An automatic tree-planting vehicle and its usage method

Abstract

The present invention discloses an automatic tree planting vehicle and a method for using the same. The automatic tree planting vehicle comprises a vehicle frame, a hole drilling unit, a power unit, a delivery unit, a soil covering unit and a watering unit, wherein the delivery unit comprises a seedling storage component and a seedling delivery component; the vehicle frame is in two layers, the seedling storage component is arranged in the upper layer of the vehicle frame, and the seedling delivery component is arranged in the lower layer of the vehicle frame; the hole drilling unit is arranged on the vehicle frame, and the hole drilling unit is used to complete the hole digging, and the hole drilling unit and the seedling delivery unit are arranged on the axis of movement of the tree planting vehicle; the soil covering unit is arranged at the bottom of the vehicle frame, and the soil covering unit and the seedling delivery component are located on the same vertical axis; the watering unit is arranged in the lower layer of the vehicle frame, and the water outlet of the watering unit is aligned with the seedling delivery component; the power unit is used to provide power to the hole drilling unit, the delivery unit, the soil covering unit and the watering unit. The present invention uses a tree planting vehicle to replace manual labor, and realizes the tree planting work of continuous actions from hole drilling, seedling delivery, soil covering to watering, etc., with high automation and efficiency, and reduces labor intensity.

Description

Technical Field

[0001] The present invention relates to the technical field of afforestation, and particularly to an automatic tree-planting vehicle and a method for using the same. Background Art

[0002] Most of the existing desert tree-planting machines can only drill holes to reduce the manual input in drilling. The tree-planting robots currently being developed at home and abroad belong to modular robots, and different mechanisms are responsible for drilling, tree planting, landfilling, and watering respectively. However, there are still the following defects: 1. The tree-planting process is completed by single or multiple institutional modules, resulting in too many operating modules in the overall combination, complex structure, cumbersome connection schemes for different institutional units, reduced stability, and increased manufacturing and maintenance difficulties. 2. Manual assistance is required for cooperation. When placing saplings, manual screening is needed, increasing labor costs. 3. During the drilling process, it is easy for sand to flow back into the drilled holes; although the existing desert tree-planting machines soak the sand before drilling to solve the problem of sand backfill, after the saplings are placed, manual filling is required, which not only wastes labor costs but also has low efficiency.

[0003] In view of this, overcoming the defects of the existing technology is an urgent problem to be solved in this technical field. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is how to replace manual labor, improve the automation of the tree-planting process, and achieve accurate placement of saplings and covering the soil after the saplings are placed.

[0005] The embodiments of the present invention adopt the following technical solutions:

[0006] In a first aspect, the present invention provides an automatic tree-planting vehicle, including: a vehicle frame 1, a hole-drilling unit 2, a power unit 3, a sapling-placement unit 4, a soil-covering unit 5, and a watering unit 6. Among them, the sapling-placement unit 4 includes a sapling-storage assembly 41 and a sapling-throwing assembly 42;

[0007] The vehicle frame 1 has two layers, the sapling-storage assembly 41 is arranged inside the upper layer of the vehicle frame 1, the sapling-throwing assembly 42 is arranged inside the lower layer of the vehicle frame 1, and the sapling-throwing assembly 42 is docked with the sapling-storage assembly 41 to facilitate throwing the saplings in the sapling-storage assembly 41 into the sapling-throwing assembly 42 to complete the placement of the saplings;

[0008] The hole-drilling unit 2 penetrates through the upper and lower layers of the vehicle frame 1 and is arranged on the vehicle frame 1. The hole-drilling unit 2 is used to complete digging holes. The hole-drilling unit 2 and the sapling-throwing assembly 42 are arranged on the axis of the movement of the tree-planting vehicle to facilitate throwing the saplings into the holes dug by the hole-drilling unit 2;

[0009] The soil covering unit 5 is arranged at the bottom of the vehicle frame 1, and the soil covering unit 5 and the seedling throwing assembly 42 are located on the same vertical axis, so as to facilitate soil covering for the saplings thrown into the holes;

[0010] The watering unit 6 is arranged inside the lower layer of the vehicle frame 1, and the water outlet of the watering unit 6 is aligned with the seedling throwing assembly 42, so as to facilitate watering for the saplings thrown into the holes;

[0011] The power unit 3 is used to provide power for the hole drilling unit 2, the delivery unit 4, the soil covering unit 5 and the watering unit 6.

[0012] Preferably, the hole drilling unit 2 includes a drill bit 21, a connecting chuck 22, a drill bit protection tube 23, a sliding rod 24, a hollow push rod 25, a push rod fixing plate 26 and a push rod 27, wherein:

[0013] The drill bit protection tube 23 is sleeved on the sliding rod 24 and fixed on the vehicle frame 1; the push rod fixing plate 26 is arranged at a preset height with the upper surface of the vehicle frame 1 through the push rod 27, an installation hole 261 is arranged on the push rod fixing plate 26, and the hollow push rod 25 is inserted into the installation hole 261 for fixation;

[0014] One end of the drill bit 21 is connected with one end of the sliding rod 24 through the connecting chuck 22, and the other end of the sliding rod 24 is inserted into the hollow push rod 25, so as to facilitate the drill bit 21 to move up and down along the hollow push rod 25 for hole drilling.

[0015] Preferably, it further includes a traveling unit 7, and the traveling unit 7 includes a front wheel assembly 71 and a rear wheel assembly 72, wherein:

[0016] The front wheel assembly 71 includes a front wheel 711, a front wheel connecting rod 712 and a connecting rod fixing plate 713; the side surface of the connecting rod fixing plate 713 is connected with the bottom of the vehicle frame 1, a circular through hole 7131 is arranged in the middle of the connecting rod fixing plate 713, and the circular through hole 7131 of the connecting rod fixing plate 713 is arranged in the direction perpendicular to the axial direction of the tree planting vehicle. One end of the front wheel connecting rod 712 is axially connected with the front wheel 711, and the other end of the front wheel connecting rod 712 is rotatably connected with the circular through hole 7131 of the connecting fixing plate, so as to facilitate the front wheel 711 to be fixed at the bottom of the vehicle frame 1 and drive the vehicle frame 1 to move;

[0017] The rear wheel assembly 72 includes a rear wheel 721, a rear wheel transmission shaft 722, a rear wheel fixing plate 723, and a rear wheel bracket 724; the rear wheel bracket 724 includes an extension portion 7241 and a rotating portion 7242. The rear wheel fixing plate 723 is connected to the bottom of the vehicle frame 1. The rotating portion 7242 of the rear wheel bracket 724 is rotatably connected to the rear wheel fixing plate 723. The extension portion 7241 of the rear wheel bracket 724 is axially connected to the rear wheel 721 through the rear wheel transmission shaft 722, so as to facilitate the steering and movement of the rear wheel 721.

[0018] Preferably, the seedling storage assembly 41 includes at least three seedling storage tubes 411, a transmission chain 412, and a sprocket link mechanism 413. Among them, the sprocket link mechanism 413 includes a sprocket 4131 and a sprocket connecting rod 4132. Both ends of the sprocket connecting rod 4132 are axially connected to a sprocket 4131 to form the sprocket link mechanism 413.

[0019] A transmission chain 412 is respectively arranged on the lower surface of the upper layer of the vehicle frame 1 and the upper surface of the lower layer of the vehicle frame 1. The two transmission chains 412 are symmetrically arranged up and down; the transmission chain 412 is annular. One sprocket 4131 at one end of the sprocket link mechanism 413 meshes with the transmission chain 412 on the upper layer of the vehicle frame 1, and the sprocket 4131 at the other end of the sprocket link mechanism 413 meshes with the transmission chain 412 on the lower layer of the vehicle frame 1. Moreover, a sprocket link mechanism 413 is symmetrically arranged on each of the left and right sides of the inner ring of the transmission chain 412.

