CN117178836A - Seedling planting robot - Google Patents

Abstract

The invention provides a seedling planting robot, comprising: a frame; the drilling mechanism is used for drilling planting holes in the desert and is arranged on the frame; the seedling storage and conveying mechanism is used for storing seedlings and conveying the seedlings into the planting holes and is arranged on the rack; the earthing and soil pressing mechanism is used for tamping soil in the planting hole and is arranged on the frame; the irrigation mechanism is used for irrigating the tamped soil and is arranged below the frame; and the moving mechanism is used for driving the seedling planting robot to move back and forth and is arranged below the frame. The seedling planting robot can automatically complete the functions of punching holes, supplementing seedlings, planting, watering and earthing and soil pressing, realize automatic planting in a desert, greatly improve the planting efficiency of greening the desert, ensure higher accuracy, stability and safety and environmental adaptability, and keep the spacing between seedlings, the hole site specification and the watering amount at proper values, thereby improving the survival rate of seedlings in the whole planting area.

Description

Seedling planting robot

Technical Field

The invention relates to the technical field of cultivation robots, in particular to a seedling planting robot.

Background

Traditional manual tree planting is mainly through digging, filling, burying, and is time-consuming, labor-consuming, high in labor intensity and low in efficiency, so that the manual tree planting machine is only suitable for small-scale planting, and in order to improve tree planting efficiency, a tree planter is introduced nowadays to meet the requirement of desert large-scale planting.

However, the existing tree planting machine has simple mechanical structure and single function, for example, only has a single cultivation function or drilling function, and the like, so that auxiliary operation is also needed manually, and the tree planting efficiency is low.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a seedling planting robot to solve the technical problems of low tree planting efficiency caused by manual auxiliary operation because the tree planting machine in the related art has a simple mechanical structure and a single function, for example, only has a single cultivation function or a drilling function.

The invention provides a seedling planting robot, comprising:

a frame;

the drilling mechanism is used for drilling planting holes in the desert and is arranged on the frame;

the seedling storage and conveying mechanism is used for storing seedlings and conveying the seedlings into the planting holes and is arranged on the rack;

the earthing and soil pressing mechanism is used for tamping the soil in the planting hole and is arranged on the frame;

the irrigation mechanism is used for irrigating the tamped soil and is arranged below the frame;

the moving mechanism is used for driving the seedling planting robot to move back and forth and is arranged below the frame;

wherein, drilling mechanism includes: two drill bit components, a transposition component and a lifting component; the transposition assembly is rotatably connected to the lifting assembly through a rotating shaft and used for installing two drill bit assemblies and rotating around the rotating shaft to switch stations of the two drill bit assemblies, and the lifting assembly is used for enabling the drill bit assemblies to move in the vertical direction.

Further, the transposition assembly comprises a fixed block and two support arms which are arranged in a staggered mode, one ends of the two support arms are fixedly connected, the other ends of the two support arms are respectively provided with a mounting part for mounting the two drill bit assemblies, and one ends of the two support arms connected with each other are vertically connected to the fixed block in a rotating mode through the rotating shaft.

Further, the drill bit assembly includes:

the mounting block is connected with the mounting part;

the drill rod motor is used for providing power for drilling and is arranged at the lower end of the mounting block;

the spiral drill rod is arranged at the lower end of the drill rod motor and is connected with the output end of the drill rod motor, and spiral blades are arranged on the spiral drill rod;

the soil guide plate is arranged at the lower end of the spiral blade and is obliquely arranged;

and the drill bit is used for drilling and planting holes and is arranged at the bottom end of the spiral drill rod.

Further, the lifting assembly includes;

the mounting plate is vertically arranged on the frame;

the lifting motor is used for providing lifting power and is arranged on the frame;

the lifting gear is connected with the output end of the lifting motor and is fixed through a mounting plate;

and one side of the lifting rack is fixedly connected with the fixed block.

Further, the seedling storing and conveying mechanism comprises:

the bracket is arranged on the rack, and a delivery hole is formed in the bracket;

the annular guide groove is arranged on the bracket;

the driving wheel is arranged in the annular guide groove;

the driven wheel is arranged in the annular guide groove, and protruding teeth are arranged in the circumferential directions of the driving wheel and the driven wheel;

the conveying belt is sleeved on the driving wheel and the driven wheel, concave teeth meshed with the convex teeth are arranged on the conveying belt for transmission, and a plurality of seedling carrying drums are uniformly and fixedly arranged on one side, away from the concave teeth, of the conveying belt;

the seedling conveying pipe is arranged below the bracket and is positioned right below the throwing hole;

and the seedling conveying motor is arranged below the bracket, the output end of the seedling conveying motor is in transmission connection with the driving wheel, the seedling conveying motor rotates to drive the driving wheel to rotate, and then the driven wheel is driven to rotate through the conveying belt.

