicle body horizontal platform 10, the other end is provided with a handle 108, the roller 109 is arranged on the roller bracket 105 through the rolling shaft 103, the roller 109 can realize two states of lowering and lifting through the roller bracket 105, and a rebound rod with proper damping and rebound force can be selected for realization; the direction of the notch on the roller 109 is parallel to the central axis of the roller 109, and the length of the notch is equal to or slightly smaller than the length 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 consists 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 the embodiment, the first transmission device adopts gear transmission and 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 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 the first end surface of the roller 109 and 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 surface of the roller 109, that is, the end surface near the handle 108, is provided with a window for putting seedlings, and the roller 109 can adopt a hard film as an outer wall.

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

As shown in fig. 9, the sapling transporting mechanism 4 includes a pair of parallel sapling positioning slot plates 407, a rail device and a second transmission device; the track device is fixed on the car body horizontal platform 10 through the base 408, the sapling positioning groove plates 407 are perpendicular to the central axis of the roller 109, the sapling positioning groove plates 407 are in a zigzag shape, a pair of parallel sapling positioning groove plates 407 are arranged on the track device and can move along the track direction, and the second transmission device is used for providing power for the movement of the sapling positioning groove plates 407.

In this embodiment, the rail device is fixed below the roller screening storage mechanism and is composed of a U-shaped sliding table 405 and a sliding block 406; the second transmission device adopts a crawler transmission mode and comprises a transmission block 401, a crawler 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 sapling positioning slot plate 407 is arranged on a pair of parallel guide rails in the U-shaped sliding table 405 through a sliding block; the crawler belt 402 is arranged on the transmission wheel, and the second motor 404 drives the crawler belt to rotate; the bottom of the driving wheel 403 is arranged on a track, and the top of the driving wheel is connected with a seedling positioning groove plate 407, so that the seedling positioning groove plate 407 can move along a guide rail on the U-shaped sliding table under the drive of a second motor.

As shown in fig. 5, the aligning screen plate mechanism 2 includes a base plate 201, guide posts 202, a screen housing 205, and a crank lifting device;

the bottom plate is arranged on the 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; a crank lifting device is installed in the sieving housing 205 for driving the sieving 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, where the power beam 204 is fixed inside a screening housing 205, the connecting rod 206 is hinged with the power beam 204, a power output shaft of the first steering engine 203 is eccentrically fixed with the disc 207, and the disc 207 is hinged with the connecting rod 206; the lifting principle of the crank lifting device is shown in fig. 6, and the screening housing 205 can be driven to lift along the guide post 202 by the first steering engine 203.

When the aligning screening plate mechanism works, in the initial state of the screening shell 205, the serrated grooves on the top surface of the screening shell 205 are 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 grooves of the screening shell 205 are matched with the sapling positioning groove plates 407, and when the serrated grooves of the screening shell 205 are higher than the sapling positioning groove plates 407, the sapling primarily screened on the sapling positioning groove plates 407 can be secondarily screened, so that each sapling is independently positioned in the serrated groove of each screening shell 205; next, the sieving housing 205 is lowered, so that the sapling on the sieving housing 205 falls again on the sapling positioning slot plate 407, and secondary sieving is completed, thereby realizing parallel and independent arrangement of sapling.

As shown in fig. 7, the infrared separating plate mechanism 3 includes a side plate 306, a pair of V-shaped plungers 304, and a link lifting device; the side plates 306 are arranged on the horizontal platform 10 of the vehicle body, a pair of V-shaped inserting hands 304 are arranged on one side of the side plates 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.

In this embodiment, the link lifting device includes a second steering engine 301, a positioning block 302, three links 303, and a slide bar 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 three connecting rods; the second steering engine 301 is mounted on the side plate and is 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 are driven to lift. The transmission principle of the three connecting rods is shown in figure 8.

When the infrared separating plate mechanism works, when the V-shaped inserting hand 304 is positioned at an initial position, the V-shaped inserting hand 304 is positioned 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 advance and are positioned right above the V-shaped inserting hand 304, the V-shaped inserting hand 304 is lifted and matched with the sapling positioning groove plates 407, when the V-shaped inserting hand 304 is higher than the sapling positioning groove plates 407, saplings screened on the sapling positioning groove plates 407 for the second time can be selected, at the moment, the sapling positioning groove plates 407 are retracted, the V-shaped inserting hand 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 groove plate 407 is continuously controlled to advance, so that the selected seedlings can be sent to the position right below the mechanical gripper mechanism 6.

