A fully automatic grass grid planting machine

Abstract

This invention discloses a fully automatic grass checkerboard planting machine, including an automatic walking trolley, and a ditching mechanism, a collection and transportation mechanism, a grass pressing mechanism, a sand covering mechanism, and a control box mounted on the automatic walking trolley. The ditching mechanism, collection and transportation mechanism, grass pressing mechanism, and sand covering mechanism are arranged sequentially from front to back along the walking direction of the automatic walking trolley. The ditching mechanism is equipped with vertically adjustable ditching blades. The collection and transportation mechanism continuously supplies grass to the grass pressing mechanism at the rear. The grass pressing mechanism is equipped with a vertically adjustable grass pressing disc. The sand covering mechanism is equipped with two mutually adjustable sand gathering plates. The control box is mounted on the automatic walking trolley. This invention can formulate appropriate operating parameters according to the sandy terrain, laying grass checkerboards of the same size and depth on the sandy ground, achieving standardized laying requirements, effectively stabilizing the grass checkerboards, and preventing problems such as grass checkerboards falling off or becoming loose.

Description

Technical Field

[0001] This invention relates to the field of desertification control technology, and in particular to a fully automatic grass checkerboard planting machine. Background Technology

[0002] China is one of the countries in the world with a relatively severe degree of desertification. Desertification leads to land degradation, water resource reduction, and ecological deterioration, causing adverse effects on the local economy and society. Combating desertification is beneficial for adjusting the industrial structure and promoting sustainable ecological and economic development. Among engineering methods for sand fixation, the most effective method for combating desertification, as proven in practice, is laying straw checkerboard mats. Currently, straw checkerboard planting technology in China is not yet mature, and manual laying of straw checkerboard mats faces problems such as high cost, difficult maintenance, and low laying efficiency, which are not conducive to large-scale desertification control. There are some existing technologies for automated grass checkerboard planting machines, such as the grass checkerboard laying machine disclosed in Chinese Patent CN114875924A and the grass checkerboard laying vehicle disclosed in Chinese Patent CN115595953A. However, these existing technologies cannot adapt the grass checkerboard laying process to changes in the land environment. Currently, most automated grass checkerboard planting machines, like the existing technologies mentioned above, use a uniform planting depth and cannot adapt to sandy soil topography and geological conditions. This can easily lead to inconsistent grass checkerboard design and construction quality in different regions, and problems such as grass checkerboard falling off and loosening can occur, affecting the consistency and comparability of the treatment effect. Summary of the Invention

[0003] This invention provides a fully automatic grass checkerboard planting machine. Based on the sandy terrain and geological conditions, it formulates appropriate operating parameters to lay grass checkerboards of the same size and appropriate depth on the sandy ground. This achieves standardized laying requirements and effectively stabilizes the grass checkerboards, preventing problems such as grass checkerboards falling off or becoming loose.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A fully automatic grass checkerboard planting machine includes an automatic walking trolley, and a ditching mechanism, a collection and conveying mechanism, a grass pressing mechanism, a sand covering mechanism, and a control box mounted on the automatic walking trolley. The ditching mechanism, the collection and conveying mechanism, the grass pressing mechanism, and the sand covering mechanism are arranged sequentially from front to back along the walking direction of the automatic walking trolley. The ditching mechanism is equipped with vertically adjustable ditching blades. The collection and conveying mechanism continuously supplies grass to the grass pressing mechanism at the rear end. The grass pressing mechanism is equipped with a vertically adjustable grass pressing disc. The sand covering mechanism is equipped with two mutually adjustable sand gathering plates. The control box is mounted on the automatic walking trolley and provides power to the automatic walking trolley, the ditching mechanism, the collection and conveying mechanism, the grass pressing mechanism, and the sand covering mechanism, and controls the coordinated operation of each part.

[0006] Furthermore, the trenching mechanism includes a mechanical arm, a mechanical forearm, a mechanical arm support, a servo motor, a telescopic cylinder, a sand-blocking disc, a trenching cutter, and a cutter drive motor; the mechanical arm support is fixedly connected to the front end of the automated guided vehicle; one end of the mechanical arm is hinged to the mechanical arm support, and the servo motor is mounted on one side of the mechanical arm support and is drive-connected to the mechanical arm; one end of the mechanical forearm is hinged to the other end of the mechanical arm, and the other end of the mechanical forearm is fixedly connected to the sand-blocking disc; one end of the telescopic cylinder is hinged to the mechanical forearm, and the other end of the telescopic cylinder is hinged to the mechanical arm support; the trenching cutter is rotatably connected to the sand-blocking disc, and the cutter drive motor is mounted on one side of the sand-blocking disc and drive-connected to the trenching cutter, driving the trenching cutter to rotate.

