CN115474523B - Desert ecological restoration robot and operation method thereof - Google Patents
Desert ecological restoration robot and operation method thereof Download PDFInfo
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- CN115474523B CN115474523B CN202211008641.2A CN202211008641A CN115474523B CN 115474523 B CN115474523 B CN 115474523B CN 202211008641 A CN202211008641 A CN 202211008641A CN 115474523 B CN115474523 B CN 115474523B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 130
- 238000003825 pressing Methods 0.000 claims abstract description 64
- 238000003860 storage Methods 0.000 claims abstract description 46
- 241000209140 Triticum Species 0.000 claims abstract description 21
- 235000021307 Triticum Nutrition 0.000 claims abstract description 21
- 239000010902 straw Substances 0.000 claims abstract description 21
- 239000002689 soil Substances 0.000 claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 31
- 238000005520 cutting process Methods 0.000 claims description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 19
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052782 aluminium Inorganic materials 0.000 claims description 10
- 239000004576 sand Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000010008 shearing Methods 0.000 claims description 4
- 240000003483 Leersia hexandra Species 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000004083 survival effect Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000011161 development Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 1
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
- E02D3/005—Soil-conditioning by mixing with fibrous materials, filaments, open mesh or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Structural Engineering (AREA)
- Agronomy & Crop Science (AREA)
- Forests & Forestry (AREA)
- Environmental & Geological Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Transplanting Machines (AREA)
- Soil Working Implements (AREA)
Abstract
A desert ecological restoration robot and an operation method thereof comprise a seedling storage device, a pit digging device, a seedling standing device, a watering device, a soil filling device, a grass storage device, a wheat straw conveying device, a grass pressing device and a vehicle body; the seedling storage device, the pit digging device, the watering device and the seedling standing device are all arranged on the upper surface of the vehicle body, the seedling standing device is positioned below the seedling storage device, and the seedling standing device is used for grabbing seedlings transported out of the bottom of the seedling storage device; the grass storage device, the grass pressing device and the wheat straw conveying device are arranged in the vehicle body, and the wheat straw conveying device is used for conveying a grass curtain arranged on the grass storage device; the filling device is arranged at the bottom of the vehicle body and is used for filling the sapling pit dug by the pit digging device. The device effectively combines two greening planting methods of tree planting and grass grid planting to form a dual-purpose integrated machine, remarkably improves the planting survival rate and ecological restoration efficiency of the desert, and is beneficial to alleviating the practical problems of ecological environment damage and economic development restriction caused by desertification.
Description
Technical Field
The invention relates to the field of greening equipment, in particular to a desert ecological restoration robot and an operation method thereof.
Background
The existing desert ecological restoration equipment comprises a pit digger, a tree planting machine and a grass pressing machine, and if pits dug by the pit digger cannot be timely put into sapling and backfilled, deep water evaporation loss can be caused, so that the survival rate of the sapling is reduced. The tree planting machine and the grass pressing machine can only carry out desert ecological restoration by using a single method, and most of the tree planting machines do not have functions of watering and sand filling, and the grass pressing machine for paving grass square sand barriers needs to rely on manpower for paving grass, so that the operation difficulty is high, and the labor is consumed.
Disclosure of Invention
The invention aims to provide a desert ecological restoration robot and an operation method thereof, which are used for solving the problems that the existing pit digger cannot be backfilled in time, the survival rate of seedlings is low, the restoration modes of a tree planter and a grass pressing machine are single, and the operation difficulty is high and the labor is consumed.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The desert ecological restoration robot comprises a seedling storage device, a pit digging device, a seedling standing device, a watering device, a soil filling device, a grass storage device, a wheat straw conveying device, a grass pressing device and a vehicle body; the seedling storage device, the pit digging device, the watering device and the seedling standing device are all arranged on the upper surface of the vehicle body, the seedling standing device is positioned below the seedling storage device, and the seedling standing device is used for grabbing seedlings transported out of the bottom of the seedling storage device; the grass storage device, the grass pressing device and the wheat straw conveying device are arranged in the vehicle body, and the wheat straw conveying device is used for conveying a grass curtain arranged on the grass storage device; the filling device is arranged at the bottom of the vehicle body and is used for filling the sapling pit dug by the pit digging device.