[0020] The outer side of the transmission chain 412 on the upper layer of the vehicle frame 1 is connected to the outer wall of the upper end of the seedling storage tube 411, and the outer side of the transmission chain 412 on the lower layer of the vehicle frame 1 is connected to the outer wall of the lower end of the seedling storage tube 411. Moreover, a preset interval is provided between adjacent seedling storage tubes 411.

[0021] Preferably, the seedling throwing assembly 42 includes a seedling throwing tube 421, a first stop block 422, a parallel link mechanism 423, and a second stop block 424. Among them, the parallel link mechanism 423 includes a first mechanism link 4231, a second mechanism link 4232, a third mechanism link 4233, and a tray 4234.

[0022] The middle of the first mechanism link 4231 is connected to the outer wall of the lower end of the seedling storage tube 411. One end of the first mechanism link 4231 is rotatably connected to one end of the second mechanism link 4232. The other end of the second mechanism link 4232 is rotatably connected to one end of the third mechanism link 4233. The other end of the third mechanism link 4233 is rotatably connected to one end of the tray 4234. The other end of the tray 4234 is rotatably connected to the other end of the first mechanism link 4231.

[0023] The seedling dropping pipe 421 is fixed on the upper layer of the vehicle frame 1. The seedling dropping pipe 421 and the drill bit 21 are located on the same axis of the movement of the tree planting vehicle. Moreover, the seedling dropping pipe 421 is located directly below the rotation path of the seedling storage pipe 411 around the transmission chain 412.

[0024] The first stop block 422 is arranged on the vehicle frame 1 at the upper rear side of the seedling dropping pipe 421. When the seedling storage pipe rotates around the transmission chain 412 to abut against the first stop block 422, the second mechanism connecting rod 4232 and the third mechanism connecting rod 4233 are driven by the first stop block 422 to move the tray 4234 at the lower end of the seedling storage pipe 411 away, so as to facilitate seedling dropping. The second stop block 422 is arranged on the vehicle frame 1 at the upper rear side of the seedling dropping pipe 421, and the second stop block 424 is arranged on the vehicle frame below the transmission chain 412. The first stop block 422 and the second stop block 424 are arranged in relative dislocation, so as to rebound the tray 4234 to directly below the seedling storage pipe 411.

[0025] Preferably, the soil covering unit 5 includes a soil covering plate 51, a soil covering swing rod 52, a fixed support 53, a soil covering driven rod 54, a soil covering driving rod 55 and a connecting plate 56, wherein:

[0026] The connecting plate 56 is fixed to the bottom of the fixed support 53, and the fixed support 53 is fixed to the vehicle frame 1; the middle part of the soil covering swing rod 52 is bent at a preset angle. The soil covering plate 51 is connected to one end of the soil covering swing rod 52. The middle part of the soil covering swing rod 52 is rotatably connected to one end of the soil covering driven rod 54. The other end of the soil covering swing rod 52 is rotatably connected to one end of the soil covering driving rod 55. The other end of the soil covering driven rod 54 is rotatably connected to the end face of one end of the connecting plate 56, and the other end of the soil covering driving rod 55 is rotatably connected to the end face of the other end of the connecting plate 56.

[0027] Preferably, the watering unit 6 includes a water tank 61 and a water sprinkling pipe 62; the water tank 61 is arranged inside the lower layer of the vehicle frame 1. One end of the water sprinkling pipe 62 is connected to the water tank 61, and the other end of the water sprinkling pipe 62 is arranged directly below the seedling dropping pipe 421.

[0028] Preferably, the power unit 3 includes a first motor 31, a second motor 32, a third motor 33, a fourth motor 34, a fifth motor 35 and a sixth motor 36, wherein:

[0029] The first motor 31 is installed on the drill bit 21 and is used to provide the power for rotary digging of a pit.

[0030] The second motor 32 is installed on the lower surface of the push rod fixing plate 26 and is used to provide the power for the sliding rod 24 to drive the drill bit 21 to move up and down.

[0031] The third motor 33 is installed at the bottom of the vehicle frame 1 and is shaft-connected to the front wheel 711, and is used to provide the power for the tree-planting vehicle to move forward;

[0032] The fourth motor 34 is shaft-connected to the sprocket connecting rod 4132 and is used to provide the power for transporting the saplings to the seedling-throwing pipe 421;

[0033] The fifth motor 35 is installed inside the lower layer of the vehicle frame 1 near the seedling-throwing pipe 421 and is used to provide the power for watering the watering unit 6;

[0034] The sixth motor 36 is arranged on the fixed bracket 53 and passes through the connecting plate 56 to be shaft-connected to the soil-covering driving rod 55, and is used to provide the soil-covering power for the soil-covering unit 5.

[0035] Preferably, it further includes a control unit 8. The control unit 8 is electrically connected to the first motor 31, the second motor 32, the third motor 33, the fourth motor 34, the fifth motor 35 and the sixth motor 36 through wires, and is used to realize the control of each motor.

[0036] In a second aspect, based on the automatic tree-planting vehicle in the first aspect of the embodiments of the present invention, a method for using the automatic tree-planting vehicle is further provided, including:

[0037] After the third motor 33 drives the front wheel 711 to drive the tree-planting vehicle to move to the tree-planting point, the tree-planting vehicle stops moving;

[0038] The first motor 31 drives the drill bit 21 to rotate. At the same time, the second motor 32 installed on the lower surface of the push rod fixing plate 26 drives the sliding rod 24, and drives the drill bit 21 to dig downwards together through the sliding rod 24. After the digging is completed, the drill bit 21 retracts to its original position;

[0039] The third motor 33 drives the front wheel 711 to drive the tree-planting vehicle again, and moves the seedling-throwing pipe 421 of the tree-planting vehicle to directly above the dug hole;

[0040] The fourth motor 34 drives the sprocket connecting rod 4132 to drive the transmission chain 412 to rotate. Further, the transmission chain 412 drives the seedling storage pipe 411 to move to directly above the seedling-throwing pipe 421, and the driving parallel link mechanism 423 moves the tray 4234 at the lower end of the seedling storage pipe 411 away through the first stop block 422, and the saplings fall into the dug hole;

[0041] The sixth motor 36 installed on the fixed bracket 53 drives the soil-covering driving rod 55, and drives the driven rod through the soil-covering driving rod 55, and further drives the soil-covering plate 51 to cover the soil;

[0042] After the soil covering is completed, the fifth motor 35 drives the watering unit 6, and uses the water sprinkling pipe 62 to transport the water in the water tank 61 to the dug hole to water the saplings.

[0043] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows: The tree-planting vehicle of the present invention replaces manual labor, greatly reducing labor costs. Moreover, the drilling unit 2 is responsible for digging the holes for planting trees, and the power unit 3 mainly relies on the motor provided on the tree-planting vehicle to provide power for the drilling unit 2, the seedling delivery unit 4, the soil covering unit 5, and the watering unit 6. The seedling delivery unit 4 includes a seedling storage component 41 and a seedling delivery component 42. Among them, the seedling storage component 41 is responsible for storing saplings, and the seedling delivery component 42 is responsible for delivering saplings. Through the cooperation of the seedling storage component 41 and the seedling delivery component 42, the precise delivery of saplings is achieved. After the saplings are delivered into the holes dug by the drilling unit 2, the soil covering unit 5 covers the holes filled with saplings with soil. After the soil covering is completed, the watering unit 6 waters the saplings. The automatic tree-planting vehicle of the present invention can realize the tree-planting work of continuous actions such as drilling, seedling delivery, soil covering, and watering. It has a high degree of automation, high efficiency, and reduces the labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0045] Figure 1 FIG. 10 is a schematic diagram of the overall structure of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0046] Figure 2 FIG. 14 is a schematic diagram of the overall structure of another perspective of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0047] Figure 3 FIG. 18 is a schematic diagram of the position distribution of some motors inside the power unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0048] Figure 4 FIG. 22 is a schematic diagram of the position distribution of the remaining motors inside the power unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0049] Figure 5 FIG. 26 is a schematic diagram of the main structure of the drilling unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0050] Figure 6 FIG. 30 is a schematic diagram of the position distribution of the drill protection tube and the ejector rod inside the rotating unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0051] Figure 7 FIG. 34 is a schematic diagram of the structure of the push rod fixing plate and the ejector rod of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0052] Figure 8 It is a schematic structural diagram of the front wheel assembly of a traveling unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0053] Figure 9 It is a schematic structural diagram of the fixed plate of the front wheel assembly of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0054] Figure 10 It is a schematic structural diagram of the rear wheel assembly of a traveling unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0055] Figure 11 It is a schematic structural diagram of the rear wheel bracket of the rear wheel assembly of a traveling unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0056] Figure 12 It is a schematic structural diagram of the parallel link mechanism of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0057] Figure 13 It is a schematic structural diagram of the seedling storage assembly of a seedling delivery unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0058] Figure 14 It is a schematic structural diagram of the seedling delivery assembly of a seedling delivery unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0059] Figure 15 It is a schematic structural diagram of the soil covering unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0060] Figure 16 It is a schematic structural diagram of the watering unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0061] Figure 17 It is a schematic circuit control diagram of the power unit of an automatic tree-planting vehicle provided by an embodiment of the present invention;

