Fruit tree transplanting machine

Abstract

The invention discloses a fruit tree transplanter. The technical scheme of the invention mainly includes a crawler moving device, a gripping device, a digging device and a control room. The gripping device includes a first moving arm, a second moving arm and a gripping component. A first hydraulic cylinder is arranged on a frame, a second hydraulic cylinder is arranged on the first moving arm, a first rotating component for controlling the rotation of the gripping device is arranged between the gripping device and the frame, the digging device includes a plurality of digging components, a connecting component and a lifting component, one end of the lifting component is arranged at the rear end of the frame, the connecting component includes a fixed circular ring, an arc circular ring and a circular hydraulic cylinder, the fixed circular ring and the arc circular ring are both equipped with digging components, a second rotating component for controlling the rotation of the frame is arranged between the crawler moving device and the frame, and the transplanter can flexibly transfer the dug trees, reduce labor costs and improve work efficiency.

Description

Technical Field

[0001] The invention relates to the field of agricultural and forestry machinery, and more particularly to a fruit tree transplanting machine. Background Art

[0002] Urban greening has become a key project in our social construction. As an effective weapon for environmental management, the status of trees in urban greening cannot be underestimated and it is an indispensable key project.

[0003] In order to improve the survival rate of tree transplants, the integrity of the tree roots needs to be protected during the transplantation process, so the soil ball around the tree needs to be transplanted together during the transplantation process. The existing transplanter performs a series of operations such as digging, transplanting, and transferring. However, the digging device of the transplanter is too bulky, which causes inflexible operation during subsequent transfer and direct planting, and blocks the line of sight of users in the control room, resulting in the inability to directly transfer and transfer to the right place, and the inaccurate drop. As a result, when the transplanter transfers the tree to the planting area, additional human assistance and human command are required to achieve the effect of transferring and dropping accurately. However, with the progress of society, the shortage of human resources has caused the labor cost to continue to rise, resulting in the total cost of transplantation remaining high, affecting the development of the transplantation industry. Summary of the invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide a fruit tree transplanter, which can flexibly transfer the excavated trees, reduce labor costs and improve work efficiency.

[0005] To achieve the above object, the present invention provides the following technical solution: a fruit tree transplanter, comprising a crawler moving device arranged below a frame body for driving the frame body to move, a gripping device arranged on the frame body for gripping tree trunks, a digging and carrying device arranged on the frame body for digging and transferring trees in the ground together with soil balls, and a control room arranged above the frame body for controlling the crawler moving device, the digging and carrying device and the gripping device;

[0006] The gripping device includes a first movable arm hinged at the front end of a frame body, a second movable arm hinged to an end of the first movable arm away from the frame body, and a gripping component arranged at an end of the second movable arm away from the first movable arm, the frame body is provided with a first hydraulic cylinder for driving the first movable arm to rotate, the first hydraulic cylinder drives the gripping component to move downwardly forward or upwardly backward during the movement of the first movable arm, the first movable arm is provided with a second hydraulic cylinder for driving the second movable arm to rotate, the second hydraulic cylinder drives the gripping component to move downwardly backward or upwardly forward during the movement of the second movable arm;

[0007] A first rotating component for controlling the rotation of the gripping device is provided between the gripping device and the frame;

[0008] The digging and carrying device includes a plurality of digging parts for digging, a connecting part for connecting the plurality of digging parts and controlling the plurality of digging parts to open and close to surround the tree, and a lifting part connected to the connecting part and driving the digging parts and the connecting part to move. One end of the lifting part is arranged at the rear end of the frame body. The connecting part includes a fixed ring arranged in a semicircular structure and fixedly connected to the lifting part, an arc ring hinged to both ends of the fixed ring, and a ring hydraulic cylinder arranged on the fixed ring for driving the arc ring to rotate outward or inward. The digging parts are installed on both the fixed ring and the arc ring.

[0009] A second rotating component for controlling the rotation of the frame is arranged between the crawler moving device and the frame.