Further, the seedling storage device comprises a support frame, a box body, a buffer plate, a steering engine, an upper plate and a lower plate; the support frame is arranged on the vehicle body, the box body is only arranged on the support frame, a plurality of buffer plates which are obliquely arranged are arranged in the box body from top to bottom, a steering engine is arranged on the outer side of the bottommost part of the box body, an upper plate and a lower plate are arranged on the steering engine, the upper plate and the lower plate are horizontally arranged in the box body, and the steering engine can drive the upper plate and the lower plate to simultaneously and reversely move; the output of steering wheel is provided with the rocking arm, and the midpoint of rocking arm is connected to the output, and upper plate and hypoplastron are connected respectively at the both ends of rocking arm, drive upper plate and hypoplastron simultaneously reverse motion when rocking arm forward and backward rotates.
Further, the pit digging device comprises a pit digging bracket, a screw motor, a spiral drill bit, a pit digging motor, a connecting plate, a slide block nut, a screw and a guide rail; the pit digging support is axially provided with a screw and a guide rail, a slide block nut is arranged on the screw and the guide rail, the top of the pit digging support is provided with a screw motor, and the screw motor is connected with the screw; the slide block nut is connected with a pit digging motor through a connecting plate, and the output end of the pit digging motor is connected with a spiral drill bit through a coupler.
Further, a hole penetrating to the bottom of the vehicle body is formed in the vehicle body at the position of the spiral drill bit, a soil filling device is arranged at the position of the hole at the bottom of the vehicle body, the soil filling device is an iris mechanism, and the iris mechanism contracts to fill soil.
Further, the seedling standing device comprises a bottom plate, a seedling standing screw rod, an external sliding block, a supporting plate, a hinge and a mechanical claw device; one end of the bottom plate is hinged with the supporting plate, a vertical Miao Sigang is arranged on the bottom plate, an external sliding block is arranged on the seedling erecting screw rod, and a hinge is hinged between the external sliding block and the supporting plate; the mechanical claw device is arranged on the supporting plate; the mechanical claw device comprises two mechanical claws with gears at the bottoms and a mechanical claw steering engine; the bottoms of the two mechanical claws are meshed, and the output end of the mechanical claw steering engine is connected with one of the mechanical claws; the inner side edge of the mechanical claw is provided with wave patterns.
Further, the watering device comprises a water tank, a water tank bracket and a water pump; the water tank is arranged on the water tank bracket, a water pump is arranged on the side face of the water tank, and the water pump is connected with the water outlet.
Further, the grass storage device comprises a shaft, a bottom frame and a grass cutting device; the shaft is arranged on the underframe, the grass curtain is wound on the shaft, the shaft is driven by the motor, and the underframe at the grass curtain release end of the shaft is provided with a grass cutting device; the grass cutting device comprises an aluminum profile, a grass cutting knife and a grass cutting screw rod, wherein the grass cutting knife is fixed on the aluminum profile, the aluminum profile is connected to the grass cutting screw rod, and the grass cutting screw rod drives the aluminum profile to move up and down; the wheat straw conveying device comprises a synchronous belt, a double-output-shaft stepping motor, a synchronous belt wheel and a rotating shaft; the double-output-shaft stepping motor is arranged at the bottom in the vehicle body, two ends of the double-output-shaft stepping motor are respectively provided with a rotating shaft, the ends of the rotating shafts are respectively provided with a synchronous pulley, and the synchronous pulleys are provided with synchronous belts which are used for conveying cut grass curtains.
Further, the top in the car body is connected with a lifting device, the bottom of the lifting device is connected with a rotating device, and the lifting device comprises a fork shearing mechanism, a lifting motor and a screw rod; the output end of the lifting motor is connected with a screw rod, and one end of the shearing fork mechanism is connected with the screw rod; the rotating device comprises a meshing gear set, a stepping motor, a base plate and a thrust bearing; the lower surface of the base plate is provided with a meshing gear set, the stepping motor is arranged on the upper surface of the base plate, the meshing gear set comprises a large gear and a small gear, the small gear of the stepping motor is connected with the base plate through a thrust bearing, and two sides of the base plate are connected to the grass pressing device.
Further, the grass pressing device comprises a driving gear, a grass pressing steering engine, a grass pressing supporting plate, a driven gear, a grass pressing guide rail and a grass pressing plate; the two grass pressing support plates are symmetrically arranged at two ends of the base plate, the two grass pressing guide rails are arranged on the grass pressing support plates in parallel, the two grass pressing guide rails are provided with slider-crank mechanisms, the grass pressing steering engine is connected with a driving gear, the driving gear is meshed with a driven gear, and the driving gear and the driven gear are respectively connected with one slider-crank mechanism; the crank slide block mechanism is connected with the grass pressing plate.