[0062] Figure 18 It is a flowchart of the usage method of an automatic tree-planting vehicle provided by an embodiment of the present invention. Detailed implementation manners

[0063] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0064] In the description of the present invention, the orientation or positional relationship indicated by terms such as "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0065] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0066] Embodiment 1:

[0067] Embodiment 1 of the present invention provides an automatic tree-planting vehicle, including: a vehicle frame 1, a hole-drilling unit 2, a power unit 3, a seedling-dropping unit 4, a soil-covering unit 5, and a watering unit 6. Among them, the seedling-dropping unit 4 includes a seedling storage assembly 41 and a seedling-throwing assembly 42;

[0068] The vehicle frame 1 has an upper and a lower layer. The seedling storage assembly 41 is arranged inside the upper layer of the vehicle frame 1, and the seedling-throwing assembly 42 is arranged inside the lower layer of the vehicle frame 1. The seedling-throwing assembly 42 is docked with the seedling storage assembly 41 to facilitate throwing the saplings in the seedling storage assembly 41 into the seedling-throwing assembly 42 to complete the dropping of the saplings;

[0069] The hole-drilling unit 2 is arranged on the vehicle frame 1 through the upper and lower layers of the vehicle frame 1. The hole-drilling unit 2 is used to complete digging a hole. The hole-drilling unit 2 and the seedling-throwing assembly 42 are arranged on the axis of movement of the tree-planting vehicle to facilitate throwing the saplings into the hole dug by the hole-drilling unit 2;

[0070] The soil-covering unit 5 is arranged at the bottom of the vehicle frame 1, and the soil-covering unit 5 is located below the seedling-throwing assembly 42. When the soil-covering unit 5 performs the soil-covering operation, the soil-covering unit 5 and the seedling-throwing assembly 42 are on the same vertical axis to facilitate covering the saplings put into the hole with soil;

[0071] The watering unit 6 is arranged inside the lower layer of the vehicle frame 1. The water outlet of the watering unit 6 is aligned with the seedling-throwing assembly 42 to facilitate watering the saplings put into the hole;

[0072] The power unit 3 is used to provide power for the hole-drilling unit 2, the seedling-dropping unit 4, the soil-covering unit 5, and the watering unit 6.

[0073] As Figure 1 and Figure 2 shown, among them, since the motors in the power unit 3 are very scattered in the tree-planting vehicle, therefore, in Figure 2Use a specific motor to replace the label of the power unit 3 for marking. The tree-planting vehicle of the embodiment of the present invention is provided with a drilling unit 2, a power unit 3, a seedling placing unit 4, a soil covering unit 5 and a watering unit 6. Among them, the drilling unit 2 is responsible for digging holes for planting trees, and the power unit 3 mainly relies on the motor arranged on the tree-planting vehicle to provide power for the drilling unit 2, the seedling placing unit 4, the soil covering unit 5 and the watering unit 6. The seedling placing unit 4 includes a seedling storage component 41 and a seedling throwing component 42. Among them, the seedling storage component 41 is responsible for storing saplings, and the seedling throwing component 42 is responsible for throwing saplings. Through the cooperation of the seedling storage component 41 and the seedling throwing component 42, the precise placement of saplings is realized; when the saplings are placed in the holes dug by the drilling unit 2, the soil covering unit 5 covers the holes filled with saplings with soil. After the soil covering is completed, the watering unit 6 waters the saplings, and finally realizes the tree-planting work of continuous actions from drilling, seedling throwing, soil covering to watering, with high automation, high efficiency and reduced labor intensity.

[0074] In order to better elaborate the tree-planting principle of the present invention, the settings of the internal structures of each unit of the tree-planting vehicle of the present invention will be elaborated in detail next. As Figure 3 and Figure 4 shown, in the embodiment of the present invention, the motor arranged in the power unit 3 drives the drilling unit 2, the seedling placing unit 4, the soil covering unit 5, the watering unit 6, and the tree-planting vehicle to perform corresponding work. Therefore, first, the power unit 3 of the embodiment of the present invention will be introduced. The power unit 3 of the embodiment of the present invention includes a first motor 31, a second motor 32, a third motor 33, a fourth motor 34, a fifth motor 35 and a sixth motor 36, where: the first motor 31 is installed on the drill bit 21 and is used to provide the power for rotating and digging holes; the second motor 32 is installed on the lower surface of the push rod fixing plate 26 and is used to provide the power for the sliding rod 24 to drive the drill bit 21 to move up and down; the third motor 33 is installed at the bottom of the vehicle frame 1 and is axially connected to the front wheel 711 and is used to provide the power for the tree-planting vehicle to move forward; the fourth motor 34 is axially connected to the sprocket connecting rod 4132 and is used to provide the power for transporting saplings to the seedling throwing pipe 421; the fifth motor 35 is installed in the lower layer of the vehicle frame 1 near the seedling throwing pipe 421 and is used to provide the power for watering the watering unit 6; the sixth motor 36 is arranged on the fixed bracket 53 and passes through the connecting plate 56 to be axially connected to the soil covering driving rod 55 and is used to provide the soil covering power for the soil covering unit 5. It should be noted that the axial connection in the embodiment of the present invention means that the shaft hole of the rotating shaft is sleeved and fixed with the shaft rod, and the rotation of the shaft rod will drive the rotating shaft to rotate synchronously.