[0010] The present invention is further configured as follows: the excavation component includes an excavation shell fixedly connected to the connecting component, an excavation slide rail arranged along the height direction of the excavation shell, an excavation shovel slidably connected to the excavation slide rail, and an excavation hydraulic cylinder arranged on the excavation shell for driving the excavation shovel to move along the direction of the excavation slide rail.

[0011] The present invention is further configured as follows: a water tank, a water pipe and a water pump for conveying liquid out of the water tank are arranged on the frame; a water tank connected to the water tank through the water pipe is arranged on the upper end of the excavation shell; the lower side wall of the water tank abuts against the upper end of the excavating shovel in the working state and is provided with a water outlet for the liquid in the water tank to flow out; the lower side wall of the water tank is provided with a push button switch for controlling the water pump; when all the excavating shovels abut against the push button switch, the water pump drives the liquid in the water tank to flow into the water tank through the water pipe.

[0012] The present invention is further configured as follows: a plurality of water inlet holes are provided at one end of the digging shovel facing the water tank, and when the digging shovel is in contact with the lower side wall of the water tank, the position of the water outlet hole does not overlap with the position of the water inlet hole; a plurality of drainage holes are provided on the side of the digging shovel facing the tree, and the drainage holes are arranged along the height direction of the digging shovel and are connected with the water inlet holes one by one through water flow channels. When the digging hydraulic cylinder drives the digging shovel to move, part of the liquid in the water tank flows from the water inlet hole into the drainage hole.

[0013] The present invention is further configured as follows: a positioning device is fixedly installed on the outer wall of the fixed ring, and the positioning device includes a positioning block fixedly connected to the outer wall of the fixed ring, a sliding groove arranged along the height direction of the positioning block, a positioning plate with one end abutting the ground and the other end inserted into the sliding groove, and a positioning pin for connecting the positioning plate to the positioning block, the positioning plate is provided with a plurality of positioning holes evenly arranged along the height direction, the end of the positioning block away from the fixed ring is provided with a through hole connected to the sliding groove, and the positioning pin is inserted into the positioning hole through the through hole.

[0014] The present invention is further configured as follows: the grabbing component includes a grabbing left grab and a grabbing right grab that can surround and wrap the tree trunk and are arranged in an arc-shaped structure, and a third hydraulic cylinder arranged on the second movable arm for driving the grabbing left grab and the grabbing right grab to move toward or away from each other, the grabbing left grab includes a first grabbing center plate abutting against the tree trunk, and a first extension rod arranged at both ends of the first grabbing center plate along the circumferential direction of the tree trunk, a plurality of the first extension rods are provided and are evenly arranged along the height direction of the trunk, the grabbing right grab includes a second grabbing center plate abutting against the tree trunk, and a second extension rod arranged at both ends of the second grabbing center plate along the circumferential direction of the tree trunk, a plurality of the second extension rods are provided and are evenly arranged along the height direction of the trunk, a first gap for the second extension rod to be embedded is provided between two adjacent first extension rods, and a second gap for the first extension rod to be embedded is provided between two adjacent second extension rods, and when the third hydraulic cylinder drives the grabbing left grab and the grabbing right grab to move toward each other, the first extension rod can be embedded in the first gap, and the second extension rod can be embedded in the second gap until the trunk is grasped.

[0015] The present invention is further configured as follows: a synchronous controller for controlling the synchronous start of the second rotating component and the third hydraulic cylinder is arranged in the control room; during the operation of the synchronous controller, the second rotating component drives the frame to rotate, and the third hydraulic cylinder drives the left grab and the left and right grabs to move toward each other.

[0016] The present invention is further configured as follows: a triangular connector is provided between the connecting component and the lifting component, the frame body is connected to one end of the triangular connector by connecting a hydraulic cylinder, an end of the lifting component away from the frame body is hinged to the other end of the triangular connector, the connecting component is fixedly connected to the third end of the triangular connector, and the connecting hydraulic cylinders are started successively during the starting process of the lifting component.

[0017] The present invention is further configured as follows: a synchronous operating lever capable of simultaneously controlling the start of the first hydraulic cylinder and the lifting component is provided in the control room, and during the operation of the synchronous operating lever, the first hydraulic cylinder and the lifting component can be raised and lowered at the same time.