Further, the operating method of the desert ecological restoration robot comprises the following steps:
The device moves to a set working point, the grass storage device cuts the grass cutting curtain and falls onto the conveyor belt, the grass storage device is conveyed to the sand surface, the grass pressing device rotates to a vertical state, the pressing plate descends, and the grass pressing device rotates and withdraws for the first time; the lower bottom plate is driven by the gear of the rotating device to rotate, the grass pressing device rotates for 90 degrees from the initial position, the pressing plate descends again, and grass square lattice laying is completed;
the pit digging device rotates to a reserved pit digging through hole position from an original position, a screw motor drives the screw drill bit to work when the screw drill bit descends to a proper position, and the screw drill bit rotates to dig pits until a preset depth stops rotating and retreating;
The seedling storage device drops a seedling, the seedling standing device and the mechanical claw device work together, and when the seedling reaches a pit position, the seedling is released, and the first step of planting is completed; the watering device is used for watering a certain amount of water at the pit, and the soil filling device is rotated to shrink the soil after the preface action is finished.
Compared with the prior art, the invention has the following technical effects:
The device effectively combines two greening planting methods of tree planting and grass grid planting to form a dual-purpose integrated machine, remarkably improves the planting survival rate and ecological restoration efficiency of the desert, and is beneficial to alleviating the practical problems of ecological environment damage and economic development restriction caused by desertification.
The invention realizes the effective combination of the common tree seedling planting greening method and the grass square planting method aiming at desert greening, and remarkably improves the survival rate and the working efficiency of desert planting;
The invention has simple structure, easy manufacture and can obtain more complete machine functions under the condition of lower cost if being put into use in the future.
Drawings
Fig. 1 is an overall construction diagram of the present invention.
FIG. 2 is a structural diagram of the seedling raising device of the invention.
FIG. 3 is a partially enlarged view of the installation position of the seedling raising device of the invention.
FIG. 4 is a block diagram of a pit digging device according to the present invention.
Fig. 5 is a structural view of the soil filling device of the present invention.
Fig. 6 is a structural view of the seedling storage device of the present invention.
Fig. 7 is a steering engine installation structure diagram of the seedling storage device.
FIG. 8 is a block diagram of the grass storage device of the present invention.
Fig. 9 is a structural view of the wheat straw transfer apparatus of the present invention.
Fig. 10 is a structural view of the lifting device of the present invention.
FIG. 11 is a block diagram of the grass pressing device of the present invention.
Fig. 12 is a structural view of a rotary device according to the present invention.
Wherein:
1. A first gear of the gripper; 2. a mechanical claw steering engine; 3. a seedling standing device; 4. a vertical Miao Sigang motor; 5. a grass cutting screw driving motor; 6. a shaft; 7. cutting grass screw rod; 8. a grass cutter; 10. a drive gear; 11. a driven gear; 12. grass pressing plates; 13. a synchronous belt; 14. a synchronous pulley; 16. a rotating shaft; 18. a double-output-shaft stepping motor; 19. steering engine; 20. an upper plate; 21. a lower plate; 22. a buffer plate; 23. a connecting plate; 24. a slider nut; 25. a guide rail; 26. a screw rod; 27. a pit digging motor; 28. a helical drill; 29. a water tank; 30. a water tank bracket; 31. a water pump; 32. a support plate; 33. a bottom plate; 34. an external sliding block; 35. a hinge; 36. a vertical Miao Sigang; 42. a rocker arm; 44. an aluminum profile; 45. a chassis; 46. a mechanical claw; 47. digging pit device; 49. a scissors mechanism; 50. a lifting motor; 51. a screw; 52. grass pressing steering engine; 53. grass pressing support plates; 54. grass pressing guide rails; 56. a thrust bearing; 58. a stepper motor.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
Referring to fig. 1 to 12, a desert ecological restoration robot structural device comprises a seedling storage device, a pit digging device, a seedling placing device, a watering device, a soil filling device, a grass storage device, a wheat straw conveying device and a grass pressing device, wherein the seedling storage device, the pit digging device, the seedling placing device, the soil filling device and the grass storage device, the wheat straw conveying device and the grass pressing device are used for paving grass grids:
The seedling storage box body is internally provided with a buffer plate 22, the buffer plate 22 is connected with a groove 41 on a side plate through a bulge 40 to realize positioning and installation, two rocker arms 42 of the steering engine 19 are provided with an upper plate 20 and a lower plate 21, and two flat plates are driven to move reversely simultaneously. When the swing arm 42 rotates 60 ° clockwise, the upper plate 20 is inserted into the box, the seedlings above are caught, the lower plate 21 is withdrawn from the box, and the seedlings below are released; when the swing arm 42 rotates 60 counterclockwise, the upper sapling falls to the lower plate 21 to be caught, and at the same time, the entire sapling in the box moves down in sequence along the inclined buffer plate 22, releasing the sapling in order.