Further, the earthing and soil pressing mechanism comprises an earthing motor arranged on the frame, an earthing component matched with the earthing motor for use and a soil pressing component matched with the earthing component for use;

the earthing component comprises a worm shaft connected with the output end of the earthing motor, an earthing gear arranged on the worm shaft and a worm component meshed with the worm shaft for transmission; the scroll shaft rotates to drive the scroll assembly to move, and the soil pressing assembly is driven to move up and down through the rotation of the soil covering gear;

the turbine rod assembly comprises two turbines and two earthing crank arms, the turbines are meshed with the turbine rod shafts for transmission, the two earthing crank arms are symmetrically arranged, and the earthing crank arms are installed on the turbines; when the worm shaft rotates, the worm wheel can drive the earthing crank arms to swing so that the two earthing crank arms can be relatively close to or far away from each other;

the earthing crank arm comprises a connecting part fixedly connected with the turbine, an earthing connecting rod and an earthing crank block arranged at the lower end of the earthing connecting rod; the connecting part is fixedly connected with the turbine, the upper end of the earthing connecting rod is fixedly connected with the connecting part, and the lower end of the earthing connecting rod is fixedly connected with the earthing curved block;

the soil pressing assembly comprises a soil pressing rotating shaft, a soil pressing gear, a transmission gear and a soil pressing rack, wherein the soil pressing gear is arranged at the end part of the soil pressing rotating shaft and is in meshed transmission with the soil covering gear, the transmission gear is arranged on the soil pressing rotating shaft, and the soil pressing rack is in meshed transmission with the transmission gear; the lower end of the soil pressing rack is fixedly connected with a soil pressing ring, and the soil pressing ring is arranged right below the seedling conveying pipe;

further, the left and right sides of frame rear end is provided with two connecting plates respectively, every the bottom of connecting plate all is provided with telescopic machanism, every telescopic machanism's bottom all is provided with universal pinch roller.

Further, the irrigation mechanism comprises:

the water supply assembly is arranged below the frame;

one end of the spray pipe is connected with the water supply assembly, and the other end of the spray pipe is obliquely arranged, and a spray opening of the spray pipe is opposite to the planting hole.

Further, the moving mechanism includes:

the upper end of the base is hinged below the frame through a shock absorber;

the driving motor is arranged on the base, and the output end of the driving motor is connected with a travelling wheel.

Further, the seedling planting robot further comprises a power supply mechanism, the power supply mechanism comprises a solar cell panel and a storage battery, the storage battery is connected with the solar cell panel, and the storage battery is respectively electrically connected with the lifting motor, the drill rod motor, the earthing motor, the seedling conveying motor, the water supply assembly, the transposition assembly and the telescopic mechanism.

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

the seedling planting robot can automatically complete the functions of punching holes, supplementing seedlings, planting, watering and earthing up soil, replaces manpower with the robot, realizes automatic planting in the desert, can greatly improve the planting efficiency of the desert greening, ensures higher accuracy, stability and safety and environmental adaptability, and can keep the spacing between seedlings, the hole site specification and the watering amount at proper values so as to improve the survival rate of seedlings in the whole planting area; by planting trees in the desert, the trees can fix loose sand grains, weaken wind power in the desert area, prevent the desert from expanding, and effectively improve the current ecological environment.

According to the seedling planting robot, the gear, the rack, the turbine and the worm shaft are adopted for motion and force transmission, the structure is compact, the bracket can simultaneously carry a plurality of seedling carrying cylinders, and the continuous delivery of seedlings is ensured; the robot firstly digs soil, after completing the action, the robot runs for a specified distance, then the seedling falling is completed, the earthing up and watering of the seedlings are realized at the same time, the continuity of the tree planting process and the tree planting efficiency are improved, the device is small in volume and light and flexible, the space utilization rate is improved, compared with manual planting, a large amount of labor force can be liberated, and the labor cost is saved.

According to the seedling planting robot, the transposition assembly is arranged on the drill bit assembly, so that the function of switching different drill bit specifications can be realized, the adaptive planting holes can be drilled according to the specifications of different seedlings, the applicability of the seedling planting robot is improved, meanwhile, two drill bits can be of the same specification, after one drill bit is worn, the seedling planting robot can be switched to the other one for continuous work, the replacement time is shortened, and the working efficiency is improved.