[0018] In summary, the present invention has the following beneficial effects: First, before the digging device performs the digging operation, the gripping device has a certain positioning effect. Since the gripping device is compact in structure relative to the digging device and can abut against and grip the tree trunk, the gripping device can grip the tree trunk while the digging device can be appropriately distributed on the four sides of the tree, thereby ensuring that the tree can be kept in the center of the soil ball after digging; Second, after the digging device performs the digging operation, since the digging device is relatively heavy, the tree can be flexibly moved by controlling the gripping device, and can be accurately dropped and transferred into place, thereby reducing human assistance, avoiding communication errors between the commander and the operator, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the transplanter;

[0020] Figure 2 is a schematic diagram of the three-dimensional structure of the gripping device;

[0021] Figure 3 is a schematic diagram of the three-dimensional structure of the connecting parts;

[0022] Figure 4 This is a schematic diagram of the placement of the left grip and the right grip;

[0023] Figure 5 is a schematic diagram of the positioning device structure;

[0024] Figure 6 It is a three-dimensional structural schematic diagram of the excavation component;

[0025] Figure 7 A cross-sectional view of a digging shovel.

[0026] Figure numerals: 1, frame; 11, second rotating component; 12, triangular connector; 13, connecting hydraulic cylinder; 14, first rotating component; 18, water tank; 181, water pipe; 182, water pump; 2, crawler moving device; 3, gripping device; 31, first moving arm; 32, second moving arm; 33, gripping component; 331, left gripping; 3311, first gripping center plate; 3312, first extension rod; 3313, first gap; 332, right gripping; 3321, second gripping center plate; 3322, second extension rod; 3323, second gap; 333, third hydraulic cylinder; 34, first Hydraulic cylinder; 35, second hydraulic cylinder; 4, digging device; 41, digging component; 411, digging shell; 412, digging slide rail; 413, digging shovel; 4131, water inlet hole; 4132, drainage hole; 4133, water flow channel; 414, digging hydraulic cylinder; 42, connecting component; 421, fixed ring; 422, arc ring; 423, ring hydraulic cylinder; 43, lifting component; 44, water tank; 441, water outlet; 442, push button switch; 5, control room; 6, positioning device; 61, positioning block; 62, sliding groove; 63, positioning plate; 64, positioning pin; 65, positioning hole; 66, through hole. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The same parts are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0028] Reference Figures 1 to 7 As shown, in order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fruit tree transplanter, comprising a crawler moving device 2 arranged below a frame 1 for driving the frame 1 to move, a gripping device 3 arranged on the frame 1 for gripping a tree trunk, a digging and carrying device 4 arranged on the frame 1 for digging and transferring trees in the land together with a soil ball, and a control room 5 arranged above the frame 1 for controlling the crawler moving device 2, the digging and carrying device 4 and the gripping device 3;

[0029] The gripping device 3 includes a first movable arm 31 hinged at the front end of the frame body 1, a second movable arm 32 hinged to the end of the first movable arm 31 away from the frame body 1, and a gripping component 33 arranged at the end of the second movable arm 32 away from the first movable arm 31. The frame body 1 is provided with a first hydraulic cylinder 34 for driving the first movable arm 31 to rotate. The first hydraulic cylinder 34 drives the gripping component 33 to move downwardly forward or upwardly backward during the movement of the first movable arm 31. The first movable arm 31 is provided with a second hydraulic cylinder 35 for driving the second movable arm 32 to rotate. The second hydraulic cylinder 35 drives the gripping component 33 to move downwardly backward or upwardly forward during the movement of the second movable arm 32. A first rotating component 14 for controlling the rotation of the gripping device 3 is arranged between the gripping device 3 and the frame body 1.