[0075] In the automatic tree-planting vehicle according to the embodiment of the present invention, each motor in the power unit 3 drives other units and the tree-planting vehicle itself to perform corresponding operations. Next, the connection modes and the assigned operations of the motors in the power unit 3 will be described in detail. The drilling unit 2 of the automatic tree-planting vehicle of the present invention and the seedling dropping assembly 42 in the dropping unit 4 are located on the same axis of the movement of the vehicle. After drilling a hole, the tree-planting vehicle only needs to keep going straight to align the seedling dropping assembly 42 with the hole dug by the drilling unit 2, so as to achieve accurate seedling dropping. Therefore, the overall drilling unit 2 of the embodiment of the present invention does not need to move additionally, making the structure of the drilling unit 2 of the embodiment of the present invention simpler. In addition, the drilling unit 2 only needs to ensure that the drill bit 21 can move up and down and rotate. When the automatic tree-planting vehicle of the present invention moves to the target hole-digging point, the vehicle stops moving. The first motor 31 in the power unit 3 is installed on the drill bit 21 and is shaft-connected to the drill bit 21. The rotation of the first motor 31 drives the drill bit 21 to rotate. The second motor 32 is installed on the lower surface of the push rod fixing plate 26. The hollow push rod 25 of the drilling unit 2 is hollow, which is equivalent to a cylinder. The motor drives the sliding rod 24 to move up and down. The sliding rod 24 and the drill bit 21 are fixed through a connecting chuck 22, so that the drill bit 21 can move up and down. The first motor 31 drives the drill bit 21 to rotate, and the second motor 32 drives the drill bit 21 to move up and down, so as to realize the hole-digging of the drilling unit 2. The dropping unit 4 of the embodiment of the present invention includes a seedling storage assembly 41 and a seedling dropping assembly 42. The seedling storage assembly 41 is provided with a seedling storage pipe 411 for storing seedlings and a transmission chain 412 for transporting seedlings. The fourth motor 34 in the power unit 3 is shaft-connected to the sprocket connecting rod 4132. The fourth motor ensures the rotation of the sprocket connecting rod 4132, and drives the transmission chain 412 to rotate through the sprocket 4131 connected to the sprocket connecting rod 4132. The transmission chain 412 drives the seedling storage pipe 411 to rotate to the position directly above the seedling dropping pipe 421, realizing the accurate dropping of seedlings. After the seedlings are dropped into the hole dug by the drilling unit 2, the sixth motor 36 arranged on the fixed bracket 53 drives the soil covering plate 51 on the soil covering unit 5 to fill the dug soil into the hole with the seedlings. After the soil covering is completed, the fifth motor 35 is used to pump the water in the water tank 61 of the watering unit 6 through the water sprinkling pipe 62 out of the water tank 61, and water the seedlings after soil covering through the water outlet of the water sprinkling pipe 62. In addition, the automatic tree-planting vehicle of the embodiment of the present invention is driven by the front wheels 711. The third motor 33 of the power unit 3 is shaft-connected to the front wheels 711 for driving the tree-planting vehicle to move. It should be noted that for the embodiment of the present invention, each of the two front wheels 711 of the embodiment of the present invention is provided with a third motor 33, and the circuits on the two front wheels 711 are asynchronous motors, and the vehicle realizes turning through the speed difference of the motors.

[0076] Next, the drilling unit 2 of the embodiment of the present invention will be explained in detail. The drilling unit 2 of the embodiment of the present invention includes a drill bit 21, a connection chuck 22, a drill bit protection tube 23, a sliding rod 24, a hollow push rod 25, a push rod fixing plate 26, and a jacking rod 27, wherein: The drill bit protection tube 23 is sleeved on the sliding rod 24 and fixed on the vehicle frame 1; The push rod fixing plate 26 is arranged at a preset height with the upper surface of the vehicle frame 1 through the jacking rod 27. An installation hole 261 is arranged on the push rod fixing plate 26, and the hollow push rod 25 is inserted into the installation hole 261 for fixation; One end of the drill bit 21 is connected with one end of the sliding rod 24 through the connection chuck 22, and the other end of the sliding rod 24 is inserted into the hollow push rod 25 so that the drill bit 21 can move up and down along the hollow push rod 25 for drilling.

[0077] The drilling unit 2 of the present invention is mainly responsible for excavating holes for planting saplings. As Figures 5 - 7 shown, a drill bit 21 is arranged in the drilling unit 2 of the present invention. The upper end of the drill bit 21 is shaft-connected to the first motor 31. When the first motor 31 rotates, it drives the drill bit 21 to rotate. The hollow cavity in the hollow push rod 25 functions as a slide rail. The sliding rod 24 is arranged in the hollow push rod 25 to form a cylinder structure. The hollow push rod 25 is fixed through the push rod fixing plate 26 and is driven by the second motor 32 to realize the up and down movement of the sliding rod 24 along the hollow push rod 25. The sliding rod 24 and the drill bit 21 are connected through the connection chuck 22. In the specific connection process between the drill bit 21 and the sliding rod 24, usually a motor bracket is arranged outside the second motor 32, and the tail of the motor bracket of the second motor 32 (the area of the tail of the second motor 32 corresponding to the motor bracket) is clamped by the connection chuck 22 to ensure that the drill bit 21 can rotate and move up and down, thereby achieving the purpose of the drill bit 21 for digging holes. In addition, the preset height of the push rod fixing plate 26 of the drilling unit 2 of the embodiment of the present invention from the upper surface of the upper layer of the vehicle frame 1 depends on the length of the jacking rod 27 and is usually set according to the actual situation.

[0078] In order to enable the automatic tree-planting vehicle of the embodiment of the present invention to smoothly move to the tree-planting area, the embodiment of the present invention further includes a traveling unit 7. The traveling unit 7 includes a front wheel assembly 71 and a rear wheel assembly 72, wherein:

[0079] The front wheel assembly 71 includes a front wheel 711, a front wheel connecting rod 712, and a connecting rod fixing plate 713; the side surface of the connecting rod fixing plate 713 is connected to the bottom of the vehicle frame 1, a circular through hole 7131 is provided in the middle of the connecting rod fixing plate 713, and the circular through hole 7131 of the connecting rod fixing plate 713 is arranged in the direction perpendicular to the axial direction of the tree planting vehicle. One end of the front wheel connecting rod 712 is axially connected to the front wheel 711, and the other end of the front wheel connecting rod 712 is rotatably connected to the circular through hole 7131 of the connecting fixing plate, so as to fix the front wheel 711 at the bottom of the vehicle frame 1 and drive the vehicle frame 1 to move; the rear wheel assembly 72 includes a rear wheel 721, a rear wheel transmission shaft 722, a rear wheel fixing plate 723, and a rear wheel support 724; the rear wheel support 724 includes an extension part 7241 and a rotating part 7242. The rear wheel fixing plate 723 is connected to the bottom of the vehicle frame 1, the rotating part 7242 of the rear wheel support 724 is rotatably connected to the rear wheel fixing plate 723, and the extension part 7241 of the rear wheel support 724 is axially connected to the rear wheel 721 through the rear wheel transmission shaft 722, so as to facilitate the steering and movement of the rear wheel 721.

[0080] In order to distinguish the driving mode of the present invention, the traveling unit 7 of the embodiment of the present invention is divided into a front wheel assembly 71 and a rear wheel assembly 72. The third motor 33 of the embodiment of the present invention is axially connected to the front wheel 711 in the front wheel assembly 71 to drive the front wheel 711 to drive the rear wheel 721 to move, thereby realizing the movement of the tree planting vehicle of the present invention. As Figures 8 - 9 shown, the front wheel assembly 71 of the present invention includes a front wheel 711, a front wheel connecting rod 712, and a connecting fixing plate. One end of the front wheel 711 is connected to the front wheel connecting rod 712, and the other end is axially connected to the third motor 33. The third motor 33 and the connecting rod are fixed to the bottom of the vehicle frame 1 through the connecting rod fixing plate 713. The rotation of the third motor 33 drives the front wheel 711 to rotate; the rear wheel 721 in the rear wheel assembly 72 is a driven wheel, mainly for cooperating with the front wheel 711 to go straight and turn. As Figure 10 and Figure 11 shown, the rear wheel assembly 72 of the embodiment of the present invention includes a rear wheel 721, a rear wheel transmission shaft 722, a rear wheel fixing plate 723, and a rear wheel support 724. The rear wheel support 724 is similar to a harpoon shape. After the rear wheel 721 is connected to the rear wheel support 724 through the rear wheel transmission shaft 722, the self-rotation of the rear wheel 721 can be realized. In addition, the rear wheel support 724 can rotate around the rear wheel fixing plate 723, so that the whole after the connection of the rear wheel 721 and the rear wheel support 724 rotates, and the tree planting vehicle can turn. The principle of the assembled rear wheel assembly 72 in the embodiment of the present invention is the same as that of a universal wheel, and no more explanation will be given here.