The grass storage device rotates through the shaft 6 to gradually and orderly release the grass curtain 43 at a certain speed. The grass cutting device capable of moving up and down is arranged above the underframe 45, the grass cutting device mainly adopts a screw rod 7 to be matched with a grass cutting knife 8 to cut off a grass curtain 43, the screw rod is controlled to rotate by a grass cutting screw rod driving motor 5, and the screw rod is matched with a flange nut to enable an aluminum profile 44 provided with the grass cutting knife 8 to move up and down so as to cut off the grass curtain with a certain length.
The mechanical claw device adopts double-gear mechanical transmission cooperation, the first gear 1 of the mechanical claw is controlled to rotate through the mechanical claw steering engine 2, the mechanical claw 46 is driven to clamp the sapling, and the inner side edge of the mechanical claw 46 adopts wave design.
The bottom plate 33 of the seedling raising device 3 is horizontally fixed, and the seedling raising screw 36 rotates to drive the external sliding block 34 to horizontally slide. The lifting support plate 32 is hinged with an external sliding block through a hinge 35, holes are formed in the middle of the lifting plate, and the lifting support plate 32 is connected with the hinge 35, so that when the sliding block slides, the state of the whole lifting plate and the state of the mechanical claw are adjusted through the opening and closing action of the hinge 35.
The pit digging device 47 adopts a screw drill 28 to realize pit digging. The pit digging motor 27 drives the spiral drill bit 28 to realize rotary motion through a coupling. The screw drill 28 and the pit digging motor 27 are fixedly connected with the slider nut 24 through the connecting plate 23, and the pit digging motor 27 drives the screw rod 26 to rotate, so that the slider nut 24 drives the screw drill 28 to move along the vertical direction of the guide rail 25.
The water tank 29 of the watering device is fixed on the support frame 30 and is connected with the water pump 31, and the watering flow is controlled by controlling the work of the water pump 31.
The device adopts iris mechanism, drives tooth circle 39 rotatory through gear engagement, and simultaneously, fixed disc 37 carries out spacingly to six opening and shutting boards 38, realizes six and opens and shuts the board synchronization.
The wheat straw conveying device mainly conveys wheat straw through the synchronous belt 13, and the double-output-shaft stepping motor 18 drives the shaft 16 to rotate through the coupler, so that the synchronous belt wheel 14 is driven to rotate, and synchronous conveying of the two rows of wheat straw is realized.
The drive part of the lifting device realizes the lifting movement of the wheat straw conveyor by means of the scissor mechanism 49. The lifting motor 50 drives the screw rod 51 to control the scissor mechanism 49 to stretch and retract, and the height of the wheat straw conveying device is adjusted.
The grass pressing device uses the grass pressing steering engine 52 to drive the driving gear 10, the guide rail is fixed on the grass pressing supporting plate 53, the driven gear 11 is driven to synchronously rotate through gear engagement, synchronous movement of the crank slider mechanisms with two symmetrical sides is achieved, and further synchronous movement of the grass pressing guide rail 54 with two sides is achieved, so that the grass pressing plate 12 presses wheat straw on the conveyor belt into sand, and two wheat straw with one grass square at the opposite side position can be pressed into sand at the same time through symmetrical arrangement.
In the desert ecological restoration robot structural device, the motor is fixedly connected with reserved positions of all the part mechanisms through the screws and the motor support.
In the desert ecological restoration robot structural device, the power supply is a movable rechargeable battery.
In the above-mentioned ecological restoration robot structural device for desert, the rotation function is completed by adopting the meshing of the large gear 55 and the small gear 57, the driving is realized by the stepping motor 58 connected through the gear preformed hole, the thrust bearing 56 is arranged to reduce the friction between the gear and the surface of the bottom plate, and the transmission efficiency is improved.