Drawings

FIG. 1 is a schematic view of a seedling planting robot according to an embodiment of the present invention;

FIG. 2 is a schematic side view of a seedling planting robot according to an embodiment of the present invention;

FIG. 3 is a schematic bottom view of a seedling planting robot according to an embodiment of the present invention;

FIG. 4 is an enlarged partial schematic view of FIG. 3;

FIG. 5 is a schematic structural view of a seedling storing and transporting mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a drilling mechanism according to an embodiment of the present invention;

FIG. 7 is an enlarged partial schematic view of FIG. 6 at A;

FIG. 8 is an enlarged partial schematic view at B in FIG. 6;

FIG. 9 is a schematic view of a soil covering and compacting mechanism according to an embodiment of the present invention;

reference numerals illustrate:

frame 1, drilling mechanism 2, drill bit assembly 21, mounting block 211, drill rod motor 212, auger rod 213, drill bit 214, auger blade 215, earth guide 216, lifting assembly 22, mounting plate 221, lifting motor 222, lifting gear 223, lifting rack 224, indexing assembly 23, fixing block 231, support arm 232, mounting portion 233, sleeve 234, reinforcement beam 235, indexing motor 236, seedling storage and delivery mechanism 3, bracket 31, annular guide groove 32, driving wheel 33, driven wheel 34, conveyor belt 35, seedling carrying drum 36, delivery Miao Guan 37, seedling carrying motor 38, earth covering soil pressing mechanism 4, earth covering motor 41, earth covering assembly 42, vortex shaft 421, earth covering gear 422, turbine 423, connecting portion 424, earth covering 425 connecting rod, earth covering curved block 426, earth pressing assembly 43, earth pressing rotary shaft 431, earth pressing gear 432, transmission gear 433, earth pressing rack 434, earth pressing ring 435, connecting plate 436, telescoping mechanism 437, universal pinch roller 438, irrigation mechanism 5, water supply assembly 51, shower pipe 52, moving mechanism 6, base 61, 62, travelling wheel 63, fixing plate 7, bearing seat 8, bearing seat 9, guide rail 11, and rotary rail 11.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

In order to make the objects, technical solutions and advantageous effects of the present invention more apparent, the technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that, the structures, proportions, sizes, etc. shown in the drawings attached to the present invention are merely used in conjunction with the disclosure of the present invention, and are not intended to limit the applicable limitations of the present invention, so that any modification of the structures, variation of the proportions, or adjustment of the sizes, without affecting the efficacy and achievement of the present invention, should fall within the scope of the disclosure of the present invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.

As shown in fig. 1-3 and 6, an embodiment of the present invention provides a seedling robot including: a frame 1; the drilling mechanism 2 is used for drilling a planting hole in the desert and is arranged on the frame 1, and is particularly positioned at the front end or the rear end of the frame 1; the seedling storage and conveying mechanism 3 is used for storing seedlings and conveying the seedlings into the planting holes and is arranged on the frame 1; the earthing and soil pressing mechanism 4 is used for tamping the soil in the planting holes, is arranged on the frame 1, and is particularly arranged at the back end or the front end of the frame 1 and opposite to the drilling mechanism 2 at intervals; the irrigation mechanism 5 is used for irrigating the tamped soil and is arranged below the frame 1; and a moving mechanism 6 for driving the seedling planting robot to move back and forth, disposed under the frame 1, wherein the drilling mechanism 2 comprises: two drill bit assemblies 21, a shifting assembly 23 and a lifting assembly 22; the transposition assembly 23 is rotatably connected to the lifting assembly through a rotating shaft, and is used for installing two drill bit assemblies 21 and rotating around the rotating shaft to switch stations of the two drill bit assemblies 21, and the lifting assembly 22 is used for enabling the drill bit assemblies 21 to move in the vertical direction; when the seedling transplanting machine is specifically used, seedlings to be planted are prepared in the seedling storage and conveying mechanism 3, the moving mechanism 6 drives the frame 1 to move, the drilling mechanism 2 on the frame 1 digs soil and drills at the designated position to form planting holes, the moving mechanism 6 continues to drive the frame 1 to move, when the operation position of the seedling storage and conveying mechanism 3 is matched with the planting holes, the seedling storage and conveying mechanism 3 conveys the seedlings to be planted, the soil covering and pressing mechanism 4 presses soil to enable the seedlings to be planted, then the irrigation mechanism 5 performs operation to realize planting of one seedling, the whole tree planting process is high in automation degree, the machine is applicable to different terrains, simultaneously, the two drill bit assemblies 21 can be of different specifications, the two drill bit assemblies 21 can be switched to realize planting holes of different sizes, and accordingly planting hole conditions of the seedlings of different specifications are met.