[0007] Furthermore, the collection and conveying mechanism includes a hay storage bin, a corrugated toothed collecting roller, several conveyor wheels, a conveyor belt, a compaction wheel, a drive motor, and a synchronous transmission assembly. The hay storage bin is fixedly connected to the automated guided vehicle (AGV). The bottom of the hay storage bin is sloped. The corrugated toothed collecting roller is rotatably connected to the AGV. A discharge port is located at the lowest end of the slope of the hay storage bin. The corrugated toothed collecting roller is located below the discharge port. Several corrugated teeth extending into the discharge port are provided on the outer periphery of the corrugated toothed collecting roller. Several conveyor wheels are horizontally arranged on the corrugated toothed collecting roller. Below the cylinder, the conveyor belt is fitted onto several conveyor wheels, and the crushing wheels are spaced apart above the conveyor belt and rotatably connected to the automatic walking trolley; the drive motor is mounted on the automatic walking trolley, and the drive motor is connected to the corrugated toothed collecting roller and several conveyor wheels through the synchronous transmission assembly; the corrugated toothed collecting roller includes a rotating shaft rotatably connected to the automatic walking trolley, and several corrugated teeth are coaxially fixed on the rotating shaft at intervals; the discharge port is provided with several spaced-apart clearance grooves, and each corrugated tooth extends into one clearance groove.

[0008] Furthermore, the grass-pressing mechanism includes two grass-pressing drive motors, several guide shafts, a lifting platform, two trapezoidal lead screws, two lead screw nuts, a blade disc mounting base, two buffer dampers, and a grass-pressing blade disc. The several guide shafts are vertically fixedly connected to the automatic trolley, and the lifting platform is slidably connected to the automatic trolley via the several guide shafts. The two trapezoidal lead screws are rotatably connected to the automatic trolley in the vertical direction. Each grass-pressing drive motor is connected to one trapezoidal lead screw via a coupling. Each lead screw nut is mounted on one trapezoidal lead screw. One side of the lifting platform is fixedly connected to one lead screw nut, and the opposite side of the lifting platform is fixedly connected to another lead screw nut. The blade disc mounting base is slidably connected to the bottom of the lifting platform. The two buffer dampers are symmetrically arranged between the blade disc mounting base and the lifting platform, with the grass-pressing blade disc as a reference surface. The grass-pressing blade disc is rotatably connected to the blade disc mounting base.

[0009] Furthermore, the cutter head mounting base includes two sliding limit plates, two U-shaped pulley supports, two shock absorber connectors, and a cutter head shaft; the two sliding limit plates are fixedly connected to the lifting platform in parallel at intervals; the bottom of the two sliding limit plates is provided with an elongated hole in the vertical direction, and the two ends of the cutter head shaft pass through a corresponding elongated hole and are rotatably connected to the bottom of a shock absorber connector, with one side of each shock absorber connector abutting against a corresponding sliding limit plate; the two U-shaped pulley supports are fixedly connected to the outside of a corresponding sliding limit plate, the top of each shock absorber connector is hinged to one end of a buffer damper, and the other end of the buffer damper is hinged to a corresponding U-shaped pulley support; the grass-pressing cutter head is located between the two sliding limit plates and is fixedly connected to the middle of the cutter head shaft through a coupling.

[0010] Furthermore, the sand-covering mechanism includes a sand-gathering drive motor, a bidirectional lead screw with forward and reverse threads, two lead screw nut connecting seats, two sand-gathering plates, two angle-adjusting guide rails, and two trolleys; the bidirectional lead screw with forward and reverse threads is rotatably connected to the rear end of the automatic walking trolley; the sand-gathering drive motor is driven by the bidirectional lead screw with forward and reverse threads through a coupling; the two lead screw nut connecting seats are respectively connected to the threads in different directions of the bidirectional lead screw with forward and reverse threads; one end of each sand-gathering plate is rotatably connected to the automatic walking trolley in a horizontal direction, the other end of each sand-gathering plate is fixedly connected to one of the angle-adjusting guide rails, one end of each trolley is slidably connected to a corresponding angle-adjusting guide rail, and the other end of each trolley is rotatably connected to the bottom of one of the lead screw nut connecting seats; the bottom of both sand-gathering plates is provided with blades bent in opposite directions.

[0011] Furthermore, the trolley includes an upper row of pulleys, a lower row of pulleys, a trolley shaft, and a trolley connecting seat; the upper row of pulleys and the lower row of pulleys are arranged parallel to each other vertically, and one end of each pulley is fixedly connected to one side of the trolley connecting seat, while the other side of the trolley connecting seat is rotatably and slidably connected to the trolley shaft; the top of one trolley shaft is fixedly connected to the bottom of a corresponding lead screw nut connecting seat; the top and bottom of the angle adjusting guide rail are provided with grooves, and one side of the angle adjusting guide rail is fixedly connected to one side of the sand-collecting plate; the upper row of pulleys abuts against the groove at the top of the angle adjusting guide rail, and the lower row of pulleys abuts against the groove at the bottom of the angle adjusting guide rail.

[0012] Furthermore, the sand covering mechanism also includes two sand-gathering plate lifting adjustment seats and two adjusting screws; one end of each of the two sand-gathering plate lifting adjustment seats is fixedly connected to the rear end of the automatic walking trolley; the upper half of each of the two adjusting screws is a threaded part, and the lower half is a smooth part; the upper half of each adjusting screw is threadedly connected to the other end of a corresponding sand-gathering lifting adjustment seat, and the lower half of each adjusting screw is rotatably connected to the end of the sand-gathering plate away from the trolley; the trolley connecting seat and the trolley optical axis are rotatably and slidably connected through a linear bearing.