As shown in fig. 10, the earth boring mechanism 5 includes a drill bit 501, a drill bit vertical polish rod 502, a first screw 503, an aluminum profile frame 504, a third motor 505, a drill bit horizontal polish rod 506, a fourth motor 507, a drill bit slider 508, and a fifth motor 509. The drill vertical polish rod 502, the first screw 503 and the fifth motor 509 form a vertical transmission device for driving the drill horizontal 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 for driving the drill 501 to move horizontally; the fourth motor 507 is used to drive 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 car body horizontal platform 10 through an aluminum profile frame 504.

When the earth 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, the earth drilling work is completed downwards, and the drill bit is reset after the earth drilling work is completed.

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

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

the vertical overturning 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, a gripper body 608 is fixed to the L-shaped block 607, the L-shaped block 607 can be driven to overturn upwards by 90 degrees under the rotation of the steering engine, and after the gripper body grabs a horizontally placed sapling, the sapling is vertically grabbed by overturning by 90 degrees.

As shown in fig. 12, the roller covering mechanism 7 includes a fixed lever 705, a horizontal push lever 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 vehicle body horizontal platform 10, 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 the fixed rod 705, 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 idler wheels are 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 706; the horizontal push rod 703 is hinged to the two first links through a pair of connecting shafts, and the distance between the pair of connecting shafts is controlled through the horizontal push rod, so that the pair of rollers is driven to realize opening and closing movement.

In this embodiment, the rollers are driven by the seventh motor 701 to rotate, 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 becomes large, and a pair of rollers is driven to open outwards and upwards; when the inner rod gradually retracts into the outer rod, the distance between the two connecting shafts is reduced, a pair of rollers is driven to close towards the inner side and the lower side, and the rollers are rotated towards the inner side in the closing process; therefore, the rollers are opened to two sides at the beginning, the rollers are closed to the center downwards in the earthing process, and the rollers rotate to fold the outside soil to the inside along with the rotation of the rollers, so that earthing action can be realized.

As shown in fig. 14, the vehicle body horizontal platform 10 is constructed by using an aluminum profile frame, a solar auxiliary power supply panel 8 is installed on the top, and a pair of vertical push rods 1001 are used for hinging with a chassis. Leveling of the entire platform can be achieved by adjusting the height of the vertical pushrods 1001 and the angle of articulation with the chassis.

The invention is not a matter of the known technology.

The loess slope vegetation repairing machine disclosed by the invention has the working process that:

s01, manually pulling up the roller screening and storing mechanism 1 to a proper position, putting a plurality of saplings in the roller, putting down the roller, and designing a certain inclination angle of the roller for bottom alignment;

s02, enabling the vehicle to move to a designated position, leveling a vehicle body horizontal platform 10, enabling the sapling to work through a roller screening and storing mechanism 1, and primarily screening the sapling to a sapling positioning groove plate 407 of a sapling conveying mechanism 4; simultaneously, the drill bit starts to work, digs holes downwards and returns to the original position after the completion;

s03, matching the sapling conveying mechanism with the alignment screening plate to realize parallel arrangement of sapling, matching the infrared screening mechanism with the sapling conveying mechanism to realize independent separation of sapling, and conveying the separated sapling to the lower part of the mechanical gripper;

the method specifically comprises the following steps: the screening shell of the screening plate mechanism 2 is controlled to be lifted, and the sapling on the sapling positioning groove plate 407 is screened for the second time; the screening housing of the aligning screening plate mechanism 2 is controlled to descend so that the saplings on the screening housing 205 fall on the sapling positioning slot plate 407 again, secondary screening is completed, and the saplings are arranged in parallel with each other. The sapling positioning groove plate 407 is controlled to advance to be positioned right above the V-shaped inserting hand 304 of the infrared separation plate mechanism 3, the V-shaped inserting hand 304 is controlled to lift and match with the sapling positioning groove plate 407, and when the V-shaped inserting hand 304 is higher than the sapling positioning groove plate 407, saplings screened on the sapling positioning groove plate 407 for the second time can be selected; then, the seedling positioning groove plate 407 retreats, the V-shaped inserting hand 304 is controlled to descend, the selected seedlings are separated from other seedlings, and the seedlings are still placed on the seedling positioning groove plate 407.