[0081] When the automatic tree-planting vehicle according to the embodiment of the present invention finishes digging a hole in a specific area and moves the seedling throwing assembly 42 of the tree-planting vehicle to directly above the dug hole. The embodiment of the present invention still needs to complete the precise throwing of the saplings. The function of the throwing unit 4 of the present invention is mainly responsible for transporting the saplings to directly above the seedling throwing assembly 42 and throwing the saplings into the dug hole. Based on this, the throwing unit 4 in the embodiment of the present invention is divided into two parts: a seedling storage assembly 41 and a seedling throwing assembly 42. The seedling storage assembly 41 includes at least three seedling storage tubes 411, a transmission chain 412, and a sprocket link mechanism 413. Among them, the sprocket link mechanism 413 includes a sprocket 4131 and a sprocket connecting rod 4132. The two ends of the sprocket connecting rod 4132 are axially connected to a sprocket 4131 to form the sprocket link mechanism 413; a transmission chain 412 is respectively arranged on the lower surface of the upper layer of the vehicle frame 1 and the upper surface of the lower layer of the vehicle frame 1. The two transmission chains 412 are symmetrically arranged up and down; the transmission chain 412 is annular. The sprocket 4131 at one end of the sprocket link mechanism 413 meshes with the transmission chain 412 on the upper layer of the vehicle frame 1, and the sprocket 4131 at the other end of the sprocket link mechanism 413 meshes with the transmission chain 412 on the lower layer of the vehicle frame 1. Moreover, a sprocket link mechanism 413 is symmetrically arranged on each of the left and right sides of the inner ring of the transmission chain 412; the outer side of the transmission chain 412 on the upper layer of the vehicle frame 1 is connected to the outer wall of the upper end of the seedling storage tube 411, and the outer side of the transmission chain 412 on the lower layer of the vehicle frame 1 is connected to the outer wall of the lower end of the seedling storage tube 411. Moreover, a preset interval is provided between adjacent seedling storage tubes 411.

[0082] The seedling throwing assembly 42 includes a seedling throwing tube 421, a first stop block 422, a parallel link mechanism 423, and a second stop block 424. Among them, the parallel link mechanism 423 includes a first mechanism link 4231, a second mechanism link 4232, a third mechanism link 4233, and a tray 4234; the middle of the first mechanism link 4231 is connected to the outer wall of the lower end of the seedling storage tube 411. One end of the first mechanism link 4231 is rotatably connected to one end of the second mechanism link 4232. The other end of the second mechanism link 4232 is rotatably connected to one end of the third mechanism link 4233. The other end of the third mechanism link 4233 is rotatably connected to one end of the tray 4234. The other end of the tray 4234 is rotatably connected to the other end of the first mechanism link 4231;; Among them, as Figure 12As shown, a fastening ring (not marked in the figure) is provided on the first mechanism connecting rod 4231. The seedling storage tube 411 is arranged on the fastening ring. The fastening ring is a structure with upper and lower openings. One end of the fastening ring is fixed on the transmission chain 412 to rotate along with the transmission chain 412, thereby driving the seedling storage tube 411 to rotate. In the initial state, the tray 4234 is arranged below the fastening ring. Correspondingly, a receiving part and a connecting part (not marked in the figure) are provided on the tray 4234. The receiving part is circularly arranged and is aligned with the bottom opening of the seedling storage tube 411. The saplings are stored in the seedling storage tube 411. When the receiving part of the tray 4234 moves away from the bottom opening of the seedling storage tube 411, the saplings will fall. The connecting part of the tray 4234 plays a role in driving the receiving part on the tray 4234 to rotate. The two ends of the connecting part are respectively connected to the first mechanism connecting rod 4231 and the third mechanism connecting rod 4233, and are used to drive the tray 4234 to move, thereby controlling the storage or throwing of saplings.

[0083] Among them, the seedling storage tube 411 and the seedling throwing tube 421 can be understood as the same component. When any one of the seedling storage tubes 411 rotates to the throwing position along with the transmission chain 412, it can be understood as the aforementioned seedling throwing tube 421.

[0084] Among them, the first stop block 422 is arranged on the vehicle frame 1 at the upper rear side of the seedling throwing tube 421, and the second stop block 424 is arranged on the vehicle frame below the transmission chain 412. The first stop block 422 and the second stop block 424 are arranged in relative dislocation.

[0085] The seedling throwing tube 421 and the drill bit 21 are located on the same axis of the movement of the tree planting vehicle. Moreover, the seedling throwing tube 421 is located directly below the rotation path of the seedling storage tube 411 around the transmission chain 412. The first stop block 422 is arranged on the vehicle frame 1 at the upper rear side of the seedling throwing tube 421. When the seedling throwing tube 421 rotates around the transmission chain 412 to abut against the first stop block 422, the second mechanism connecting rod 4232 and the third mechanism connecting rod 4233 are driven by the first stop block 422 to move the tray 4234 at the lower end of the seedling storage tube 411 away, so as to facilitate seedling throwing.

[0086] The working principle of automatic seedling throwing is specifically described below:

[0087] For the convenience of description, the connection point between the first mechanism connecting rod 4231 and the second mechanism connecting rod 4232 is called the first rotation point, the connection point between the second mechanism connecting rod 4232 and the third mechanism connecting rod 4233 is called the second rotation point, the connection point between the third mechanism connecting rod 4233 and the tray 4234 is called the third rotation point; the connection point between the tray 4234 and the first mechanism connecting rod 4231 is called the fourth rotation point;

[0088] After the second mechanism connecting rod 4232 abuts against the first stop block 422, under the action of the first stop block 422, the second mechanism connecting rod 4232 rotates around the first rotation point, and at the same time drives the third mechanism connecting rod 4233 to rotate around the second rotation point. During the movement of the third mechanism connecting rod 4233, the tray 4234 rotates around the fourth rotation point. During this process, the receiving portion in the tray 4234 gradually moves away from the due west of the seedling storage tube 411 until it is not covered by the receiving portion of the tray, so that the saplings fall from the seedling throwing tube into the hole dug by the drilling unit 2.

[0089] After the saplings are placed, the transmission chain 412 continues to drive the seedling storage tube 411 to move, and the second mechanism connecting rod 4232 continues to rotate around the first rotation point until the second mechanism connecting rod 4232 no longer abuts against the first stop block 422, and the force applied by the first stop block 422 on the second mechanism connecting rod 4232 disappears. During the continuous rotation, the tray 4234 abuts against the second stop block 424. Under the action of an external force, the tray 4234 rotates around the fourth rotation point, and at the same time drives the third mechanism connecting rod 4233 to rotate around the third rotation point, and further the second mechanism connecting rod 4232 rotates around the second rotation point. During this process, the tray 4234 gradually approaches the fastening ring until the lower opening of the seedling storage tube 411 is completely covered by the receiving portion of the tray 4234.

[0090] Among them, for the seedling storage component 41 of the embodiment of the present invention, as Figure 13 shown, the embodiment of the present invention uses the transmission chain 412 and the sprocket link mechanism 413 to form a sapling transmission mechanism, and drives the saplings in the seedling storage tube 411 to rotate to directly above the seedling throwing tube 421 through the transmission chain 412. In the embodiment of the present invention, the fourth motor 34 is axially connected to the sprocket connecting rod 4132 in the sprocket link mechanism 413, and the fourth motor 34 drives the sprocket link mechanism 413 to rotate, and then drives the annular transmission chain 412 to rotate. The seedling storage tube 411 is fixed on the transmission chain 412, and the rotation of the transmission chain 412 drives the saplings in the seedling storage tube 411 to move to directly above the seedling throwing tube 421, realizing the precise transmission of the saplings. Each seedling storage tube 411 in the seedling storage component 41 of the embodiment of the present invention is correspondingly provided with a sapling. Different seedling storage tubes 411 are independent of each other and do not interfere with each other. The structure is simple and reliable, and can effectively realize the transportation of saplings. It should be noted that the number of saplings stored in the seedling storage component 41 of the embodiment of the present invention depends on the number of seedling storage tubes 411 that can be accommodated in the automatic tree planting vehicle. The present invention is more suitable for the scenario of planting small saplings, such as the scenario of planting by means of cutting branches. Through the action of the seedling storage tube 411 and the seedling throwing tube 421, the saplings after throwing can be set upright, which is more conducive to the survival of the saplings.