In this embodiment, as shown in fig. 8, the transposition assembly 23 includes a fixing block 231 and two support arms 232 arranged in a staggered manner, the two support arms 232 are located on the same horizontal plane and are perpendicular to each other, one ends of the two support arms 232 are fixedly connected, and the other ends of the two support arms 232 are respectively provided with a mounting portion 233 for mounting the two drill bit assemblies 21, and one ends of the two support arms 232 connected to each other are vertically rotatably connected to the fixing block 231 through the rotating shaft 11. It should be noted that, in order to rotate the transposition assembly 23 around the rotation shaft 11 to achieve the coincidence of the axes of the two drill bit assemblies 21, the lengths of the two support arms 232 need to be set reasonably, so that the axes of the two drill bit assemblies 21 need to be located on the same circular arc due to the setting of the lengths of the two support arms 232; by adopting the scheme, the reversing assembly is simple in structure and can quickly and accurately align the axes of the two drill bit assemblies 21.

In this embodiment, as shown in fig. 8, one side of the fixing block 231 extends out of the opening and has a through slot in the middle, the transposition assembly 21 further includes a sleeve 234, the sleeve 234 is located in the through slot and is sleeved on the rotating shaft 11, and one ends of the two support arms 232, which deviate from the mounting portion 233, are fixedly connected to the side walls of the sleeve 234; by adopting the scheme, the sleeve 234 is utilized to realize the rotary connection of the transposition assembly 23 and the rotating shaft 11 and the support of the corresponding two drill bit assemblies 21, the thickness of the supporting arm 232 can be reduced on the premise of meeting the structural strength, the weight is further reduced, the sleeve 234 is placed in the through groove, the upper end and the lower end of the sleeve 234 are limited by the through groove, and the transposition assembly 23 has a compact and reliable structure; of course, for further automation of the lifting device, the rotating shaft 11 may be rotatably connected to the fixing block 231, the sleeve 234 is sleeved on the rotating shaft 11 and is connected with the rotating shaft 11 through a spline, the transposition motor 236 with a forward and reverse rotation function is connected with the rotating shaft 11, and the transposition motor 236 drives the rotating shaft 11 to rotate forward or reverse, so that the transposition assembly 23 automatically switches stations corresponding to the two drill bit assemblies 21.

As shown in fig. 8, in this embodiment, in order to further reduce the weight of the support arm 232 on the premise of ensuring the strength of the support arm 232, a reinforcement beam 235 is fixedly disposed between the sleeve 234 and each support arm, and further, in order to enhance the supporting effect of each reinforcement beam 235, each reinforcement beam 235 has a right-angle triangle shape, and two right-angle sides of each reinforcement beam 235 are respectively and fixedly connected to the bottom end of each support arm 232 and the side wall of the sleeve 234.

As shown in fig. 8, in this embodiment, each of the mounting portions 233 has a U shape, and a closed end thereof is fixedly connected to an end of each of the support arms 232 facing away from the sleeve 234; the bottom end of the mounting portion 233 provides a mounting plane for the two drill bit assemblies 21, and the opening of the mounting portion 233 provides a space for avoiding the two drill bit assemblies 21, so that the structural arrangement of the device is more compact.

As shown in fig. 6 to 7, in this embodiment, the drill bit assembly 21 includes: a mounting block 211, wherein the mounting block 211 is connected with the mounting part 233; a drill rod motor 212 for providing power for drilling, disposed at the lower end of the mounting block 211; the spiral drill rod 213 is arranged at the lower end of the drill rod motor 212 and is connected with the output end of the drill rod motor 212, and spiral blades 215 are arranged on the spiral drill rod 213, specifically, the spiral blades 215 are spirally arranged along the axial direction of the spiral drill rod 213, so that sand and soil can be conveniently and smoothly discharged; the soil guide plate 216 is arranged at the lower end of the spiral blade 215 and is detachably connected to the lower end of the spiral blade 215 through a fastener, and the fastener can be a component such as a bolt, a nut and the like which can realize the functions; the soil guide plate 216 is inclined, and the bottom end of the soil guide plate 216 is formed into a sharp angle, so that the end of the soil guide plate 216 can be smoothly inserted into sandy soil, and the auger 213 can effectively drill holes when rotating; and a drill bit 214 for drilling a planting hole, disposed at the bottom end of the auger stem 213; in a preferred other embodiment, in order to avoid dust or sand from flying during drilling, the auger stem 213 may be sleeved with a flexible dust cover and a flexible dust brush, so that the dust or sand can be removed in a small range, and the subsequent return of the dust or sand is facilitated.