[0013] Furthermore, the top of the automated walking vehicle is also equipped with a solar energy collection panel to replenish the power to the control box.

[0014] The beneficial effects of this invention are:

[0015] 1) This invention uses an automatic walking trolley to travel along a designated route on an automatic guide rail. During the journey, a ditching mechanism is used to dredge the sand. The ditching mechanism is equipped with adjustable ditching blades. A collection and transportation mechanism continuously supplies grass to the grass pressing mechanism at the rear. The grass pressing mechanism is equipped with an adjustable grass pressing blade. The sand covering mechanism is equipped with two mutually adjustable sand gathering plates. The height of the grass pressing blade and the opening degree of the sand gathering plates can be adjusted according to the depth of the ditch. Appropriate operating parameters are formulated according to the sandy terrain and geological conditions to lay grass squares of the same size and appropriate depth on the sandy ground. This achieves standardized laying requirements and effectively stabilizes the grass squares, preventing problems such as grass squares falling off or becoming loose.

[0016] 2) The swing position of the mechanical arm is limited by the telescopic cylinder, and the rotation angle of the mechanical arm is adjusted by the servo motor. The two kinematic pairs work together to adjust the up and down movement of the trenching cutter. At the same time, the cutter drive motor outputs to drive the trenching cutter to rotate and dig trenches in the sand. The trenching depth can be adjusted by the up and down height of the trenching cutter.

[0017] 3) When the corrugated toothed collecting drum rotates, the tangent direction of the discharge port is towards the rear end of the vehicle body, bringing the hay out of the hay storage bin. The corrugated teeth can bring out the hay in batches and let it fall onto the conveyor belt below the corrugated toothed collecting drum. The conveyor wheel drives the conveyor belt to transport the hay to the rear end of the vehicle body. When passing through the compaction wheel, the hay is flattened and spread evenly to form a dense hay curtain. The conveyor belt continuously delivers the hay curtain to the ground below the vehicle body, so that it can be pressed into the sand by the hay pressing mechanism at the rear end.

[0018] 4) The sand-gathering drive motor drives the positive and negative threaded screws to rotate. The screw nut mounting seats located on the threads in different directions respectively drive the other end of the sand-gathering plate to move closer or further apart, so that the two pulleys are adaptively guided and adjusted by the corresponding angle adjustment rails. This allows for simultaneous angle adjustment of the two sand-gathering plates, realizing the closing or opening of the two sand-gathering plates. The two sand-gathering plates push the scattered sand back into the trench, stabilizing the grass grid. The linear bearing can achieve both rotary connection and lifting sliding connection. By adjusting the screw, the sand-gathering plate can be driven to rise and fall along the pulley optical axis, thereby adjusting the height of the two sand-gathering plates. Therefore, the sand-covering mechanism can not only adjust the opening and closing degree of the sand-gathering plates, but also adjust the height of the sand-gathering plates to adapt to different sandy terrains. Attached Figure Description

[0019] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0020] Figure 1 This is a perspective view of the overall structure from the rear side in this invention;

[0021] Figure 2 This is a left view of the overall structure of the present invention;

[0022] Figure 3 This is a front view of the overall structure in this invention;

[0023] Figure 4 This is a rear view of the overall structure in this invention;

[0024] Figure 5 This is a top view of the overall structure of the present invention;

[0025] Figure 6 This is a perspective view of the sliding limiting plate and the U-shaped mounting plate in this invention;

[0026] Figure 7 This is a perspective view of the sand-covering mechanism in this invention;

[0027] Figure 8 This is a perspective view of the angle adjustment guide rail and the trolley in this invention;

[0028] Attached image labels:

[0029] 1—Automatic walking trolley; 2—Ditching mechanism; 3—Collection and conveying mechanism; 4—Grass pressing mechanism; 5—Sand covering mechanism; 6—Solar energy collection panel; 21—Mechanical arm; 22—Mechanical forearm; 23—Mechanical arm support; 24—Servo motor; 25—Telescopic cylinder; 26—Sand baffle; 27—Ditching cutter; 28—Cutter drive motor; 271—Ditching turntable; 272—Ditching blade; 31—Grass storage bin; 32—Wave-toothed collecting roller; 33—Conveyor wheel; 34—Conveyor belt; 35—Compactor wheel; 36—Drive motor; 311—Discharge port; 321—Wave teeth; 41—Grass pressing drive motor; 42—Guide optical shaft; 43—Lifting platform Platform, 44—trapezoidal lead screw, 45—lead screw nut, 46—cutter head mounting seat, 47—buffer damper, 48—grass compactor head, 461—sliding limit plate, 462—U-shaped pulley support, 463—shock absorber connector, 464—cutter head shaft, 465—U-shaped mounting plate, 421—linear bearing slider, 51—sand gathering drive motor, 52—double-sided lead screw with positive and negative threads, 53—lead screw nut connecting seat, 54—sand gathering plate, 55—angle adjustment guide rail, 56—trolley, 57—sand gathering plate lifting adjustment seat, 58—adjusting screw, 561—upper row pulley, 562—lower row pulley, 563—trolley shaft, 564—trolley connecting seat. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a central component. When a component is described as "connected to" another component, it can be directly connected to the other component or may have a central component. When a component is described as "set on" another component, it can be directly set on the other component or may have a central component. When a component is described as "set in the middle," it is not simply set in the exact center, as long as it is not set within the area defined by both ends being in the middle. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Reference Figures 1 to 8 As shown, a fully automatic grass checkerboard planting machine includes an automatic walking trolley 1, and a ditching mechanism 2, a collection and transportation mechanism 3, a grass pressing mechanism 4, a sand covering mechanism 5 and a control box (not shown in the figure) installed on the automatic walking trolley 1.