[0030] The gripping device 3 has the following two functions: First, before the digging device 4 performs the digging operation, the gripping device 3 has a certain positioning function. Since the gripping device 3 is compact in structure relative to the digging device 4, the gripping component 33 can first abut against the tree trunk for gripping, so that the gripping device 3 can grip the tree trunk while the digging device 4 can be appropriately distributed on the four sides of the tree. As long as the gripping device 3 is initially set in the middle of the digging device 4, it can ensure that the tree can be kept in the center of the soil ball after digging; Second, after the digging device 4 performs the digging operation, since the digging device 4 is relatively heavy, the gripping device 3 can be controlled to allow the tree to be flexibly moved and accurately dropped and transferred into place, thereby reducing human assistance, avoiding communication errors between the commander and the operator, and improving work efficiency. The gripping device 3 is moved at all angles by the first hydraulic cylinder 34, the second hydraulic cylinder 35, and the first rotating component 14, and the control is flexible and convenient.

[0031] The digging device 4 includes a plurality of digging parts 41 for digging, a connecting part 42 for connecting the plurality of digging parts 41 and controlling the plurality of digging parts 41 to open and close to surround the tree, and a lifting part 43 connected to the connecting part 42 and driving the digging parts 41 and the connecting part 42 to move. The digging parts 41 can be designed as an arc structure and a diamond structure. The digging parts 41 are arranged in an arc structure. Compared with the diamond structure, more soil can be wrapped therein, thereby protecting the tree roots from being damaged to the greatest extent. However, the digging slide rail 412 matched therewith is also an arc structure, which requires a special manufacturing process during manufacturing and has a high manufacturing cost. Although the diamond-shaped digging part 41 does not wrap the soil ball area as well as the digging part 41 with an arc structure, it has a higher ability to cut the soil due to its flat surface. In terms of manufacturing, because the digging slide rail 412 matched therewith is a linear guide rail, the manufacturing cost is low, saving production cost. One end of the lifting part 43 is arranged at the rear end of the frame 1. Considering that the front end of the digging device 4 will bear a lot of weight of the tree and the soil ball when digging the tree, in order to prevent the movement of the digging device 4, the digging slide rail 412 is a linear guide rail. The implanter tilts forward, and one end of the lifting component 43 is set at the rear end of the frame 1, thereby extending the force arm and reducing the possibility of tilting forward. One end of the lifting component 4343 is set at the rear end of the frame 11, and the connecting component 42 includes a fixed ring 421 set in a semicircular structure and fixedly connected to the lifting component 43, and an arc ring 422 hinged to both ends of the fixed ring 421, and a ring hydraulic cylinder 423 set on the fixed ring 421 for driving the arc ring 422 to rotate outward or inward. The rings 422 are all equipped with digging components 41; first, the connecting components 42 are opened and closed by the circular ring hydraulic cylinder 423, and then the digging components 41 are moved to the surrounding side of the tree to be transplanted by the crawler moving device 2, and finally the connecting components 42 are closed so that the digging components 41 can be close to the tree to be transplanted, and the opening and closing of the connecting components 42 are achieved by the circular ring hydraulic cylinder 423, and the opening and closing are stable. The diameters of the fixed circular ring 421 and the arc circular ring 422 are obtained according to the diameter of the soil ball, and different specifications of connecting components 42 are adapted to transplanters of different specifications.

[0032] A second rotating component 11 for controlling the rotation of the frame 1 is provided between the crawler moving device 2 and the frame 1. Necessity of the existence of the second rotating component 11: 1. If the second rotating component 11 does not exist, the transplanter will move to the side of the soil pit to be planted, and then perform the planting operation through the gripping device 3. It is impossible to directly drive straight to the top of the relative position of the soil pit, and move the digging device 4 away for planting operations. Planting too far to the side is likely to cause the problem of inadequate planting, and the planting process is more restricted by geographical conditions; 2. It is impossible to make the excavated trees located in the center of the soil ball through reasonable coordination.

[0033] When the transplanter transfers the tree to the designated position, the restrictive effect of the digging device 4 on the tree and the soil ball is first released through the connecting component 42, and the gripping device 3 can drive the tree forward to escape from the range of the digging device 4 or move the tree upward to escape from the range of the digging device 4 through the first movable arm 31 and the second movable arm 32, and then the gripping device 3 is staggered with the digging device 4 by rotating the second rotating component 11 and the first rotating component 14, so as to provide sufficient moving space for the gripping device 3 and sufficient operating field of view for the user, and finally the tree is planted through the gripping device 3.