In the desert ecological restoration robot structural device, the seedling storage device drives the extraction and insertion actions of the two baffles on the back through the two small steering engines, so that the purpose of releasing seedlings is achieved.
In the desert ecological restoration robot structural device, the clamping device adopts the flexible servo mechanical claw to realize the clamping action when the sapling falls into the proper position of the upright Miao Kacao, and the clamping is prevented from sliding down by means of the wave shape of the inner edge of the mechanical claw.
In the mechanical structure device of the desert ecological restoration robot, the seedling erecting device consists of the vertical screw rod and the screw rod sliding block, the clamping plate fixed with the mechanical claw is fixedly connected with the sliding block through the hinge, and the screw rod is rotated to drive the clamping plate to be changed from horizontal to vertical, so that the seedling planting is realized.
In the ecological desert restoration robot structural device, the pit digging device is composed of a double-optical axis ball screw linear sliding table, a stainless steel connecting plate and a spiral drill bit, a motor is arranged at the top end of the screw guide rail to drive the normal lead of the screw guide rail, and is fixedly connected with the non-spiral blade end of the spiral drill bit through a coupler to control the spiral drill bit to smoothly realize the rotary drilling action of the spiral drill bit on the ground.
In the desert ecological restoration robot structural device, the grass storage device is established on the basis of storage conditions of grass square grass curtains, when the required grass curtains are conveyed to the front end of the grass storage device, the motor drives the synchronous chain wheel and the chain to work, the blades arranged above descend for cutting, the blades ascend after cutting is finished, and the cutting part falls off for waiting for subsequent operation.
In the desert ecological restoration robot structural device, the grass pressing device consists of a flat plate part and a rotating part, and a gear with specific tooth number and specific modulus for 3D printing, two drawer guide rails and an aluminum alloy pressing plate are arranged on the flat plate. The drawer guide rail is driven to move through the meshing movement of the two gears, so that the pressing plate can move up and down; the rotating part is cooperatively moved by a square slide guide rail and a customized rocker arm.
According to another aspect of the invention, the working steps of the desert ecological restoration robot structural device comprise:
In the first step: the device moves to a set working point, the grass storage device cuts a grass cutting curtain to fall onto a grass conveying device conveying belt, the grass cutting curtain is conveyed to fall on a sand surface, the grass pressing device rotates to be in a vertical state, the pressing plate descends, and the grass pressing device rotates and withdraws for the first time; the rotating device drives the lower bottom plate to rotate by about 90 degrees from the initial position, the grass pressing device rotates to a vertical state again, and the pressing plate descends again to finish grass square lattice laying;
In the second step: the pit digging device rotates to a reserved pit digging through hole position from an original position, a screw motor drives the screw drill to work when the screw drill descends to a proper position, and the screw drill rotates to dig pits until a preset depth stops rotating and retreating;
in the third step: the seedling storage device drops a seedling, the seedling standing device and the clamping device work together, and when the seedling reaches a pit, the seedling is released, so that the first step of planting is completed; the watering device is used for watering quantitative water in pit positions, so that the normal survival of seedlings is ensured, and the second planting step is completed; after the preface action is finished, the soil filling device rotates to shrink the filled soil, and backfill compaction of sand can be realized due to the position difference in the vertical direction;
in the fourth step: advancing to the next position, and performing the same operation.