[0034] The automated guided vehicle 1 (AGV1) features automatic walking and positioning / navigation capabilities. It comprises a vehicle body, a positioning module, and a driving mechanism. The positioning module, typically an ATGM336H-5N-31 BDS / GNSS positioning and navigation module, is mounted on the top of the vehicle body to ensure unobstructed satellite signal reception. The vehicle body is constructed from an aluminum profile and aluminum square tubing frame. The driving mechanism includes four drive wheels and a corresponding wheel-side motor mounted on one side of each drive wheel. The drive wheels are connected to their respective wheel-side motors, and turning is achieved through differential speed adjustment of the wheel-side motors. The implementation of the APV1 can also refer to the wheat field inspection robot in Chinese patent CN217195348U, which will not be elaborated upon here. The ditching mechanism 2, the collection and transportation mechanism 3, the grass-pressing mechanism 4, and the sand-covering mechanism 5 are arranged sequentially from front to back on the vehicle body along the walking direction of the APV1.

[0035] Reference Figure 2As shown, the trenching mechanism 2 includes a mechanical arm 21, a mechanical arm 22, a mechanical arm support 23, a servo motor 24, a telescopic cylinder 25, a sand-blocking disc 26, a trenching cutter 27, and a cutter drive motor 28. The mechanical arm support 23 is fixedly connected to the front end of the automatic walking trolley 1. One end of the mechanical arm 21 is hinged to the mechanical arm support 23, and the servo motor 24 is mounted on one side of the mechanical arm support 23 and is driven by the mechanical arm 21. One end of the mechanical arm 22 is hinged to the other end of the mechanical arm 21, and the other end of the mechanical arm 22 is fixedly connected to the sand-blocking disc 26. One end of the telescopic cylinder 25 is hinged to the mechanical arm 22, and the other end of the telescopic cylinder 25 is hinged to the mechanical arm support 23. The trenching cutter 27 is rotatably connected to the sand-blocking disc 26, and the cutter drive motor 28 is mounted on one side of the sand-blocking disc 26 and is driven by the trenching cutter 27, driving the trenching cutter 27 to rotate. The trenching cutter 27 includes a trenching turntable 271 and several trenching blades 272. The trenching turntable 271 is arranged vertically and is rotatably connected to a sand-blocking disc 26. The tangent of the rotation is perpendicular to the width direction of the front end of the vehicle body. The several trenching blades 272 are distributed circumferentially along the trenching turntable 271 at equal angles. One side of each trenching blade 272 is vertically fixed to one side of the trenching turntable 271. The tangent at the corresponding connection point between each trenching blade 272 and the trenching turntable 271 is defined as the trenching angle, with the optimal design range for the trenching angle being 30° to 60°. The trenching turntable 271 is driven by the rotating shaft of the cutter drive motor 28 and rotates in the opposite direction to the vehicle body's travel direction. The top of the sand-blocking disc 26 extends towards the trenching cutter 27, preventing sand and soil from splashing when the trenching cutter 27 rotates to open the trench. The telescopic cylinder 25 can be a hydraulic cylinder or a pneumatic cylinder, and a corresponding hydraulic pump or pneumatic pump is installed on the vehicle body. The swing position of the mechanical arm 22 is limited by the telescopic cylinder 25, and the rotation angle of the mechanical arm 21 is adjusted by the servo motor 24. The two kinematic pairs jointly adjust the up and down movement of the trenching cutter 27. At the same time, the cutter drive motor 28 outputs to drive the trenching cutter 27 to rotate and dig a trench in the sand. The width of the trench can be adjusted by the width design of the trenching blade 272, and the trench depth can be adjusted by the up and down height of the trenching cutter 27. In specific construction, the design of the trench depth can be adaptively adjusted according to the sandy terrain, soil environment, and geological conditions.