[0034] The excavation component 41 includes an excavation shell 411 fixedly connected to the connection component 42, an excavation slide rail 412 arranged along the height direction of the excavation shell 411, an excavation shovel 413 slidably connected to the excavation slide rail 412, and an excavation hydraulic cylinder 414 arranged on the excavation shell 411 for driving the excavation shovel 413 to move along the excavation slide rail 412. The excavation component 41 moved into position is first distributed around the tree to be transplanted through the connection component 42, and then the excavation shovel 413 is inserted into the soil through the excavation hydraulic cylinder 414, and finally it is pulled up with the soil and roots through the lifting component 43. The excavation component 41 can also be used as a container during the lifting and transportation process to prevent the soil ball from being scattered, thereby improving the survival rate of the tree.

[0035] The frame 1 is provided with a water tank 18, a water pipe 181 and a water pump 182 for conveying the liquid in the water tank 18. The upper end of the excavation shell 411 is provided with a water tank 44 connected with the water tank 18 through the water pipe 181. The lower side wall of the water tank 44 abuts against the upper end of the excavating shovel 413 in the working state and is provided with a water outlet 441 for the liquid in the water tank 44 to flow out. The lower side wall of the water tank 44 is provided with a push button switch 442 for controlling the water pump 182. When all the excavating shovels 413 abut against the push button switch 442, the water pump 182 drives the liquid in the water tank 18 to flow into the water tank 44 through the water pipe 181. The design of the water tank 18 and the water storage tank 44 can humidify the soil during transplantation, which is convenient for digging on the one hand and protects the roots on the other hand to improve the survival rate of transplantation; the design of the water pump 182 and the push button switch 442 can carry out quantitative watering to ensure that there is no excessive watering and no waste of water caused by continuous watering.

[0036] The end of the digging shovel 413 facing the water tank 44 is provided with a plurality of water inlet holes 4131. When the digging shovel 413 is attached to the lower side wall of the water tank 44, the position of the water outlet hole 441 does not overlap with the position of the water inlet hole 4131. The side of the digging shovel 413 facing the tree is provided with a plurality of drainage holes 4132. The drainage holes 4132 are arranged along the height direction of the digging shovel 413 and are connected to the water inlet holes 4131 one by one through the water flow channel 4133. When the digging hydraulic cylinder 414 drives the digging shovel 413 to move, part of the liquid in the water tank 44 flows from the water inlet hole 4131 to the drainage hole 4132. The liquid flows out of the water outlet hole 441 during the digging process, which may be caused by the soil quality problem: the liquid accumulates on the surface of the soil ball and cannot penetrate into the soil ball in the first time, resulting in the liquid flowing out from between the two digging components 41 during the movement, causing waste; the liquid gradually penetrates into the soil ball, resulting in the soil at the upper end being moist and the soil at the lower end being dry, and unable to be properly moistened. The liquid flows in through the water inlet holes 4131 at different positions, flows out from the different water outlet holes 441 through the water flow channel 4133, thereby humidifying the surrounding side of the soil ball in all directions. Compared with humidifying only from the top to the bottom, the humidification is comprehensive.

[0037] A positioning device 6 is fixedly installed on the outer wall of the fixed ring 421, and the positioning device 6 includes a positioning block 61 fixedly connected to the outer wall of the fixed ring 421, a sliding groove 62 arranged along the height direction of the positioning block 61, a positioning plate 63 with one end abutting the ground and the other end inserted into the sliding groove 62, and a positioning pin 64 for connecting the positioning plate 63 to the positioning block 61. The positioning plate 63 is provided with a plurality of positioning holes 65 evenly arranged along the height direction, and the end of the positioning block 61 away from the fixed ring 421 is provided with a through hole 66 connected to the sliding groove 62, and the positioning pin 64 is inserted into the positioning hole 65 through the through hole 66. Digging a soil ball with a larger diameter not only consumes energy, but multiple deep digging will also accelerate the wear of the digging shovel 413, resulting in a short service life of the digging shovel 413. In addition, unreasonable control of the digging range can easily cause damage to the surrounding soil layer. Therefore, it is necessary to reasonably control the digging depth. The positioning device 6 is used to control the height between the connecting component 42 and the ground, so as to achieve the effect of controlling the digging depth and reducing the height of the soil ball to suit the digging of trees with smaller breast diameters.

