A wheeled intelligent tree-planting robot

Abstract

A wheeled intelligent tree planting robot comprises a wheeled frame, a sapling storage and delivery mechanism, a watering mechanism, a tree planting station conversion mechanism, a pit digging mechanism, a sapling pit dropping mechanism and a soil tamping mechanism; the sapling storage and delivery mechanism and the watering mechanism are arranged on the top of the wheeled frame; the tree planting station conversion mechanism is arranged inside the wheeled frame; the pit digging mechanism, the sapling pit dropping mechanism and the soil tamping mechanism are evenly arranged on the tree planting station conversion mechanism along the circumferential direction. The sapling is moved to the sapling buffer cylinder of the sapling pit dropping mechanism through the sapling storage and delivery mechanism, the tree pit is first excavated by the pit digging mechanism, and then the sapling pit dropping mechanism is moved to the top of the tree pit by the tree planting station conversion mechanism, the cover plate at the bottom of the sapling buffer cylinder is opened, and the sapling falls from the sapling buffer cylinder into the dug tree pit, and then the soil tamping mechanism is moved to the top of the tree pit where the sapling is dropped by the tree planting station conversion mechanism, and the soil around the pit mouth is backfilled into the pit by the soil tamping mechanism, and the backfill soil is compacted, and finally watering is completed.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a wheeled intelligent tree-planting robot. Background Art

[0002] In order to deal with land desertification, afforestation is almost the only option. However, at this stage, tree planting is still mainly done manually. Although some processes in the whole process of tree planting have been replaced by fully automatic equipment, these fully automatic equipment have a single function and only serve the purpose of assisting manual work. They cannot achieve full-process automation, and other processes in the whole process of tree planting still need to be completed manually. Therefore, at this stage, tree planting work always has the disadvantages of high labor intensity and low work efficiency. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a wheeled intelligent tree-planting robot that can replace manual labor to complete the entire process of tree planting operations. Compared with traditional manual tree planting methods, it greatly reduces labor intensity and further improves work efficiency.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a wheeled intelligent tree planting robot, comprising a wheeled frame, a seedling storage and delivery mechanism, a watering mechanism, a tree planting station conversion mechanism, a hole digging mechanism, a seedling falling hole mechanism and a tamping mechanism; the seedling storage and delivery mechanism and the watering mechanism are arranged on the top of the wheeled frame; the tree planting station conversion mechanism is arranged inside the wheeled frame; the hole digging mechanism, the seedling falling hole and the tamping mechanism are evenly distributed along the circumference on the tree planting station conversion mechanism.

[0005] The wheeled frame includes a frame top plate, frame columns, a frame bottom plate and electric-driven running wheels; the frame top plate is horizontally fixed on the top of the frame columns; the frame bottom plate is horizontally fixed on the bottom of the frame columns; the electric-driven running wheels are distributed at the four corner points of the frame bottom plate.

[0006] The sapling storage and delivery mechanism comprises a sapling storage box, a sapling out-box rotating shaft, a sapling out-box lever, a sapling out-box executing motor, a sapling delivery slide and a sapling delivery executing motor; the sapling storage box is fixedly mounted on the top plate of the frame, and a sapling out-box opening is opened in the middle and lower part of a side vertical plate of the sapling storage box; the sapling out-box executing motor is horizontally fixedly mounted on the side vertical plate of the sapling storage box adjacent to the sapling out-box opening; the sapling out-box rotating shaft is located inside the sapling out-box opening, one end of the sapling out-box rotating shaft is coaxially fixedly connected with the motor shaft of the sapling out-box executing motor, and the other end of the sapling out-box rotating shaft is rotatably connected to the side vertical plate of the sapling storage box; the sapling out-box lever is fixedly mounted on the sapling out-box rotating shaft; the sapling delivery slide is located outside the sapling out-box opening, one end of the sapling delivery slide is a free end, and the other end of the sapling delivery slide is fixedly connected to the motor shaft of the sapling delivery executing motor, and the sapling delivery executing motor is fixedly mounted on the top plate of the frame.

[0007] The watering mechanism includes a water tank, a water pump, a water suction pipe and a watering pipe; the water tank is fixedly installed on the top plate of the frame; the water pump is fixedly installed outside the water tank, the water suction port of the water pump is connected to the inside of the water tank through the water suction pipe, and the water outlet of the water pump is connected to the watering pipe.