S04, controlling the sapling positioning slot plate 407 in the sapling conveying mechanism 4 to advance, conveying the selected sapling to the position right below the mechanical gripper mechanism 6, gripping the sapling by the mechanical gripper, retracting the sapling conveying mechanism, simulating a human seedling path by the gripper to finish the seedling operation,

s05, controlling a mechanical gripper mechanism 6 to grasp seedlings and put the seedlings into the punched holes, and when the grippers move to the lowest position, starting the roller earthing mechanism 7 to work, enabling the two rollers to move inwards and rotate at the same time, and bringing soil at two sides to the middle to realize earthing operation;

s06, the mechanical grippers are opened to reserve space for the sapling to be separated from the machinery, the whole vehicle walks downwards, the device resets, and the planting of the next sapling is continuously completed.

The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. Modifications and variations of the present invention are within the scope of the appended claims.

Claims (6)

1. The loess slope vegetation repairing machine is characterized by comprising a frame chassis (9), a vehicle body horizontal platform (10), a roller screening and storing mechanism (1), an alignment screening plate mechanism (2), an infrared separating plate mechanism (3), a sapling conveying mechanism (4), a soil drilling mechanism (5), a mechanical gripper mechanism (6) and a roller earthing mechanism (7), wherein the roller screening and storing mechanism is arranged on the vehicle body horizontal platform (10);

the vehicle body horizontal platform (10) is arranged on the vehicle frame chassis (9) and is hinged with the vehicle frame chassis (9) 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 storage mechanism (1); the aligning screening plate mechanism (2) and the infrared separating plate mechanism (3) are positioned below the sapling conveying mechanism (4) and have a lifting function; the mechanical gripper mechanism (6) is used for grabbing horizontal sapling and rotating 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 roller screening and storing 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 bracket (105) is hinged with the vehicle body horizontal platform (10), the other end of the roller bracket is provided with a handle (108), the roller (109) is arranged on the roller bracket (105) through a rolling shaft (103), and the notch direction 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 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; 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 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 the first end face of the roller (109) and meshed with the first transmission gear (102); the rolling bearing (107) is arranged on the second end surface of the roller (109); a window for throwing seedlings is arranged on the second end face of the roller (109);

the sapling conveying mechanism (4) comprises a pair of parallel sapling positioning groove plates (407), a track device and a second transmission device; the track device is fixed on the vehicle body horizontal platform (10), the sapling positioning groove plates (407) are perpendicular to the central axis of the roller (109), the sapling positioning groove plates (407) are in a zigzag shape, a pair of parallel sapling positioning groove plates (407) are arranged on the track device and can move along the track direction, and the second transmission device is used for providing power for the movement of the sapling positioning groove plates (407);

the aligning screening plate mechanism (2) comprises a bottom plate (201), a guide column (202), a screening shell (205) and a crank lifting device; the bottom plate is arranged on a horizontal platform (10) of the vehicle body, the guide column (202) is fixed on the bottom plate (201), a through hole matched with the guide column 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 is used for driving the screening shell (205) to lift.

2. The loess slope vegetation restoration machine as recited in 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 seedlings covered with soil.

3. The loess slope vegetation repairing machine as claimed in claim 1, wherein the infrared separating plate mechanism (3) comprises a side plate (306), a pair of V-shaped handles (304) and a connecting rod lifting device;

the side plates (306) are arranged on the horizontal platform (10) of the vehicle body, a pair of V-shaped inserting hands (304) are arranged on one side of the side plates (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 a pair of V-shaped inserting hands (304) to lift.

4. The loess slope vegetation restoration machine as claimed in claim 1, wherein the mechanical gripper mechanism (6) includes a gripper frame, a gripper body (608), a screw rod lifting device and a vertical turning device;

the gripper frame is arranged on a car body horizontal platform (10), the screw rod lifting device is fixed on the gripper frame, the gripper body (608) is arranged 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.

5. The loess slope vegetation repairing machine as claimed in claim 1, wherein the roller earthing mechanism (7) comprises a fixed 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 the vehicle body horizontal platform (10), and the roller is hinged with the fixed rod (705) through the connecting rod component;

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 (705), 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 idler wheels are 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 (703) is hinged with 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 realize opening and closing movement.

6. The loess slope vegetation repairing machine as claimed in claim 1, wherein the frame chassis (9) adopts a crawler frame chassis.