[0091] For the seedling throwing component 42 of the embodiment of the present invention, as Figure 14As shown in the figure, when the sapling in the seedling storage tube 411 has not moved to directly above the seedling throwing tube 421, the tray 4234 in the parallel link mechanism 423 is just aligned with the lower end of the seedling storage tube 411, preventing the sapling from falling prematurely, so that the sapling can be stored in the seedling storage tube 411. When the sapling moves close to directly above the seedling throwing tube 421, due to the action of the first stop block 422, the second mechanism link 4232 in the parallel link mechanism 423 moves, and then drives the third mechanism and the tray 4234 to move. When the seedling storage tube 411 moves to directly above the seedling throwing tube 421, the tray 4234 at the lower end of the seedling storage tube 411 completely moves away and moves between the upper and lower transmission chains 412, and the sapling falls into the dug tree hole through the seedling throwing tube 421, realizing accurate seedling throwing; after the seedling throwing is completed, the seedling storage tube 411 rotates to the second stop block 424, and the tray 4234 collides with the second stop block 424, causing the tray 4234 to rebound and driving the parallel link mechanism 423 to recover, so that the tray 4234 moves to directly below the seedling storage tube 411. At this time, the tree planting vehicle can be filled with saplings. It should be noted that in order to prevent the sapling from falling into the seedling throwing tube 421 before the tray 4234 has completely moved away from the lower end of the seedling storage tube 411, which may cause the sapling to deviate far from the center of the dug hole. When actually manufacturing the seedling storage tube 411 of the embodiment of the present invention, the diameter of the seedling storage tube 411 is usually set slightly larger than the diameter of the sapling.

[0092] After the sapling accurately falls into the hole dug by the drilling unit 2, the dug soil needs to be re-covered. The soil covering unit 5 of the automatic tree planting vehicle according to the embodiment of the present invention includes a soil covering plate 51, a soil covering swing rod 52, a fixed bracket 53, a soil covering driven rod 54, a soil covering driving rod 55 and a connecting plate 56, wherein: the connecting plate 56 is fixed to the bottom of the fixed bracket 53, and the fixed bracket 53 is fixed to the vehicle frame 1; the middle of the soil covering swing rod 52 is bent at a preset angle, the soil covering plate 51 is connected to one end of the soil covering swing rod 52, the middle of the soil covering swing rod 52 is rotatably connected to one end of the soil covering driven rod 54, the other end of the soil covering swing rod 52 is rotatably connected to one end of the soil covering driving rod 55, the other end of the soil covering driven rod 54 is rotatably connected to the end face of one end of the connecting plate 56, and the other end of the soil covering driving rod 55 is rotatably connected to the end face of the other end of the connecting plate 56.

[0093] As Figure 15As shown in the figure, the soil covering unit 5 of the embodiment of the present invention includes a soil covering plate 51, a soil covering swing rod 52, a fixed bracket 53, a soil covering driven rod 54, a soil covering driving rod 55, and a connecting plate 56. The soil covering driven rod 54, the soil covering driving rod 55, the connecting rod, and the swing rod are connected to form a parallelogram four-bar mechanism. The connecting plate 56 is connected to the fixed bracket 53 and fixed to the bottom of the vehicle frame 1 through the fixed bracket 53. The soil covering swing rod 52 is bent at a preset angle, and the preset angle is set according to the actual situation, usually set to 90°. The soil covering plate 51 is connected to one end of the soil covering swing rod 52. In order to push the soil into the pit as much as possible, the soil covering plate 51 of the embodiment of the present invention is bent into an arc shape, and the inner surface of the arc is aligned with the axis in the vertical direction of the seedling dropping tube 421. The sixth motor 36 is axially connected to the soil covering driving rod 55, and the sixth motor 36 drives the soil covering driving rod 55 to move, so that the parallelogram four-bar mechanism reciprocates, and then drives the soil covering plate 51 to reciprocate for soil covering.

[0094] After the soil covering is completed, water needs to be poured on the saplings. As Figure 16 shown in the figure, the embodiment of the present invention is provided with a watering unit 6. The watering unit 6 includes a water tank 61 and a water sprinkling pipe 62. The water tank 61 is arranged in the lower layer of the vehicle frame 1. One end of the water sprinkling pipe 62 is connected to the water tank 61, and the other end of the water sprinkling pipe 62 is arranged directly below the seedling dropping tube 421. The fifth motor 35 provides power, and the water in the water tank 61 is conveyed to the pit dug by the drilling unit 2 through the water sprinkling pipe 62 to water the saplings. It should be noted that the water outlet of the water sprinkling pipe 62 of the embodiment of the present invention needs to be aligned directly below the seedling dropping tube 421 to facilitate watering the saplings after soil covering.

[0095] In the embodiment of the present invention, to achieve precise control of each motor, the embodiment of the present invention further includes a control unit 8. The control unit 8 is electrically connected to the first motor 31, the second motor 32, the third motor 33, the fourth motor 34, the fifth motor 35, and the sixth motor 36 through wires for controlling each motor.

[0096] The first motor 31, the second motor 32, the third motor 33, the fourth motor 34, the fifth motor 35, and the sixth motor 36 in the embodiment of the present invention each perform their own duties and independently execute their respective tasks. Therefore, the first motor 31, the second motor 32, the third motor 33, the fourth motor 34, the fifth motor 35, and the sixth motor 36 are in a parallel relationship, and each motor serves as a branch of the control circuit. The control unit 8 is arranged in the main circuit for controlling the motors in each branch to drive the corresponding components to work, and finally realizing the continuous actions of tree planting from drilling, seedling dropping, soil covering to watering in the embodiment of the present invention. As Figure 17As shown, it represents the circuit connection diagram of the control unit 8 with the first motor 31, the second motor 3232, the third motor 33, the fourth motor 34, the fifth motor 35, and the sixth motor 36 in the power unit 3. The figure represents the position distribution structure diagram of each motor of the tree-planting vehicle of the present invention. It should be noted that in order to show each motor, the components that block each motor in the figure are hidden; the power supply connected in series in the main circuit of the corresponding control unit 8 can be a wind energy component power supply, a solar power supply, or an external mobile power supply; the corresponding control unit 8 can be connected to Bluetooth, APP, or other mobile devices, and instructions are sent through Bluetooth, APP, or other mobile devices to control the control unit 8, thereby accurately controlling the on-off of each motor. By writing the program into the control unit 8 in advance, and then accurately controlling the first motor 31, the second motor 32, the third motor 33, the fourth motor 34, the fifth motor 35, and the sixth motor 36 through the control unit 8 to control the on or off of the motor, the automatic tree-planting process of the embodiment of the present invention is completed.

[0097] The automatic tree-planting vehicle of the embodiment of the present invention is provided with a drilling unit 2, a power unit 3, a seedling placing unit 4, a soil covering unit 5, and a watering unit 6. Among them, the drilling unit 2 is responsible for digging the holes for planting trees, and the power unit 3 mainly relies on the motors arranged on the tree-planting vehicle to provide power for the drilling unit 2, the seedling placing unit 4, the soil covering unit 5, and the watering unit 6. The seedling placing unit 4 includes a seedling storage component 41 and a seedling placing component 42. Among them, the seedling storage component 41 is responsible for storing saplings, and the seedling placing component 42 is responsible for placing saplings. Through the cooperation of the seedling storage component 41 and the seedling placing component 42, the accurate placement of saplings is realized; when the saplings are placed into the holes dug by the drilling unit 2, the soil covering unit 5 covers the holes filled with saplings with soil. After the soil covering is completed, the watering unit 6 waters the saplings, finally realizing the tree-planting work with continuous actions from drilling, seedling placing, soil covering to watering, with high automation and efficiency, and reducing the labor intensity. In addition, the seedling storage component 41 adopts chain transportation. Within the allowable range, the total length of the transmission chain 412 and the number of seedling storage pipes 411 carried are increased, so as to increase the sapling capacity of the automatic tree-planting vehicle of the present invention. Moreover, the saplings do not interfere with each other, the structure is simple and reliable, and a parallel link mechanism 423 is arranged in the seedling placing component 42, which can accurately ensure the fixed-point placement of saplings and accurate seedling placement; the soil covering unit 5 uses a parallelogram four-bar mechanism to control the horizontal movement of the soil covering plate 51 for soil covering, ensuring that the soil can be filled into the holes as much as possible and realizing efficient soil covering.