[0008] The tree planting station conversion mechanism includes a tree planting station conversion execution motor, a tree planting station conversion frame and an anti-friction universal ball wheel; the tree planting station conversion execution motor is fixedly mounted on the top plate of the frame, and the motor shaft of the tree planting station conversion execution motor is fixedly connected to the top center of the tree planting station conversion frame; the anti-friction universal ball wheel is evenly distributed along the circumferential direction at the bottom of the tree planting station conversion frame, and the tree planting station conversion frame is in rolling contact with the frame bottom plate through the anti-friction universal ball wheel.

[0009] The pit digging mechanism includes a pit digging execution motor, a pit digging mechanism lead screw, a pit digging mechanism nut slider, a spiral pit digging drill rod, a drill rod driving motor and a pit digging mechanism guide optical axis; the pit digging execution motor is vertically fixed on the tree planting station conversion frame; the lower end of the pit digging mechanism lead screw is coaxially fixedly connected to the motor shaft of the pit digging execution motor, and the upper end of the pit digging mechanism lead screw is rotatably connected to the tree planting station conversion frame through the pit digging mechanism bearing seat; the nut section of the pit digging mechanism nut slider is sleeved on the pit digging mechanism lead screw, and the slider section of the pit digging mechanism nut slider is sleeved on the pit digging mechanism guide optical axis; the pit digging mechanism guide optical axis is vertically arranged, and the upper and lower ends of the pit digging mechanism guide optical axis are fixedly connected to the tree planting station conversion frame through the pit digging mechanism fixing seat; the drill rod driving motor is vertically fixedly installed on the extension section of the pit digging mechanism nut slider; the top of the spiral pit digging drill rod is coaxially fixedly connected to the motor shaft of the drill rod driving motor.

[0010] The sapling falling-pit mechanism comprises a sapling guide baffle, a sapling falling hole, a sapling buffer tube, a sapling buffer support cover plate, a cover plate flipping execution motor, a sapling falling-pit execution motor, a sapling falling-pit mechanism lead screw, a sapling falling-pit mechanism nut slider and a sapling falling-pit mechanism guide optical axis; the sapling falling-pit execution motor is vertically fixed on the tree planting station conversion frame; the lower end of the sapling falling-pit mechanism lead screw is coaxially fixed with the motor shaft of the sapling falling-pit execution motor, and the upper end of the sapling falling-pit mechanism lead screw is rotatably connected to the tree planting station conversion frame through the sapling falling-pit mechanism bearing seat; the nut section of the sapling falling-pit mechanism nut slider is mounted on the sapling falling-pit mechanism lead screw, and the slider section of the sapling falling-pit mechanism nut slider is mounted on the sapling falling-pit mechanism guide optical axis; the tree The guide optical axis of the seedling falling-pit mechanism is arranged vertically, and the upper and lower ends of the guide optical axis of the seedling falling-pit mechanism are fixedly connected to the tree planting station conversion frame through the seedling falling-pit mechanism fixing seat; the seedling falling hole is arranged on the frame top plate and is located obliquely below the motor connection end of the seedling sending slide; the seedling guide baffle is fixedly mounted on the frame top plate and is located above the seedling falling hole; the seedling buffer cylinder is vertically fixed on the extension section of the nut slider of the seedling falling-pit mechanism, and the upper end tube mouth of the seedling buffer cylinder is an open structure; the seedling buffer support cover plate is located at the lower end tube mouth of the seedling buffer cylinder; the cover plate flipping execution motor is horizontally fixed on the bottom side tube wall of the seedling buffer cylinder, and the motor shaft of the cover plate flipping execution motor is fixedly connected to the seedling cache support cover plate.

[0011] The tamping mechanism includes an electric push rod and a tamping head; the electric push rod is vertically arranged with the push rod end facing downward, and the shell end of the electric push rod is fixedly connected to the tree planting station conversion frame through an adapter frame; the tamping head is fixedly connected to the push rod end of the electric push rod.