As shown in fig. 6 and 8, in the present embodiment, the lifting assembly 22 includes; a mounting plate 221 vertically provided on the frame 1; a lifting motor 222 for providing lifting power and arranged on the frame 1; a lifting gear 223, wherein the lifting gear 223 is connected with the output end of the lifting motor 222 and is fixed by a mounting plate 221; a lifting rack 224 engaged with the lifting gear 223, wherein one side of the lifting rack 224 is fixedly connected with the fixed block 231; when the drill bit assembly is specifically operated, the lifting motor 222 drives the lifting gear 223 to rotate, and then drives the lifting rack 224 to move up and down so as to adjust the height of the drill bit assembly 21, and the drilling depth can be adjusted according to the planting requirements, so that planting holes with different required depths are met. Of course, the lifting assembly 22 may be any other conventional linear driving assembly, such as a cylinder or an oil cylinder, so as to drive the drill bit assembly 21 to move in the vertical direction.

As shown in fig. 5, in this embodiment, the seedling storing and conveying mechanism 3 includes: a bracket 31 disposed on the frame 1, wherein a delivery hole is formed on the bracket 31; an annular guide groove 32 provided on the bracket 31; a driving wheel 33 mounted in the annular guide groove 32; the driven wheel 34 is installed in the annular guide groove 32, and protruding teeth are arranged in the circumferential direction of the driving wheel 33 and the driven wheel 34; the conveying belt 35 is sleeved on the driving wheel 33 and the driven wheel 34, concave teeth meshed with the convex teeth for transmission are arranged on the conveying belt 35, and a plurality of seedling carrying drums 36 are uniformly and fixedly arranged on one side, away from the concave teeth, of the conveying belt 35; a delivery Miao Guan, which is arranged under the bracket 31 and is positioned under the throwing hole; the seedling conveying motor 38 is arranged below the bracket 31, the output end of the seedling conveying motor 38 is in transmission connection with the driving wheel 33, the seedling conveying motor 38 rotates to drive the driving wheel 33 to rotate, and then the driven wheel 34 is driven to rotate through the conveying belt 35; specifically, when the seedling carrying cylinder 36 rotates above the throwing hole, the seedlings fall from the seedling carrying cylinder 36 and enter the seedling conveying pipe 37 through the throwing hole, and finally fall into the planting hole.

As shown in fig. 9, in the present embodiment, the soil covering and pressing mechanism 4 includes a soil covering motor 41 mounted on the frame 1, a soil covering assembly 42 cooperating with the soil covering motor 41, and a soil pressing assembly 43 cooperating with the soil covering assembly 42, wherein the soil covering motor 41 is a power source of the soil covering assembly 42 and the soil pressing assembly 43;

the earthing component 42 comprises a worm shaft 421 connected with the output end of the earthing motor 41, an earthing gear 422 arranged on the worm shaft 421 and a worm component meshed with the worm shaft 421 for transmission; the scroll shaft 421 rotates to drive the scroll assembly to move, and drives the soil pressing assembly 43 to move up and down through the rotation of the soil covering gear 422;

the worm assembly comprises two worm wheels 423 and two earthing crank arms, the worm wheels 423 and the earthing crank arms are in meshed transmission with the worm shaft 421 and are symmetrically arranged, when the worm shaft 421 rotates, the worm wheels 423 are driven to rotate, the worm wheels 423 can further drive the earthing crank arms to swing so that the two earthing crank arms can be relatively close to or far away from each other, the earthing crank arms are installed on the worm wheels 423, the worm wheels 423 are of a semicircular structure and are horizontally arranged, transmission teeth are arranged on the circumferential surface of the worm shaft 421, and the worm wheels 423 are in transmission fit with the transmission teeth; the earthing crank arm comprises a connecting part 424 fixedly connected with the scroll shaft 421, an earthing connecting rod 425 and an earthing crank block 426 arranged at the lower end of the earthing connecting rod 425; the connecting part 424 is fixedly connected with the turbine 423, the upper end of the earthing connecting rod 425 is fixedly connected with the connecting part 424, the lower end of the earthing connecting rod is fixedly connected with the earthing curved block 426, the earthing curved block 426 is provided with an arc-shaped earthing surface, and the arc-shaped earthing surface is convenient for collecting sand discharged from a drilling hole into a hole to embed plant roots; in a preferred other embodiment, the covered soil curved block 426 may be provided with a reinforcing part, which plays a role in reinforcing and supporting the arc-shaped covered soil surface, so as to ensure the soil holding performance of the covered soil curved block 426, and the reinforcing part may be one or two reinforcing rib plates, which are arranged on the back surface of the arc-shaped covered soil surface; in a preferred other embodiment, the lower end of the soil covering link 425 may be further connected to the soil covering curved block 426 by a telescopic rod, so as to realize a height change, and meet different requirements, so as to better perform soil covering;