[0036] Reference Figure 2 and Figure 3As shown, the collection and conveying mechanism 3 includes a hay storage bin 31, a corrugated toothed collecting roller 32, several conveyor wheels 33, a conveyor belt 34, a compaction roller 35, a drive motor 36, and a synchronous transmission assembly (not shown in the figure). The hay storage bin 31 is fixedly connected to the automatic walking trolley 1. The bottom of the hay storage bin 31 is set as an inclined surface. The corrugated toothed collecting roller 32 is rotatably connected to the automatic walking trolley 1. The lowest end of the inclined surface of the hay storage bin 31 is provided with a discharge port 311. The corrugated toothed collecting roller 32 is located below the discharge port 311. The outer periphery of the collecting roller 32 is provided with a plurality of corrugated teeth 321 extending into the discharge port 311; a plurality of conveyor wheels 33 are horizontally arranged below the corrugated tooth collecting roller 32, and the conveyor belt 34 is sleeved on the plurality of conveyor wheels 33; the crushing wheels 35 are spaced apart above the conveyor belt 34 and rotatably connected to the automatic traveling trolley 1; the drive motor 36 is mounted on the automatic traveling trolley 1, and the drive motor 36 is drivenly connected to the corrugated tooth collecting roller 32 and the plurality of conveyor wheels 33 through the synchronous transmission assembly. The corrugated tooth collecting roller 32 includes a rotating shaft rotatably connected to the automatic traveling trolley, and a plurality of corrugated teeth 321 are coaxially fixed on the rotating shaft at intervals. The discharge port 311 is provided with a plurality of spaced-apart clearance grooves, and each corrugated tooth 321 extends into one of the clearance grooves. The vehicle body is equipped with an installation frame assembled from aluminum profiles. The hay storage bin 31 is located on the top of the installation frame. The bottom of the hay storage bin 31 on the front side of the vehicle body is a discharge port 311. When the corrugated toothed collecting roller 32 rotates, the tangent direction of the discharge port is towards the rear end of the vehicle body, bringing the hay out of the hay storage bin 31. The corrugated teeth 321 can bring out the hay in batches and let it fall onto the conveyor belt 34 below the corrugated toothed collecting roller 32. The conveyor wheel 33 drives the conveyor belt 34 to transport the hay to the rear end of the vehicle body. When passing through the compaction wheel 35, the hay is flattened and spread evenly to form a dense hay curtain. The conveyor belt 34 continuously delivers the hay curtain to the ground below the vehicle body so that it can be pressed into the sand by the hay pressing mechanism 4 at the rear end.

[0037] Reference Figure 2 , Figure 4 and Figure 6As shown, the grass-pressing mechanism 4 includes two grass-pressing drive motors 41, several guide shafts 42, a lifting platform 43, two trapezoidal lead screws 44, two lead screw nuts 45, a cutter head mounting base 46, two buffer dampers 47, and a grass-pressing cutter head 48; the several guide shafts 42 are vertically fixedly connected to the automatic walking trolley 1, and the lifting platform 43 is slidably connected to the automatic walking trolley 1 through the several guide shafts 42; the two trapezoidal lead screws 44 are rotatably connected to the automatic walking trolley 1 in the vertical direction, and each grass-pressing drive motor 41 is connected to the automatic walking trolley 1 through the guide shafts 42. The lifting platform 43 is connected to a trapezoidal lead screw 44 via a coupling. Each lead screw nut 45 is mounted on a trapezoidal lead screw 44. One side of the lifting platform 43 is fixedly connected to one lead screw nut 45, and the opposite side of the lifting platform 43 is fixedly connected to another lead screw nut 45. The cutter head mounting base 46 is slidably connected to the bottom of the lifting platform 43. Two buffer dampers 47 are installed opposite each other between the cutter head mounting base 46 and the lifting platform 43. The grass-pressing cutter head 48 is rotatably connected to the cutter head mounting base 46. The cutter head mounting base 46 includes two sliding limit plates 461, two U-shaped pulley supports 462, two shock absorber connectors 463, and a cutter head optical shaft 464. The two sliding limit plates 461 are fixedly connected to the lifting platform 43 in parallel at intervals. The bottom of the two sliding limit plates 461 is provided with an elongated hole in the vertical direction. The two ends of the cutter head optical shaft 464 pass through a corresponding elongated hole and are rotatably connected to the bottom of a shock absorber connector 463. Each shock absorber connector 463... One side of the blade abuts against the corresponding sliding limit plate 461; two U-shaped pulley supports 462 are respectively fixedly connected to the outer side of the corresponding sliding limit plate 461; the top of each shock absorber connector 463 is hinged to one end of a buffer damper 47, and the other end of the buffer damper 47 is hinged to the corresponding U-shaped pulley support 462; the grass pressing blade 48 is located between the two sliding limit plates 461 and is fixedly connected to the middle part of the blade optical shaft 464 through a coupling. A mounting frame is also installed on the vehicle body at the position corresponding to the grass-pressing mechanism 4. A mounting plate is fixedly connected to the top of the mounting frame. Several guide optical shafts 42 and two trapezoidal lead screws 44 are vertically installed between the mounting plate and the vehicle body. The number of guide optical shafts 42 is set to four. Each guide optical shaft 42 is equipped with a linear bearing slider 421. One side of the lifting slide 43 is fixedly connected to two of the linear bearing sliders 421, and the other side of the lifting slide 43 is fixedly connected to the other two linear bearing sliders 421. Each lead screw nut 45 is located between two linear bearing sliders 521 on the same side.Two sliding limit plates 461 are fixedly connected to the lifting platform 43 by angle iron. For easy installation, the bottom of the two sliding limit plates 461 is also provided with a U-shaped mounting plate 465. The bottom of the two sliding limit plates 461 is provided with a U-shaped groove, and the U-shaped mounting plate 465 is also provided with a matching U-shaped groove. The U-shaped opening end of each U-shaped mounting plate 465 is fitted onto the sliding limit plate 461, so that the two U-shaped grooves are connected to form the elongated hole. During installation, the blade shaft 464 is first embedded into the U-shaped groove of the two sliding limit plates 461, and then the two U-shaped mounting plates 465 are connected. For accurate positioning, the grass pressing blade 48 is distributed along the central axis in the width direction of the vehicle body. The lifting platform 43, the two sliding limit plates 461, the guide shaft 42, the two trapezoidal lead screws 44, and the two buffer dampers 47 are all symmetrically arranged with respect to the grass pressing blade 48. Similarly, the aforementioned trenching cutter 2, wavy toothed collecting roller 32, conveyor belt 34, and compaction wheel 35 must all be arranged symmetrically with respect to the center plane of the compaction disc 48. The trapezoidal lead screw 44 also has self-locking properties to ensure that the height position of the compaction disc 48 does not change.