[0012] Beneficial effects of the present invention:

[0013] The wheeled intelligent tree-planting robot of the present invention can replace manual labor to implement the full-process tree planting operation. Compared with the traditional manual tree planting method, it greatly reduces the labor intensity and further improves the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a wheeled intelligent tree-planting robot of the present invention;

[0015] Figure 2 This is a structural schematic diagram of a wheeled intelligent tree-planting robot of the present invention (the sapling storage and delivery mechanism and the watering mechanism are not shown);

[0016] Figure 3 It is a schematic structural diagram of the wheeled frame of the present invention;

[0017] Figure 4 It is a structural schematic diagram of the sapling storage and delivery mechanism of the present invention;

[0018] Figure 5 It is a structural schematic diagram of the watering mechanism of the present invention;

[0019] Figure 6 It is a schematic diagram of the structure of the combination of the tree planting station conversion mechanism, the pit digging mechanism, the seedling pit dropping mechanism and the soil tamping mechanism of the present invention;

[0020] Figure 7 It is a schematic diagram of the structure of the combination of the tree planting station conversion mechanism (partial), the pit digging mechanism, the seedling pit dropping mechanism and the soil tamping mechanism of the present invention (viewing angle 1);

[0021] Figure 8 It is a schematic diagram of the structure of the combination of the tree planting station conversion mechanism (partial), the pit digging mechanism, the seedling pit dropping mechanism and the soil tamping mechanism of the present invention (viewing angle 2);

[0022] Fig. 9 It is a schematic diagram of the structure of the combination of the tree planting station conversion mechanism (partial), the pit digging mechanism, the seedling pit dropping mechanism and the soil tamping mechanism of the present invention (viewing angle 3);

[0023] In the figure, I—wheeled frame, II—seedling storage and delivery mechanism, III—watering mechanism, IV—tree planting station conversion mechanism, V—pit digging mechanism, VI—seedling pitting mechanism, VII—soil tamping mechanism, 1—frame top plate, 2—frame column, 3—frame bottom plate, 4—electrically driven walking wheel, 5—seedling storage box, 6—seedling out of box rotating shaft, 7—seedling out of box lever, 8—seedling out of box execution motor, 9—seedling delivery slide, 10—seedling delivery execution motor, 11—seedling out of box port, 12—water tank, 13—water pump, 14—watering pipe, 15—watering pipe, 16—tree planting station conversion execution motor, 17—tree planting station conversion frame, 18—friction-reducing universal ball wheel, 19—pit digging Executing motor, 20—digging mechanism lead screw, 21—digging mechanism nut slider, 22—spiral digging drill rod, 23—drill rod driving motor, 24—digging mechanism guide optical axis, 25—digging mechanism bearing seat, 26—digging mechanism fixed seat, 27—sapling guide baffle, 28—sapling falling hole, 29—sapling buffer tube, 30—sapling buffer support cover, 31—cover flipping executing motor, 32—sapling falling into the pit executing motor, 33—sapling falling into the pit mechanism lead screw, 34—sapling falling into the pit mechanism nut slider, 35—sapling falling into the pit mechanism guide optical axis, 36—sapling falling into the pit mechanism bearing seat, 37—sapling falling into the pit mechanism fixed seat, 38—electric push rod, 39—ramming head, 40—adapter frame. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 9As shown, a wheeled intelligent tree-planting robot comprises a wheeled frame I, a sapling storage and delivery mechanism II, a watering mechanism III, a tree-planting station conversion mechanism IV, a hole-digging mechanism V, a sapling pit-falling mechanism VI and a tamping mechanism VII; the sapling storage and delivery mechanism II and the watering mechanism III are arranged on the top of the wheeled frame I; the tree-planting station conversion mechanism IV is arranged inside the wheeled frame I; the hole-digging mechanism V, the sapling pit-falling mechanism VI and the tamping mechanism VII are evenly distributed on the tree-planting station conversion mechanism IV along the circumferential direction.

[0026] The wheeled frame I includes a frame top plate 1, a frame column 2, a frame bottom plate 3 and electric-driven running wheels 4; the frame top plate 1 is horizontally fixed on the top of the frame column 2; the frame bottom plate 3 is horizontally fixed on the bottom of the frame column 2; the electric-driven running wheels 4 are distributed at the four corner points of the frame bottom plate 3.