the soil compacting assembly 43 comprises a soil compacting rotating shaft 431, a soil compacting gear 432 which is arranged at the end part of the soil compacting rotating shaft 431 and is in meshed transmission with the soil covering gear 422, a transmission gear 433 which is arranged on the soil compacting rotating shaft 431, and a soil compacting rack 434 which is in meshed transmission with the transmission gear 433, wherein the soil compacting rotating shaft 431 is arranged in parallel with the vortex shaft 421, the soil compacting rotating shaft 431 is arranged on the frame 1 through two fixing plates 7, the frame 1 is also provided with a guide sliding rail 10, the guide sliding rail 10 is connected with the soil compacting rack 434 through a supporting plate 9, and when the soil compacting rack 434 moves along the vertical direction, the supporting plate 9 synchronously slides in the guide sliding rail 10, so that the guide sliding rail 10 realizes the guide function on one hand, and realizes the supporting function on the other hand; the soil pressing rack 434 is fixedly connected with the lower end thereof and provided with a soil pressing ring 435, the soil pressing ring 435 is arranged under the seedling conveying Miao Guan 37 and is used for pressing soil in the circumferential direction of the seedlings, the soil pressing ring 435 is of an annular structure with a hole in the middle, and the diameter of the hole is larger than the inner diameter of the seedling conveying pipe 37, so that the seedlings can not be blocked when entering the seedling conveying pipe; specifically, during operation, the scroll shaft 421 drives the earthing gear 422 to rotate, and then drives the soil pressing gear 432 to rotate, and the soil pressing gear 432 drives the soil pressing rotating shaft 431 to rotate the transmission gear 433, so that the soil pressing rack 434 moves downwards, the soil pressing ring 435 is pressed downwards to tamp soil, and planting is completed.

As shown in fig. 1-3, based on the above further improvement, two connection boards 436 are respectively disposed on the left and right sides of the rear end of the rack 1, the connection boards 436 are in an L shape, a telescopic mechanism 437 is disposed at the bottom of each connection board 436, a universal pinch roller 438 is disposed at the bottom of each telescopic mechanism 437, and the telescopic mechanism 437 can be a component for realizing telescopic function such as an electric telescopic rod or a pneumatic telescopic rod; the universal pinch roller 438 can further effectively compact the soil by moving the moving mechanism 6 after the soil compacting ring 435 is compacted, and meanwhile, the movement is more flexible and stable.

As shown in fig. 3 to 4, in this embodiment, the irrigation mechanism 5 includes: a water supply assembly 51 disposed under the frame 1; one end of the spray pipe 52 is connected with the water supply assembly 51, the other end of the spray pipe 52 is obliquely arranged, a spray opening of the spray pipe 52 is opposite to the planting hole, and the spray pipe 52 is fixed under the frame 1 through the mounting seat 8; the water supply assembly 51 is a combination of a water tank and a water pump, one end of the water pump is connected with the water tank, and the other end of the water pump is connected with the spray pipe 52 through a water pipe; when the seedling planting device works specifically, after the drilling mechanism 2 drills a planting hole, liquid water is sprayed into the planting hole, then the seedling storage and conveying mechanism 3 conveys seedlings into the planting hole, and soil covering and soil pressing are carried out, so that the seedlings can absorb the liquid water first, the root systems of the seedlings can absorb enough water to maintain the normal growth state of the seedlings, and as microorganisms exist in the root system soil of the seedlings, the solid water is biologically degraded and reduced into free water to be released out in the soil, and the plant water is supplied to help the growth of the plants, so that the survival rate of the seedlings is improved; in addition, the seedlings planted can be watered and sprayed after the soil covering and soil pressing, and the seedlings can be selected according to actual conditions.

As shown in fig. 1 to 3, in this embodiment, the moving mechanism 6 includes: a base 61, wherein the upper end of the base 61 is hinged under the frame 1 through a shock absorber 63; the driving motor is arranged on the base 61, the output end of the driving motor is connected with the travelling wheel 62, a certain ground clearance height can be reserved at the bottom of the frame 1, and the moving mechanism 6 is symmetrically arranged at the bottom of the frame 1, so that the robot has good passing performance, and can normally run even on a quicksand wetland, and the applicability of the robot is improved.