[0038] The grabbing component 33 includes a grabbing left grab 331 and a grabbing right grab 332 which are capable of enclosing and wrapping the tree trunk and are arranged in an arc-shaped structure, and a third hydraulic cylinder 333 which is arranged on the second moving arm 32 and is used to drive the grabbing left grab 331 and the grabbing right grab 332 to move toward or away from each other. The grabbing left grab 331 includes a first grabbing center plate 3311 which abuts against the tree trunk, and a first extension rod 3312 which is arranged at both ends of the first grabbing center plate 3311 along the circumferential direction of the tree trunk. A plurality of first extension rods 3312 are arranged and are evenly arranged along the height direction of the tree trunk. The grabbing right grab 332 includes a second grabbing center plate 3321 which abuts against the tree trunk, and a first extension rod 3312 which is arranged at the second grabbing center plate 3321 which abuts against the tree trunk. Take the second extension rods 3322 on the two ends of the central plate 3321 along the circumferential direction of the trunk, there are multiple second extension rods 3322 and they are evenly arranged along the height direction of the trunk, a first gap 3313 for the second extension rod 3322 to be embedded is provided between two adjacent first extension rods 3312, and a second gap 3323 for the first extension rod 3312 to be embedded is provided between two adjacent second extension rods 3322, and the third hydraulic cylinder 333 drives the left grab 331 and the right grab 332 to move toward each other, so that the first extension rod 3312 can be embedded in the first gap 3313, and the second extension rod 3322 can be embedded in the second gap 3323 until the trunk is grasped. The grasping component 33 imitates the action of the left and right hands slowly moving together when grasping. When it is necessary to grasp a tree with a smaller diameter at breast height, the left grasping component 331 and the right grasping component 332 continue to move together just like the left and right hands interlaced with each other, gradually closing together until the tree trunk is tightly grasped. This structural design not only has stable grasping, but can also be applied to trees with different diameters at breast height, and has a wider range of applications.

[0039] A synchronous controller for controlling the synchronous start of the second rotating component 11 and the third hydraulic cylinder 333 is provided in the control room 5. During the operation of the synchronous controller, the second rotating component 11 drives the frame 1 to rotate, and the third hydraulic cylinder 333 drives the grabbing left grip 331 and the grabbing left and right grips to move toward each other. While the second rotating component 11 rotates, the grabbing left grip 331 and the grabbing right grip 332 gradually move toward each other, making the operation simpler, until the grabbing left grip 331 and the grabbing right grip 332 tightly grasp the tree trunk, and the digging and carrying device 4 will also rotate with the rotation of the rotating component, so that the tree is always located in the center of the digging and carrying device 4 in the left and right directions.

[0040] A triangular connector 12 is arranged between the connecting component 42 and the lifting component 43. The frame 1 is connected to one end of the triangular connector 12 through a connecting hydraulic cylinder 13. The end of the lifting component 43 away from the frame 1 is hinged to the other end of the triangular connector 12. The connecting component 42 is fixedly connected to the third end of the triangular connector 12. During the starting process of the lifting component 43, the connecting hydraulic cylinders 13 are started successively. The design of the triangular connector 12: first, it serves as a connection between the excavating component 41 and the lifting component 43 of the fruit tree transplanter; second, it can realize the rotation of the connecting component 42 around a fixed support rod through the connecting hydraulic cylinder 13 on the transplanter frame 1, so that the excavating component 41 can always remain level with the ground, thereby improving the quality of soil ball excavation.