Claims (7)
1. The desert ecological restoration robot is characterized by comprising a seedling storage device, a pit digging device (47), a seedling erecting device (3), a watering device, a soil filling device, a grass storage device, a wheat straw conveying device, a grass pressing device and a vehicle body; the seedling storage device, the pit digging device, the watering device and the seedling standing device are all arranged on the upper surface of the vehicle body, the seedling standing device is positioned below the seedling storage device, and the seedling standing device is used for grabbing seedlings transported out of the bottom of the seedling storage device; the grass storage device, the grass pressing device and the wheat straw conveying device are arranged in the vehicle body, and the wheat straw conveying device is used for conveying a grass curtain arranged on the grass storage device; the soil filling device is arranged at the bottom of the vehicle body and is used for filling the sapling pit dug by the pit digging device;
The seedling storage device comprises a support frame, a box body, a buffer plate (22), a steering engine (19), an upper plate (20) and a lower plate (21); the support frame is arranged on the vehicle body, the box body is only arranged on the support frame, a plurality of buffer plates (22) which are obliquely arranged are arranged in the box body from top to bottom, a steering engine (19) is arranged on the outer side of the bottommost part of the box body, an upper plate (20) and a lower plate (21) are arranged on the steering engine (19), the upper plate (20) and the lower plate (21) are horizontally arranged in the box body, and the steering engine (19) can drive the upper plate (20) and the lower plate (21) to simultaneously and reversely move; the output end of the steering engine (19) is provided with a rocker arm (42), the output end is connected with the middle point of the rocker arm (42), two ends of the rocker arm (42) are respectively connected with the upper plate (20) and the lower plate (21), and the rocker arm (42) drives the upper plate (20) and the lower plate (21) to simultaneously and reversely move when rotating positively and negatively;
The seedling standing device (3) comprises a bottom plate (33), a stand Miao Sigang (36), an external sliding block (34), a supporting plate (32), a hinge (35) and a mechanical claw device; one end of the bottom plate (33) is hinged with the supporting plate (32), a vertical Miao Sigang (36) is arranged on the bottom plate (33), an external sliding block (34) is arranged on the vertical Miao Sigang (36), and a hinge (35) is hinged between the external sliding block (34) and the supporting plate (32); the mechanical claw device is arranged on the supporting plate (32); the mechanical claw device comprises two mechanical claws (46) with gears at the bottoms and a mechanical claw steering engine (2); the bottoms of the two mechanical claws (46) are meshed, and the output end of the mechanical claw steering engine (2) is connected with one mechanical claw (46); the inner side edge of the mechanical claw (46) is provided with wave patterns;
The grass storage device comprises a shaft (6), a bottom frame (45) and a grass cutting device; the shaft (6) is arranged on the underframe (45), the grass curtain is wound on the shaft (6), the shaft (6) is driven by a motor, and the underframe (45) at the grass curtain release end of the shaft (6) is provided with a grass cutting device; the grass cutting device comprises an aluminum profile (44), a grass cutting knife (8) and a grass cutting screw rod (7), wherein the grass cutting knife (8) is fixed on the aluminum profile (44), the aluminum profile (44) is connected to the grass cutting screw rod (7), and the grass cutting screw rod (7) drives the aluminum profile (44) to move up and down; the wheat straw conveying device comprises a synchronous belt (13), a double-output-shaft stepping motor (18), a synchronous belt wheel (14) and a rotating shaft (16); the double-output-shaft stepping motor (18) is arranged at the bottom in the vehicle body, two ends of the double-output-shaft stepping motor (18) are respectively provided with a rotating shaft (16), the ends of the rotating shafts (16) are respectively provided with a synchronous pulley (14), the synchronous pulleys (14) are provided with synchronous belts (13), and the synchronous belts (13) are used for conveying cut grass curtains.
2. The desert ecological restoration robot according to claim 1, wherein the pit digging device comprises a pit digging bracket, a screw motor, a screw drill (28), a pit digging motor (27), a connecting plate (23), a slider nut (24), a screw (26) and a guide rail (25); the pit digging support is axially provided with a screw (26) and a guide rail (25), a slider nut (24) is arranged on the screw (26) and the guide rail (25), the top of the pit digging support is provided with a screw motor, and the screw motor is connected with the screw (26); the slide block nut (24) is connected with a pit digging motor (27) through a connecting plate (23), and the output end of the pit digging motor (27) is connected with a spiral drill bit (28) through a coupler.
3. The desert ecological restoration robot according to claim 2, wherein a hole penetrating to the bottom of the vehicle body is arranged on the vehicle body at the position of the spiral drill bit (28), a soil filling device is arranged at the position of the hole at the bottom, and the soil filling device is an iris mechanism, and the iris mechanism contracts to fill soil.
4. A desert ecological restoration robot according to claim 1, characterized in that the watering means comprises a water tank (29), a water tank bracket (30) and a water pump (31); the water tank (29) is arranged on the water tank bracket (30), and the side surface of the water tank is provided with a water pump (31) which is connected with the water outlet.