In this embodiment, the seedling planting robot further includes a power supply mechanism, where the power supply mechanism includes a solar panel and a storage battery, the solar panel may be disposed on two sides of the frame 1, and the storage battery is used to supply energy during operation, and solar energy assists in supplying energy; when the robot stops working, the solar cell panel can charge a storage battery, the working time of the robot is ensured, the storage battery is connected with the solar cell panel, solar energy is used as auxiliary energy, electric power is used for driving the whole equipment to run, zero emission and zero pollution in working engineering are realized, and the storage battery is respectively electrically connected with the lifting motor 222, the drill rod motor 212, the earthing motor 41, the seedling conveying motor 38, the water pump and the telescopic mechanism 437.

In a specific other embodiment, the seedling planting robot further comprises an electric control system installed on the frame 1, wherein the electric control system comprises a Bluetooth module, a stm32 singlechip, a motor driving module, a depressurization module, a voltage stabilizing module, a WiFi module and the like, and is used for realizing the automation performance of the digging and planting integrated seedling planting robot. Realizing the automatic operation of specified actions such as digging, walking, seedling conveying, seedling falling, hilling, turning, watering and the like; and new auxiliary functions such as an ultrasonic obstacle avoidance system, an automatic path planning system and an automatic control system can be added. The ultrasonic obstacle avoidance system can ensure that natural obstacles such as boulders, haystacks and the like on a path can be automatically avoided in the advancing process, and safe and stable advancing is realized. The automatic planning path can be in the planned planting area, the starting point and the end point can be determined, the path can be automatically planned, and the automation degree is high. The automatic control system can ensure normal work under the influence of severe weather in the desert, and greatly reduces the manpower control cost and uncertainty.

Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims (10)

1. Seedling planting robot, its characterized in that includes:

a frame (1);

the drilling mechanism (2) is used for drilling planting holes in the desert and is arranged on the frame (1);

the seedling storage and conveying mechanism (3) is used for storing seedlings and conveying the seedlings into the planting holes and is arranged on the frame (1);

the earthing and soil pressing mechanism (4) is used for tamping the soil of the planting hole and is arranged on the frame (1);

the irrigation mechanism (5) is used for irrigating the tamped soil and is arranged below the frame (1);

the moving mechanism (6) is used for driving the seedling planting robot to move back and forth and is arranged under the frame (1);

wherein the drilling mechanism (2) comprises: two drill bit assemblies (21), a transposition assembly (23) and a lifting assembly (22); the transposition assembly (23) is rotatably connected to the lifting assembly (22) through a rotating shaft (11) and is used for installing two drill bit assemblies (21) and rotating around the rotating shaft (11) to switch stations of the two drill bit assemblies (21), and the lifting assembly (22) is used for enabling the drill bit assemblies (21) to move in the vertical direction.

2. A seedling planting robot as claimed in claim 1, wherein the transposition assembly (21) comprises a fixed block (231) and two support arms (232) arranged in a staggered manner, one ends of the two support arms (232) are fixedly connected, the other ends of the two support arms are respectively provided with a mounting part (233) for mounting the two drill bit assemblies (21), and one ends of the two support arms (232) connected with each other are vertically and rotatably connected to the fixed block (231) through the rotating shaft (11).

3. A seedling growing robot as claimed in claim 2, characterized in that said drill bit assembly (21) comprises:

a mounting block (211), the mounting block (211) being connected to the mounting portion (233);

the drill rod motor (212) is used for providing power for drilling and is arranged at the lower end of the mounting block (211);

the spiral drill rod (213) is arranged at the lower end of the drill rod motor (212) and is connected with the output end of the drill rod motor (212), and spiral blades (215) are arranged on the spiral drill rod (213);

the soil guide plate (216) is arranged at the lower end of the spiral blade (215), and the soil guide plate (216) is obliquely arranged;

and the drill bit (214) is used for drilling and planting holes and is arranged at the bottom end of the spiral drill rod (213).

4. A seedling growing robot as claimed in claim 3, characterized in that said lifting assembly (22) comprises;

the mounting plate (221) is vertically arranged on the frame (1);

the lifting motor (222) is used for providing lifting power and is arranged on the frame (1);

the lifting gear (223) is connected with the output end of the lifting motor (222) and is fixed through the mounting plate (221);

and a lifting rack (224) meshed with the lifting gear (223), wherein one side of the lifting rack (224) is fixedly connected with the fixed block (231).