[0027] The sapling storage and delivery mechanism II includes a sapling storage box 5, a sapling out-box rotating shaft 6, a sapling out-box lever 7, a sapling out-box execution motor 8, a sapling delivery slide 9 and a sapling delivery execution motor 10; the sapling storage box 5 is fixedly installed on the frame top plate 1, and a sapling out-box opening 11 is opened in the middle and lower part of a side vertical plate of the sapling storage box 5; the sapling out-box execution motor 8 is horizontally fixed on the side vertical plate of the sapling storage box 5 adjacent to the sapling out-box opening 11; the sapling out-box rotating shaft 6 is located at the sapling out-box opening 11 inner side, one end of the sapling out-box rotating shaft 6 is coaxially fixedly connected with the motor shaft of the sapling out-box executing motor 8, and the other end of the sapling out-box rotating shaft 6 is rotatably connected to the side vertical plate of the sapling storage box 5; the sapling out-box lever 7 is fixedly installed on the sapling out-box rotating shaft 6; the sapling sending slide 9 is located outside the sapling out-box opening 11, one end of the sapling sending slide 9 is a free end, and the other end of the sapling sending slide 9 is fixedly connected with the motor shaft of the sapling sending executing motor 10, and the sapling sending executing motor 10 is fixedly installed on the frame top plate 1.

[0028] The watering mechanism III includes a water tank 12, a water pump 13, a water suction pipe 14 and a watering pipe 15; the water tank 12 is fixedly installed on the frame top plate 1; the water pump 13 is fixedly installed outside the water tank 12, the water suction port of the water pump 13 is connected to the inside of the water tank 12 through the water suction pipe 14, and the water outlet of the water pump 13 is connected to the watering pipe 15.

[0029] The tree planting station conversion mechanism IV includes a tree planting station conversion execution motor 16, a tree planting station conversion frame 17 and an anti-friction universal ball wheel 18; the tree planting station conversion execution motor 16 is fixedly installed on the frame top plate 1, and the motor shaft of the tree planting station conversion execution motor 16 is fixedly connected to the top center of the tree planting station conversion frame 17; the anti-friction universal ball wheel 18 is evenly distributed along the circumferential direction at the bottom of the tree planting station conversion frame 17, and the tree planting station conversion frame 17 is in rolling contact with the frame bottom plate 3 through the anti-friction universal ball wheel 18.

[0030] The digging mechanism V comprises a digging execution motor 19, a digging mechanism lead screw 20, a digging mechanism nut slider 21, a spiral digging drill rod 22, a drill rod driving motor 23 and a digging mechanism guide optical axis 24; the digging execution motor 19 is vertically fixed on the tree planting station conversion frame 17; the lower end of the digging mechanism lead screw 20 is coaxially fixedly connected to the motor shaft of the digging execution motor 19, and the upper end of the digging mechanism lead screw 20 is rotatably connected to the tree planting station conversion frame 17 through the digging mechanism bearing seat 25; the digging mechanism nut slider The nut section of block 21 is mounted on the lead screw 20 of the digging mechanism, and the slider section of the nut slider 21 of the digging mechanism is mounted on the guide optical axis 24 of the digging mechanism; the guide optical axis 24 of the digging mechanism is vertically arranged, and the upper and lower ends of the guide optical axis 24 of the digging mechanism are fixedly connected to the tree planting station conversion frame 17 through the digging mechanism fixing seat 26; the drill rod driving motor 23 is vertically fixed on the extension section of the nut slider 21 of the digging mechanism; the top end of the spiral digging drill rod 22 is coaxially fixed to the motor shaft of the drill rod driving motor 23.

[0031] The sapling falling-pit mechanism VI includes a sapling guide baffle 27, a sapling falling hole 28, a sapling buffer tube 29, a sapling buffer support cover plate 30, a cover plate flipping execution motor 31, a sapling falling-pit execution motor 32, a sapling falling-pit mechanism lead screw 33, a sapling falling-pit mechanism nut slider 34 and a sapling falling-pit mechanism guide optical axis 35; the sapling falling-pit execution motor 32 is vertically fixed on the tree planting station conversion frame 17; the lower end of the sapling falling-pit mechanism lead screw 33 is coaxially fixed with the motor shaft of the sapling falling-pit execution motor 32, and the upper end of the sapling falling-pit mechanism lead screw 33 is rotatably connected to the tree planting station conversion frame 17 through the sapling falling-pit mechanism bearing seat 36; the nut section of the sapling falling-pit mechanism nut slider 34 is sleeved on the sapling falling-pit mechanism lead screw 33, and the slider section of the sapling falling-pit mechanism nut slider 34 is sleeved on the sapling falling-pit mechanism guide optical axis 35 ; The guide optical axis 35 of the sapling falling pit mechanism is vertically arranged, and the upper and lower ends of the guide optical axis 35 of the sapling falling pit mechanism are fixedly connected to the tree planting station conversion frame 17 through the sapling falling pit mechanism fixing seat 37; the sapling falling hole 28 is arranged on the frame top plate 1 and is located obliquely below the motor connection end of the sapling sending slide 9; the sapling guide baffle 27 is fixedly installed on the frame top plate 1 and is located above the sapling falling hole 28; the sapling buffer tube 29 is vertically fixed on the extension section of the sapling falling pit mechanism nut slider 34, and the upper end tube mouth of the sapling buffer tube 29 is an open structure; the sapling buffer support cover plate 30 is located at the lower end tube mouth of the sapling buffer tube 29; the cover plate flipping execution motor 31 is horizontally fixed on the bottom side tube wall of the sapling buffer tube 29, and the motor shaft of the cover plate flipping execution motor 31 is fixedly connected to the sapling cache support cover plate 30.