[0038] Reference Figure 7 and Figure 8As shown, the sand covering mechanism 5 includes a sand-gathering drive motor 51, a bidirectional lead screw 52 with forward and reverse threads, two lead screw nut connecting seats 53, two sand-gathering plates 54, two angle adjusting guide rails 55, and two trolleys 56. The bidirectional lead screw 52 with forward and reverse threads is rotatably connected to the rear end of the automatic walking trolley 1. The sand-gathering drive motor 51 is connected to the bidirectional lead screw 52 with forward and reverse threads via a coupling. The two lead screw nut connecting seats 53 are respectively connected to the threads of the bidirectional lead screw 52 in different directions. One end of each sand-gathering plate 54 is rotatably connected to the automatic walking trolley 1 in the horizontal direction, and the other end of each sand-gathering plate 54 is fixedly connected to one of the angle adjusting guide rails 55. One end of each trolley 56 is slidably connected to a corresponding angle adjusting guide rail 55, and the other end of each trolley 56 is rotatably connected to the bottom of one of the lead screw nut connecting seats 53. The bottom of each sand-gathering plate 54 is provided with blades bent in opposite directions. The trolley 56 includes an upper row of pulleys 561, a lower row of pulleys 562, a trolley shaft 563, and a trolley connecting seat 564. The upper row of pulleys 561 and the lower row of pulleys 562 are arranged parallel to each other, and one end of each pulley is fixedly connected to one side of the trolley connecting seat 564. The other side of the trolley connecting seat 564 is rotatably and slidably connected to the trolley shaft 563. The top of the trolley shaft 563 is fixedly connected to the bottom of a corresponding lead screw nut connecting seat 53. The top and bottom of the angle adjusting guide rail 55 are provided with grooves, and one side of the angle adjusting guide rail 55 is fixedly connected to one side of the sand-collecting plate 54. The upper row of pulleys 561 abuts against the groove at the top of the angle adjusting guide rail 55, and the lower row of pulleys 562 abuts against the groove at the bottom of the angle adjusting guide rail 55. The sand covering mechanism 5 also includes two sand-gathering plate lifting adjustment seats 57 and two adjusting screws 58; one end of the two sand-gathering plate lifting adjustment seats 57 is fixedly connected to the rear end of the automatic walking trolley 1; the upper half of the two adjusting screws 58 is a threaded part, and the lower half is a smooth part. The upper half of each adjusting screw 58 is threadedly connected to the other end of the corresponding sand-gathering lifting adjustment seat 57, and the lower half of each adjusting screw 58 is rotatably connected to the end of the sand-gathering plate 54 away from the trolley 56; the trolley connecting seat 564 and the trolley smooth shaft 563 are rotatably and slidably connected through a straight line bearing. One end of the sand-gathering plate 54 is equipped with a nested bearing and a bearing mounting seat. The adjusting screw 58 is rotatably connected to the bearing mounting seat through the nested bearing, thereby realizing the rotation of the sand-gathering plate 54. The sand-gathering drive motor 51 drives the positive and negative threaded screws 52 to rotate. The screw nut mounting seats 53 located on the threads in different directions respectively drive the other end of the sand-gathering plate 54 to move closer or further away from each other, so that the two pulleys 56 are adaptively guided and adjusted by the corresponding angle adjustment guide rails 55, thereby simultaneously adjusting the angle of the two sand-gathering plates 54 to realize the closing or opening of the two sand-gathering plates 54. The two sand-gathering plates 54 push the scattered sand back into the trench, stabilizing the grass grid.Linear bearings can achieve both rotary and sliding connections. By adjusting screw 58, the sand-collecting plates 54 can be moved up and down along the pulley axis 563, thereby adjusting the height of the two sand-collecting plates 54. Therefore, the sand-covering mechanism 5 can adjust not only the opening degree of the sand-collecting plates 54, but also their height to adapt to different sandy terrains and geological conditions. In loose sandy soil, the trenching mechanism 2 will plow the sand wider, thus requiring a larger opening degree to cover the sand back into the trench.