5. The desert ecological restoration robot according to claim 1, wherein the top in the vehicle body is connected with a lifting device, the bottom of the lifting device is connected with a rotating device, and the lifting device comprises a fork shearing mechanism (49), a lifting motor (50) and a screw rod (51); the output end of the lifting motor (50) is connected with a screw rod (51), and one end of the shearing fork mechanism (49) is connected to the screw rod (51); the rotating device comprises a meshing gear set, a stepping motor (58), a base plate and a thrust bearing (56); the lower surface of the base plate is provided with a meshing gear set, the stepping motor (58) is arranged on the upper surface of the base plate, the meshing gear set comprises a large gear and a small gear, the stepping motor (58) is provided with a pinion, the large gear is connected with the base plate through a thrust bearing, and two sides of the base plate are connected to the grass pressing device.
6. The desert ecological restoration robot according to claim 5, wherein the grass pressing device comprises a driving gear (10), a grass pressing steering engine (52), a grass pressing supporting plate (53), a driven gear (11), a grass pressing guide rail (54) and a grass pressing plate (12); two grass pressing support plates (53) are symmetrically arranged at two ends of the base plate, two grass pressing guide rails (54) are arranged on the grass pressing support plates (53) in parallel, two grass pressing guide rails (54) are respectively provided with a crank block mechanism, a grass pressing steering engine (52) is connected with a driving gear (10), the driving gear (10) is meshed with a driven gear (11), and the driving gear (10) and the driven gear (11) are respectively connected with a crank block mechanism; the crank slide block mechanism is connected with the grass pressing plate (12).
7. A method of operating a desert ecological restoration robot, characterized in that the desert ecological restoration robot according to any one of claims 1 to 6 is based on, comprising the steps of:
The device moves to a set working point, the grass storage device cuts the grass cutting curtain and falls onto the conveyor belt, the grass storage device is conveyed to the sand surface, the grass pressing device rotates to a vertical state, the pressing plate descends, and the grass pressing device rotates and withdraws for the first time; the lower bottom plate is driven by the gear of the rotating device to rotate, the grass pressing device rotates for 90 degrees from the initial position, the pressing plate descends again, and grass square lattice laying is completed;
The pit digging device rotates to a reserved pit digging through hole position from an original position, a screw motor drives the screw drill to work when the screw drill descends to the position, and the screw drill rotates to dig pits until a preset depth stops rotating and retreating;
The seedling storage device drops a seedling, the seedling standing device and the mechanical claw device work together, and when the seedling reaches a pit position, the seedling is released, and the first step of planting is completed; the watering device is used for watering a certain amount of water at the pit, and the soil filling device is rotated to shrink the soil after the preface action is finished.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211008641.2A CN115474523B (en) | 2022-08-22 | 2022-08-22 | Desert ecological restoration robot and operation method thereof |
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| CN202211008641.2A CN115474523B (en) | 2022-08-22 | 2022-08-22 | Desert ecological restoration robot and operation method thereof |
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| CN115474523B true CN115474523B (en) | 2024-06-11 |
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| CN115868386A (en) * | 2022-12-28 | 2023-03-31 | 广东仙人洞生态农业有限公司 | Tea-oil camellia sapling tonifying seedling planting device |
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| WO2015172615A1 (en) * | 2014-05-12 | 2015-11-19 | 葛瑞杰 | Fixed-pole slurry-spraying planting machine for bare roots of trees and shrubs and using method thereof |
| CN109662006A (en) * | 2019-02-13 | 2019-04-23 | 武汉理工大学 | A kind of small-sized ecological seedling transplanter |
| CN111436347A (en) * | 2020-04-20 | 2020-07-24 | 烟台大学 | Desert salix mongolica planter |
| CN114747450A (en) * | 2022-03-31 | 2022-07-15 | 广州大学 | Sprinkling irrigation formula desert dashes hole tree planting device |
| CN217136293U (en) * | 2022-04-19 | 2022-08-09 | 中国地质大学（武汉） | Desert tree planter |
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|---|---|---|---|---|
| WO2015172615A1 (en) * | 2014-05-12 | 2015-11-19 | 葛瑞杰 | Fixed-pole slurry-spraying planting machine for bare roots of trees and shrubs and using method thereof |
| CN109662006A (en) * | 2019-02-13 | 2019-04-23 | 武汉理工大学 | A kind of small-sized ecological seedling transplanter |
| CN111436347A (en) * | 2020-04-20 | 2020-07-24 | 烟台大学 | Desert salix mongolica planter |
| CN114747450A (en) * | 2022-03-31 | 2022-07-15 | 广州大学 | Sprinkling irrigation formula desert dashes hole tree planting device |
| CN217136293U (en) * | 2022-04-19 | 2022-08-09 | 中国地质大学（武汉） | Desert tree planter |
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