[0032] The tamping mechanism VII includes an electric push rod 38 and a tamping head 39; the electric push rod 38 is vertically arranged with the push rod end facing downward, and the shell end of the electric push rod 38 is fixedly connected to the tree planting station conversion frame 17 through an adapter frame 40; the tamping head 39 is fixedly connected to the push rod end of the electric push rod 38.

[0033] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0034] First, select the tree planting area, then plan the driving route. Following the planned route, the tree planting robot moves to the first tree planting point.

[0035] When the tree planting robot moves to the first tree planting point, the drill rod driving motor 23 is first started, which in turn drives the spiral digging drill rod 22 to rotate, and then the digging execution motor 19 is started to drive the digging mechanism lead screw 20 to rotate, and then the rotating digging mechanism lead screw 20 converts the rotational motion into the downward linear motion of the digging mechanism nut slider 21. At this time, the drill rod driving motor 23 and the spiral digging drill rod 22 will synchronously follow the digging mechanism nut slider 21 to move downward. When the spiral digging drill rod 22 drills into the ground to a set depth, the digging execution motor 19 is first stopped and then started in reverse, driving the digging mechanism lead screw 20 to rotate in the opposite direction, and then the digging mechanism nut slider 21 moves upward in a straight line until the drill rod driving motor 23 and the spiral digging drill rod 22 synchronously follow the digging mechanism nut slider 21 to be lifted to the initial position, and finally the drill rod driving motor 23 is turned off, and the digging work is completed.

[0036] When the tree planting robot completes digging the hole, the tree planting station conversion execution motor 16 is started to drive the tree planting station conversion frame 17 to rotate as a whole until the seedling buffer tube 29 moves to the top of the tree hole, at which time the tree planting station conversion execution motor 16 is turned off.

[0037] When the sapling buffer tube 29 moves to the top of the tree pit, the sapling out-box execution motor 8 is started first to drive the sapling out-box rotating shaft 6 to rotate, and then drive the sapling out-box lever 7 to rotate, and a sapling in the sapling storage box 5 is pushed out of the sapling out-box opening 11 by the rotating sapling out-box lever 7, so that the sapling is moved to the sapling delivery slide 9, and then the sapling delivery execution motor 10 is started to drive the sapling delivery slide 9 to gradually tilt upward from a horizontal state. Under the action of gravity, the saplings on the sapling delivery slide 9 will slide down, and quickly pass through the sapling drop hole 28 under the interference of the sapling guide baffle 27, and finally fall into the sapling buffer tube 29 below. At this time, the sapling delivery execution motor 10 is started in the reverse direction until the sapling delivery slide 9 returns to its initial horizontal state.

[0038] When the sapling falls into the sapling buffer tube 29, the sapling falling into the pit execution motor 32 is first started to drive the sapling falling into the pit mechanism screw 33 to rotate, and then the rotating sapling falling into the pit mechanism screw 33 converts the rotational motion into the downward linear motion of the sapling falling into the pit mechanism nut slider 34. At this time, the sapling buffer tube 29 will synchronously follow the digging mechanism nut slider 21 to move downward until the vertical distance between the bottom of the sapling buffer tube 29 and the pit mouth reaches the set value. Then the sapling falling into the pit execution motor 32 is turned off, and then the cover flip execution motor 31 is started to open the sapling buffer support cover 30. Since there is no obstruction from the sapling buffer support cover 30, the saplings in the sapling buffer tube 29 will fall vertically into the tree pit below under the action of gravity.