[0039] The control box is mounted on the automated guided vehicle 1. The control box provides power to the automated guided vehicle 1, the ditching mechanism 2, the collection and transportation mechanism 3, the grass pressing mechanism 4, and the sand covering mechanism 5, and controls the coordinated operation of each component. A solar panel 6 is also installed on the top of the automated guided vehicle 1 to supplement the power supply to the control box. Specifically, the control box includes a control module, a wireless transmission module, and a power supply module. The automated guided vehicle 1, the ditching mechanism 2, the collection and transportation mechanism 3, the grass pressing mechanism 4, the sand covering mechanism 5, the wireless transmission module, and the power supply module are all electrically connected to the control module. The power supply module supplies power to each mechanism, the wireless transmission module communicates with an external controller to obtain information commands, and the control module controls the coordinated operation of each mechanism after receiving control commands. This invention utilizes an automatic walking trolley 1 that travels along a designated route on a guide rail. During this journey, a ditching mechanism 2, equipped with adjustable ditching blades 27, dredges the sand. A collection and transport mechanism 3 continuously supplies straw to a pressing mechanism 4 at the rear. The pressing mechanism 4 is equipped with an adjustable pressing blade 48. A sand covering mechanism 5 has two mutually adjustable sand-gathering plates 54. The height of the pressing blade 48 and the opening degree of the sand-gathering plates 54 can be adjusted according to the depth of the ditch. By setting appropriate operating parameters based on the sandy terrain, straw squares of the same size and suitable depth are laid on the sandy ground, achieving standardized and uniform laying requirements. This effectively stabilizes the straw squares and prevents them from falling off or becoming loose. The fully automatic straw square laying machine has autonomous navigation and positioning capabilities, allowing it to lay straw squares in precisely designated areas. Multiple machines can work in clusters, significantly saving labor costs and improving work efficiency.

[0040] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of the technical solutions of the present invention.

Claims

1. A fully automatic grass grid planting machine, characterized in that, The system includes an automated guided vehicle (AGV), and mounted on the AGV are a ditching mechanism, a collection and transport mechanism, a grass pressing mechanism, a sand covering mechanism, and a control box. The ditching mechanism, collection and transport mechanism, grass pressing mechanism, and sand covering mechanism are arranged sequentially from front to back along the AGV's travel direction. The ditching mechanism is equipped with vertically adjustable ditching blades. The collection and transport mechanism continuously supplies grass to the grass pressing mechanism at the rear. The grass pressing mechanism is equipped with a vertically adjustable grass pressing disc. The sand covering mechanism has two mutually opening and closing sand-gathering plates. The control box is mounted on the AGV and provides power to the AGV, ditching mechanism, collection and transport mechanism, grass pressing mechanism, and sand covering mechanism, and controls the coordinated operation of each component. The sand-covering mechanism includes a sand-gathering drive motor, a bidirectional lead screw with forward and reverse threads, two lead screw nut connecting seats, two sand-gathering plates, two angle-adjusting guide rails, and two trolleys. The bidirectional lead screw with forward and reverse threads is rotatably connected to the rear end of the automatic walking trolley. The sand-gathering drive motor is driven by the bidirectional lead screw with forward and reverse threads via a coupling. The two lead screw nut connecting seats are respectively connected to the threads in different directions of the bidirectional lead screw with forward and reverse threads. One end of each sand-gathering plate is rotatably connected to the automatic walking trolley in a horizontal direction, and the other end of each sand-gathering plate is fixedly connected to one of the angle-adjusting guide rails. One end of each trolley is slidably connected to a corresponding angle-adjusting guide rail, and the other end of each trolley is rotatably connected to the bottom of one of the lead screw nut connecting seats. The bottom of each sand-gathering plate is provided with blades bent in opposite directions. The trolley includes an upper row of pulleys, a lower row of pulleys, a trolley shaft, and a trolley connecting seat. The upper and lower rows of pulleys are arranged parallel to each other, with one end of each pulley fixedly connected to one side of the trolley connecting seat. The other side of the trolley connecting seat is rotatably and slidably connected to the trolley shaft. The top of the trolley shaft is fixedly connected to the bottom of a corresponding lead screw and nut connecting seat. The top and bottom of the angle adjusting guide rail are provided with grooves, and one side of the angle adjusting guide rail is fixedly connected to one side of the sand-collecting plate. The upper row of pulleys abuts against the groove at the top of the angle adjusting guide rail, and the lower row of pulleys abuts against the groove at the bottom of the angle adjusting guide rail. The sand covering mechanism also includes two sand-gathering plate lifting adjustment seats and two adjusting screws; one end of each of the two sand-gathering plate lifting adjustment seats is fixedly connected to the rear end of the automatic walking trolley; the upper half of each of the two adjusting screws is a threaded part, and the lower half is a smooth part; the upper half of each adjusting screw is threadedly connected to the other end of the corresponding sand-gathering lifting adjustment seat, and the lower half of each adjusting screw is rotatably connected to the end of the sand-gathering plate away from the trolley; the trolley connecting seat and the trolley optical axis are rotatably and slidably connected through a straight-line bearing.