[0098] Embodiment 2:

[0099] The embodiment of the present invention provides a usage method of an automatic tree-planting vehicle, as Figure 18As shown in the figure, based on the automatic tree-planting vehicle of Embodiment 1, through the control of each motor by the control unit 8, the automatic tree-planting vehicle of the present invention realizes the tree-planting work of continuous actions such as drilling holes, planting seedlings, covering soil, and watering, thereby improving the automation and efficiency of tree planting and saving labor costs.

[0100] Step 201: After the third motor 33 drives the front wheels 711 to drive the tree-planting vehicle to move to the tree-planting point, the tree-planting vehicle stops moving.

[0101] Among them, when the tree-planting vehicle of the present invention starts to implement tree planting, the control unit 8 issues an instruction, and the third motor 33 connected to the front wheel 711 shaft starts and drives the front wheel 711 to move forward, thereby driving the tree-planting vehicle to move forward. When moving to the designated position, the tree-planting vehicle stops moving, and at this time, the third motor 33 is open-circuited. In the embodiment of the present invention, the front wheels 711 are used for driving. When a turn is required, the third motors 33 respectively installed on the two front wheels 711 are set to different rotation speeds, thereby realizing the turning of the tree-planting vehicle.

[0102] Step 202: The first motor 31 drives the drill bit 21 to rotate. At the same time, the second motor 32 installed on the lower surface of the push rod fixing plate 26 drives the sliding rod 24, and the sliding rod 24 drives the drill bit 21 to dig a hole downward together. After the hole digging is completed, the drill bit 21 retracts to its original position.

[0103] Among them, when the automatic tree-planting vehicle of the present invention moves to the designated position and stops, the first circuit connected to the drill bit 21 shaft starts, driving the drill bit 21 to rotate. At the same time, the second motor 32 installed on the lower surface of the push rod fixing plate 26 drives the sliding rod 24, so that the sliding rod 24 drives the drill bit 21 to move downward along the hollow cavity of the hollow push rod 25 to dig a hole. When the hole reaches the required depth, the second motor 32 is used to reset the drill bit 21.

[0104] Step 203: The third motor 33 drives the front wheels 711 to drive the tree-planting vehicle again, and moves the seedling throwing pipe 421 of the tree-planting vehicle to directly above the dug hole.

[0105] The control unit 8 issues an instruction, and the third motor 33 is used to start the third motor 33 again to move the seedling throwing pipe 421 in the tree-planting vehicle to directly above the dug hole. At this time, the third motor 33 is turned off, and it enters the stage of waiting for seedling throwing.

[0106] Step 204: The fourth motor 34 drives the sprocket connecting rod 4132 to drive the transmission chain 412 to rotate. Further, the transmission chain 412 drives the seedling storage pipe 411 to move to directly above the seedling throwing pipe 421, and the driving parallel link mechanism 423 moves the tray 4234 at the lower end of the seedling storage pipe 411 away through the first stopper 422, and the sapling falls into the dug hole.

[0107] The control unit 8 issues an instruction, and the fourth motor 34 starts to drive the sprocket connecting rod 4132 to rotate. The storage seedling pipe 411 is driven to rotate through the transmission chain 412, and then the saplings are moved to the seedling throwing pipe 421. At this time, the tray 4234 in the parallel link mechanism 423 moves away, and the saplings are accurately thrown into the pit through the seedling throwing pipe 421.

[0108] Step 205: The sixth motor 36 installed on the fixed bracket 53 drives the soil covering active rod 55, drives the driven rod through the soil covering active rod 55, and then drives the soil covering plate 51 to cover the soil.

[0109] The control unit 8 issues an instruction, the fourth motor 34 starts, and drives the soil covering plate 51 connected to the soil covering swing rod 52 to reciprocate through the parallel four-bar mechanism in the soil covering unit 5, so as to cover the pit with saplings.

[0110] Step 206: After the soil covering is completed, the fifth motor 35 drives the watering unit 6, and transports the water in the water tank 61 to the dug pit through the sprinkler pipe 62 to water the saplings.

[0111] After the soil covering is completed, the control unit 8 issues an instruction, the fourth motor 34 is turned off, the fifth motor 35 is started, and the water in the water tank 61 is transported to the pit through the sprinkler pipe 62 to complete watering.

[0112] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic tree-planting vehicle, characterized in that, Including: A vehicle frame (1), a hole drilling unit (2), a power unit (3), a seedling placing unit (4), a soil covering unit (5) and a watering unit (6), wherein the seedling placing unit (4) includes a seedling storage assembly (41) and a seedling throwing assembly (42); The vehicle frame (1) has two layers, the seedling storage assembly (41) is arranged inside the upper layer of the vehicle frame (1), the seedling throwing assembly (42) is arranged inside the lower layer of the vehicle frame (1), and the seedling throwing assembly (42) is docked with the seedling storage assembly (41) to facilitate throwing the saplings in the seedling storage assembly (41) into the seedling throwing assembly (42) to complete the throwing of the saplings; The hole drilling unit (2) is arranged on the vehicle frame (1) through the upper and lower layers of the vehicle frame (1), the hole drilling unit (2) is used to complete digging pits, and the hole drilling unit (2) and the seedling throwing assembly (42) are arranged on the axis of movement of the tree planting vehicle to facilitate throwing the saplings into the pits dug by the hole drilling unit (2); The soil covering unit (5) is arranged at the bottom of the vehicle frame (1), and the soil covering unit (5) is located below the seedling throwing assembly (42) to facilitate covering the saplings put into the pits with soil; The watering unit (6) is arranged inside the lower layer of the vehicle frame (1), and the water outlet of the watering unit (6) is aligned with the seedling throwing assembly (42) to facilitate watering the saplings put into the pits; The power unit (3) is used to provide power for the hole drilling unit (2), the seedling placing unit (4), the soil covering unit (5) and the watering unit (6); A seedling storage pipe (411) for storing saplings and a transmission chain (412) for transporting saplings are arranged inside the seedling storage assembly (41); the seedling throwing assembly (42) includes a seedling throwing pipe (421), a first stopper (422), a parallel link mechanism (423) and a second stopper (424), wherein the parallel link mechanism (423) includes a first mechanism link (4231), a second mechanism link (4232), a third mechanism link (4233) and a tray (4234); The middle of the first mechanism link (4231) is connected to the outer wall of the lower end of the seedling storage pipe (411), one end of the first mechanism link (4231) is rotatably connected to one end of the second mechanism link (4232), the other end of the second mechanism link (4232) is rotatably connected to one end of the third mechanism link (4233), the other end of the third mechanism link (4233) is rotatably connected to one end of the tray (4234), and the other end of the tray (4234) is rotatably connected to the other end of the first mechanism link (4231); The seedling throwing pipe (421) is fixed to the upper layer of the vehicle frame (1), the seedling throwing pipe (421) and the drill bit (21) are located on the same axis of movement of the tree planting vehicle, and the seedling throwing pipe (421) is located directly below the rotation path of the seedling storage pipe (411) around the transmission chain (412); The first stopper (422) is arranged on the vehicle frame (1) at the upper rear side of the seedling dropping pipe (421). The seedling dropping pipe (421) rotates around the transmission chain (412) to abut against the first stopper (422), and drives the second mechanism connecting rod (4232) and the third mechanism connecting rod (4233) through the first stopper (422) to move the tray (4234) at the lower end of the seedling storage pipe (411) away, so as to facilitate seedling dropping. The second stopper (424) is arranged on the vehicle frame below the transmission chain (412). The first stopper (422) and the second stopper (424) are arranged in relative dislocation, so as to facilitate the rebound of the tray (4234) to directly below the seedling storage pipe (411); When the sapling moves to be close to directly above the seedling dropping pipe (421), due to the action of the first stopper (422), the second mechanism connecting rod (4232) in the parallel link mechanism (423) moves, and then drives the third mechanism and the tray (4234) to move. When the seedling storage pipe (411) moves to be directly above the seedling dropping pipe (421), the tray (4234) at the lower end of the seedling storage pipe (411) is completely moved away, and the sapling falls into the dug tree hole through the seedling dropping pipe (421); After the seedling dropping is completed, the seedling storage pipe (411) rotates to the second stopper (424). The tray (4234) collides with the second stopper (424), so that the tray (4234) rebounds, and drives the parallel link mechanism (423) to recover, so that the tray (4234) moves to directly below the seedling storage pipe (411).