[0039] When the sapling falls into the dug tree pit, the sapling falling into the pit execution motor 32 is started in reverse, driving the sapling falling into the pit mechanism lead screw 33 to rotate in the opposite direction, thereby lifting the sapling falling into the pit mechanism nut slider 34 to the initial position, and then the cover plate flipping execution motor 31 is started in reverse, so that the sapling buffer support cover plate 30 re-closes the bottom end of the sapling buffer tube 29, and the sapling falling into the pit work is completed.

[0040] After the sapling has been planted in the pit, the tree planting station conversion execution motor 16 is started to drive the tree planting station conversion frame 17 to rotate as a whole until the tamping head 39 moves to the top of the tree pit, and then the electric push rod 38 is started to extend the electric push rod 38 downward until the tamping head 39 rests on the ground around the pit mouth, and then the electric drive walking wheel 4 is started to move the tree planting robot horizontally, thereby driving the tamping head 39 to move synchronously, and the soil around the pit mouth is pushed into the tree pit by the moving tamping head 39 to complete the backfilling of the soil, and then the electric push rod 38 is controlled to retract upward, and then the tamping head 39 is moved to the top of the backfill soil through the movement of the tree planting robot, and then the electric push rod 38 is controlled to extend downward, and the backfill soil is compacted by the tamping head 39, and finally the electric push rod 38 is controlled to retract to the initial position.

[0041] When the backfill soil in the tree pit is compacted, start the water pump 13. Under the pumping action of the water pump 13, the water in the water tank 12 will be discharged into the backfill soil at the mouth of the tree pit through the pumping pipe 14, the water pump 13 and the watering pipe 15 in sequence, providing water for the growth of the seedlings. When the watering is completed, turn off the water pump 13.

[0042] When the saplings are watered, the tree planting robot continues to drive to the next tree planting location according to the planned route, and then starts the tree planting station conversion execution motor 16, driving the tree planting station conversion frame 17 to rotate as a whole, until the spiral hole digging drill rod 22 moves to the ground just above the pit to be dug, repeating the tree planting process at the first tree planting location, and completing the planting of the second sapling. By analogy, the sapling planting process can be completed continuously.

[0043] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims

1. A wheeled intelligent tree-planting robot, characterized in that: It includes a wheeled frame, a sapling storage and delivery mechanism, a watering mechanism, a tree planting station conversion mechanism, a pit digging mechanism, a sapling pit dropping mechanism and a soil tamping mechanism; the sapling storage and delivery mechanism and the watering mechanism are arranged on the top of the wheeled frame; the tree planting station conversion mechanism is arranged inside the wheeled frame; the pit digging mechanism, the sapling pit dropping mechanism and the soil tamping mechanism are evenly arranged on the tree planting station conversion mechanism along the circumferential direction; The wheeled frame includes a frame top plate, a frame column, a frame bottom plate and electric-driven running wheels; the frame top plate is horizontally fixedly mounted on the top of the frame column; the frame bottom plate is horizontally fixedly mounted on the bottom of the frame column; the electric-driven running wheels are distributed at four corner points of the frame bottom plate; The sapling storage and delivery mechanism comprises a sapling storage box, a sapling out-box rotating shaft, a sapling out-box lever, a sapling out-box executing motor, a sapling delivery slide and a sapling delivery executing motor; the sapling storage box is fixedly mounted on the top plate of the frame, and a sapling out-box opening is opened in the middle and lower part of a side vertical plate of the sapling storage box; the sapling out-box executing motor is horizontally fixedly mounted on the side vertical plate of the sapling storage box adjacent to the sapling out-box opening; the sapling out-box rotating shaft is located inside the sapling out-box opening, one end of the sapling out-box rotating shaft is coaxially fixedly connected with the motor shaft of the sapling out-box executing motor, and the other end of the sapling out-box rotating shaft is rotatably connected to the side vertical plate of the sapling storage box; the sapling out-box lever is fixedly mounted on the sapling out-box rotating shaft; the sapling delivery slide is located outside the sapling out-box opening, one end of the sapling delivery slide is a free end, and the other end of the sapling delivery slide is fixedly connected to the motor shaft of the sapling delivery executing motor, and the sapling delivery executing motor is fixedly mounted on the top plate of the frame; The sapling falling-pit mechanism comprises a sapling guide baffle, a sapling falling hole, a sapling buffer tube, a sapling buffer support cover plate, a cover plate flipping execution motor, a sapling falling-pit execution motor, a sapling falling-pit mechanism lead screw, a sapling falling-pit mechanism nut slider and a sapling falling-pit mechanism guide optical axis; the sapling falling-pit execution motor is vertically fixed on the tree planting station conversion frame; the lower end of the sapling falling-pit mechanism lead screw is coaxially fixed with the motor shaft of the sapling falling-pit execution motor, and the upper end of the sapling falling-pit mechanism lead screw is rotatably connected to the tree planting station conversion frame through the sapling falling-pit mechanism bearing seat; the nut section of the sapling falling-pit mechanism nut slider is mounted on the sapling falling-pit mechanism lead screw, and the slider section of the sapling falling-pit mechanism nut slider is mounted on the sapling falling-pit mechanism guide optical axis; the tree The guide optical axis of the seedling falling-pit mechanism is arranged vertically, and the upper and lower ends of the guide optical axis of the seedling falling-pit mechanism are fixedly connected to the tree planting station conversion frame through the seedling falling-pit mechanism fixing seat; the seedling falling hole is arranged on the frame top plate and is located obliquely below the motor connection end of the seedling sending slide; the seedling guide baffle is fixedly mounted on the frame top plate and is located above the seedling falling hole; the seedling buffer cylinder is vertically fixed on the extension section of the nut slider of the seedling falling-pit mechanism, and the upper end tube mouth of the seedling buffer cylinder is an open structure; the seedling buffer support cover plate is located at the lower end tube mouth of the seedling buffer cylinder; the cover plate flipping execution motor is horizontally fixed on the bottom side tube wall of the seedling buffer cylinder, and the motor shaft of the cover plate flipping execution motor is fixedly connected to the seedling cache support cover plate.