2. The fully automatic grass checkerboard planting machine according to claim 1, characterized in that, The trenching mechanism includes a mechanical arm, a mechanical forearm, a mechanical arm support, a servo motor, a telescopic cylinder, a sand-blocking disc, a trenching cutter, and a cutter drive motor. The mechanical arm support is fixedly connected to the front end of the automated guided vehicle. One end of the mechanical arm is hinged to the mechanical arm support, and the servo motor is mounted on one side of the mechanical arm support and is drive-connected to the mechanical arm. One end of the mechanical forearm is hinged to the other end of the mechanical arm, and the other end of the mechanical forearm is fixedly connected to the sand-blocking disc. One end of the telescopic cylinder is hinged to the mechanical forearm, and the other end of the telescopic cylinder is hinged to the mechanical arm support. The trenching cutter is rotatably connected to the sand-blocking disc, and the cutter drive motor is mounted on one side of the sand-blocking disc and drive-connected to the trenching cutter, driving the trenching cutter to rotate.

3. The fully automatic grass checkerboard planting machine according to claim 1, characterized in that... The collection and conveying mechanism includes a hay storage bin, a corrugated toothed collecting roller, several conveyor wheels, a conveyor belt, a compaction wheel, a drive motor, and a synchronous transmission assembly. The hay storage bin is fixedly connected to the automated guided vehicle (AGV). The bottom of the hay storage bin is sloped. The corrugated toothed collecting roller is rotatably connected to the AGV. A discharge port is located at the lowest point of the slope of the hay storage bin. The corrugated toothed collecting roller is located below the discharge port. Several corrugated teeth extending into the discharge port are provided on the outer periphery of the corrugated toothed collecting roller. Several conveyor wheels are horizontally arranged below the corrugated toothed collecting roller. The conveyor belt is fitted onto a plurality of conveyor wheels; the crushing wheels are spaced apart above the conveyor belt and rotatably connected to the automatic walking trolley; the drive motor is mounted on the automatic walking trolley and is connected to the corrugated toothed collecting roller and the plurality of conveyor wheels via the synchronous transmission assembly; the corrugated toothed collecting roller includes a rotating shaft rotatably connected to the automatic walking trolley, a plurality of corrugated teeth are coaxially fixed on the rotating shaft at intervals, and the discharge port is provided with a plurality of spaced-apart clearance grooves, each corrugated tooth extending into a corresponding clearance groove.

4. The fully automatic grass checkerboard planting machine according to claim 1, characterized in that, The grass-pressing mechanism includes two grass-pressing drive motors, several guide shafts, a lifting platform, two trapezoidal lead screws, two lead screw nuts, a blade disc mounting base, two dampers, and a grass-pressing blade disc. The guide shafts are vertically fixed to the automatic trolley. The lifting platform is slidably connected to the automatic trolley via the guide shafts. The two trapezoidal lead screws are rotatably connected to the automatic trolley in the vertical direction. Each grass-pressing drive motor is connected to one trapezoidal lead screw via a coupling. Each lead screw nut is mounted on one trapezoidal lead screw. One side of the lifting platform is fixedly connected to one lead screw nut, and the opposite side of the lifting platform is fixedly connected to another lead screw nut. The blade disc mounting base is slidably connected to the bottom of the lifting platform. The two dampers are symmetrically arranged between the blade disc mounting base and the lifting platform, with the grass-pressing blade disc as a reference surface. The grass-pressing blade disc is rotatably connected to the blade disc mounting base.

5. The fully automatic grass checkerboard planting machine according to claim 4, characterized in that, The cutter head mounting base includes two sliding limit plates, two U-shaped pulley supports, two shock absorber connectors, and a cutter head shaft. The two sliding limit plates are fixedly connected to the lifting platform in parallel at intervals. The bottom of the two sliding limit plates is provided with an elongated hole in the vertical direction. The two ends of the cutter head shaft pass through a corresponding elongated hole and are rotatably connected to the bottom of a shock absorber connector. One side of each shock absorber connector abuts against a corresponding sliding limit plate. The two U-shaped pulley supports are fixedly connected to the outside of a corresponding sliding limit plate. The top of each shock absorber connector is hinged to one end of a buffer damper, and the other end of the buffer damper is hinged to a corresponding U-shaped pulley support. The grass-pressing cutter head is located between the two sliding limit plates and is fixedly connected to the middle of the cutter head shaft through a coupling.

6. A fully automatic grass checkerboard planting machine according to any one of claims 1-5, characterized in that, The automatic walking vehicle is also equipped with a solar energy collection panel on its top to replenish the power to the control box.

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