[0041] A synchronous operating lever is provided in the control room 5, which can simultaneously control the start of the first hydraulic cylinder 34 and the lifting component 43. During the operation of the synchronous operating lever, the first hydraulic cylinder 34 and the lifting component 43 can be raised and lowered at the same time. During the process of the lifting component 43 lifting the tree, the gripping device 3 needs to be moved together to avoid breaking or bending the tree. The synchronous operating lever can be reasonably set to achieve the simultaneous raising and lowering of the first hydraulic cylinder 34 and the lifting component 43, reduce the requirements for manual operation, and ensure the smooth progress of the lifting process. When the synchronous operating lever is not in use, the first hydraulic cylinder 34 and the lifting component 43 can be controlled by controlling their respective operating levers to achieve independent operation, thereby ensuring the independence and non-interference of the operation process.

[0042] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A fruit tree transplanter, characterized in that: The invention comprises a crawler moving device (2) arranged below a frame (1) for driving the frame (1) to move, a gripping device (3) arranged on the frame (1) for gripping a tree trunk, a digging device (4) arranged on the frame (1) for digging and transferring trees in the ground together with a soil ball, and a control room (5) arranged above the frame (1) for controlling the crawler moving device (2), the digging device (4) and the gripping device (3); The gripping device (3) comprises a first movable arm (31) hinged to the front end of the frame (1), a second movable arm (32) hinged to the end of the first movable arm (31) away from the frame (1), and a gripping component (33) arranged at the end of the second movable arm (32) away from the first movable arm (31); the frame (1) is provided with a first hydraulic cylinder (34) for driving the first movable arm (31) to rotate; the first hydraulic cylinder (34) drives the gripping component (33) to move downwardly forward or upwardly backward during the movement of the first movable arm (31); the first movable arm (31) is provided with a second hydraulic cylinder (35) for driving the second movable arm (32) to rotate; the second hydraulic cylinder (35) drives the gripping component (33) to move downwardly backward or upwardly forward during the movement of the second movable arm (32); A first rotating component (14) for controlling the rotation of the gripping device (3) is provided between the gripping device (3) and the frame (1); The digging and carrying device (4) comprises a plurality of digging components (41) for digging, a connecting component (42) for connecting the plurality of digging components (41) and controlling the plurality of digging components (41) to open and close to surround trees, and a lifting component (43) connected to the connecting component (42) and driving the digging components (41) and the connecting component (42) to move. One end of the lifting component (43) is arranged at the rear end of the frame (1). The connecting component (42) comprises a fixed ring (421) arranged in a semicircular structure and fixedly connected to the lifting component (43), an arc-shaped ring (422) respectively hinged to both ends of the fixed ring (421), and a ring hydraulic cylinder (423) arranged on the fixed ring (421) for driving the arc-shaped ring (422) to rotate outward or inward. The digging components (41) are both installed on the fixed ring (421) and the arc-shaped ring (422). The excavating component (41) comprises an excavating shell (411) fixedly connected to the connecting component (42), an excavating slide rail (412) arranged along the height direction of the excavating shell (411), an excavating shovel (413) slidably connected to the excavating slide rail (412), and an excavating hydraulic cylinder (414) arranged on the excavating shell (411) for driving the excavating shovel (413) to move along the excavating slide rail (412); The frame (1) is provided with a water tank (18), a water pipe (181) and a water pump (182) for conveying liquid out of the water tank (18); the upper end of the excavation shell (411) is provided with a water tank (44) connected to the water tank (18) through the water pipe (181); the lower side wall of the water tank (44) abuts against the upper end of the excavation shovel (413) in a working state and is provided with a water outlet (441) for the liquid in the water tank (44) to flow out; the lower side wall of the water tank (44) is provided with a push button switch (442) for controlling the water pump (182); when all the excavation shovels (413) abut against the push button switch (442), the water pump (182) drives the liquid in the water tank (18) to flow into the water tank (44) through the water pipe (181); A second rotating component (11) for controlling the rotation of the frame (1) is provided between the crawler moving device (2) and the frame (1); The end of the digging shovel (413) facing the water tank (44) is provided with a plurality of water inlet holes (4131); when the digging shovel (413) is in contact with the lower side wall of the water tank (44), the position of the water outlet hole (441) does not overlap with the position of the water inlet hole (4131); the side of the digging shovel (413) facing the tree is provided with a plurality of drainage holes (4132); the drainage holes (4132) are arranged in a row along the height direction of the digging shovel (413) and are connected to the water inlet holes (4131) in a one-to-one correspondence through the water flow channel (4133); when the digging hydraulic cylinder (414) drives the digging shovel (413) to move, part of the liquid in the water tank (44) flows from the water inlet hole (4131) into the drainage hole (4132) and flows out; A positioning device (6) is fixedly mounted on the outer wall of the fixed circular ring (421), and the positioning device (6) comprises a positioning block (61) fixedly connected to the outer wall of the fixed circular ring (421), a sliding groove (62) arranged along the height direction of the positioning block (61), a positioning plate (63) with one end abutting against the ground and the other end inserted into the sliding groove (62), and a positioning pin (64) for connecting the positioning plate (63) and the positioning block (61), wherein the positioning plate (63) is evenly arranged with a plurality of positioning holes (65) along the height direction, and a through hole (66) connected to the sliding groove (62) is arranged at one end of the positioning block (61) away from the fixed circular ring (421), and the positioning pin (64) is inserted into the positioning hole (65) through the through hole (66).