2. The automatic tree-planting vehicle according to claim 1, wherein The hole drilling unit (2) includes a drill bit (21), a connecting chuck (22), a drill bit protection tube (23), a sliding rod (24), a hollow push rod (25), a push rod fixing plate (26) and a ejector rod (27), wherein: The drill bit protection tube (23) is sleeved on the sliding rod (24) and fixed on the vehicle frame (1); the push rod fixing plate (26) is arranged at a preset height with the upper surface of the vehicle frame (1) through the ejector rod (27). The push rod fixing plate (26) is provided with a mounting hole (261), and the hollow push rod (25) is inserted into the mounting hole (261) for fixation; One end of the drill bit (21) is connected with one end of the sliding rod (24) through the connecting chuck (22), and the other end of the sliding rod (24) is inserted into the hollow push rod (25), so as to facilitate the drill bit (21) to move up and down along the hollow push rod (25) for hole drilling.

3. The automatic tree-planting vehicle according to claim 1, characterized in that, It further includes a traveling unit (7). The traveling unit (7) includes a front wheel assembly (71) and a rear wheel assembly (72), wherein: The front wheel assembly (71) includes a front wheel (711), a front wheel connecting rod (712), and a connecting rod fixing plate (713); the side surface of the connecting rod fixing plate (713) is connected to the bottom of the vehicle frame (1), a circular through hole (7131) is provided in the middle of the connecting rod fixing plate (713), and the circular through hole (7131) of the connecting rod fixing plate (713) is arranged in a direction perpendicular to the axial direction of the tree planting vehicle. One end of the front wheel connecting rod (712) is axially connected to the front wheel (711), and the other end of the front wheel connecting rod (712) is rotatably connected to the circular through hole (7131) of the connecting fixing plate, so as to fix the front wheel (711) at the bottom of the vehicle frame (1) and drive the vehicle frame (1) to move; The rear wheel assembly (72) includes a rear wheel (721), a rear wheel transmission shaft (722), a rear wheel fixing plate (723), and a rear wheel bracket (724); the rear wheel bracket (724) includes an extension part (7241) and a rotating part (7242), the rear wheel fixing plate (723) is connected to the bottom of the vehicle frame (1), the rotating part (7242) of the rear wheel bracket (724) is rotatably connected to the rear wheel fixing plate (723), and the extension part (7241) of the rear wheel bracket (724) is axially connected to the rear wheel (721) through the rear wheel transmission shaft (722), so as to facilitate the steering and movement of the rear wheel (721).

4. The automatic tree-planting vehicle according to claim 1, wherein, The seedling storage assembly (41) further includes a sprocket link mechanism (413), wherein the sprocket link mechanism (413) includes a sprocket (4131) and a sprocket connecting rod (4132), and both ends of the sprocket connecting rod (4132) are axially connected to a sprocket (4131) to form the sprocket link mechanism (413); A transmission chain (412) is respectively provided on the lower surface of the upper layer of the vehicle frame (1) and the upper surface of the lower layer of the vehicle frame (1), and the two transmission chains (412) are symmetrically arranged up and down; the transmission chain (412) is annular, one sprocket (4131) at one end of the sprocket link mechanism (413) is engaged with the transmission chain (412) on the upper layer of the vehicle frame (1), the sprocket (4131) at the other end of the sprocket link mechanism (413) is engaged with the transmission chain (412) on the lower layer of the vehicle frame (1), and a sprocket link mechanism (413) is symmetrically arranged on the left and right sides of the inner ring of the transmission chain (412); The outer side of the transmission chain (412) on the upper layer of the vehicle frame (1) is connected to the outer wall of the upper end of the seedling storage tube (411), the outer side of the transmission chain (412) on the lower layer of the vehicle frame (1) is connected to the outer wall of the lower end of the seedling storage tube (411), and a preset interval is provided between adjacent seedling storage tubes (411).

5. The automatic tree-planting vehicle according to claim 1, characterized in that, The soil covering unit (5) includes a soil covering plate (51), a soil covering swing rod (52), a fixed bracket (53), a soil covering driven rod (54), a soil covering driving rod (55), and a connecting plate (56), wherein: The connecting plate (56) is fixed to the bottom of the fixed bracket (53), and the fixed bracket (53) is fixed to the vehicle frame (1); the middle part of the soil covering swing rod (52) is bent at a preset angle, the soil covering plate (51) is connected to one end of the soil covering swing rod (52), the middle part of the soil covering swing rod (52) is rotatably connected to one end of the soil covering driven rod (54), the other end of the soil covering swing rod (52) is rotatably connected to one end of the soil covering driving rod (55), the other end of the soil covering driven rod (54) is rotatably connected to the end face of one end of the connecting plate (56), and the other end of the soil covering driving rod (55) is rotatably connected to the end face of the other end of the connecting plate (56).

6. The automatic tree-planting vehicle according to claim 1, wherein The watering unit (6) includes a water tank (61) and a water spraying pipe (62); the water tank (61) is arranged inside the lower layer of the vehicle frame (1), one end of the water spraying pipe (62) is connected to the water tank (61), and the other end of the water spraying pipe (62) is arranged directly below the seedling dropping pipe (421).

7. The automatic tree-planting vehicle according to claim 1, characterized in that, The power unit (3) includes a first motor (31), a second motor (32), a third motor (33), a fourth motor (34), a fifth motor (35) and a sixth motor (36), wherein: The first motor (31) is installed on the drill bit (21) and is used to provide the power for rotary hole digging; The second motor (32) is installed on the lower surface of the push rod fixing plate (26) and is used to provide the power for the sliding rod (24) to drive the drill bit (21) to move up and down; The third motor (33) is installed at the bottom of the vehicle frame (1) and is axially connected to the front wheel (711) and is used to provide the power for the tree planting vehicle to move forward; The fourth motor (34) is axially connected to the sprocket connecting rod (4132) and is used to provide the power for transporting the saplings to the seedling dropping pipe (421); The fifth motor (35) is installed inside the lower layer of the vehicle frame (1) near the seedling dropping pipe (421) and is used to provide the power for watering the watering unit (6); The sixth motor (36) is arranged on the fixed bracket (53) and passes through the connecting plate (56) to be axially connected to the soil covering driving rod (55) and is used to provide the soil covering power for the soil covering unit (5).

8. The automatic tree-planting vehicle according to claim 7, characterized in that, It further includes a control unit (8), and the control unit (8) is electrically connected to the first motor (31), the second motor (32), the third motor (33), the fourth motor (34), the fifth motor (35) and the sixth motor (36) through wires and is used to realize the control of each motor.

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