5. A seedling growing robot as claimed in claim 1, characterized in that the seedling storing and transporting mechanism (3) comprises:

the bracket (31) is arranged on the frame (1), and a delivery hole is formed in the bracket (31);

an annular guide groove (32) provided on the bracket (31);

a driving wheel (33) arranged in the annular guide groove (32);

the driven wheel (34) is arranged in the annular guide groove (32), and protruding teeth are arranged in the circumferential directions of the driving wheel (33) and the driven wheel (34);

the conveying belt (35) is sleeved on the driving wheel (35) and the driven wheel (34), concave teeth which are meshed with the convex teeth for transmission are arranged on the conveying belt (35), and a plurality of seedling carrying drums (36) are uniformly and fixedly arranged on one side, away from the concave teeth, of the conveying belt (35);

a seedling conveying pipe (37) arranged below the bracket (31) and positioned right below the throwing hole;

and a seedling conveying motor (38) which is arranged below the bracket (31), wherein the output end of the seedling conveying motor Miao Dianji (38) is in transmission connection with the driving wheel (33), the conveying motor Miao Dianji (38) rotates to drive the driving wheel (33) to rotate, and then the conveying belt (35) drives the driven wheel (34) to rotate.

6. A plant growing robot according to claim 1, characterized in that the earthing-up soil-compacting mechanism (4) comprises an earthing-up motor (41) mounted on the frame (1), an earthing-up assembly (42) for use with the earthing-up motor (41) and a soil-compacting assembly (43) for use with the earthing-up assembly (42);

the earthing component (42) comprises a worm shaft (421) connected with the output end of the earthing motor (41), an earthing gear (422) arranged on the worm shaft (421) and a worm component meshed with the worm shaft (421) for transmission; the scroll shaft (421) rotates to drive the scroll assembly to move, and the soil pressing assembly (43) is driven to move up and down through the rotation of the soil covering gear (422);

the scroll rod assembly comprises two turbines (423) and two earthing crank arms, wherein the turbines (423) are in meshed transmission with the scroll rod shaft (421) and are symmetrically arranged, and the earthing crank arms are installed on the turbines (423); when the worm shaft (421) rotates, the worm wheel (423) can drive the earthing crank arms to swing so that the two earthing crank arms can relatively approach or separate;

the earthing crank arm comprises a connecting part (424) fixedly connected with the turbine (423), an earthing connecting rod (425) and an earthing crank block (426) arranged at the lower end of the earthing connecting rod (425); the connecting part (424) is fixedly connected with the worm shaft (421), the upper end of the earthing connecting rod (425) is fixedly connected with the connecting part (424), and the lower end of the earthing connecting rod is fixedly connected with the earthing curved block (426);

the soil pressing assembly (43) comprises a soil pressing rotating shaft (431), a soil pressing gear (432) which is arranged at the end part of the soil pressing rotating shaft (431) and is in meshed transmission with the earthing gear (422), a transmission gear (433) which is arranged on the soil pressing rotating shaft (431), and a soil pressing rack (434) which is in meshed transmission with the transmission gear (433); the soil pressing rack (434) is fixedly connected with the lower end of the soil pressing rack (435) and is used for pressing soil in the circumferential direction of seedlings, and the soil pressing rack (435) is arranged right below the seedling conveying pipe (37).

7. The seedling planting robot as claimed in claim 1, wherein two connection plates (436) are respectively arranged on the left side and the right side of the rear end of the frame (1), a telescopic mechanism (437) is arranged at the bottom of each connection plate (436), and a universal pinch roller (438) is arranged at the bottom end of each telescopic mechanism (437).

8. A seedling growing robot as claimed in claim 1, characterized in that said irrigation means (5) comprise:

the water supply assembly (51) is arranged below the frame (1);

and one end of the spraying pipe (52) is connected with the water supply assembly (51), and the other end of the spraying pipe is obliquely arranged, and a spraying opening of the spraying pipe (52) is opposite to the planting hole.

9. A seedling robot as claimed in claim 1, characterized in that the movement mechanism (6) comprises:

the upper end of the base (61) is hinged below the frame (1) through a shock absorber (63);

the driving motor is arranged on the base (61), and the output end of the driving motor is connected with a travelling wheel (62).

10. A seedling planting robot as claimed in any one of claims 1 to 9, further comprising a power supply mechanism comprising a solar panel and a battery, the battery being connected to the solar panel, the battery being electrically connected to the lift motor (222), the drill rod motor (212), the soil covering motor (41), the seedling conveying motor (38), the water supply assembly (51), the transposition assembly (23) and the telescopic mechanism (437), respectively.