2. A fruit tree transplanter according to claim 1, characterized in that: The grabbing component (33) comprises a grabbing left grab (331) and a grabbing right grab (332) which are capable of enclosing and wrapping the tree trunk and are arranged in an arc-shaped structure, and a third hydraulic cylinder (333) arranged on the second movable arm (32) for driving the grabbing left grab (331) and the grabbing right grab (332) to move toward or away from each other, the grabbing left grab (331) comprising a first grabbing center plate (3311) abutting against the tree trunk, and first extension rods (3312) arranged on both ends of the first grabbing center plate (3311) along the circumference of the tree trunk, a plurality of first extension rods (3312) are arranged and are uniformly arranged along the height direction of the tree trunk, the grabbing right grab (332) comprises a second grabbing center plate (3321) abutting against the tree trunk, and a first extension rod (3312) arranged on the second grabbing center plate (3321) The grab center plate (3321) is provided with second extension rods (3322) at both ends of the trunk in the circumferential direction. The second extension rods (3322) are provided in plurality and are evenly arranged along the height direction of the trunk. A first gap (3313) for the second extension rod (3322) to be embedded is provided between two adjacent first extension rods (3312), and a second gap (3323) for the first extension rod (3312) to be embedded is provided between two adjacent second extension rods (3322). When the third hydraulic cylinder (333) drives the grab left grip (331) and the grab right grip (332) to move toward each other, the first extension rod (3312) can be embedded in the first gap (3313), and the second extension rod (3322) can be embedded in the second gap (3323) until the trunk is grasped.

3. A fruit tree transplanter according to claim 2, characterized in that: The control room (5) is provided with a synchronous controller for controlling the synchronous start of the second rotating component (11) and the third hydraulic cylinder (333). During the operation of the synchronous controller, the second rotating component (11) drives the frame (1) to rotate, and the third hydraulic cylinder (333) drives the left grabbing grip (331) and the right grabbing grip (332) to move towards each other.

4. The fruit tree transplanter according to claim 1, characterized in that: A triangular connecting member (12) is provided between the connecting member (42) and the lifting member (43); the frame (1) is connected to one end of the triangular connecting member (12) via a connecting hydraulic cylinder (13); one end of the lifting member (43) away from the frame (1) is hinged to the other end of the triangular connecting member (12); the connecting member (42) is fixedly connected to the third end of the triangular connecting member (12); and during the starting process of the lifting member (43), the connecting hydraulic cylinder (13) is started successively.

5. The fruit tree transplanter according to claim 1, characterized in that: The control room (5) is provided with a synchronous operating lever capable of simultaneously controlling the activation of the first hydraulic cylinder (34) and the lifting component (43); during the operation of the synchronous operating lever, the first hydraulic cylinder (34) and the lifting component (43) can be raised and lowered simultaneously.

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