2. A wheeled intelligent tree-planting robot according to claim 1, characterized in that: The watering mechanism includes a water tank, a water pump, a water suction pipe and a watering pipe; the water tank is fixedly installed on the top plate of the frame; the water pump is fixedly installed outside the water tank, the water suction port of the water pump is connected to the inside of the water tank through the water suction pipe, and the water outlet of the water pump is connected to the watering pipe.

3. The wheeled intelligent tree-planting robot according to claim 1, characterized in that: The tree planting station conversion mechanism includes a tree planting station conversion execution motor, a tree planting station conversion frame and an anti-friction universal ball wheel; the tree planting station conversion execution motor is fixedly mounted on the top plate of the frame, and the motor shaft of the tree planting station conversion execution motor is fixedly connected to the top center of the tree planting station conversion frame; the anti-friction universal ball wheel is evenly distributed along the circumferential direction at the bottom of the tree planting station conversion frame, and the tree planting station conversion frame is in rolling contact with the frame bottom plate through the anti-friction universal ball wheel.

4. The wheeled intelligent tree-planting robot according to claim 3, characterized in that: The pit digging mechanism includes a pit digging execution motor, a pit digging mechanism lead screw, a pit digging mechanism nut slider, a spiral pit digging drill rod, a drill rod driving motor and a pit digging mechanism guide optical axis; the pit digging execution motor is vertically fixed on the tree planting station conversion frame; the lower end of the pit digging mechanism lead screw is coaxially fixedly connected to the motor shaft of the pit digging execution motor, and the upper end of the pit digging mechanism lead screw is rotatably connected to the tree planting station conversion frame through the pit digging mechanism bearing seat; the nut section of the pit digging mechanism nut slider is sleeved on the pit digging mechanism lead screw, and the slider section of the pit digging mechanism nut slider is sleeved on the pit digging mechanism guide optical axis; the pit digging mechanism guide optical axis is vertically arranged, and the upper and lower ends of the pit digging mechanism guide optical axis are fixedly connected to the tree planting station conversion frame through the pit digging mechanism fixing seat; the drill rod driving motor is vertically fixedly installed on the extension section of the pit digging mechanism nut slider; the top of the spiral pit digging drill rod is coaxially fixedly connected to the motor shaft of the drill rod driving motor.

5. The wheeled intelligent tree-planting robot according to claim 3, characterized in that: The tamping mechanism includes an electric push rod and a tamping head; the electric push rod is vertically arranged with the push rod end facing downward, and the shell end of the electric push rod is fixedly connected to the tree planting station conversion frame through an adapter frame; the tamping head is fixedly connected to the push rod end of the electric push rod.

Images